Control method and system for foldable mobile space based on APP

Abstract

The invention relates to an APP-based control method and system for an extensible and retractable mobile space, and relates to the technical field of extensible and retractable spaces, and the method comprises the steps: obtaining a site image and a required unfolding range, and determining an accommodating range according to the site image; obtaining a usable range according to the receivable range and a preset unusable range; when the required unfolding range can fall into the usable range, obtaining an unfolding position according to the usable range; the vehicle-mounted container is controlled to move to the unfolding position and is unfolded according to a preset unfolding mode; obtaining an unfolding power number and an unfolding power value corresponding to the unfolding power number; when the unfolding power value is larger than a preset reasonable power threshold value, the vehicle-mounted container is controlled to be closed according to a preset closing mode, and an unfolding image corresponding to the unfolding power number is obtained; and obtaining an obstacle position and an obstacle range according to the expanded image, and storing the obstacle range as an unusable range in the system. The vehicle-mounted container has the effect of reducing collision when the vehicle-mounted container is unfolded.

Description

Technical Field

[0001] This invention relates to the field of space deployment and retraction technology, and in particular to a control method and system for a deployable and retractable mobile space based on an app. Background Technology

[0002] Deployable mobile spaces are transformable mobile commercial spaces composed of shipping containers and trailers. Driven by hydraulic control and various sensors, they can be flexibly expanded from the size of ordinary shipping containers to 50 to 200 square meters or even larger. They are suitable for diverse commercial scenarios such as wedding ceremonies, conferences and exhibitions, emergency command, and stage performances. They are not limited by environment or distance and provide users with a comfortable and flexible event space.

[0003] In related technologies, the deployment process of vehicle-mounted containers mostly adopts a manual operation mode. Generally, staff or users transport the vehicle-mounted container to the designated location, and then complete the preliminary preparation by visually inspecting the flatness of the site. After confirming that there are no obvious obstacles on the site, the deployment procedure of the vehicle-mounted container is started directly.

[0004] Regarding the aforementioned technologies, during the process of controlling the unfolding of vehicle-mounted containers, due to the large space and volume occupied by the containers, if the preliminary preparation work is completed manually, the limited field of vision can easily lead to collisions during the unfolding process. Summary of the Invention

[0005] To reduce collisions during the unfolding of vehicle-mounted containers, this invention provides a control method and system for deployable and retractable mobile spaces based on an app.

[0006] In a first aspect, the present invention provides a control method for an expandable and retractable mobile space based on an app, employing the following technical solution:

[0007] A method for controlling an expandable and retractable mobile space based on an app, comprising:

[0008] Step 1: Obtain site images and required deployment area, and determine the accommodating area based on the site images;

[0009] Step 2: Obtain the usable range based on the accommodating range and the preset unusable range. The unusable range refers to the range that cannot be used to allow the container to be unfolded. The size of the unusable range before unfolding is 0.

[0010] Step 3: When the scope of the demand can fall within the usable scope, determine the expansion position based on the usable scope;

[0011] Step 4: Control the vehicle-mounted container to move to the unfolding position and unfold it according to the preset unfolding mode;

[0012] Step 5: Obtain the deployment power number and the corresponding deployment power value;

[0013] Step 6: When the deployment power value is greater than the preset reasonable power threshold, control the vehicle-mounted container to close according to the preset closing mode, and obtain the deployment image corresponding to the deployment power number;

[0014] Step 7: Obtain the obstacle location and obstacle range based on the unfolded image, and store the obstacle range as an unusable area in the system;

[0015] Step 8: In response to the storage signal, control the on-board container to store according to the preset storage mode.

[0016] By adopting the above technical solution, the accommodating range is first delineated based on the site image, and the usable space is determined by combining the unusable range. The deployment location is then determined after ensuring that the required deployment range is adapted. This achieves pre-planning of space before deployment. At the same time, by monitoring the deployment dynamic value in real time, the contact between the container and obstacles during the deployment process can be quickly identified, and the container can be closed in time to avoid danger and record the range of obstacles, effectively reducing the collision risk caused by the limitation of human vision.

[0017] Optional, also includes:

[0018] Step 9: When the required expansion area cannot fall within the usable area, search for the corresponding expansion height from the preset expansion database according to the expansion power number;

[0019] Step 10: When the unfolded height is greater than the height of the obstacle, determine the movable range based on the site image, and merge the movable range and the usable range to obtain the adjustable range;

[0020] Step 11: Select any movement direction from the preset movement direction group, control the on-board container to move in the movement direction, and obtain the real-time position;

[0021] Step 12: Obtain the real-time expansion range based on the real-time location and the required expansion range;

[0022] Step 13: When there is no intersection between the real-time deployment range and the unusable range, control the vehicle-mounted container to stop moving and deploy it according to the deployment mode, and obtain the real-time stopping position;

[0023] Step 14: Generate an unfolding return path based on the real-time stop position and unfolding position, control the on-board container to return to the unfolding position according to the return path, and update the storage mode in real time according to the return path.

[0024] By adopting the above technical solution, when the unfolding height is greater than the height of the obstacle, the on-board container is moved to a place where it will not interfere with the obstacle before unfolding, and then moved back to the unfolding position. This not only ensures the normal unfolding function of the container, but also further expands the adaptability of the deployment scenarios.

[0025] Optionally, a control method is also included when the real-time expanded area intersects with the unusable area, the method comprising:

[0026] Step 130: When the real-time unfolded area intersects with the unusable area, control the vehicle-mounted container to stop moving and obtain the return stop position;

[0027] Step 131: Generate an expanded return path based on the return stop position and the expanded position;

[0028] Step 132: Control the vehicle-mounted container to return to the deployed position along the undeployed return path, and reselect the movement direction from the preset movement direction group to execute steps 11 to 14.

[0029] By adopting the above technical solution, when a spatial conflict occurs during real-time deployment, the system immediately triggers an interruption mechanism and records the current position. It then generates a safe reversal trajectory through a reverse path planning algorithm and resets the direction of movement, thereby reducing the risk of continuous compression between the vehicle-mounted container and obstacles during movement.

[0030] Optionally, it also includes an optimized method for controlling the vehicle-mounted container to return to the deployed position along the undeployed return path, the method comprising:

[0031] Step 1320: Control the vehicle-mounted container to unfold in unfolding mode at the return stop position and obtain real-time power values;

[0032] Step 1321: When the real-time power value is greater than the preset collision power threshold, control the on-board container to stop unfolding and obtain the collision unfolding height;

[0033] Step 1322: When the collision deployment height is greater than the obstacle height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path;

[0034] Step 1323: After the container on the vehicle returns to the unfolded position according to the un-unfolded return path, continue to control the container on the vehicle to unfold in the unfolded mode, and update the storage mode according to the un-unfolded return path.

[0035] By adopting the above technical solution, the return strategy is determined by judging whether the collision deployment height is greater than the obstacle height. When the collision deployment height is greater than the obstacle height, the vehicle container is controlled to return to the deployment position according to the undeployed return path. This allows the vehicle container to return to the deployment position without colliding with the obstacle at the obstacle position.

[0036] Optional, also includes:

[0037] Step 1324: When the collision deployment height is less than the obstacle height, obtain the required application scenario;

[0038] Step 1325: Determine the minimum unfolding height based on the application scenario;

[0039] Step 1326: When the collision deployment height is higher than the minimum deployment height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path;

[0040] Step 1327: When the collision deployment height is lower than the minimum deployment height, output a deployment anomaly signal.

[0041] By adopting the above technical solution and introducing a minimum deployment height threshold for the required application scenario, the system can dynamically adjust the collision response strategy according to actual usage needs. When the collision deployment height is lower than the obstacle height, the minimum deployment height is obtained by matching the required application scenario. If the collision deployment height is still higher than the minimum required height, the integrity of basic functions is prioritized and the container is controlled to return to the deployment position. If the collision deployment height cannot meet the minimum requirement, a deployment anomaly signal is immediately output.

[0042] Optionally, an optimized method is also included for outputting a deployment anomaly signal when the collision deployment height is lower than the minimum deployment height. This method includes:

[0043] Step 13270: When the collision deployment height is lower than the minimum deployment height, obtain the maximum tilt angle;

[0044] Step 13271: Control the vehicle-mounted container to tilt according to the maximum tilt angle and obtain the tilt unfolding height;

[0045] Step 13272: When the tilted deployment height is higher than the minimum deployment height, control the vehicle-mounted container to maintain its tilt while returning to the deployed position according to the undeployed return path, and update the storage mode according to the maximum tilt angle and the undeployed return path.

[0046] Step 13273: When the tilting and unfolding height is lower than the minimum unfolding height, control the on-board container to stop tilting and output an unfolding abnormal signal.

[0047] By adopting the above technical solution, when the collision deployment height is lower than the safety threshold, the system dynamically adjusts by obtaining the maximum tilt angle of the vehicle container and reassesses the available height using the tilt deployment mechanism. If the deployment height after tilting meets the minimum requirements, the tilted posture is maintained and the system returns to the deployment position, which avoids direct collision with obstacles and maximizes the space utilization function. If the minimum deployment height cannot be reached after tilting, the deployment is immediately terminated and an abnormal signal is output.

[0048] Optional, also includes:

[0049] Step 133: When the real-time expansion range still intersects with the unusable range after traversing all movement directions, obtain the abnormal expansion number based on the expansion power number;

[0050] Step 134: Find the corresponding abnormal function range in the preset module function correspondence table according to the abnormal expansion number;

[0051] Step 135: When there is no intersection between the abnormal function range and the preset core function range, adjust the deployment mode according to the deployment power number to obtain a partial deployment mode;

[0052] Step 136: Control the vehicle-mounted container to unfold in a partial unfolding mode.

[0053] By adopting the above technical solution, when all preset movement directions cannot achieve complete obstacle avoidance, the system locates the abnormal module by deploying the power number and identifies non-core functional areas based on the module function correspondence table. If the abnormal area does not affect the core function, it is deployed in a partial deployment mode, deploying only the functional modules in the safe area that are free from obstacle interference. This ensures basic usage requirements while avoiding the risk of secondary collisions that may be caused by overall deployment.

[0054] Optional, also includes:

[0055] Step 137: When there is an overlap between the abnormal function range and the preset core function range, find the non-core expansion number according to the module function correspondence table and the core function range;

[0056] Step 138: Obtain the orientation of the non-core deployment based on the non-core deployment number and deployment position;

[0057] Step 139: Develop an adjustment plan based on the orientation of non-core deployments and the location of obstacles;

[0058] Step 140: Control the vehicle-mounted container to adjust according to the adjustment plan, and adjust the deployment mode according to the non-core deployment number to obtain the non-core deployment mode;

[0059] Step 141: Control the vehicle-mounted container to unfold in a non-core unfolding mode.

[0060] By adopting the above technical solution, when the abnormal area involves the core functional module, the system locates the non-core functional area through the module function correspondence table, and generates an adjustment plan in combination with the spatial distribution of obstacles, so that the unfolded part corresponding to the non-core function faces the obstacle and does not unfold, ensuring that other core functions can be used normally.

[0061] Optionally, specific methods for determining the expansion location based on the usable scope include:

[0062] Step 30: Generate the maximum inscribed rectangle based on the accommodating range;

[0063] Step 31: Divide the largest inscribed rectangle into multiple usable rectangles based on the unusable range, and obtain the rectangle range corresponding to each usable rectangle;

[0064] Step 32: Sort the rectangle ranges to obtain the maximum rectangle range, and use the center point of the largest usable rectangle corresponding to the maximum rectangle range as the expansion position.

[0065] By adopting the above technical solution, the accommodating area is divided into multiple independent regions by obstacles. Then, the maximum inscribed rectangle of each region is generated based on geometric calculations. Finally, the optimal unfolding region is selected by sorting by area, which ensures that the unfolding position maximizes the space utilization.

[0066] Secondly, the present invention provides a control system for an expandable and retractable mobile space based on an app, which adopts the following technical solution:

[0067] A control system for an app-based deployable and retractable mobile space includes:

[0068] The acquisition module is used to acquire site images and the required deployment area;

[0069] The memory is used to store the program of the control method for an expandable and retractable mobile space based on an APP, as described above.

[0070] The processor loads and executes programs from memory.

[0071] By adopting the above technical solution, the acquisition module collects site information and user needs in real time. The control method program pre-stored in the memory can provide the processor with complete space planning and obstacle handling logic. By calling the program code in the memory, the processor can automatically complete the entire process control from space analysis and path planning to dynamic adjustment, and realize the safe and autonomous deployment of the vehicle-mounted container in complex environments.

[0072] In summary, the present invention has at least one of the following beneficial technical effects:

[0073] 1. By analyzing site images and monitoring dynamic values, the risk of collisions between truck-mounted containers and obstacles during deployment can be effectively reduced, thereby improving the safety of truck-mounted containers during use.

[0074] 2. Through various adaptation and adjustment mechanisms, the vehicle-mounted container can cope with different site environments, improving the environmental adaptability of the vehicle-mounted container when it is deployed. Attached Figure Description

[0075] Figure 1 This is a flowchart of a control method for an expandable and retractable mobile space based on an APP, as described in an embodiment of this application.

[0076] Figure 2 This is a schematic diagram illustrating the scope of use in the embodiments of this application;

[0077] Figure 3 This is a schematic diagram of a scenario regarding the collision deployment height in an embodiment of this application;

[0078] Figure 4 This is a schematic diagram of a scenario regarding the tilted deployment height in an embodiment of this application;

[0079] Figure 5 This is a schematic diagram illustrating a method for determining the unfolding position in an embodiment of this application. Detailed Implementation

[0080] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0081] This invention discloses a control method for an expandable and retractable mobile space based on an app. (Refer to...) Figure 1 A method for controlling an expandable and retractable mobile space based on an app includes:

[0082] Step 1: Obtain site images and required deployment area, and determine the accommodating area based on the site images.

[0083] Site images refer to images of a location where a mobile container truck (a transformable mobile commercial space consisting of a container truck and a trailer) needs to be deployed and used. These images are obtained by capturing images through multiple high-definition cameras installed around the trailer truck.

[0084] The required deployment area refers to the two-dimensional planar area that a user expects the container truck to expand into after it is deployed, as set by the user on the mobile app based on their actual business scenario needs (such as weddings, conferences, exhibition halls, etc.). The required deployment area is obtained by the user adjusting and determining the space needed for the container truck to expand into based on their desired business scenario on the mobile app.

[0085] The accommodability range refers to the planar area that the site can accommodate when the vehicle-mounted container needs to be unfolded and used. Here, the accommodability range refers to the planar area on a two-dimensional plane with the ground as the reference. The accommodability range is obtained by performing image recognition processing on the site image, extracting the site boundaries (such as walls, road edges, natural terrain boundaries, etc.) from the processed image, and then determining the planar area that can be used to accommodate the unfolded vehicle-mounted container.

[0086] Step 2: Obtain the usable range based on the accommodating range and the preset unusable range. The unusable range refers to the range that cannot be used to allow the container to be unfolded. The size of the unusable range before unfolding is 0.

[0087] The unusable area refers to a two-dimensional planar area within the target site for the deployment and use of the vehicle-mounted container that is deemed unsuitable for container deployment by the system due to not meeting deployment safety conditions, posing interference risks, or failing to meet usage requirements. The initial value of the unusable area size is set to 0, which is obtained by the staff beforehand and entered into the system. The subsequent update method for the unusable area is described in detail in step 7 and will not be repeated here.

[0088] Step 3: When the scope of the demand can fall within the usable scope, obtain the expansion position based on the usable scope.

[0089] like Figure 2 As shown, the requirement to expand the scope of demand into the usable scope means that the two-dimensional planar outline of the vehicle-mounted container after it is expanded is completely within the boundary of the usable scope.

[0090] The deployment position refers to the position of the container when it is deployed. The specific method for obtaining the deployment position is described in detail in steps 30 to 32, and will not be repeated here.

[0091] Step 4: Control the vehicle-mounted container to move to the unfolding position and unfold it according to the preset unfolding mode.

[0092] The deployment mode refers to the mode in which the container on the vehicle is deployed in a specific sequence and action. The deployment mode is pre-set in the system by staff based on the container's spatial layout requirements, equipment linkage, and control logic. The deployment mode also includes a system self-check, verifying the proper functioning of various hydraulic pumps, sensors, air conditioning systems, and lighting systems. The deployment mode is further divided into a one-button deployment mode and a separate deployment mode. In one-button deployment mode, the hydraulic pumps activate, automatically deploying the container and automatically turning on the lighting, air conditioning, projection, and audio systems in a preset sequence. In separate deployment mode, the APP requires step-by-step operation: first, gradually deploying the container, then gradually turning on the lighting, air conditioning, projection, and audio systems. The next step cannot be clicked until the previous step is completed.

[0093] Once the user confirms the deployment of the vehicle-mounted container on the app, the system unfolds it according to the deployment mode. After the container is fully deployed, the system automatically triggers the holographic projection of the default scene. The holographic projection system simultaneously starts adjusting the projection content, lighting, and sound parameters for the default scene. After the default scene is loaded, a window will appear on the app for the user to select a scene. The system can automatically adjust the projection content, lighting, and sound parameters according to the user's selected scene (such as banquet, conference, exhibition hall, cinema, etc.). Users can also save these parameters as custom scenes for direct recall later.

[0094] Each scenario has its own set of functions, such as banquet scenarios (wedding banquets, birthday banquets, business banquets, etc.), conference scenarios (business meetings, academic seminars, new product launches, etc.), exhibition hall scenarios (including product displays, brand promotion, cultural tourism and creative product displays, etc.), cinema scenarios (small movie screenings, private cinemas, etc.), and KTV scenarios. Each scenario has corresponding functions. For example, the core projection function of the banquet scenario includes: selection of banquet theme templates (Chinese wedding banquets, Western wedding banquets, birthday banquets, business banquets, etc.), custom background images (uploading photos of the newlyweds, company logos, etc.), and opening speech videos.

[0095] Step 5: Obtain the deployment power number and the deployment power value corresponding to the deployment power number.

[0096] The deployment power number is a unique identifier assigned by the system to each drive component participating in the deployment mode during the deployment of the vehicle-mounted container. This identifier distinguishes different drive components. The deployment power number is obtained by the system reading the progress of the current deployment mode, thereby identifying the drive component currently executing the deployment mode, and recognizing the corresponding identifier code of that drive component.

[0097] The deployment power value refers to the real-time power parameter output by the drive component, uniquely corresponding to the deployment power number, during the deployment of the vehicle-mounted container. This parameter directly reflects the load status and operating intensity of the drive component. The deployment power value is obtained through sensors installed on the drive component corresponding to the deployment power number; for example, a pressure sensor corresponds to a hydraulic drive, and a current sensor corresponds to a motor drive.

[0098] Step 6: When the deployment power value is greater than the preset reasonable power threshold, control the vehicle-mounted container to close according to the preset closing mode, and obtain the deployment image corresponding to the deployment power number.

[0099] The reasonable power threshold is the upper limit of the safe power output of the drive components. It is used to determine whether there are abnormal conditions such as overload, jamming, or interference from obstacles in the drive components during deployment. The reasonable power threshold is obtained in advance by the staff based on the model parameters, rated load capacity, and actual deployment conditions of each drive component.

[0100] The closing mode refers to the sequence of actions and control logic when controlling the closing operation of the container on the vehicle. It corresponds to the unfolding mode and ensures that the container is safely and orderly retracted. The closing mode is also set in advance by the staff in the system according to the structural characteristics of the container, equipment linkage requirements, and safety regulations.

[0101] An unfolded image refers to image data of the unfolded area corresponding to the unfolding power unit number during the unfolding process of a vehicle-mounted container. The unfolded image is acquired by a camera corresponding to the unfolding power unit number. For example, if a drive component corresponding to a certain unfolding power unit number is used to control the unfolding of the vehicle-mounted container's sidewall, then the unfolded image is obtained by a camera installed on the sidewall of the unfolded container. This camera can capture image information of the orientation of the container's sidewall during unfolding.

[0102] Step 7: Obtain the location and extent of obstacles from the unfolded image, and store the obstacle extent as an unusable area in the system.

[0103] Obstacle location refers to the specific coordinates of obstacles that hinder the smooth unfolding of the container truck during the container's deployment process, located in a two-dimensional plane. Obstacle location is determined by image recognition processing of the unfolded image to identify the obstacle's edge contours. This, combined with the camera's installation position and angle parameters on the container truck, is then used to calculate the obstacle's specific coordinates in the two-dimensional plane of the site through a coordinate transformation algorithm.

[0104] Step 8: In response to the storage signal, control the on-board container to store according to the preset storage mode.

[0105] The storage signal refers to the instruction signal triggered by the user via a mobile app to instruct the vehicle-mounted container to end its current use and be stored away. The storage signal is automatically generated when the user manually clicks the storage button in the app. Upon receiving the storage signal, the system immediately pauses all current deployment operations and stores the vehicle-mounted container in storage mode.

[0106] The storage mode refers to the mode in which the container on the vehicle is folded up in the reverse order and with the reverse movements of the deployment mode. The storage mode is set in advance by the staff in the system according to the structural characteristics of the container, the equipment linkage requirements, and safety regulations, and then stored in the system.

[0107] This also includes:

[0108] Step 9: When the required expansion area cannot fall within the usable area, search for the corresponding expansion height from the preset expansion database based on the expansion power number.

[0109] When the required deployment area cannot fall within the usable area, it means that the area required for the deployment of the vehicle-mounted container exceeds the usable area of ​​the site, which may be due to site boundary restrictions or obstacles preventing direct deployment.

[0110] The deployment database refers to a database stored in the system that stores data about the various deployment sections of the vehicle-mounted container. This database contains key parameters such as the deployment height and width of the container sections corresponding to different deployment power numbers. These parameters are determined in advance by staff through experimental measurements or design specifications.

[0111] Deployment height refers to the height of the fully deployed portion above the ground, corresponding to the deployment power unit number. The deployment height is retrieved by the system using the deployment power unit number as an index to perform an exact match in the deployment database.

[0112] Step 10: When the unfolded height is greater than the height of the obstacle, determine the movable range based on the site image, and combine the movable range and the usable range to obtain the adjustable range.

[0113] like Figure 2 As shown, the movable range refers to the area outside the accommodating range that the container truck can move within, such as roads. The movable range is obtained by the system identifying and analyzing the features of the site image outside the accommodating range to obtain road surface features. When the road surface features meet the conditions for container truck movement, such as flatness, slope, and load-bearing capacity, the area is marked as the movable range.

[0114] The adjustable range is formed by merging the movable range with the original usable range to create a new area where the vehicle-mounted container can be adjusted in position and orientation.

[0115] Step 11: Select any movement direction from the preset movement direction group, control the on-board container to move in the movement direction, and obtain the real-time position.

[0116] A movement direction group refers to the set of directions used to control the movement of the container truck. This group is generated by integrating the movement directions input by the operator. The movement direction includes forward, backward, left, and right, with forward referring to movement towards the front of the truck. These directions are pre-input into the system by the operator.

[0117] Real-time location refers to the exact position of the container truck at every moment during its movement. This real-time location is collected by a GPS positioning module installed at the center of the container truck.

[0118] Step 12: Obtain the real-time expansion range based on the real-time location and the required expansion range.

[0119] The real-time deployment range refers to the planar area covered by the container as it continues to deploy from its current position during movement. The size of the real-time deployment range is the same as the required deployment range. The real-time deployment range is generated by the system using the real-time location as a reference point and combining it with the geometric parameters of the required deployment range.

[0120] Step 13: When there is no intersection between the real-time deployment range and the unusable range, control the vehicle-mounted container to stop moving and deploy it according to the deployment mode, and obtain the real-time stopping position.

[0121] When the real-time deployment range and the unusable range do not intersect, it means that when the vehicle-mounted container moves to its current real-time position, there will be no obstacles interfering with the deployment of the vehicle-mounted container.

[0122] The real-time stopping position refers to the exact coordinates of the container truck when it stops moving, provided that the deployment conditions are met. The real-time stopping position is obtained by recording the location data from the GPS positioning module at the instant the container truck stops.

[0123] Step 14: Generate an unfolding return path based on the real-time stop position and unfolding position, control the on-board container to return to the unfolding position according to the return path, and update the storage mode in real time according to the return path.

[0124] The unfolding return path refers to the movement trajectory of the vehicle-mounted container from its real-time stopping position back to its original unfolded position after it has been unfolded. The return path is generated by the system using a straight line path formed by the coordinates of the real-time stopping position and the unfolded position. After the vehicle-mounted container returns to its unfolded position according to the unfolding return path, the orientation of the unfolded part corresponding to the unfolding power number remains unchanged, still facing the position of the obstacle before the vehicle-mounted container moved in the direction of movement.

[0125] The real-time updating of the storage mode based on the return path ensures that the container's storage action matches the path change during its return to the deployment position, preventing storage anomalies or equipment damage caused by path adjustments. Specifically, currently, the container first moves to a clear, unobstructed stop position for deployment, and then moves back to the deployment position via the deployment return path. If storage were performed directly at the deployment position, the container would still interfere with obstacles during storage. Therefore, real-time updating of the storage mode based on the return path means first controlling the container to move to the clear stop position according to the deployment return path, and then performing storage according to the specified mode.

[0126] This also includes a control method when the real-time expanded area and the unusable area intersect, the method comprising:

[0127] Step 130: When there is an intersection between the real-time unfolding range and the unusable range, control the vehicle-mounted container to stop moving and obtain the return stop position.

[0128] When the real-time unfolded area and the unusable area overlap, it means that the selected direction of movement cannot move the vehicle-mounted container to a position where it will not interfere with obstacles.

[0129] Returning to the stop position refers to the position where the onboard container stops when it returns to the deployed position, provided that the real-time deployment area and the unusable area overlap. The method for obtaining the return to the stop position is the same as the real-time stop position: the position data from the GPS positioning module at the instant the onboard container stops is recorded by the system.

[0130] Step 131: Generate an unexpanded return path based on the return stop position and the expanded position.

[0131] The undeployed return path refers to the movement path of the vehicle-mounted container from the return stop position to the deployed position while in an undeployed state. The undeployed return path is generated by the system using a straight line path formed by the coordinates of the return stop position and the deployed position. After the vehicle-mounted container returns to the deployed position according to the undeployed return path, the orientation of the deployed part corresponding to the deployment power number remains unchanged, still facing the position of the obstacle before the vehicle-mounted container moved in the direction of movement.

[0132] Step 132: Control the vehicle-mounted container to return to the deployed position along the undeployed return path, and reselect the movement direction from the preset movement direction group to execute steps 11 to 14.

[0133] This includes an optimized method for controlling the vehicle-mounted container to return to the deployed position along the undeployed return path, the method comprising:

[0134] Step 1320: Control the on-board container to unfold in unfolding mode at the return stop position and obtain real-time power values.

[0135] Real-time power value refers to the real-time power parameters output by the drive component corresponding to the deployment power number when the on-board container is deployed in deployment mode at the return stop position. The method for obtaining real-time power value is the same as that for deployment power value, and will not be repeated here.

[0136] Step 1321: When the real-time power value is greater than the preset collision power threshold, control the on-board container to stop unfolding and obtain the collision unfolding height.

[0137] The collision dynamic threshold refers to the upper limit of the dynamic value generated by the drive component when it collides with an obstacle during the deployment process. The collision dynamic threshold is set by experimentally determining the typical dynamic change value of different drive components when they encounter obstacles.

[0138] The collision deployment height refers to the height of the deployed portion corresponding to the deployment power number above the ground when the deployment of the vehicle-mounted container stops due to a collision with an obstacle during deployment. The collision deployment height is obtained by a height sensor installed on the deployed portion corresponding to the power number.

[0139] Step 1322: When the collision deployment height is greater than the obstacle height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path.

[0140] like Figure 3 As shown, when the collision deployment height is greater than the obstacle height, it means that at this collision deployment height, the deployed part corresponding to the deployment power number will no longer interfere with the obstacle at the obstacle position. At this time, the vehicle container can be controlled to return to the deployed position according to the undeployed return path without colliding with the obstacle.

[0141] Step 1323: After the container on the vehicle returns to the unfolded position according to the un-unfolded return path, continue to control the container on the vehicle to unfold in the unfolded mode, and update the storage mode according to the un-unfolded return path.

[0142] Once the container on the vehicle returns to the deployed position along the undeployed return path, the container on the vehicle continues to be deployed in the deployment mode. This not only prevents the deployed part corresponding to the deployment power number from interfering with obstacles, but also allows the deployment mode to continue, enabling the container on the vehicle to be fully deployed.

[0143] Updating the storage mode based on the undeployed return path ensures that the container's movements during subsequent storage are compatible with the previously returned path, preventing equipment damage due to path changes. Specifically, since the container is deployed at the return stop position and then moved back to the deployed position, storage requires controlling the container to first move to the return stop position according to the undeployed return path before storage.

[0144] This also includes:

[0145] Step 1324: When the collision deployment height is less than the obstacle height, obtain the required application scenario.

[0146] Application scenarios refer to the spatial scenarios that customers need to create using the unfolded container truck, such as hosting business events or serving as temporary office space. These application scenarios are obtained by the system displaying a scenario selection window through the user-interactive app interface, allowing users to choose based on their actual needs.

[0147] Step 1325: Obtain the minimum unfolding height based on the application scenario.

[0148] Minimum deployment height refers to the minimum height above the ground that the vehicle-mounted container must reach when deployed, based on the required application scenario, to ensure normal use and functionality in that scenario. The minimum deployment height is obtained by the system querying a pre-defined table of correspondence between application scenarios and deployment heights. This table is pre-compiled and stored in the system by staff based on practical application experience and design requirements, and details the minimum deployment height values ​​required for different application scenarios.

[0149] Step 1326: When the collision deployment height is higher than the minimum deployment height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path.

[0150] When the collision deployment height is higher than the minimum deployment height, it indicates that although the vehicle-mounted container stops deploying after colliding with an obstacle, the height of the deployed portion still meets the basic requirements of the user's selected application scenario.

[0151] Step 1327: When the collision deployment height is lower than the minimum deployment height, output a deployment anomaly signal.

[0152] An deployment anomaly signal is a warning message issued by the system to the user when it detects that the deployment height of the vehicle-mounted container does not meet the minimum deployment height requirement of the application scenario. The deployment anomaly signal can be output in various ways, such as by popping up a warning window in the user-interactive APP interface, sending an SMS notification, or triggering an audible and visual alarm.

[0153] This includes an optimized method for outputting a deployment anomaly signal when the collision deployment height is lower than the minimum deployment height. This method includes:

[0154] Step 13270: When the collision deployment height is lower than the minimum deployment height, obtain the maximum tilt angle.

[0155] The maximum tilt angle refers to the maximum degree of tilt that the overall structure of the container truck can exhibit. This maximum tilt angle is determined in advance by staff through a combination of theoretical calculations and actual testing, taking into account factors such as the overall structural strength, material properties, and design specifications of the container truck, and is then stored in the system.

[0156] Step 13271: Control the on-board container to tilt according to the maximum tilt angle and obtain the tilt unfolding height.

[0157] like Figure 4 As shown, the tilt deployment height refers to the height above the ground reached by the deployed portion corresponding to the power unit number after the vehicle-mounted container has tilted at its maximum tilt angle. The tilt deployment height is obtained by collecting height data in real time during the tilting process of the vehicle-mounted container using a height sensor installed on the deployed portion corresponding to the power unit number.

[0158] Step 13272: When the tilted deployment height is higher than the minimum deployment height, control the vehicle-mounted container to maintain its tilt while returning to the deployed position according to the undeployed return path, and update the storage mode according to the maximum tilt angle and the undeployed return path.

[0159] When the tilted deployment height is higher than the minimum deployment height, it means that the height of the deployed portion of the vehicle-mounted container, adjusted by tilting, meets the basic requirements of the user's selected application scenario. At this time, the system controls the vehicle-mounted container to maintain its current tilted state and return to the deployed position along the undeployed return path.

[0160] The update of the storage mode based on the maximum tilt angle and the undeployed return path is to ensure that the vehicle-mounted container can adapt and adjust according to its tilt state and previous return path during subsequent storage, avoiding abnormal storage actions or equipment damage due to tilt and path changes. Specifically, the vehicle-mounted container is first controlled to return to the deployed position according to the undeployed return path when tilted at the maximum tilt angle, and then storage is performed.

[0161] Step 13273: When the tilting and unfolding height is lower than the minimum unfolding height, control the on-board container to stop tilting and output an unfolding abnormal signal.

[0162] When the tilting and unfolding height is lower than the minimum unfolding height, it indicates that even with the maximum tilting angle adjustment, the unfolded part of the vehicle-mounted container still cannot reach the minimum height required for the application scenario. At this time, the system will immediately control the vehicle-mounted container to stop tilting and output an unfolding abnormal signal.

[0163] This also includes:

[0164] Step 133: When the real-time expansion range still intersects with the unusable range after traversing all movement directions, obtain the abnormal expansion number based on the expansion power number.

[0165] An abnormal deployment number refers to the number of a section of the vehicle-mounted container that cannot be deployed normally according to the deployment mode. The abnormal deployment number is obtained by finding the corresponding deployment section in the power mapping table based on the deployment power number. The power mapping table is a table containing the mapping relationship between deployment power numbers and deployment sections. Staff have pre-entered and stored this mapping relationship in the system. Through the power mapping table, the corresponding drive module controlling the deployment section and its number can be found based on the deployment power number. When the vehicle-mounted container cannot be deployed normally, the number of the drive module controlling the deployment section corresponding to the deployment power number is the abnormal deployment number.

[0166] Step 134: Find the corresponding abnormal function range in the preset module function correspondence table according to the abnormal expansion number.

[0167] The module function mapping table is a table that stores each deployment number and its corresponding functional scope, including the functional modules corresponding to the parts deployed for each deployment number. The module function mapping table is pre-compiled by staff based on the design specifications and functional characteristics of the vehicle-mounted container and stored in the system.

[0168] The scope of abnormal functions refers to the range of functions covered by the deployed portion corresponding to the abnormal deployment number within the overall functionality of the vehicle-mounted container. The scope of abnormal functions is found by the system searching the module function correspondence table based on the abnormal deployment number to obtain the corresponding scope of abnormal functions.

[0169] Step 135: When there is no intersection between the abnormal function range and the preset core function range, adjust the deployment mode according to the deployment power number to obtain a partial deployment mode.

[0170] The core functional scope refers to the range of functions that a vehicle-mounted container must be able to meet during normal use, encompassing the critical functional requirements. This core functional scope is determined in advance and stored in the system by staff based on factors such as the vehicle-mounted container's design purpose, main application scenarios, and core user needs.

[0171] When there is no overlap between the abnormal function range and the preset core function range, it means that the abnormal expansion part does not affect the use of the core functions of the vehicle container.

[0172] Partial deployment mode refers to an operational scheme that involves partially adjusting the deployment mode of the vehicle-mounted container when there is no overlap between the abnormal functional scope and the core functional scope. It means that other parts are deployed without deploying the portion corresponding to the abnormal deployment number. The adjustment method for partial deployment mode is as follows: the system determines the parts that do not need to be deployed based on the abnormal deployment number, then removes the parts corresponding to the abnormal deployment number from the original deployment logic and parameters, generating operation instructions that do not include the parts corresponding to the abnormal deployment number, thus forming the partial deployment mode.

[0173] Step 136: Control the vehicle-mounted container to unfold in a partial unfolding mode.

[0174] The vehicle-mounted container is controlled to unfold in a partially unfolding mode, thereby preventing interference between the container and obstacles while ensuring the integrity of its core functions. This allows users to utilize the container even when obstacles are present.

[0175] This also includes:

[0176] Step 137: When there is an overlap between the abnormal function range and the preset core function range, find the non-core expansion number according to the module function correspondence table and the core function range.

[0177] Non-core deployment numbers refer to the numbers corresponding to those deployment sections of a vehicle-mounted container that do not fall within the core functional scope. When there is an overlap between the abnormal functional scope and the core functional scope, it means that the abnormal deployment section affects the use of the vehicle-mounted container's core functions.

[0178] Step 138: Obtain the orientation of the non-core deployment based on the non-core deployment number and deployment position.

[0179] The non-core deployment orientation refers to the direction in which the deployed part corresponding to the non-core deployment number faces during deployment. The non-core deployment orientation is obtained by the system based on the relative positional relationship of each part of the vehicle-mounted container in its normal deployment state, and then by combining the non-core deployment number with the corresponding deployment part in the power mapping table to determine the direction that part should face during deployment. This direction is the non-core deployment orientation.

[0180] Step 139: Develop an adjustment plan based on the orientation of the non-core deployment and the location of obstacles.

[0181] The adjustment scheme refers to the method of controlling the onboard container to adjust its non-core deployment orientation to face the obstacle. The adjustment scheme is formed by the system calculating the required rotation angle of the onboard container based on the relative relationship between the non-core deployment orientation and the obstacle position, thereby forming an adjustment scheme to control the rotation of the onboard container.

[0182] Step 140: Control the on-board container to adjust according to the adjustment plan, and adjust the deployment mode according to the non-core deployment number to obtain the non-core deployment mode.

[0183] The non-core deployment mode refers to an operational scheme that partially adjusts the deployment mode of the vehicle-mounted container according to the non-core deployment number. It means that other parts are deployed without deploying the parts corresponding to the non-core deployment number. The adjustment method for the non-core deployment mode is as follows: the system determines the parts that do not need to be deployed based on the non-core deployment mode, then removes the parts corresponding to the non-core deployment mode from the original deployment logic and parameters, generating operation instructions that do not include the parts corresponding to the non-core deployment mode, thus forming the non-core deployment mode.

[0184] Step 141: Control the vehicle-mounted container to unfold in a non-core unfolding mode.

[0185] By controlling the deployment of the vehicle-mounted container in a non-core deployment mode, the non-core parts can be flexibly adjusted while ensuring that the core functions are not affected. This avoids direct collisions with obstacles and preserves the usability of the vehicle-mounted container to the maximum extent.

[0186] The specific methods for determining the expansion location based on the usable range include:

[0187] Step 30: Generate the maximum inscribed rectangle based on the accommodating range;

[0188] like Figure 5As shown, the maximum inscribed rectangle refers to the rectangle that can be inscribed within the containment area and has the largest area. The maximum inscribed rectangle is generated by the system using a geometric algorithm to scan and analyze the boundary of the containment area, determine the maximum possible values ​​of the length and width of the containment area, and then generate a rectangle that can be completely contained within the containment area and has the largest area. This rectangle is the maximum inscribed rectangle.

[0189] Step 31: Divide the largest inscribed rectangle into multiple usable rectangles based on the unusable range, and obtain the rectangle range corresponding to each usable rectangle;

[0190] like Figure 5 As shown, a usable rectangle refers to the rectangle formed by dividing the largest inscribed rectangle within the accommodating area into independent regions by the unusable area. The usable rectangle is determined by the system using image processing technology to perform spatial analysis on the accommodating and unusable areas, thereby deriving each independent usable rectangle.

[0191] The rectangular range refers to the specific area covered by each usable rectangle. The rectangular range is determined by the system automatically recording the boundary coordinates of the rectangle within its usable area after generating the usable rectangle, and then calculating based on its length and width to clearly define the area it covers.

[0192] Step 32: Sort the rectangle ranges to obtain the maximum rectangle range, and use the center point of the largest usable rectangle corresponding to the maximum rectangle range as the expansion position.

[0193] The maximum usable rectangle is the rectangle with the largest area among all usable rectangles. The maximum usable rectangle is determined by the system calculating the area of ​​each available rectangle, comparing their sizes, and finding the rectangle with the largest area.

[0194] The maximum rectangular area refers to the region covered by the rectangle with the largest area among all generated rectangular areas. The maximum rectangular area is determined by comparing the areas of all generated rectangular areas and selecting the one with the largest area.

[0195] Based on the same inventive concept, embodiments of the present invention provide a control system for an expandable and retractable mobile space based on an app.

[0196] A control system for an app-based deployable and retractable mobile space includes:

[0197] The acquisition module is used to acquire site images and the required deployment area;

[0198] The memory is used to store a program for a control method of an expandable and retractable mobile space based on an app;

[0199] The processor loads and executes programs from memory.

[0200] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0201] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an expandable and retractable mobile space based on an app, characterized in that, include: Step 1: Obtain site images and required deployment area, and determine the accommodating area based on the site images; Step 2: Obtain the usable range based on the accommodating range and the preset unusable range. The unusable range refers to the range that cannot be used to allow the container to be unfolded. The size of the unusable range before unfolding is 0. Step 3: When the scope of the demand can fall within the usable scope, determine the expansion position based on the usable scope; Step 4: Control the vehicle-mounted container to move to the unfolding position and unfold it according to the preset unfolding mode; Step 5: Obtain the deployment power number and the corresponding deployment power value; Step 6: When the deployment power value is greater than the preset reasonable power threshold, control the vehicle-mounted container to close according to the preset closing mode, and obtain the deployment image corresponding to the deployment power number; Step 7: Obtain the obstacle location and obstacle range based on the unfolded image, and store the obstacle range as an unusable area in the system; Step 8: In response to the storage signal, control the on-board container to store according to the preset storage mode.

2. The control method for an expandable and retractable mobile space based on an app according to claim 1, characterized in that, Also includes: Step 9: When the required expansion area cannot fall within the usable area, search for the corresponding expansion height from the preset expansion database according to the expansion power number; Step 10: When the unfolded height is greater than the height of the obstacle, determine the movable range based on the site image, and merge the movable range and the usable range to obtain the adjustable range; Step 11: Select any movement direction from the preset movement direction group, control the on-board container to move in the movement direction, and obtain the real-time position; Step 12: Obtain the real-time expansion range based on the real-time location and the required expansion range; Step 13: When there is no intersection between the real-time deployment range and the unusable range, control the vehicle-mounted container to stop moving and deploy it according to the deployment mode, and obtain the real-time stopping position; Step 14: Generate an unfolding return path based on the real-time stop position and unfolding position, control the on-board container to return to the unfolding position according to the return path, and update the storage mode in real time according to the return path.

3. The control method for an expandable and retractable mobile space based on an app according to claim 2, characterized in that, It also includes a control method when the real-time expanded area intersects with the unusable area, the method comprising: Step 130: When the real-time unfolded area intersects with the unusable area, control the vehicle-mounted container to stop moving and obtain the return stop position; Step 131: Generate an expanded return path based on the return stop position and the expanded position; Step 132: Control the vehicle-mounted container to return to the deployed position along the undeployed return path, and reselect the movement direction from the preset movement direction group to execute steps 11 to 14.

4. The control method for an expandable and retractable mobile space based on an APP according to claim 3, characterized in that, It also includes an optimized method for controlling the onboard container to return to the deployed position along the undeployed return path, the method comprising: Step 1320: Control the vehicle-mounted container to unfold in unfolding mode at the return stop position and obtain real-time power values; Step 1321: When the real-time power value is greater than the preset collision power threshold, control the on-board container to stop unfolding and obtain the collision unfolding height; Step 1322: When the collision deployment height is greater than the obstacle height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path; Step 1323: After the container on the vehicle returns to the unfolded position according to the un-unfolded return path, continue to control the container on the vehicle to unfold in the unfolded mode, and update the storage mode according to the un-unfolded return path.

5. The control method for an expandable and retractable mobile space based on an app according to claim 4, characterized in that, Also includes: Step 1324: When the collision deployment height is less than the obstacle height, obtain the required application scenario; Step 1325: Determine the minimum unfolding height based on the application scenario; Step 1326: When the collision deployment height is higher than the minimum deployment height, control the vehicle-mounted container to return to the deployment position according to the undeployed return path; Step 1327: When the collision deployment height is lower than the minimum deployment height, output a deployment anomaly signal.

6. The control method for an expandable and retractable mobile space based on an app according to claim 5, characterized in that, It also includes an optimized method for outputting a deployment anomaly signal when the collision deployment height is lower than the minimum deployment height. This method includes: Step 13270: When the collision deployment height is lower than the minimum deployment height, obtain the maximum tilt angle; Step 13271: Control the vehicle-mounted container to tilt according to the maximum tilt angle and obtain the tilt unfolding height; Step 13272: When the tilted deployment height is higher than the minimum deployment height, control the vehicle container to maintain its tilt while returning to the deployment position according to the undeployed return path, and update the storage mode according to the maximum tilt angle and the undeployed return path; Step 13273: When the tilting and unfolding height is lower than the minimum unfolding height, control the on-board container to stop tilting and output an unfolding abnormal signal.

7. The control method for an expandable and retractable mobile space based on an app according to claim 3, characterized in that, Also includes: Step 133: When the real-time expansion range still intersects with the unusable range after traversing all movement directions, obtain the abnormal expansion number based on the expansion power number; Step 134: Find the corresponding abnormal function range in the preset module function correspondence table according to the abnormal expansion number; Step 135: When there is no intersection between the abnormal function range and the preset core function range, adjust the deployment mode according to the deployment power number to obtain a partial deployment mode; Step 136: Control the vehicle-mounted container to unfold in a partial unfolding mode.

8. The control method for an expandable and retractable mobile space based on an app according to claim 7, characterized in that, Also includes: Step 137: When there is an overlap between the abnormal function range and the preset core function range, find the non-core expansion number according to the module function correspondence table and the core function range; Step 138: Obtain the orientation of the non-core deployment based on the non-core deployment number and deployment position; Step 139: Develop an adjustment plan based on the orientation of non-core deployments and the location of obstacles; Step 140: Control the vehicle-mounted container to adjust according to the adjustment plan, and adjust the deployment mode according to the non-core deployment number to obtain the non-core deployment mode; Step 141: Control the vehicle-mounted container to unfold in a non-core unfolding mode.

9. The control method for an expandable and retractable mobile space based on an app according to claim 1, characterized in that, Specific methods for determining the expansion location based on the usable scope include: Step 30: Generate the maximum inscribed rectangle based on the accommodating range; Step 31: Divide the largest inscribed rectangle into multiple usable rectangles based on the unusable range, and obtain the rectangle range corresponding to each usable rectangle; Step 32: Sort the rectangle ranges to obtain the maximum rectangle range, and use the center point of the largest usable rectangle corresponding to the maximum rectangle range as the expansion position.

10. A control system for an expandable and retractable mobile space based on an app, characterized in that, include: The acquisition module is used to acquire site images and the required deployment area; A memory for storing a program of a control method for an expandable and retractable mobile space based on an app, as described in any one of claims 1 to 9; The processor loads and executes programs from memory.

Images