Unloading method, unloading apparatus, loading device, and computer-readable storage medium

Abstract

The present application provides an unloading method, an unloading apparatus, a loading device, and a computer-readable storage medium. The unloading method is used to control a loading device to unload material, and the method comprises: in response to an unloading instruction, determining a target unloading point on the basis of a priority order of a preset number of unloading points included in an unloading area, wherein the unloading area is located outside of a working area in which the loading device loads the material, a connection channel is provided between the unloading area and the working area, and the target unloading point is an available unloading point among the preset number of unloading points; and controlling the loading device to move from the working area to an entrance of the unloading area via the connection channel, and to further move from the entrance to the target unloading point to perform an unloading operation. When the unloading method of the present application is used to control a loading device to unload material, unloading efficiency can be enhanced, and the space utilization of the unloading area can be improved.

Description

Discharging method, discharging device, loading device and computer readable storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411284685.7, filed on September 12, 2024, entitled "Discharging method, discharging device, loading device and computer readable storage medium", the Chinese patent application No. 202411289560.3, filed on June 20, 2024, entitled "Discharging method, loading device, electronic device and computer readable storage medium", the Chinese patent application entitled "Method and device for setting unloading point, unloading device and computer program product", and the Chinese patent application No. 202411284185.3, filed on September 12, 2024, entitled "Method and device for setting unloading point, unloading device and computer program product", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of control, and in particular to a discharging method, a discharging device, a loading device and a computer readable storage medium. BACKGROUND

[0003] At present, in cooperation with the working of a mower, a grass unloading device is configured, which includes a grass collecting device to collect the grass clippings cut by the mower. When the grass clippings fill the grass collecting device, or a grass unloading instruction is received, or a preset grass unloading time is reached, the grass unloading device will go to a preset grass unloading area to unload the grass clippings in the grass collecting device in the grass unloading area. The grass unloading device can also be integrated into the mower, at which time, if the grass clippings fill the grass collecting device, or a grass unloading instruction is received, or a preset grass unloading time is reached, the mower will go to a preset grass unloading area to unload the grass clippings in the grass collecting device in the grass unloading area, so as to integrate the functions of mowing, grass collecting and grass unloading.

[0004] The existing mower needs an operator to control the mower to collect and unload the grass clippings on the grassland after mowing. The existing mower only selects a fixed point to unload the grass, and after multiple unloading, the grass pile will be too high, which will trigger the mower to lift up, affecting the unloading efficiency, and the space of the grass collecting point cannot be fully utilized. SUMMARY

[0005] The present application aims to at least solve one of the problems existing in the prior art. To this end, the present application provides a discharging method, a discharging device, a loading device and a computer readable storage medium, which are applied to control the discharging of a loading device such as a mower. The discharging method can not only improve the discharging efficiency, but also improve the space utilization rate of the discharging area.

[0006] To achieve the above-mentioned purpose, the first aspect, the application provides a discharging method for controlling a loading device to discharge materials, the discharging method comprising:

[0007] In response to a discharging instruction, a target discharging point is determined according to a priority order of a preset number of discharging points included in a discharging area; wherein the discharging area is located outside a working area in which the loading device loads the materials, and a connecting channel is provided between the discharging area and the working area, and the target discharging point is one of the available discharging points in the preset number of discharging points;

[0008] The loading device is controlled to move from the working area to the entrance of the discharging area through the connecting channel, and further move from the entrance to the target discharging point for discharging operation.

[0009] Optionally, the preset number of discharging points includes a plurality of sub-areas; the target discharging point includes a target sub-area; and the control of the loading device to move from the working area to the entrance of the discharging area through the connecting channel, and further move from the entrance to the target discharging point for discharging operation, comprises:

[0010] The loading device is controlled to move from the working area to the target sub-area of the discharging area through the entrance of the connecting channel for discharging operation.

[0011] Optionally, the discharging area includes a grass discharging area, and the loading device includes a grass discharging device; the preset number of discharging points includes a target grass discharging point; and the method further comprises:

[0012] Boundary information and a distance threshold of the grass discharging area are obtained, wherein the distance threshold is greater than or equal to the length of the grass discharging device;

[0013] The target grass discharging point is determined in the grass discharging area according to the boundary information and the distance threshold, wherein the distance between any two target grass discharging points is greater than or equal to the distance threshold, and the target grass discharging point is used for dumping grass clippings to the grass discharging device.

[0014] The second aspect of the application provides a discharging device, comprising:

[0015] A determination unit is configured to determine a target discharging point according to a priority order of a preset number of discharging points included in a discharging area in response to a discharging instruction; wherein the discharging area is located outside a working area in which the discharging device loads materials, and a connecting channel is provided between the discharging area and the working area, and the target discharging point is one of the available discharging points in the preset number of discharging points; and

[0016] a control unit configured to control the unloading device to move from the working area to an entrance of the unloading area through the connecting channel, and further move from the entrance to the target unloading point for unloading operation.

[0017] Optionally, the preset number of unloading points comprises a plurality of sub-areas; the target unloading point comprises a target sub-area; in the control of the loading device to move from the working area to the entrance of the unloading area through the connecting channel, and further move from the entrance to the target unloading point for unloading operation, the control unit is specifically configured to:

[0018] control the loading device to move from the working area to the target sub-area of the unloading area through the entrance of the connecting channel for unloading operation.

[0019] Optionally, the unloading area comprises a grass unloading area, and the loading device comprises a grass unloading device; the preset number of unloading points comprises a target grass unloading point; the unloading device further comprises:

[0020] an acquisition module configured to acquire boundary information of the grass unloading area and a distance threshold, wherein the distance threshold is greater than or equal to a length of the grass unloading device;

[0021] a determination module configured to determine the target grass unloading point in the grass unloading area according to the boundary information and the distance threshold, wherein a distance between any two target grass unloading points is greater than or equal to the distance threshold, and the target grass unloading point is used for dumping grass clippings to the grass unloading device.

[0022] In a third aspect, the present application provides a loading device, which comprises a processor and a memory, the memory stores a computer program, and the processor executes the computer program to perform the above-mentioned unloading method.

[0023] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is used to perform the above-mentioned unloading method when called by a processor.

[0024] In the unloading method, the unloading device, the loading equipment and the computer readable storage medium provided in the present application, the unloading method is applied to control the loading equipment such as a mower to unload materials, and based on an unloading instruction, the loading equipment determines a target unloading point according to a priority order of a preset number of unloading points included in the unloading area, and controls the loading equipment to move from the working area to the target unloading point for unloading operation. In this way, the loading equipment can disperse the materials to different unloading points in the unloading area according to the priority order of the preset number of unloading points, avoiding the accumulation of the materials at the same unloading point, which not only improves the unloading efficiency, but also improves the space utilization of the unloading area.

[0025] Additional aspects and advantages of the present application will be made apparent by the following description and the specific description of the application together with the claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0027] FIG. 1A is a flowchart of the unloading method provided by the embodiments of the present application.

[0028] FIG. 1B is a schematic diagram of the application scenario of the unloading method provided by one of the embodiments of the present application.

[0029] FIG. 1C is a schematic diagram of the application scenario of the unloading method provided by another embodiment of the present application.

[0030] FIG. 1D is a schematic diagram of the unloading area and its unloading points in another embodiment of the present application.

[0031] FIG. 1E is a schematic diagram of the unloading area and its unloading points in another embodiment of the present application.

[0032] FIG. 2A is a flowchart of the unloading method in an embodiment of the present application.

[0033] FIG. 2B is a schematic diagram of the working area and the unloading area in an embodiment of the present application.

[0034] FIG. 2C is a schematic diagram of the working area and the unloading area in another embodiment of the present application.

[0035] FIG. 2D is a schematic diagram of the working area and the unloading area in another embodiment of the present application.

[0036] FIG. 2E is a flowchart of the unloading method in another embodiment of the present application.

[0037] FIG. 2F is a further sub-flowchart of step S31 of FIG. 2E.

[0038] FIG. 2G is a schematic view of the unloading point in FIG. 2B.

[0039] FIG. 2H is a schematic view of the unloading point in FIG. 2C.

[0040] FIG. 2I is a schematic view of the unloading point in FIG. 2D.

[0041] FIG. 2J is a flowchart of determining the target unloading point in the candidate unloading point.

[0042] FIG. 2K is a flowchart of dividing the sub-region and determining the unloading point in an embodiment of the present application.

[0043] FIG. 2L is a further sub-flowchart of step S52 of FIG. 2K.

[0044] FIG. 2M is a flowchart of dividing the sub-region and determining the unloading point in another embodiment of the present application.

[0045] FIG. 2N is a further sub-flowchart of step S72 of FIG. 2E.

[0046] FIG. 3A is a schematic view of the position relationship between the mowing region and the unloading region in an embodiment of the present application.

[0047] FIG. 3B is a schematic view of the position relationship between the mowing region and the unloading region in another embodiment of the present application.

[0048] FIG. 3C is a flowchart of the unloading point setting method in an embodiment of the present application.

[0049] FIG. 3D is a schematic view of determining the candidate unloading point in the triangular unloading region based on the grid method in an embodiment of the present application.

[0050] FIG. 3E is a schematic view of determining the candidate unloading point in the circular unloading region based on the grid method in an embodiment of the present application.

[0051] FIG. 3F is a schematic view of filtering the candidate unloading point based on the Delaunay triangulation method in an embodiment of the present application.

[0052] FIG. 4A is a framework diagram of the unloading device provided in an embodiment of the present application.

[0053] FIG. 4B is a schematic block diagram of the loading device in an embodiment of the present application.

[0054] FIG. 4C is a structural schematic view of the unloading point setting device in an embodiment of the present application.

[0055] Fig. 5 is a framework diagram of a loading device according to an embodiment of the present application.

[0056] Fig. 6 is a framework diagram of a computer readable storage medium according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0058] It should be noted that in the description of the present application, the terms "first", "second", "third" and the like are used to distinguish different objects, and are not used to describe a specific order, and therefore cannot be understood as a limitation of the present application. In addition, unless otherwise specified and limited, the term "connection" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be directly connected, or indirectly connected through other elements, or the internal communication of two elements; it can be a communication connection, or an electrical connection, wherein whether it is a communication connection or an electrical connection also includes direct connection or indirect connection through other elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0059] In the embodiments of the present application, the preset number of unloading points can include a plurality of sub-areas; the target unloading point can include a target sub-area.

[0060] In the embodiments of the present application, the loading device can include a grass unloading device, the unloading area can include a grass unloading area, and the preset number of unloading points can include a target grass unloading point.

[0061] The unloading device can include a loading device, and the unloading device can further include a grass unloading point setting device.

[0062] Please combine Fig. 1A and Fig. 1B, the embodiments of the present application provide an unloading method for controlling the loading device 100 to unload the material. Wherein, the loading device 100 can be but is not limited to a mower, a dump truck, and correspondingly, the material can be but is not limited to grass clippings, and the like.

[0063] Specifically, as shown in Fig. 1A and Fig. 1B, in the embodiments of the present application, the unloading method includes the following steps:

[0064] Step S01, in response to the unloading instruction, determining a target unloading point 350 according to the priority order of the preset number of unloading points 350 included in the unloading area 300. As shown in FIG. 1B, in the embodiment of the present application, the unloading area 300 is located outside the working area 200 where the loading device 100 loads the material, and a connecting passage 400 is arranged between the working area 200 and the unloading area 300, and the target unloading point 350 is one of the available unloading points 350 in the preset number of unloading points 350.

[0065] Step S02, controlling the loading device 100 to move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting passage 400, and further moving from the entrance 450 to the target unloading point 350 for unloading operation. As shown in FIG. 1B, in the embodiment of the present application, the entrance 450 is the part of the unloading area 300 adjacent to the connecting passage 400.

[0066] In the unloading method provided by the embodiment of the present application, based on the unloading instruction, the loading device 100 determines the target unloading point 350 according to the priority order of the preset number of unloading points 350 included in the unloading area 300, and controls the loading device 100 to move from the working area 200 to the target unloading point 350 for unloading operation, so that the loading device 100 can disperse the material to different unloading points 350 in the unloading area 300 according to the priority order of the preset number of unloading points 350, avoiding the material being unloaded at the same unloading point 350 and stacking too high, which not only improves the unloading efficiency, but also improves the space utilization of the unloading area 300.

[0067] Optionally, as shown in FIG. 1B, in one embodiment of the present application, the connecting passage 400 is only one, and the loading device 100 can only move from the working area 200 to the entrance 450 of the unloading area 300 through the connecting passage 400. Preferably, in the example of FIG. 1B, the connecting passage 400 is a straight passage, and the connecting passage 400 is the shortest passage connected between the working area 200 and the unloading area 300, and the loading device 100 takes the least time to move from the working area 200 to the entrance 450 through the connecting passage 400, which can further improve the unloading efficiency. In the example of FIG. 1B, the connecting passage 400 can be arranged at one end (such as the lower end shown in FIG. 1B) of the opposite part of the working area 200 and the unloading area 300 as needed, or can be arranged in the middle of the opposite part of the working area 200 and the unloading area 300 as needed, which is not limited herein.

[0068] Optionally, referring to FIG. 1C, in another embodiment of the present application, at least two connecting channels 400 (for example, a first connecting channel 400a and a second connecting channel 400b) are arranged between the unloading area 300 and the working area 200, and a first end of each of the connecting channels 400 is connected to the entrance 450, and second ends of the at least two connecting channels 400 meet the working area 200 at different at least two sub-areas. In the example of FIG. 1C, in step S02, the control of the loading device 100 moving from the working area 200 to the entrance 450 of the unloading area 300 through the connecting channels 400 includes the following two steps:

[0069] Step S21, determining a target connecting channel according to distances between the at least two sub-areas and a current position of the loading device 100; wherein the target connecting channel is the connecting channel 400 with the smallest distance.

[0070] Step S22, controlling the loading device 100 to move from the current position to the target connecting channel and further move to the entrance 450 through the target connecting channel.

[0071] That is, in the example of FIG. 1C, the loading device 100 can select the nearest connecting channel 400 as the target connecting channel according to its current position in the working area 200, and then move to the entrance 450 through the target connecting channel. In this way, the loading device 100 can move from the working area 200 to the entrance 450 through the connecting channel 400 closest to the current position, which takes the least time and can further improve the unloading efficiency.

[0072] In some embodiments of the present application, in step S01, the target unloading point 350 is determined according to a priority order of the preset number of unloading points 350 included in the unloading area 300, including:

[0073] Step S11, determining a candidate unloading point 350 in the preset number of unloading points 350 that has not unloaded material; and step S12, determining the unloading point 350 with the highest priority in the candidate unloading point 350 as the target unloading point 350.

[0074] That is, in some embodiments of the present application, each of the unloading points 350 is set to unload material only once, which can avoid the accumulation of the material and make the unloading of the material more dispersed.

[0075] Specifically, in some embodiments of the present application, the step S12 of determining the target unloading point 350 from the candidate unloading points 350 with the highest priority comprises: when there is only one candidate unloading point 350 with the highest priority, determining the candidate unloading point 350 with the highest priority as the target unloading point 350; and when there are at least two candidate unloading points 350 with the highest priority, determining any one of the at least two candidate unloading points 350 as the target unloading point 350.

[0076] Of course, in other embodiments of the present application, when each of the unloading points 350 is configured to unload at least one batch of material and there are at least two candidate unloading points 350 with the highest priority, the candidate unloading point 350 with the largest amount of unloadable material can be determined as the target unloading point 350 according to the amount of unloadable material of the at least two candidate unloading points 350. In this way, it can be ensured that the target unloading point 350 has sufficient amount of unloadable material to unload all the material currently required to be unloaded by the loading device 100 at one unloading point 350.

[0077] Optionally, in some embodiments of the present application, the unloading method further comprises: determining the priority order of the preset number of unloading points 350 included in the unloading area 300. That is, after responding to the unloading instruction, the loading device 100 can first determine the priority order of the preset number of unloading points 350, and then determine the target unloading point 350 according to the priority order of the preset number of unloading points 350.

[0078] Specifically, referring again to FIG. 1B, in one embodiment of the present application, the step of determining the priority order of the preset number of unloading points 350 included in the unloading area 300 comprises:

[0079] determining the priority of each of the unloading points 350 based on the distance between the unloading point 350 and the entrance 450; wherein the greater the distance between the unloading point 350 and the entrance 450, the higher the priority of the unloading point 350.

[0080] In the example of FIG. IB, the unloading area 300 includes 7 unloading points 350, and the distance between each of the unloading points 350 and the entrance 450 is different. Thus, the 7 unloading points 350 are divided into 7 priorities according to the distance from the entrance 450, i.e., the unloading point 350 farthest from the entrance 450 has the highest priority. It is understood that, as mentioned above, when at least two unloading points 350 have the same distance from the entrance 450, the at least two unloading points 350 have the same priority, and any one of the at least two unloading points 350 can be determined as the target unloading point 350, which will not be described herein again.

[0081] Referring to FIG. ID, in another embodiment of the present application, the preset number of unloading points 350 are sequentially distributed in the unloading area 300 according to a preset order, and each of the unloading points 350 has a corresponding serial number (corresponding to the serial numbers 1 to 9 shown in FIG. ID). The priority order of the preset number of unloading points 350 included in the unloading area 300 is determined as follows:

[0082] The priority of each of the unloading points 350 is determined based on the corresponding serial number of the preset number of unloading points 350. The smaller the serial number of the unloading point 350, the higher the priority of the unloading point 350.

[0083] In the example of FIG. ID, the unloading area 300 includes 9 unloading points 350, and the 9 unloading points 350 are arranged in multiple columns in the order of from top to bottom and then from left to right, and sequentially correspond to the serial numbers 1 to 9. Thus, the unloading point 350 with the smallest serial number is the unloading point 350 with the highest priority.

[0084] In other embodiments, the preset number of unloading points 350 in the unloading area 300 can also be arranged in other orders, such as but not limited to arranged in multiple columns in the order of from bottom to top and then from left to right, or arranged in multiple rows in the order of from left to right and then from top to bottom, which will not be limited herein. Of course, the preset number of unloading points 350 can also be arranged in a specific order to form a snake shape or an "arch" shape, which will not be described herein again.

[0085] Of course, in other embodiments of the present application, the priority order of the preset number of unloading points 350 included in the unloading area 300 can also be directly pre-stored in the memory of the loading device 100, and can be directly acquired by the control unit (or processor) of the loading device 100, so that the step of determining the priority order of the preset number of unloading points 350 is not needed, and the process of the unloading method is simplified.

[0086] Please refer to FIGS. 1B-1D again, preferably, in an embodiment of the present application, the distance between each two of the discharge points 350 is greater than or equal to a preset threshold, so as to ensure that the loading device 100 will not collide with the material already discharged in other discharge points 350 adjacent to the target discharge point 350 when discharging material in the target discharge point 350. For example, when the loading device 100 is a mower with a grass collecting and discharging function, the distance between each two of the discharge points 350 is greater than or equal to the length of the mower, so that the mower will not collide with the grass pile already discharged in other discharge points 350 when rotating around the target discharge point 350 to dump the grass clippings in the target discharge point 350.

[0087] It can also be preferred that, as shown in FIGS. 1B-1D, in an embodiment of the present application, the preset number of discharge points 350 are evenly distributed in the discharge area 300, so that the loading device 100 can uniformly discharge material in the discharge area 300, and the material pile formed by the discharge is more neatly arranged and more beautiful.

[0088] It should be noted that, in an embodiment of the present application, the discharge area 300 can be set as a first preset pattern (not limited to a square), and the preset number of discharge points 350 can be arranged as a second preset pattern (not limited to a dot matrix pattern). For example, in the example of FIG. 1D, the first preset pattern of the discharge area 300 is a square, and the second preset pattern in which the preset number of discharge points 350 are arranged is a matrix dot matrix pattern; in the example of FIG. 1E, the first preset pattern of the discharge area 300 is a circle, and the second preset pattern in which the preset number of discharge points 350 are arranged is a ring dot matrix pattern; in this way, the first preset pattern and the second preset pattern are adapted, which can bring a neat visual effect. Of course, in other embodiments, the first preset pattern and the second preset pattern can also be not adapted, which is not limited. In the example of FIG. 1E, the priority order of the preset number of discharge points 350 can be determined according to the distance between the discharge point 350 and the entrance 450, of course, the preset number of discharge points 350 can also be arranged in a preset order and set corresponding serial numbers to determine the priority order according to the serial numbers, which will not be described here.

[0089] Further, in some embodiments of the present application, before the priority order of the preset number of discharge points 350 comprised in the discharge area 300 is determined as the target discharge point 350, the discharge method further comprises: determining the preset number according to the information of the material to be discharged and the parameters of the loading device 100. That is, in the present application, the number of discharge points 350 can be determined based on both the material and the loading device 100, which helps to improve the rationality of setting the discharge points 350 in the discharge area 300 and make full use of the space of the discharge area 300.

[0090] Specifically, in one embodiment of the present application, the information of the material to be discharged can include the total amount of the material to be discharged, and the parameters of the loading device 100 can include the capacity of the loading device 100 (i.e. the amount of material loaded at a time). The determination of the preset number according to the information of the material to be discharged and the parameters of the loading device 100 comprises:

[0091] calculating a target value obtained by dividing the total amount of the material to be discharged by the capacity of the loading device 100, and determining the preset number according to the target value.

[0092] It is not difficult to understand that the target value above can be an integer or a non-integer, and the smallest positive integer greater than or equal to the target value is equivalent to the number of discharges required for the loading device 100 to discharge the total amount of the material to be discharged. Preferably, in one embodiment of the present application, the preset number is equal to a reference value, and the reference value is the smallest positive integer greater than or equal to the target value. That is, in this embodiment, the number of discharge points 350 is the same as the number of discharges required for the loading device 100, which can ensure that each discharge point 350 is used to discharge the material only once, thereby avoiding the problem of accumulation of the material.

[0093] In other embodiments of the present application, the preset number can also be less than the reference value, i.e. the number of discharge points 350 is less than the number of discharges required for the loading device 100, and at least one discharge point 350 needs to discharge at least twice; of course, the preset number can also be greater than the reference value, i.e. the number of discharge points 350 is greater than the number of discharges required for the loading device 100, so as to reserve a certain margin to avoid the number of discharge points 350 being insufficient due to calculation errors.

[0094] More specifically, in one of the embodiments of the present application, the loading device 100 comprises a mower with an integrated grass unloading function, the working area 200 is a lawn to be mowed, the material comprises grass clippings, the total amount of the material to be unloaded comprises the total amount of the grass clippings to be mowed on the lawn, and the capacity of the loading device 100 comprises the grass collecting volume of the mower. In this embodiment, the target value obtained by dividing the total amount of the grass clippings by the capacity of the loading device 100, and the preset number determined according to the target value, comprises: a target value obtained by dividing the total amount of the grass clippings by the grass collecting volume, and the preset number obtained according to the target value.

[0095] Optionally, when the loading device 100 is a mower, before the target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device 100, and the preset number determined according to the target value, the unloading method further comprises:

[0096] obtaining the total area and the lawn density of the lawn; and

[0097] determining the total amount of the grass clippings to be mowed on the lawn according to the total area and the lawn density of the lawn.

[0098] It is not difficult to understand that the total amount of the grass clippings to be mowed on the lawn is positively correlated with the total area of the lawn and the lawn density of the lawn, that is, the larger the total area of the lawn, the larger the total amount of the grass clippings to be mowed on the lawn, and the larger the lawn density of the lawn, the larger the total amount of the grass clippings to be mowed on the lawn, and correspondingly, the larger the preset number of the unloading point 350.

[0099] Specifically, in one of the embodiments of the present application, the determination of the total amount of the grass clippings to be mowed on the lawn according to the total area and the lawn density of the lawn comprises:

[0100] calculating the total amount of the grass clippings to be mowed on the lawn according to the total area and the lawn density of the lawn and a first formula;

[0101] wherein the first formula is S=A1*D, S represents the total amount of the grass clippings to be mowed on the lawn, D represents the lawn density of the lawn, and A1 represents the total area of the lawn.

[0102] It should be noted that in other embodiments of the present application, the first formula can also be S=A1*D*K, or S=A1*D+S1, or A1*D*K+S1, etc. Wherein K is a margin coefficient, S1 is an offset, and the value range of the margin coefficient K can be 1.0-1.2, and the value of the offset S1 can be determined according to the total area A1 of the lawn.

[0103] It should be further noted that the lawn density is the volume of the grass clippings generated after the area of the unit area of the lawn is mowed, and generally, the total amount of the grass clippings S to be cut of the lawn is measured in m3, the total area of the lawn is measured in m2, and the lawn density D of the lawn is measured in m3 / m2.

[0104] It can be understood that the mower includes a cutter head for mowing, and the reserved height of the lawn after mowing can be adjusted by adjusting the height of the cutter head. In the embodiment of the present application, the cutter blade of the mower is set to a preset cutter head height, so that the reserved height of the grass in all areas of the lawn after mowing by the mower on the lawn of the working area 200 is the preset cutter head height, which is highly consistent, and is conducive to improving the accuracy of the calculation result of the total amount of the grass clippings S to be cut of the lawn.

[0105] Optionally, in one of the embodiments of the present application, before the total amount of the grass clippings S to be cut of the lawn is determined according to the total area and the lawn density of the lawn, the unloading method further comprises:

[0106] controlling the loading device 100 to mow a preset sub-area in the working area 200, and the volume of the grass clippings cut in the preset sub-area is less than or equal to the capacity of the loading device 100;

[0107] calculating the lawn density of the lawn according to the area of the preset sub-area of the working area 200, the volume of the grass clippings cut in the preset sub-area, and a second formula.

[0108] In the formula, V represents the volume of the grass clippings cut in the preset sub-area, and A2 represents the area of the preset sub-area.

[0109] That is, in one of the embodiments of the present application, the preset sub-area in the working area 200 can be mowed first, the lawn density of the lawn is calculated according to the volume of the grass clippings cut in the preset sub-area, and then the total amount of the grass clippings S to be cut of the lawn is calculated according to the lawn density of the lawn, and the accuracy of the calculation result is high.

[0110] Of course, in other embodiments of the present application, the lawn density of the lawn can also be directly pre-stored in the memory of the mower, and can be directly obtained by the control unit (or processor) of the mower, so that the step of calculating the lawn density of the lawn does not need to be performed, and the process of the unloading method is simplified.

[0111] Please refer to FIG. 1B to FIG. 1E again, in one embodiment of the present application, after the preset number is determined according to the information of the material to be unloaded and the parameters of the loading device 100, the unloading method further comprises:

[0112] According to the target distribution pattern, the position of each unloading point in the preset number of unloading points 350 in the unloading area 300 is determined, so that the preset number of unloading points 350 are arranged to form the target distribution pattern. The target distribution pattern, i.e. the second preset pattern mentioned above, is not limited to a matrix dot pattern, a ring dot pattern, etc. By arranging the preset number of unloading points 350 into a target distribution pattern, the aesthetic appearance after unloading of the material can be improved.

[0113] Please refer to FIG. 2A, which is a flowchart of the unloading method in one embodiment of the present application. The unloading method is used to control a loading device to unload the material loaded by the loading device, and the unloading method comprises:

[0114] S1: determining a target sub-area according to the priority order of a plurality of sub-areas in an unloading area, wherein the unloading area is located outside a working area where the loading device loads the material, and a connecting passage is provided between the unloading area and the working area;

[0115] S2: controlling the loading device to move from the working area to the target sub-area of the unloading area through the entrance of the connecting passage for unloading operation.

[0116] Specifically, the unloading area is divided into a plurality of sub-areas, and since the unloading area is located outside the working area, the connecting passage is provided between the unloading area and the working area to connect the unloading area and the working area. The loading device determines the current target sub-area according to the priority order of the plurality of sub-areas, and the loading device responds to the control instruction after loading the material in the working area to move from the working area to the entrance of the connecting passage through the connecting passage, and to move from the entrance of the connecting passage to the target sub-area for unloading the material.

[0117] Therefore, by dividing the unloading area, the loading device can unload materials to the target sub-area, avoiding the situation that the loading device only unloads materials to a fixed area in the unloading area, and the material is too high after multiple unloading to affect the unloading efficiency, and the unloading space is more fully utilized. In addition, according to the priority order of the plurality of sub-areas, the loading device moves from the entrance of the connecting channel to the target sub-area in sequence, so that the path planning of the loading device can avoid the situation that some sub-areas are blocked by other sub-areas, so that the loading device cannot reach the target sub-area, thereby improving the unloading efficiency of the loading device. It can also avoid the situation that the loading device collides with the material in other sub-areas during movement, causing the already unloaded material to collapse, so that the loading device can better plan the path.

[0118] Please refer to Figures 2B-2D, Figure 2B is a schematic diagram of the working area 200 and the unloading area 300 in an embodiment of the present application, Figure 2C is a schematic diagram of the working area 200 and the unloading area 300 in another embodiment of the present application, and Figure 2D is a schematic diagram of the working area 200 and the unloading area 300 in another embodiment of the present application. Among them, Figures 2B-2D respectively show different shapes of the unloading area 300. Further, the unloading area 300 and the working area 200 are connected through the connecting channel 400, and the intersection area of the connecting channel 400 and the unloading area 300 is set as the entrance 500 of the connecting channel, so that the loading device 100 moves in the connecting channel 400 to the unloading area 300, avoiding the loading device 100 being damaged due to external area scratching, and also improving the unloading efficiency of the loading device 100.

[0119] As shown in Figure 2B, the unloading area 300 is rectangular, and the rectangular unloading area 300 is divided into a plurality of grid-shaped sub-areas 31. If the unloading area 300 is evenly divided into a plurality of grid-shaped sub-areas 31, the areas of the plurality of grid-shaped sub-areas 31 are the same. If the unloading area 300 is not evenly divided into a plurality of grid-shaped sub-areas 31, the areas of at least two of the plurality of grid-shaped sub-areas 31 are different.

[0120] As shown in FIG. 2C, specifically, the unloading area 300 is circular, and the unloading area 300 is divided into a plurality of concentric circles, so that the annular areas divided and the circular area in the middle together constitute the plurality of sub-areas 31. If the unloading area 300 is evenly divided into a plurality of concentric circles, the radii of two adjacent concentric circles in the plurality of concentric circles are the same. If the unloading area 300 is unevenly divided into a plurality of concentric circles, the radii of at least two adjacent concentric circles in the plurality of concentric circles are different. As shown in FIG. 2D, the unloading area 300 is a sector, and the sector-shaped unloading area 300 is divided into a plurality of sub-areas 31.

[0121] It can be understood that the unloading area 300 can be evenly divided into a plurality of sub-areas 31, or the unloading area 300 can be unevenly divided into a plurality of sub-areas 31. The shape of the unloading area 300 is not limited to the shapes of the rectangle, the circle, and the sector, and the method of dividing the unloading area 300 into a plurality of different sub-areas 31 is not limited to the above-mentioned division method, which is not limited here.

[0122] In some embodiments, the length of the connection channel 400 is the shortest straight line distance between the working area 200 and the unloading area 300.

[0123] In some embodiments, the determining the target sub-area according to the priority order of the plurality of sub-areas in the unloading area comprises:

[0124] determining the priority of each sub-area based on a first distance from a region center point of each sub-area to the entrance of the connection channel.

[0125] Thus, the first distance of each sub-area 31 to the entrance 500 of the connection channel is calculated based on the region center point of each sub-area 31, and the priority of each sub-area 31 is determined according to the first distance, which provides a standard for determining the priority of each sub-area 31, and can better and more accurately determine the priority of each sub-area 31, thereby improving the accuracy of the priority of each sub-area 31.

[0126] In some embodiments, the unloading method further comprises:

[0127] The greater the first distance, the higher the first priority of the sub-area corresponding to the first distance.

[0128] Specifically, in combination with the above, the first distance from the region center point of each sub-region 31 to the entrance 500 of the connecting channel is arranged in descending order, and the priority order of the arrival of the loading device 100 is arranged according to the arranged order, that is, the sub-region 31 with the largest first distance is the first target sub-region arrived by the loading device, and the sub-region 31 with the smallest first distance is the last target sub-region arrived by the loading device.

[0129] Therefore, the loading device 100 sequentially arrives at the target sub-regions according to the priority order, and the path planning method can avoid the situation that some sub-regions 31 are blocked by other sub-regions 31 so that the loading device 100 cannot arrive, improve the unloading efficiency of the loading device 100, and also avoid the situation that the loading device 100 collides with the material of other sub-regions 31 in the movement process, so that the unloaded material collapses.

[0130] In some embodiments, as shown in FIGS. 2B-2D, the entrance 500 of the connecting channel is a fixed region, a fixed point can be set in the region including the entrance 500 of the connecting channel, the straight-line distance between the region center point of each sub-region 31 and the fixed point is calculated, and then the first distance of each sub-region 31 is calculated to determine the priority order corresponding to the plurality of sub-regions 31 in the unloading region 300.

[0131] In some embodiments, the unloading method further comprises:

[0132] When the first distances are equal, a forbidden region is set at the entrance of the connecting channel, the forbidden region is not used for unloading material, and the first priority of each sub-region is sequentially reduced along the radial direction of the region center point of the unloading region as the starting point, wherein the sub-region closer to the region center point of the unloading region corresponds to a higher first priority.

[0133] Therefore, the forbidden region is set according to the above steps, and the first priority is set according to the distance along the radial direction of the region center point of the unloading region 300 as the starting point to further subdivide the priority of each sub-region 31 when the first distances are equal, to avoid the situation that some sub-regions 31 are blocked by other sub-regions 31 so that the loading device cannot arrive, improve the unloading efficiency of the loading device 100, and also avoid the situation that the loading device 100 collides with the material of other sub-regions 31 in the movement process, so that the unloaded material collapses.

[0134] Specifically, this step is mainly applied to FIG. 2C. When the unloading area 300 is circular, the area center points of the plurality of concentric circular sub-areas 31 are all the center of the circular unloading area 300, and thus the first distances of the plurality of concentric circular sub-areas 31 are equal. Therefore, the priority of the plurality of sub-areas 31 can be determined according to the above steps when the plurality of first distances are equal. The forbidden area is located at the entrance 500 of the connecting channel to avoid the situation that the loading device 100 cannot move to the working area 200 through the connecting channel 400 when the loading device 100 unloads materials at the entrance 500 of the connecting channel. The size of the forbidden area can be set according to actual needs, which is not limited here.

[0135] In some embodiments, the target sub-area is determined according to the priority order of the plurality of sub-areas in the unloading area, including:

[0136] The sub-area with the highest first priority is selected as the target sub-area from the plurality of sub-areas.

[0137] In combination with the above, in FIG. 2C, the materials are unloaded in the order from high to low of the first priority, that is, in the order from the innermost circular area to the outermost annular area in the plurality of concentric circles.

[0138] Therefore, the loading device 100 is controlled to sequentially go to the sub-areas 31 to unload materials in the order from high to low of the first priority, to avoid the situation that some sub-areas 31 are blocked by other sub-areas 31 and the loading device 100 cannot reach them, improve the unloading efficiency of the loading device 100, and also avoid the situation that the loading device 100 collides with the materials in other sub-areas 31 during movement, and the unloaded materials fall down.

[0139] In some embodiments, the unloading method further includes:

[0140] The target unloading point is selected from at least one unloading point contained in the target sub-area.

[0141] Therefore, at least one unloading point 32 is arranged in each sub-area 31, and the target unloading point is selected from at least one unloading point 32 contained in the target sub-area, to control the loading device 100 to go to the target unloading point to unload materials, to fully utilize the unloading area, avoid the situation that the loading device 100 unloads materials at one unloading point 32 multiple times, and thus avoid the situation that the materials are too much to hinder the movement of the loading device 100.

[0142] Specifically, each unloading point corresponds to an operation of unloading material by the loading device 100, after determining the target unloading point in the target sub-region, the loading device 100 goes to the target unloading point to unload material in response to the control instruction, and after the loading device 100 finishes unloading material, it returns to the working area 200 through the connecting channel 400 to load material again, at this time, a new target unloading point is determined again, and the loading device 100 goes to the new target unloading point to unload material.

[0143] Please refer to FIG. 2E, which is a flow chart of the unloading method in another embodiment of the present application. The target unloading point is selected from at least one unloading point contained in the target sub-region, including:

[0144] S31: selecting the unloading point with the highest second priority from the at least one unloading point contained in the target sub-region as the target unloading point;

[0145] The control of the loading device to move from the working area to the target sub-region of the unloading area through the entrance of the connecting channel for unloading operation includes:

[0146] S32: controlling the loading device to move from the working area to the target unloading point of the target sub-region through the entrance of the connecting channel for unloading operation.

[0147] Therefore, at least one unloading point 32 is arranged in each sub-region 31, and a target sub-region is determined in the plurality of sub-regions 31, so as to select the target unloading point from at least one unloading point 32 contained in the target sub-region, and control the loading device 100 to go to the target unloading point to unload material, so as to make full use of the unloading area, avoid the loading device 100 unloading multiple times at one unloading point 32 and causing too much material, and further avoid the situation that too much material hinders the movement of the loading device 100.

[0148] Please refer to FIG. 2F, which is a further sub-flow chart of step S31 of FIG. 2E. The target unloading point is selected from at least one unloading point contained in the target sub-region, including:

[0149] S311: calculating a second distance between each unloading point in the target sub-region and the entrance of the connecting channel;

[0150] S312: sorting the calculated second distances in descending order, and determining the respective priorities of each unloading point according to the sorting result, wherein the greater the second distance is, the higher the second priority of the unloading point corresponding to the second distance is.

[0151] Therefore, the loading device 100 unloads the materials to the corresponding unloading points 32 in the target sub-region according to the second priority order, so as to avoid the movement route of the loading device 100 being blocked, thereby improving the unloading efficiency.

[0152] Specifically, the target sub-region is determined according to the above steps, and the second distance between each unloading point 32 in the target sub-region and the entrance 500 of the connecting channel is calculated. Since the loading device 100 starts from the entrance 500 of the connecting channel, the loading device 100 needs to unload the materials in a certain order to avoid the movement route of the loading device 100 being blocked. Therefore, the second distance corresponding to each unloading point 32 in the target sub-region is sorted in descending order, and the unloading point 32 with the largest second distance is set as the unloading point 32 with the highest priority order, that is, the unloading point representing the first unloading operation of the loading device 100, and the priority order is set in sequence according to the sorting result.

[0153] In some embodiments, the second distance is the straight-line distance between each unloading point 32 and the entrance 500 of the connecting channel.

[0154] Please refer to FIGS. 2G-2I together, FIG. 2G is a schematic view of the unloading point 32 in FIG. 2B, FIG. 2H is a schematic view of the unloading point 32 in FIG. 2C, and FIG. 2I is a schematic view of the unloading point 32 in FIG. 2D. In some embodiments, as shown in FIGS. 2G-2I, the entrance 500 of the connecting channel is a fixed region, a fixed point can be set in the entrance 500 of the connecting channel, the straight-line distance between each unloading point 32 in the target sub-region and the fixed point is calculated, and then the second distance between each unloading point 32 in the target sub-region and the entrance 500 of the connecting channel is calculated, so as to determine the priority order of the unloading points 32 in the target sub-region.

[0155] Please refer to FIG. 2J, which is a flowchart of determining the target unloading point in the candidate unloading points. The unloading method further comprises:

[0156] S41: determining the unloading points in the target sub-region that have not unloaded the materials as the candidate unloading points; and

[0157] S42: determining the unloading point with the highest second priority in the candidate unloading points as the target unloading point.

[0158] Thus, the unloading point 32 in the target sub-region which has not unloaded material is selected as a candidate unloading point, and a target unloading point is selected in the candidate unloading point to unload material, so as to avoid the movement route of the loading device 100 being blocked, improve the unloading efficiency, and avoid the loading device 100 unloading multiple times at one unloading point 32 to cause excessive material, and further avoid the case that the excessive material blocks the movement of the loading device 100.

[0159] In some embodiments, the method further comprises:

[0160] When the second priority of only one candidate unloading point is the highest, the candidate unloading point with the highest second priority is determined as the target unloading point.

[0161] When the second priority of at least two candidate unloading points is the highest, any one of the at least two candidate unloading points is determined as the target unloading point, or the candidate unloading point with the maximum unloadable material amount is determined as the target unloading point according to the unloadable material amount of the at least two candidate unloading points.

[0162] Specifically, when the second priority order of at least two candidate unloading points is the highest, that is, the priority order of the at least two candidate unloading points is the same, any one of them is selected as the target unloading point, or each unloading point 32 is provided with a respective unloadable material amount, if the priority order of the at least two candidate unloading points is the same and the unloadable material amount is different, the candidate unloading point with the maximum unloadable material amount is determined as the target unloading point, if the priority order and the unloadable material amount of the at least two candidate unloading points are the same, any one of them is selected as the target unloading point.

[0163] Thus, the efficiency of path planning and resource access is ensured, and the unloading area 300 is fully utilized, and the loading device 100 unloading multiple times at one unloading point 32 to cause excessive material is avoided, and further the case that the excessive material blocks the movement of the loading device 100 is avoided.

[0164] In some embodiments, as shown in FIG. 2G, when one drop-off point 32 is arranged in each of the sub-regions 31, it is not necessary to determine whether the sub-region 31 is a target sub-region, but to directly calculate the second distance between each of the drop-off points 32 and the entrance 500 of the connecting channel, so as to preliminarily determine the priority order of all the drop-off points 32 in the drop-off region 300 based on the plurality of second distances, that is, to determine the priority order of the plurality of sub-regions 31, and when the candidate drop-off points existing in all the drop-off points 32 are determined, the candidate drop-off point with the highest priority order among all the candidate drop-off points can be determined as the target drop-off point according to the priority order of all the drop-off points 32 preliminarily determined.

[0165] In some embodiments, when at least one drop-off point 32 is arranged in each of the sub-regions 31, it is not necessary to determine whether the sub-region 31 is a target sub-region, but to directly calculate the second distance between each of the drop-off points 32 and the entrance 500 of the connecting channel according to the method described above, so as to preliminarily determine the priority order of all the drop-off points 32 in the drop-off region 300 based on the plurality of second distances, and the priority order obtained at this time is not necessarily the priority order of the plurality of sub-regions 31.

[0166] Please refer to FIG. 2K, which is a flow chart of dividing the sub-regions 31 and determining the drop-off points 32 in an embodiment of the present application. The drop-off method further comprises:

[0167] S51: dividing the drop-off region into a plurality of grid-shaped sub-regions;

[0168] S52: determining at least one drop-off point corresponding to each of the sub-regions, so as to obtain a plurality of drop-off points corresponding to the plurality of sub-regions.

[0169] Therefore, by dividing the drop-off region 300 and arranging the drop-off points 32 through the sub-regions 31 obtained after the division, it is ensured that the loading device 100 unloads the materials to the corresponding region at the target drop-off point, which avoids the situation that the loading device 100 only unloads the materials to a fixed region in the drop-off region 300, and the materials are too high after multiple unloading to affect the unloading efficiency, and the drop-off space is more fully utilized.

[0170] Please refer to FIG. 2L, which is a further sub-flow chart of step S52 of FIG. 2K. The step of determining at least one drop-off point corresponding to each of the sub-regions, so as to obtain a plurality of drop-off points corresponding to the plurality of sub-regions, comprises:

[0171] S61: determining a position point in one of the plurality of grid-shaped sub-regions as a first drop-off point, or determining a position point on the boundary of one of the plurality of grid-shaped sub-regions as a first drop-off point.

[0172] S62: determining positions of the rest of the discharge points corresponding to the plurality of sub-regions according to the position of the first discharge point and a preset rule, to obtain a plurality of discharge points corresponding to the plurality of sub-regions, wherein the preset rule at least comprises that a straight-line distance between two adjacent discharge points in the plurality of discharge points is greater than or equal to a vehicle length of the loading device.

[0173] Therefore, by dividing the discharge region 300 and setting the discharge points 32 in the sub-regions obtained after the division, it is ensured that the loading device 100 discharges materials to the corresponding region at the target discharge point, avoiding the situation that the loading device 100 only discharges materials to a fixed region of the discharge region 300, and the material is too high after multiple discharges to affect the discharge efficiency, and the discharge space is more fully utilized. In addition, according to the preset rule, a plurality of discharge points 32 are set, which can avoid the situation that the loading device 100 collides with the materials of other discharge points 32 during movement, causing the discharged materials to collapse.

[0174] Specifically, as shown in FIG. 2G, the method of dividing the discharge region 300 into a plurality of sub-regions 31 in FIG. 2G is the same as that in FIG. 2B. After obtaining 20 sub-regions 31, a discharge point 32 needs to be set at the center position of each sub-region 31. A discharge point 32 is first set at the middle position in one of the plurality of grid-shaped sub-regions 31, which is taken as the first discharge point 32. The rest of the 19 discharge points 32 are obtained according to the position of the first discharge point 32 and the preset rule. Then, the 20 discharge points 32 are sequentially sorted in the order of the second distance from large to small, and are labeled from number 1 to number 20, to obtain the priority order of the 20 discharge points 32. The length of each grid-shaped sub-region 31 also needs to meet certain conditions, so that the straight-line distance between two adjacent discharge points 32 in the plurality of discharge points 32 is equal to the vehicle length of the loading device 100.

[0175] In another embodiment, after obtaining the plurality of sub-regions 31, a position point on the boundary of one of the plurality of grid-shaped sub-regions 31 is determined as the first discharge point 32, and the rest of the discharge points 32 can be on the boundary or in the sub-region 31. The number of discharge points 32 in each sub-region 31 is at least one, and the setting of the discharge points 32 can be performed according to actual needs, as long as the straight-line distance between two adjacent discharge points 32 in the plurality of discharge points 32 is greater than or equal to the vehicle length of the loading device 100, which is not limited here.

[0176] In some embodiments, the preset rule further comprises a number of the drop-off points 32 corresponding to each of the sub-regions 31, and the condition that the straight-line distance between any two adjacent drop-off points 32 in the plurality of drop-off points 32 is greater than or equal to the length of the vehicle of the loading device 100 is still required to be met.

[0177] In some embodiments, the preset rule further comprises a drop-off point trajectory, and a drop-off point trajectory is preset to determine the remaining drop-off points 32 corresponding to the plurality of sub-regions 31 according to the position of the first drop-off point 32 and the drop-off point trajectory, so as to obtain the plurality of drop-off points 32 corresponding to the plurality of sub-regions 31, wherein the condition that the straight-line distance between any two adjacent drop-off points 32 in the plurality of drop-off points 32 is greater than or equal to the length of the vehicle of the loading device 100 is still required to be met when the drop-off point trajectory is set.

[0178] Specifically, in some embodiments, the loading device 100 comprises a vehicle body and a drop-off frame, and the loading device 100 can rotate around the drop-off point 32 to unload the material in the drop-off frame to the area where the drop-off point 32 is located after reaching the target drop-off point 32. In order to avoid colliding with the material on other drop-off points 32 during rotation, the straight-line distance between any two adjacent drop-off points 32 should be greater than or equal to the length of the vehicle of the loading device 100, wherein the length of the vehicle is the length of the vehicle body.

[0179] In some embodiments, the length of the vehicle body is 0.5 m, and the length of the drop-off frame is 0.5 m, so the straight-line distance between any two adjacent drop-off points 32 should be greater than or equal to 0.5 m.

[0180] In some embodiments, the determination of a position point in one of the plurality of grid-shaped sub-regions as the first drop-off point, or the determination of a position point on the boundary of one of the plurality of grid-shaped sub-regions as the first drop-off point, comprises:

[0181] determining a position point in one of the plurality of grid-shaped sub-regions that has the maximum straight-line distance from the entrance of the connecting channel as the first drop-off point, or determining a position point on the boundary of one of the plurality of grid-shaped sub-regions that has the maximum straight-line distance from the entrance of the connecting channel as the first drop-off point.

[0182] Thus, the position point that has the maximum straight-line distance from the entrance 500 of the connecting channel is determined as the first drop-off point 32, so as to better unload and avoid the material after unloading from hindering the movement of the loading device 100, thereby ensuring the efficiency of path planning and resource access.

[0183] Referring to FIG. 2M, which is a flowchart of dividing the sub-region 31 and determining the drop-off point 32 in another embodiment of the present application. The drop-off method further comprises:

[0184] S71: dividing the circular drop-off region into a plurality of concentric circles to form a plurality of sub-regions;

[0185] S72: determining at least one drop-off point corresponding to each of the sub-regions to obtain a plurality of drop-off points corresponding to the plurality of sub-regions.

[0186] Therefore, by dividing the drop-off region 300 and setting the drop-off points 32 through the sub-regions 31 obtained after the division, it is ensured that the loading device 100 drops the materials to the corresponding region at the target drop-off point, avoiding the situation that the loading device 100 only drops the materials to a fixed region in the drop-off region 300, which causes the materials to be too high after multiple drop-offs to affect the drop-off efficiency, and the drop-off space is more fully utilized.

[0187] Referring to FIG. 2N, which is a further sub-flowchart of step S72 of FIG. 2E. The determination of at least one drop-off point corresponding to each of the sub-regions to obtain a plurality of drop-off points corresponding to the plurality of sub-regions comprises:

[0188] S81: determining a position point in each of the plurality of sub-regions as the first drop-off point in each of the sub-regions, or determining a position point on the boundary of each of the plurality of sub-regions as the first drop-off point in each of the sub-regions;

[0189] S82: determining the positions of the remaining drop-off points in each of the sub-regions according to the position of the first drop-off point in each of the sub-regions and a preset rule to obtain a plurality of drop-off points corresponding to the plurality of sub-regions, wherein the preset rule at least comprises that the straight-line distance between two adjacent drop-off points in the plurality of drop-off points is greater than or equal to the length of the loading device.

[0190] Therefore, by dividing the drop-off region 300 and setting the drop-off points 32 through the sub-regions 31 obtained after the division, it is ensured that the loading device 100 drops the materials to the corresponding region at the target drop-off point, avoiding the situation that the loading device 100 only drops the materials to a fixed region in the drop-off region 300, which causes the materials to be too high after multiple drop-offs to affect the drop-off efficiency, and the drop-off space is more fully utilized.

[0191] As shown in FIG. 2H, the method of dividing the unloading area 300 into a plurality of sub-areas 31 in FIG. 2H and FIG. 2C is the same, and after obtaining the plurality of sub-areas 31, a position point in each of the sub-areas 31 or on the boundary of each of the sub-areas 31 is set as a first unloading point 32 in each of the sub-areas 31, and the positions of the remaining unloading points 32 in each of the sub-areas 31 are determined according to the position of the first unloading point 32 and a preset rule, so as to obtain a plurality of unloading points 32 corresponding to the plurality of sub-areas 31.

[0192] In some embodiments, the preset rule further comprises an unloading point trajectory, and an unloading point trajectory is preset to determine the positions of the remaining unloading points 32 in each of the sub-areas 31 according to the position of the first unloading point 32 and the unloading point trajectory, so as to obtain a plurality of unloading points 32 corresponding to the plurality of sub-areas 31, wherein when the unloading point trajectory is set, the condition that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the vehicle length of the loading device 100 still needs to be met.

[0193] In some embodiments, the preset number of unloading points 32 on the boundary of each of the sub-areas 31 can be determined according to the preset rule that the straight-line distance between two adjacent unloading points 32 in the plurality of unloading points 32 is greater than or equal to the vehicle length of the loading device 100.

[0194] In some embodiments, specifically, in the unloading area 300 and the plurality of sub-areas 31 in FIG. 2H, a target sub-area is not determined, but the straight-line distances between the plurality of unloading points 32 and the entrance 500 of the connecting channel are directly calculated, the plurality of straight-line distances obtained are sorted in descending order, and the priority of the plurality of unloading points 32 is determined according to the sorting order. Among them, the higher the priority of the unloading point 32 with the greater straight-line distance, that is, the earlier the loading device 100 reaches the unloading point 32 to unload materials.

[0195] As shown in FIG. 2I, specifically, the unloading area 300 is a fan shape, the unloading area 300 is divided into a plurality of sub-areas 31, after obtaining the plurality of sub-areas 31, the vertex of the fan shape is determined as a first unloading point 32, and the positions of the remaining unloading points 32 in each of the sub-areas 31 are determined according to the position of the first unloading point 32 and a preset rule, so as to obtain a plurality of unloading points 32 corresponding to the plurality of sub-areas 31.

[0196] In some embodiments, the method of determining a position point in each of the plurality of sub-areas as a first unloading point in each of the plurality of sub-areas, or determining a position point on the boundary of each of the plurality of sub-areas as a first unloading point in each of the plurality of sub-areas, comprises:

[0197] determining a position point with the largest straight-line distance from the entrance of the connecting channel in each of the sub-regions as a first unloading point of each of the sub-regions, or determining a position point with the largest straight-line distance between the entrance of the connecting channel and the boundary of each of the sub-regions as a first unloading point of each of the sub-regions.

[0198] Therefore, a position point with the largest straight-line distance from the entrance 500 of the connecting channel is determined as the first unloading point 32 to better perform unloading, avoid hindering the movement of the loading device 100 after unloading, and ensure the efficiency of path planning and resource access.

[0199] In some embodiments, if the straight-line distance between part of the unloading points 32 and the entrance 500 of the connecting channel is less than a preset distance, the part of the unloading points 32 is removed.

[0200] In some embodiments, the unloading method further comprises:

[0201] The loading device moves to the entrance of the connecting channel after completing unloading in the target sub-region, and returns to the working area from the entrance of the connecting channel to load materials.

[0202] Therefore, each of the unloading points 32 corresponds to an operation of unloading materials, and the loading device 100 needs to return to the working area 200 to load materials again after unloading materials, to ensure the continuity of the unloading operation.

[0203] In some embodiments, the loading device 100 is a mower, the mower includes a vehicle body and an unloading frame, the working area 200 is a grassland, the unloading area 300 is an unloading area, the unloading point 32 is a grass unloading point, and the materials are grass or grass clippings.

[0204] Please refer to FIG. 3A, which is a schematic diagram of the position relationship between a mowing area and a grass unloading area according to an embodiment of the present application. The grass unloading area is located inside the mowing area.

[0205] The mowing area of FIG. 3A is the working area of the grass unloading device. The grass unloading device with a mowing function can perform mowing operation in the mowing area. It should be understood that the grass unloading device with a mowing function is sometimes also referred to as a mower, a mowing vehicle, a mowing machine, a mowing device, a mowing robot, etc., which is not limited in the present application as long as it is a device that can realize the mowing function.

[0206] The type of the mowing area is not specifically limited in the present application. For example, the mowing area can be an urban green space, a family garden, a sports field lawn, a wild green space, etc., or a garden, an agroforestry, a livestock field, etc.

[0207] The shape and size of the mowing area are not limited in the present application. For example, the mowing area can be a regular shape such as a circle, an ellipse, a sector, a triangle, a rectangle, or other polygons, or can be an irregular shape.

[0208] The grass unloading area of FIG. 3A is used for dumping the grass clippings cut by the mowing device. Specifically, when performing the weeding operation, the mowing device can temporarily collect the cut grass clippings by its grass collecting device (e.g., a grass collecting basket / case), and then when it is necessary to unload the grass (e.g., when the grass collecting device is full or reaches a certain amount of stored grass clippings, or when the mowing device receives a grass unloading instruction), the mowing device goes to the grass unloading area to perform the grass unloading operation, thereby removing the stored grass clippings from the grass collecting device.

[0209] The shape and size of the grass unloading area are not limited in the present application. For example, the grass unloading area can be a regular shape such as a circle, an ellipse, a sector, a triangle, a rectangle, or other polygons, or can be an irregular shape.

[0210] It should be understood that, since the grass unloading area of FIG. 3A is located inside the mowing area, when the mowing device needs to unload the grass, it can enter the grass unloading area from any position of the mowing area in any direction, which is not limited in the present application.

[0211] Referring to FIG. 3B, which is a schematic diagram of the positional relationship between another mowing area and grass unloading area according to an embodiment of the present application, the grass unloading area is located outside the mowing area, and the grass unloading area and the mowing area are connected by a passageway.

[0212] Optionally, the grass unloading area and the mowing area can be connected by one passageway or by multiple passageways, and the start and end positions of the passageway are not limited in the present application.

[0213] It should be understood that, since the grass unloading area of FIG. 3B is located outside the mowing area, when the mowing device located in the mowing area needs to unload the grass, the mowing device first goes to the intersection of the mowing area and the passageway, and then drives along the passageway to the intersection of the grass unloading area and the passageway, and then performs the grass unloading operation in the grass unloading area.

[0214] It should be noted that the unloading equipment described in this application can be a device with both weeding and unloading functions, or a device with unloading function but no weeding function. For unloading equipment with only unloading function, the unloading equipment is used to collect grass clippings in the mowing area and then dump the collected grass clippings into the unloading area. It should also be noted that the size, shape, and positional relationship of the mowing area and the unloading area shown in Figures 3A and 3B are only examples and do not constitute specific limitations. In actual scenarios, the mowing area and the unloading area can also be other sizes, other shapes, and can have other positional relationships, such as the mowing area and the unloading area only partially overlapping.

[0215] Based on the foregoing description, the following describes an embodiment of the grass unloading point setting method provided in this application.

[0216] Please refer to Figure 3C, which is a flowchart illustrating a method for setting a grass unloading point according to an embodiment of this application, including steps S301 to S302.

[0217] S301. Obtain the boundary information and spacing threshold of the unloading area, wherein the spacing threshold is greater than or equal to the length of the unloading equipment.

[0218] It should be understood that the boundary information of the hay unloading area is used to indicate the boundary of the hay unloading area.

[0219] Optionally, the boundary information of the unloading area is generated based on the information input by the user.

[0220] For example, a user can specify the shape of the unloading area as circular in the user interface of the unloading equipment, and specify the center coordinates and radius. Then, the information specified by the user is used as the boundary information of the unloading area, and the boundary of the unloading area can be determined based on this boundary information.

[0221] For example, users can specify the type of polygon (such as triangle, rectangle, pentagon, hexagon, etc.) of the unloading area in the user interface of the unloading equipment, and input the position coordinates of each vertex of the polygon in the user interface. The position coordinates can be latitude and longitude in a geographic coordinate system, Mercator projection coordinates, or coordinates in a plane coordinate system, etc., and this application does not make specific limitations on them. Then, the above information input by the user is used as the boundary information of the unloading area, and the boundary of the unloading area can be determined based on the boundary information.

[0222] For example, by displaying a map on the user interface of the hay unloading equipment, users can directly draw / delineate the boundary of the hay unloading area on the map. Then, based on the user's operation and the map information, the boundary information of the hay unloading area is automatically generated to indicate the boundary of the hay unloading area.

[0223] It should be noted that the user interface of the above-mentioned grass unloading device can be displayed on the grass unloading device. For example, assuming that the grass unloading device is provided with a display screen, the display screen can directly display the user interface of the grass unloading device, so that the user can operate on the user interface. The user interface of the grass unloading device can also be displayed on other devices (such as smart phones, computers, smart large screens, etc.) other than the grass unloading device. For example, assuming that the user interface of the grass unloading device is displayed through a mobile phone, the user can directly operate on the mobile phone to generate the boundary information of the grass unloading area. Alternatively, the boundary information of the grass unloading area can be determined by the user by controlling the grass unloading device to move along the boundary of the grass unloading area.

[0224] For example, assuming that the grass unloading device has a boundary recording mode, the grass unloading device can record the position traveled in the mode based on its positioning module (such as a satellite positioning system), and then serve as the boundary information of the grass unloading area.

[0225] Specifically, the user can issue a recording instruction to the grass unloading device through a certain device (such as a smart phone, a computer, a smart large screen, a wearable device, etc.), and the grass unloading device enters the boundary recording mode after receiving the recording instruction. At this time, the user can control the grass unloading device to travel along the boundary of the desired grass unloading area, and at the same time, the grass unloading device records the position traveled through the positioning module during the travel. When the grass unloading device travels along the boundary of the grass unloading area once, the grass unloading device also obtains the boundary information of the grass unloading area, and then the user can instruct the grass unloading device to exit the boundary recording mode through the above-mentioned device. The grass unloading device can also send the obtained boundary information to the device for use in determining the target unloading point in the grass unloading area.

[0226] It should be understood that the distance threshold is used to limit the distance between the target unloading points arranged in the grass unloading area, and the target unloading points are used to dump grass clippings for the grass unloading device. In order to avoid the grass unloading device from colliding with the existing grass pile at other target unloading points when unloading grass at a target unloading point, the distance threshold usually needs to be greater than or equal to the length of the grass unloading device.

[0227] Alternatively, the distance threshold can be set by the user, or it can be a default value, or it can be determined in combination with the boundary information of the grass unloading area, the number of target unloading points to be set, etc., which are not limited in the present application.

[0228] For example, assuming that the length of the grass unloading device is 0.5 m, the user can set the distance threshold to be greater than or equal to a certain value of 0.5 m.

[0229] For another example, assuming that the unloading area is a square area with a side length of 2.4 meters, and the user specifies to set 9 target unloading points (3x3) uniformly in the unloading area, then the side length can be set as 2.4 ÷ (3+1) = 0.6, and then 0.6 meters can be set as the interval threshold, which is greater than the length 0.5 of the unloading device and meets the requirements.

[0230] For other contents of the unloading area, please refer to the related description of FIGS. 3A and 3B, which will not be repeated here.

[0231] S302, determining target unloading points in the unloading area according to the boundary information and the interval threshold, wherein the interval between any two target unloading points is greater than or equal to the interval threshold, and the target unloading points are used for dumping grass clippings for the unloading device.

[0232] The number of target unloading points is greater than or equal to 1. The number of target unloading points can be set by the user, can be a default value, or can be automatically determined according to the area, shape, etc. of the unloading area, which is not limited in the present application.

[0233] For example, the user can actively set the number of target unloading points to 10, and then 10 target unloading points will be determined in the unloading area.

[0234] For another example, assuming that the number of target unloading points is 5 by default, then only 5 target unloading points will be determined in any unloading area, and the coordinates of the 5 target unloading points in the unloading area are recorded.

[0235] For another example, assuming that 1 unloading point is required per square meter (i.e. the distribution density of target unloading points is 1 per square meter), and the unloading area is a rectangular area with a side length of 2 meters, since the area of the rectangular area is 2x2 = 4 square meters, then 4 ÷ 1 = 4 target unloading points can be set in the rectangular area.

[0236] For another example, the number of target unloading points can be determined according to the number of unloading times of the unloading device (i.e. the number of times the unloading device goes to the unloading area to unload) determined according to the lawn information of the mowing area and the unloading device parameters. The number of target unloading points can be an integer multiple of the number of unloading times. For example, if the number of target unloading points is equal to the number of unloading times, the unloading device can unload the grass clippings in the grass collecting device at one unloading point at a time. If the number of target unloading points is twice the number of unloading times, the unloading device can unload the grass clippings in the grass collecting device into two unloading points, and each of the two unloading points can only store half of the grass clippings in the grass collecting device. Alternatively, the number of unloading times can be an integer multiple of the number of target unloading points. For example, assuming that the number of unloading times is 20, and each target unloading point can be used for unloading twice, then the number of target unloading points is 10.

[0237] The above lawn information includes a lawn area A of the mowing area, a lawn density D (i.e. a volume of grass clippings per unit area after the lawn is mowed), and a mowing height H of the mowing device. Thus, the number of times of unloading can be calculated according to the following formula:

[0238] In a possible implementation, the position information of a plurality of candidate unloading points can be determined in the unloading area according to the boundary information of the unloading area, and then the target unloading point can be determined in the unloading area according to the position information of the plurality of candidate unloading points and the distance threshold. The number of the plurality of candidate unloading points is greater than or equal to the number of the target unloading points, and the number of data of the target unloading point is greater than 1. The number of the candidate unloading points can be set by a user, can be a default value, or can be determined automatically according to the area and shape of the unloading area, which is not limited in the present application. For example, it is assumed that the distribution density of the candidate unloading points is 2 per square meter, and thus 20 candidate unloading points are generated for a 10-square-meter unloading area.

[0239] Next, how to generate a plurality of candidate unloading points in the unloading area is introduced.

[0240] Optionally, the plurality of candidate unloading points can be randomly generated or uniformly distributed, and the manner of generating the candidate unloading points is not limited in the present application.

[0241] For example, it is assumed that the candidate unloading points are generated by using the random generation method: first, the boundary of the unloading area is determined (determined according to the boundary information), and the number of the candidate unloading points to be generated is set, and then a plurality of candidate unloading points satisfying the number requirement are randomly generated in the unloading area, to obtain the position information of the plurality of candidate unloading points. The position of each candidate unloading point is randomly determined, and the position information of each candidate unloading point is used to indicate the position of the candidate unloading point in the unloading area, for example, the coordinates of the candidate unloading point in a certain coordinate system can be used as the position information, which is not limited in the present application.

[0242] For another example, it is assumed that the Poisson distribution method is used, and then the plurality of candidate unloading points can be generated according to the following steps 1-5:

[0243] Step 1, determine the boundary of the unloading area (determined according to the boundary information), and set the average density of the candidate unloading points;

[0244] Step 2, randomly generate a starting point in the unloading area, add the starting point to the candidate unloading point set, and take the starting point as the current point;

[0245] Step 3, generate a neighborhood of the current point with more than one point according to the Poisson distribution with the average density as a parameter;

[0246] Step 4, randomly generate a new point in the neighborhood, if the distance between the new point and all the points in the candidate unloading point set is greater than or equal to the distance threshold, then add the new point to the candidate unloading point set, and take the new point as the current point (i.e. update the current point).

[0247] Step 5, repeat steps 3-4 until no new point can be generated or the number of points in the candidate unloading point set reaches the required number of candidate unloading points, and finally all points in the candidate unloading point set are taken as candidate unloading points.

[0248] For example, assuming that the grid method is used to generate candidate unloading points: first determine the boundary of the unloading area (determined according to the boundary information), and set the grid size (i.e. the side length of each square grid), then divide the unloading area into multiple grids according to the set grid size, and then take the grid intersection points / grid centers in the unloading area as candidate unloading points.

[0249] The following illustrates the above grid method with a triangular unloading area as an example. As shown in FIG. 3D, assuming that the unloading area is a right triangle with side lengths of 1.5 meters, 2 meters and 2.5 meters respectively, and the distance threshold d is set to 0.5 meters. Taking the distance threshold as the side length of the square grid, the unloading area can be divided into multiple square grids, and then it is determined whether each grid intersection point is located inside the unloading area, and then the grid intersection points located inside the unloading area are taken as candidate unloading points (only the points inside the unloading area are retained), and here a total of 3 candidate unloading points can be determined (represented by circular points in FIG. 3D).

[0250] It should be understood that as to the determination of whether a point is located inside the unloading area, the ray method, the area and discrimination method, the angle and discrimination method, the vector cross product method, etc. can be used, which are not limited in the present application.

[0251] (1) Ray method: a ray is drawn from a point in a fixed direction (usually horizontal, can be left or right), and then the number of intersection points of the ray with the edges of the unloading area shaped as a polygon is calculated, if the number of intersection points is odd, it is determined that the point is inside the unloading area, if the number of intersection points is even, the point is outside the unloading area.

[0252] (2) Area and discrimination method: calculate the sum of the areas of the triangles formed by a point and each edge of the unloading area shaped as a polygon, if the sum of the areas is equal to the area of the unloading area, it is determined that the point is inside the unloading area.

[0253] (3) Angle and discrimination method: calculate the angle sum between a point and each edge of the unloading area shaped as a polygon, and if the angle sum is equal to 360 degrees, it is determined that the point is inside the unloading area.

[0254] (4) Vector cross product method: calculate the vector cross product between a point and each vertex of the unloading area shaped as a polygon, and if all cross product results point in the same direction, it is determined that the point is inside the unloading area.

[0255] The following will take the circular unloading area as an example to illustrate the above grid method. As shown in FIG. 3E, it is assumed that the unloading area is a circular area with a diameter of 2 meters, and the interval threshold d is set to 0.5 meters, where the interval threshold is taken as the side length of the square grid, so that the circular unloading area can be divided into 4x4=16 grids, and then the grid intersection points located inside the unloading area are taken as candidate unloading points (only the points inside the unloading area are retained), where A, B, C, D, E, F, G, H, I, a total of 9 candidate unloading points can be determined.

[0256] It should be noted that the shape of the unloading area and the way of generating candidate unloading points in the above examples are only examples and do not constitute a limitation. In actual application scenarios, the unloading area can also be of other shapes, and other ways can also be used to generate candidate unloading points, which are not limited in the present application.

[0257] The above describes how to generate multiple candidate unloading points, and the following describes how to determine the target unloading point based on the multiple candidate unloading points.

[0258] Optionally, based on the interval threshold and the position information of the multiple candidate unloading points, the multiple candidate unloading points are filtered to obtain the target unloading point. The number of candidate unloading points is greater than the number of target unloading points.

[0259] As described in the foregoing, the multiple candidate unloading points can be randomly generated or uniformly distributed, so the distance between the candidate unloading points can be greater than or equal to the interval threshold, or less than the interval threshold. Here, the multiple candidate unloading points are filtered based on the interval threshold, and only the candidate unloading points that meet the interval threshold requirement are retained, and then the candidate unloading points remaining after filtering are taken as the target unloading points, and the distance between the target unloading points is greater than or equal to the interval threshold.

[0260] As for how to filter the candidate unloading points, the following methods can be used:

[0261] If the distance between the first candidate unloading point and the second candidate unloading point in the plurality of candidate unloading points is less than the distance threshold, at least one of the first candidate unloading point and the second candidate unloading point is filtered out from the plurality of candidate unloading points. The first candidate unloading point and the second candidate unloading point are two different candidate unloading points in the plurality of candidate unloading points, which can be any two candidate unloading points in the plurality of candidate unloading points, or can be specific two candidate unloading points in the plurality of candidate unloading points, which is not limited in the present application.

[0262] That is, when the distance between two candidate unloading points is less than the distance threshold, both of the two candidate unloading points can be filtered out, or only one of the two candidate unloading points is filtered out, for example, one of the two candidate unloading points can be filtered out at random, or the candidate unloading point with a smaller distance to other candidate unloading points is filtered out. In the above manner, the candidate unloading points in the plurality of candidate unloading points that do not meet the distance threshold requirement can be filtered out, and the remaining candidate unloading points after filtering are used as target unloading points.

[0263] For example, as shown in FIG. 3F, assuming that seven candidate unloading points A, B, C, D, E, F, and G are randomly generated in a circular unloading area, the seven candidate unloading points can be connected by Delaunay triangulation. The Delaunay triangulation is a method for connecting a given point set on a plane into triangles, and ensuring that any point is not in the circumcircle of any triangle. Here, the seven candidate unloading points are connected into a plurality of triangles by Delaunay triangulation, and the edge length of each triangle reflects the distance between the corresponding candidate unloading points (triangle vertices).

[0264] Then, according to the edge length of the triangles, the candidate unloading points that do not meet the distance threshold d are filtered out, that is, the candidate unloading points with a distance less than the distance threshold are filtered out. As shown in FIG. 3F, assuming that the edge length of the edge connecting the candidate unloading point A and the candidate unloading point G is less than the distance threshold, it indicates that the distance between the candidate unloading point A and the candidate unloading point G is less than the distance threshold d, and the edge length of the remaining triangles is greater than or equal to the distance threshold d, which indicates that the distance between the other candidate unloading points meets the distance threshold requirement (greater than or equal to d), and therefore, any one of the candidate unloading point A and the candidate unloading point G can be filtered out, or both of them can be filtered out. Here, it is assumed that the candidate unloading point G is filtered out, and then the remaining six candidate unloading points A, B, C, D, E, and F are used as target unloading points.

[0265] Optionally, after the target unloading points are obtained in the manner described above, the positions of the target unloading points in the unloading area can be further adjusted to make the distribution of the target unloading points in the unloading area more uniform, i.e., the uniformity of the distribution of the adjusted target unloading points in the unloading area is higher than that of the unadjusted target unloading points in the unloading area.

[0266] As to the manner of adjusting the distribution of the target unloading points in the unloading area, the present application does not make specific limitation, for example, the optimal distribution of the target unloading points in the unloading area can be found by genetic algorithm, simulated annealing algorithm, etc.

[0267] As to how to measure the uniformity of the distribution of the target unloading points in the unloading area, the present application also does not make specific limitation. For example, the distance between each target unloading point and the nearest other target unloading point can be calculated, and then the smallest distance calculated is used as an index to measure the uniformity of the distribution of the target unloading points in the unloading area, the larger the index, the more uniform the distribution of the target unloading points. For another example, the standard deviation or variance of the distance from each target unloading point to the center of the unloading area can be calculated, the smaller the standard deviation or variance, the more uniform the distribution of the target unloading points.

[0268] Taking the previous example, a total of 6 target unloading points A, B, C, D, E and F are determined in the unloading area, and then the quality metrics of each Delaunay triangle formed by the 6 target unloading points are calculated. The quality metric can be the minimum angle, the maximum angle, the edge length ratio of the triangle, etc., which is not specifically limited by the present application. Subsequently, the vertices of the triangle with poor quality are selected as the target points whose positions need to be adjusted. It is assumed that the triangle with vertices A, B and C has the worst quality, and then the positions of the target unloading points A, B and C need to be adjusted.

[0269] For each target unloading point whose position needs to be adjusted, a new position can be randomly selected, and then the uniformity of the distribution of the unloading area before and after the adjustment of the target unloading point is calculated. If the uniformity of the distribution after the adjustment is lower than that before the adjustment, or the distance between the adjusted target unloading point and other target unloading points is less than the distance threshold, then the current position adjustment of the target unloading point is rejected. If the uniformity of the distribution after the adjustment is higher than that before the adjustment, and the distance between the adjusted target unloading point and other target unloading points is greater than or equal to the distance threshold, then the current position adjustment of the target unloading point is accepted.

[0270] In summary, in the method for setting a grass unloading point provided in the embodiments of the present application, the boundary information of the grass unloading area and the distance threshold are obtained, and then the target grass unloading point is determined in the grass unloading area according to the boundary information and the distance threshold. The target grass unloading point is used for dumping grass clippings to the grass unloading device. This helps to make full use of the space of the grass unloading area and improve the grass unloading efficiency of the grass unloading device. The distance between any two target grass unloading points is greater than or equal to the distance threshold, and the distance threshold is greater than or equal to the length of the grass unloading device. This can avoid the grass unloading device from colliding with the grass pile on other target grass unloading points when unloading grass at one target grass unloading point.

[0271] In addition, the method is flexible when setting the target grass unloading point. Whether the grass unloading area is regular or irregular, the method can be used to quickly set the target grass unloading point in the grass unloading area, thereby meeting the actual use requirements. Users can also set the number of target grass unloading points, the distance threshold, the boundary information of the grass unloading area, etc. according to their needs, which can improve the user experience.

[0272] Further, referring again to FIG. 4A, the embodiments of the present application provide an unloading device 500, which comprises:

[0273] A determination unit 510 is configured to determine a target unloading point 350 according to a priority order of a preset number of unloading points 350 included in an unloading area 300 in response to an unloading instruction. As shown in FIG. 1B, the unloading device 500 is similar to the loading device 100 in FIG. 1B. The unloading area 300 is located outside a working area 200 where the unloading device 500 loads materials. A connection passage 400 is arranged between the unloading area 300 and the working area 200. The target unloading point 350 is one of the preset number of unloading points 350.

[0274] A control unit 520 is configured to control the unloading device 500 to move from the working area 200 to an entrance 450 of the unloading area 300 through the connection passage 400, and further move from the entrance 450 to the target unloading point 350 for unloading operation. As shown in FIG. 1B, the entrance 450 is a part of the unloading area 300 adjacent to the connection passage 400.

[0275] The embodiment of the present application provides the unloading device 500, which determines a target unloading point 350 according to the priority order of the preset number of unloading points 350 included in the unloading area 300 based on an unloading instruction, and controls the unloading device 500 to move from the working area 200 to the target unloading point 350 to perform an unloading operation, so that the unloading device 500 can disperse and unload the material to different unloading points 350 in the unloading area 300 according to the priority order of the preset number of unloading points 350, and the material is prevented from being unloaded at the same unloading point 350 and stacked too high, so that the unloading efficiency can be improved, and the space utilization of the unloading area 300 can be improved.

[0276] It can be understood that the unloading device 500 also has other structures and characteristics of the loading device 100 in the above-mentioned embodiments, and more detailed content can be referred to the foregoing related content, which will not be described here again.

[0277] Please refer to Fig. 4B, which is a schematic block diagram of the loading device 100 in an embodiment of the present application. The loading device 100 comprises a determination module 11 and a control module 12. The determination module 11 is configured to determine a target sub-area according to the priority order of a plurality of sub-areas 31 in an unloading area 300. The unloading area 300 is located outside a working area 200 of the loading device 100, and a connecting passage is arranged between the unloading area 300 and the working area 200. The control module 12 is configured to control the loading device 100 to move from the working area 200 to the target sub-area of the unloading area 300 through an entrance 500 of the connecting passage to perform an unloading operation.

[0278] Therefore, the loading device 100 avoids the situation that the loading device 100 only unloads the material in a fixed area in the unloading area 300, and the material is stacked too high after multiple unloading operations, which affects the unloading efficiency, and the unloading space is more fully utilized. In addition, the path planning of the loading device 100 can avoid the situation that the loading device 100 cannot reach a target unloading point due to the blocking of other unloading points 32.

[0279] The determination module 11 and the control module 12 perform operations corresponding to the steps in the methods in the foregoing embodiments, and more specific operations performed by the determination module 11 and the control module 12 can be referred to the steps in the methods in the foregoing embodiments.

[0280] Please refer to Fig. 4C, which is a structural schematic diagram of an unloading point setting device 700 provided by an embodiment of the present application, comprising an acquisition module 710 and a processing module 720.

[0281] The acquisition module 710 is configured to acquire boundary information of the straw unloading area and a distance threshold, the distance threshold being greater than or equal to a length of the straw unloading device.

[0282] The processing module 720 is configured to determine target straw unloading points in the straw unloading area according to the boundary information and the distance threshold, wherein a distance between any two target straw unloading points is greater than or equal to the distance threshold, and the target straw unloading points are used for dumping straw clippings by the straw unloading device.

[0283] Optionally, the processing module 720 is specifically configured to determine position information of a plurality of candidate straw unloading points in a plurality of straw unloading areas according to the boundary information, and then determine the target straw unloading points according to the distance threshold and the position information, wherein a number of the plurality of candidate straw unloading points is greater than or equal to a number of the target straw unloading points, and the number of the target straw unloading points is greater than one.

[0284] Optionally, the processing module 720 is specifically configured to filter the plurality of candidate straw unloading points to obtain the target straw unloading points based on the distance threshold and the position information, wherein a number of the plurality of candidate straw unloading points is greater than a number of the target straw unloading points.

[0285] Optionally, the processing module 720 is specifically configured to filter at least one of a first candidate straw unloading point and a second candidate straw unloading point from the plurality of candidate straw unloading points in a case where a distance between the first candidate straw unloading point and the second candidate straw unloading point is less than the distance threshold.

[0286] Optionally, the processing module 720 is specifically configured to adjust positions of the target straw unloading points in the straw unloading area, wherein a uniformity of distribution of the adjusted target straw unloading points in the straw unloading area is higher than a uniformity of distribution of the target straw unloading points in the straw unloading area before adjustment.

[0287] Optionally, the plurality of candidate straw unloading points are randomly generated, or the plurality of candidate straw unloading points are uniformly distributed.

[0288] It should be noted that the straw unloading point setting device 700 in FIG. 4C is only divided into the acquisition module 710 and the processing module 720 according to functions, and in actual application scenarios, the straw unloading point setting device 700 can further include more or fewer modules, which are not limited in the present application. For example, any of the above modules can be split into multiple modules, or at least two of the above modules can be combined into one module, and a module with other functions can also be added to the straw unloading point setting device 700, and each function module can be realized by software and / or hardware, which is not limited in the present application.

[0289] Please refer to FIG. 5, which is a structural schematic diagram of the unloading device 800 provided by the embodiment of the present application, including a bus 802, a processor 804, a memory 806 and a communication interface 808. The processor 804, the memory 806 and the communication interface 808 communicate through the bus 802. The present application does not limit the number of the processor 804 and the memory 806 in the unloading device 800.

[0290] The bus 802 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 the convenience of representation, only one line is represented in FIG. 5, but it does not mean that there is only one bus or one type of bus. The bus 802 can include a channel for transmitting information between various components (for example, the memory 806, the processor 804, the communication interface 808) of the unloading device 800.

[0291] The processor 804 can include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP) and the like.

[0292] The memory 806 can include a volatile memory (for example, a random access memory (RAM)). The processor 804 can also include a non-volatile memory (for example, a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD)).

[0293] The executable program code is stored in the memory 806. The processor 804 implements the steps of the unloading method according to any of the embodiments described above and / or the steps of the unloading point setting method according to any of the embodiments described above when executing the computer program. For more details, please refer to the foregoing related content, which will not be repeated here. For example, the processor 804 executes the executable program code to implement the functions of the acquisition module 710 and the processing module 720 in FIG. 4C, respectively, so as to implement the operation steps in the unloading point setting method in FIG. 3C.

[0294] The communication interface 808 uses a transceiver module such as but not limited to a network interface card, a transceiver, etc. to implement the communication between the unloading device 800 and other devices or communication networks.

[0295] Further, please refer to FIG. 6, the embodiments of the present application provide a computer readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the unloading method according to any of the embodiments described above and / or the steps of the unloading point setting method according to any of the embodiments described above. For more details, please refer to the foregoing related content, which will not be repeated here.

[0296] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through the computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments.

[0297] It should be noted that any reference to memory, storage, database or other medium used by the embodiments of the present application includes non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory, and random access memory (RAM) is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and the like.

[0298] In the description of the application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0299] In the description of the present application, the description of the terms "embodiment", "specific embodiment", "example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0300] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method of unloading for controlling an unloading of a material by a loading device, characterized in that, The unloading method comprises: in response to an unloading instruction, determining a target unloading point according to a priority order of a preset number of unloading points included in an unloading area; wherein the unloading area is located outside a working area in which the loading device loads the material, and a connecting passage is provided between the unloading area and the working area, and the target unloading point is one of the available unloading points in the preset number of unloading points; controlling the loading device to move from the working area to the entrance of the unloading area through the connecting passage, and further moving from the entrance to the target unloading point for unloading operation.

2. The method of claim 1, wherein, The determination of the target unloading point according to the priority order of the preset number of unloading points included in the unloading area comprises: determining a candidate unloading point in the preset number of unloading points which has not unloaded material; and determining the unloading point with the highest priority in the candidate unloading points as the target unloading point.

3. The method of claim 2, wherein, The determination of the target unloading point according to the priority order of the preset number of unloading points included in the unloading area comprises: when only one candidate unloading point has the highest priority, determining the candidate unloading point with the highest priority as the target unloading point; when at least two candidate unloading points have the highest priority, determining any one of the at least two candidate unloading points as the target unloading point.

4. The method of claim 1, wherein, The unloading method further comprises: determining the priority order of the preset number of unloading points included in the unloading area.

5. The method of claim 4, wherein, The determination of the priority order of the preset number of unloading points included in the unloading area comprises: determining the priority of each unloading point based on the distance between the unloading point and the entrance; wherein the greater the distance between the unloading point and the entrance, the higher the priority of the unloading point.

6. The method of claim 4, wherein, The preset number of unloading points are sequentially distributed in the unloading area according to a preset order, each unloading point has a corresponding serial number, and the determination of the priority order of the preset number of unloading points included in the unloading area comprises: determining the priority of each unloading point based on the serial number corresponding to the unloading point; wherein the smaller the serial number of the unloading point, the higher the priority of the unloading point.

7. The method of claim 1, wherein, The distance between any two unloading points is greater than or equal to a preset threshold, and / or the preset number of unloading points are uniformly distributed in the unloading area.

8. The method of discharging according to any one of claims 1 to 7, wherein, Before the determination of the target unloading point according to the priority order of the preset number of unloading points included in the unloading area, the unloading method further comprises: determining the preset number according to the information of the material to be unloaded and the parameters of the loading device.

9. The method of claim 8, wherein, The information of the material to be unloaded includes the total amount of the material to be unloaded, and the parameters of the loading device include the capacity of the loading device; The determination of the preset number according to the information of the material to be unloaded and the parameters of the loading device comprises: calculating a target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device, and determining the preset number according to the target value.

10. The method of claim 9, wherein, The loading device comprises a mower, the working area is a lawn to be mowed, the material comprises grass clippings, the total amount of the material to be unloaded comprises a total amount of grass clippings to be mowed from the lawn, and the capacity of the loading device comprises a grass collecting volume of the mower; The target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device is calculated, and the preset number is determined according to the target value, comprising: The target value obtained by dividing the total amount of the grass clippings by the grass collecting volume is calculated, and the preset number is obtained according to the target value.

11. The method of claim 9 or 10, wherein, The preset number is equal to a reference value, and the reference value is a minimum positive integer greater than or equal to the target value.

12. The method of claim 10, wherein, Before the target value obtained by dividing the total amount of the material to be unloaded by the capacity of the loading device is calculated, and the preset number is determined according to the target value, the unloading method further comprises: Obtaining the total area and the lawn density of the lawn; and Determining the total amount of grass clippings to be mowed from the lawn according to the total area and the lawn density of the lawn.

13. The method of claim 12, wherein, The total amount of grass clippings to be mowed from the lawn is determined according to the total area and the lawn density of the lawn, comprising: The total amount of grass clippings to be mowed from the lawn is calculated according to the total area and the lawn density of the lawn and a first formula; Wherein, the first formula is S=A1*D, S represents the total amount of grass clippings to be mowed from the lawn, D represents the lawn density of the lawn, and A1 represents the total area of the lawn.

14. The method of claim 12, wherein, Before the total amount of grass clippings to be mowed from the lawn is determined according to the total area and the lawn density of the lawn, the unloading method further comprises: Controlling the loading device to mow a preset sub-area in the working area, and the volume of grass clippings mowed from the preset sub-area is less than or equal to the capacity of the loading device; Calculating the lawn density of the lawn according to the area of the preset sub-area in the working area, the volume of grass clippings mowed from the preset sub-area, and a second formula; Wherein, the second formula is D=V / A2, V represents the volume of grass clippings mowed from the preset sub-area, and A2 represents the area of the preset sub-area.

15. The method of claim 8, wherein the at least one of the plurality of components is a component of a vehicle. After the preset number is determined according to the information of the material to be unloaded and the parameters of the loading device, the unloading method further comprises: According to a target distribution pattern, the position of each unloading point in the preset number of unloading points in the unloading area is determined, so that the preset number of unloading points are arranged to form the target distribution pattern.

16. The method of claim 1, wherein, The preset number of unloading points comprises a plurality of sub-areas; the target unloading point comprises a target sub-area; and the control of the loading device moving from the working area to the entrance of the unloading area through the connecting channel and further moving from the entrance to the target unloading point for unloading operation comprises: The loading device is controlled to move from the working area to the target sub-area of the unloading area through the entrance of the connecting channel for unloading operation.

17. The method of claim 16, wherein, The target unloading point is determined according to the priority order of the preset number of unloading points included in the unloading area, comprising: determine a priority of each sub-region based on a first distance from a region center point of the each sub-region to an entrance of the connecting passage.

18. The method of claim 17, wherein, The unloading method further comprises: The greater the first distance, the higher the first priority of the sub-region corresponding to the first distance.

19. The method of claim 17, wherein, The unloading method further comprises: When the first distances are equal, a forbidden region is set at the entrance of the connecting passage, the forbidden region is not used for unloading materials, and the first priority of each sub-region decreases in turn along a radial direction starting from a region center point of the unloading region, wherein the closer to the region center point of the unloading region, the higher the first priority of the sub-region.

20. The method of claim 16-19, wherein, The determining of the target sub-region according to the priority order of the multiple sub-regions in the unloading region comprises: selecting a sub-region with the highest first priority from the multiple sub-regions as the target sub-region.

21. The method of claim 20, wherein, The unloading method further comprises: selecting a target unloading point from at least one unloading point contained in the target sub-region.

22. The method of claim 21, wherein, The selecting of the target unloading point from at least one unloading point contained in the target sub-region comprises: selecting an unloading point with the highest second priority from the at least one unloading point contained in the target sub-region as the target unloading point. The controlling of the loading device to move from the working region to the target sub-region of the unloading region at the entrance of the connecting passage for unloading operation comprises: controlling the loading device to move from the working region to the target unloading point of the target sub-region at the entrance of the connecting passage for unloading operation.

23. The method of claim 22, wherein, The selecting of the target unloading point from at least one unloading point contained in the target sub-region comprises: calculating a second distance between each unloading point in the target sub-region and the entrance of the connecting passage; sorting the calculated second distances in descending order, and determining the priority of each unloading point according to the sorting result, wherein the greater the second distance, the higher the second priority of the unloading point corresponding to the second distance.

24. The method of claim 22-23, wherein, The unloading method further comprises: determining a candidate unloading point from all unloading points in the target sub-region that have not unloaded materials; and determining the target unloading point as the unloading point with the highest second priority in the candidate unloading points.

25. The method of claim 24, wherein the at least one of the plurality of components is a component of a vehicle. The determining of the target unloading point as the unloading point with the highest second priority in the candidate unloading points comprises: when the second priority of only one candidate unloading point is the highest, determining the candidate unloading point with the highest second priority as the target unloading point; when the second priority of at least two candidate unloading points is the highest, determining any one of the at least two candidate unloading points as the target unloading point, or determining the candidate unloading point with the maximum unloadable material amount as the target unloading point according to the unloadable material amount of the at least two candidate unloading points.

26. The method of claim 16-25, wherein, The unloading method further comprises: dividing the unloading region into multiple grid-shaped sub-regions; determining at least one unloading point corresponding to each sub-region to obtain multiple unloading points corresponding to the multiple sub-regions.

27. The method of claim 26, wherein, The determining of at least one unloading point corresponding to each of the sub-regions comprises: determining a position point in one of the sub-regions as a first unloading point, or determining a position point on the boundary of one of the sub-regions as a first unloading point; determining positions of the remaining unloading points corresponding to the sub-regions according to the position of the first unloading point and a preset rule, to obtain a plurality of unloading points corresponding to the sub-regions, wherein the preset rule at least comprises that a straight-line distance between two adjacent unloading points in the plurality of unloading points is greater than or equal to a vehicle length of the loading device.

28. The method of claim 27, wherein, The determining of a position point in one of the sub-regions as a first unloading point, or the determining of a position point on the boundary of one of the sub-regions as a first unloading point comprises: determining a position point in one of the sub-regions and having a maximum straight-line distance from the entrance of the connecting channel as the first unloading point, or determining a position point on the boundary of one of the sub-regions and having a maximum straight-line distance from the entrance of the connecting channel as the first unloading point.

29. The method of claim 16-25, wherein, The unloading method further comprises: dividing the circular unloading region into a plurality of concentric circles to form a plurality of sub-regions; determining at least one unloading point corresponding to each of the sub-regions to obtain a plurality of unloading points corresponding to the sub-regions.

30. The method of claim 29, wherein, The determining of at least one unloading point corresponding to each of the sub-regions comprises: determining a position point in each of the sub-regions as a first unloading point in the sub-region, or determining a position point on the boundary of each of the sub-regions as a first unloading point in the sub-region; determining positions of the remaining unloading points in each of the sub-regions according to the position of the first unloading point in the sub-region and a preset rule, to obtain a plurality of unloading points corresponding to the sub-regions, wherein the preset rule at least comprises that a straight-line distance between two adjacent unloading points in the plurality of unloading points is greater than or equal to a vehicle length of the loading device.

31. The method of claim 30, wherein, The determining of a position point in each of the sub-regions as a first unloading point in the sub-region, or the determining of a position point on the boundary of each of the sub-regions as a first unloading point in the sub-region comprises: determining a position point in each of the sub-regions and having a maximum straight-line distance from the entrance of the connecting channel as a first unloading point in the sub-region, or determining a position point on the boundary of each of the sub-regions and having a maximum straight-line distance from the entrance of the connecting channel as a first unloading point in the sub-region.

32. The method of claim 16, wherein, The unloading method further comprises: The loading device moves to the entrance of the connecting passage after completing unloading in the target sub-region, and returns to the working area from the entrance of the connecting passage to load materials.

33. The method of claim 1, wherein, The unloading region includes a straw unloading region, and the loading device includes a straw unloading device; the preset number of unloading points includes a target straw unloading point; the method further includes: Obtaining boundary information and interval threshold of the straw unloading region, wherein the interval threshold is greater than or equal to the length of the straw unloading device; Determining the target straw unloading point in the straw unloading region according to the boundary information and the interval threshold, wherein the interval between any two target straw unloading points is greater than or equal to the interval threshold, and the target straw unloading point is used to dump straw clippings to the straw unloading device.

34. The method of claim 33, wherein, The determination of the target straw unloading point in the straw unloading region according to the boundary information and the interval threshold includes: Determining the position information of a plurality of candidate straw unloading points in the plurality of straw unloading regions according to the boundary information; Determining the target straw unloading point according to the interval threshold and the position information, wherein the number of the plurality of candidate straw unloading points is greater than or equal to the number of the target straw unloading points, and the number of the target straw unloading points is greater than one.

35. The method of claim 34, wherein, The determination of the target straw unloading point according to the interval threshold and the position information includes: Filtering the plurality of candidate straw unloading points to obtain the target straw unloading point based on the interval threshold and the position information, wherein the number of the plurality of candidate straw unloading points is greater than the number of the target straw unloading points.

36. The method of claim 35, wherein, The filtering of the plurality of candidate straw unloading points to obtain the target straw unloading point includes: In the case that the interval between a first candidate straw unloading point and a second candidate straw unloading point in the plurality of candidate straw unloading points is less than the interval threshold, at least one of the first candidate straw unloading point and the second candidate straw unloading point is filtered out from the plurality of candidate straw unloading points.

37. The method of claim 35, wherein, After the filtering of the plurality of candidate straw unloading points to obtain the target straw unloading point, the method further includes: Adjusting the position of the target straw unloading point in the straw unloading region, wherein the uniformity of the distribution of the adjusted target straw unloading point in the straw unloading region is higher than that of the target straw unloading point before the adjustment in the straw unloading region.

38. The method of any one of claims 34-37, wherein, The plurality of candidate straw unloading points are randomly generated, or the plurality of candidate straw unloading points are uniformly distributed.

39. The method of any one of claims 33-37, wherein, The boundary information is generated according to user input information.

40. A discharge apparatus, comprising: The unloading device includes: A determination unit configured to determine a target unloading point according to a priority order of a preset number of unloading points included in an unloading region in response to an unloading instruction; wherein the unloading region is located outside a working area where the unloading device loads materials, and a connecting passage is provided between the unloading region and the working area, and the target unloading point is one of the preset number of unloading points; and A control unit configured to control the unloading device to move from the working area to the entrance of the unloading region through the connecting passage, and further move from the entrance to the target unloading point for unloading operation.

41. The device of claim 40, wherein, The preset number of unloading points includes a plurality of sub-areas; the target unloading point includes a target sub-area; in the control of the loading device moving from the working area to the entrance of the connecting channel to the unloading area, and further moving from the entrance to the target unloading point for unloading operation, the control unit is specifically used for: controlling the loading device to move from the working area to the target sub-area of the unloading area at the entrance of the connecting channel for unloading operation.

42. The device of claim 40, wherein, The unloading area includes a grass unloading area, and the loading device includes a grass unloading device; the preset number of unloading points includes a target grass unloading point; the unloading device further includes: an acquisition module configured to acquire boundary information of the grass unloading area and a distance threshold, wherein the distance threshold is greater than or equal to a length of the grass unloading device; a determination module configured to determine the target grass unloading point in the grass unloading area according to the boundary information and the distance threshold, wherein a distance between any two target grass unloading points is greater than or equal to the distance threshold, and the target grass unloading point is used for dumping grass clippings to the grass unloading device.

43. A loading apparatus characterized by comprising: The loading device includes a processor and a memory, the memory stores a computer program, and the processor runs the computer program to execute the unloading method of any one of claims 1-39.

44. A computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, and the computer program is executed after being called by the processor to execute the unloading method of any one of claims 1-39.

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