Section control method, mobile device and operation system

Abstract

Provided in the present application are a section control method, a mobile device and an operation system. The section control method is applied to a mobile device. The mobile device is equipped with an implement, and the implement comprises several sections. The section control method comprises: acquiring an operation area and current travel state of a mobile device, and an operation length and center coordinates of a section; determining an operation range of the section on the basis of the current travel state, the center coordinates and the operation length; and controlling an on / off state of the section on the basis of a positional relationship between the operation range and the operation area. The section control method can realize automated control of sections, thereby realizing accurate operation.

Description

Section control method, mobile device and operating system

[0001] The present application claims priority to the Chinese patent application No. 202410977797.4 filed on July 19, 2024, and entitled "Section control method, mobile device and operating system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of agricultural automation, and in particular to a section control method, a mobile device and an operating system. BACKGROUND

[0003] The agricultural machine automatic control technology is applied in various links of agricultural production, such as seeding, fertilizing, pesticide spraying and irrigation. The agricultural machines used in these links, such as seeding machines, plant protection machines and sprinkler machines, are loaded with tools composed of multiple sections, each of which can be independently operated and controlled, and the simultaneous operation of multiple sections ensures the operation efficiency. In the scenarios of land head, wedge shape and after the worked area, the sections need to be controlled separately in the on-off state, that is, the single section is controlled without affecting other sections, so as to save production materials and reduce the impact on the environment and crops. If precise operation is desired, the section control in the related art requires a high level of driving skills. SUMMARY

[0004] Therefore, the present application provides a section control method, a mobile device and an operating system, which can realize the automatic control of the sections and thus achieve precise operation.

[0005] The first aspect of the present application provides a section control method applied to a mobile device, wherein the mobile device is mounted with a tool, and the tool includes a plurality of sections. The section control method includes: obtaining a working area of the mobile device and a current driving state, a working length and a center coordinate of the section; determining a working range of the section according to the current driving state, the center coordinate and the working length; and controlling an on-off state of the section according to a positional relationship between the working range and the working area.

[0006] The second aspect of the present application provides a mobile device, wherein the mobile device is mounted with a tool, and the tool includes a plurality of sections. The mobile device includes a memory and a controller, the memory is used to store a computer program, and the controller is used to execute the computer program. When the computer program is executed, the controller is used to execute the section control method according to any one of the above.

[0007] The third aspect of the present application provides an operating system, which includes a tool and a mobile device as described above. The tool is mounted on the mobile device, and the tool includes a plurality of sections.

[0008] The segment control method provided in the application determines the operation range of the segment according to the current driving state of the mobile device, the center coordinates of the segment and the operation length, and then controls the on-off state of the segment according to the positional relationship between the operation range and the operation area, so as to realize the automatic control of the segment and the accurate operation of the implement. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the protection scope of the present application. In the various drawings, similar components are denoted by similar reference numerals.

[0010] Fig. 1 is a schematic diagram of an application environment of a segment control method provided in an embodiment of the present application.

[0011] Fig. 2 is a schematic flow diagram of a segment control method provided in an embodiment of the present application.

[0012] Fig. 3 is a schematic flow diagram of a sub-step of obtaining the center coordinates of the segment according to the antenna coordinates and the current driving state in an embodiment of the present application.

[0013] Fig. 4 is a schematic diagram of the positional relationship between a plurality of segments, an antenna on the mobile device and an axis in the mobile device provided in an embodiment of the present application.

[0014] Fig. 5 is a schematic flow diagram of a sub-step of step S202 provided in an embodiment of the present application.

[0015] Fig. 6 is a schematic flow diagram of a sub-step of step S502 provided in an embodiment of the present application.

[0016] Fig. 7 is a schematic flow diagram of a sub-step of step S503 provided in an embodiment of the present application.

[0017] Fig. 8 is a schematic diagram of a first coordinate, a second coordinate and a corrected coordinate provided in an embodiment of the present application.

[0018] Fig. 9 is a schematic flow diagram of a sub-step of step S203 provided in an embodiment of the present application.

[0019] Fig. 10(A) shows a schematic diagram when the boundary of the operation area is expanded outward.

[0020] Fig. 10(B) shows a schematic diagram when the boundary of the operation area is contracted inward.

[0021] Fig. 11(A) shows the intersection of the operation range of the segment and the boundary of the operation area when the overlap rate is 0.

[0022] Figure 11(B) shows the intersection of the job range of a section and the boundary of the job area when the overlap rate is 50%.

[0023] Figure 11(C) shows the intersection of the job range of a section and the boundary of the job area when the overlap rate is 100%.

[0024] Figure 12 is a flow chart of the sub-steps of step S905 according to an embodiment of the present application.

[0025] Figure 13(A) shows a schematic diagram when the boundary of the job area is expanded outwardly.

[0026] Figure 13(B) shows a schematic diagram when the boundary of the job area is contracted inwardly.

[0027] Figure 14(A) shows the intersection of the job range of a section and the boundary of the job area when the overlap rate is 0.

[0028] Figure 14(B) shows the intersection of the job range of a section and the boundary of the job area when the overlap rate is 50%.

[0029] Figure 14(C) shows the intersection of the job range of a section and the boundary of the job area when the overlap rate is 100%.

[0030] Figure 15 is a schematic diagram of the positional relationship between the target coordinate and the job area, and the positional relationship between the target coordinate and the job area according to an embodiment of the present application.

[0031] Figure 16 is a flow chart of the section control method after step S203 according to an embodiment of the present application.

[0032] Figure 17 is a structural block diagram of a mobile device according to an embodiment of the present application.

[0033] Figure 18 is a structural block diagram of a control device according to an embodiment of the present application.

[0034] Figure 19 is a schematic diagram of the modules of a computer readable storage medium according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments.

[0036] It should be understood that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components can also be present. When a component is referred to as being "positioned on" another component, it can be directly positioned on the other component or intervening components can also be present. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "rear", and the like as can be used herein are used for illustration only and are not intended to be limiting.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0038] Some embodiments will be described in the following detailed description with reference to the accompanying drawings. The embodiments and features described hereinbelow can be combined with each other, in case of no conflict.

[0039] The automatic control technology of agricultural machinery is applied in various links of agricultural production, such as seeding, fertilizing, pesticide spraying, and irrigation. The agricultural machinery used in these links, such as seeding machines, plant protection machines, and sprinkler machines, is loaded with tools composed of multiple sections, each of which can be independently operated and controlled, and the simultaneous operation of multiple sections ensures the operation efficiency. In the scenarios of land head, wedge, or after the worked area, the sections need to be controlled separately in the on-off state, that is, the single section is controlled without affecting other sections, so as to save production materials and reduce the impact on the environment and crops. If precise operation is to be achieved, the section control in the related art has a high requirement on the driver.

[0040] In view of this, the application provides a section control method, an electronic device, and a mobile device, which can realize the automation of section control and thus achieve precise operation.

[0041] Referring to FIG. 1, FIG. 1 is a schematic diagram of an application environment of a section control method provided by an embodiment of the application. Understandably, the section control method provided by the application can be applied to a mobile device 100. The mobile device 100 is mounted with a tool 200. The tool 200 includes a plurality of sections 210. Each section 210 is provided with a corresponding sub-controller. The sub-controller is used to open or close the corresponding section 210 in response to the control instruction of the controller of the mobile device 100. In this way, the mobile device 100 and the tool 200 together form an operation system 10, such as the sprinkler device shown in FIG. 1. And each section 210 on the tool 200 is a nozzle. In the application, when the section 210 is in the open state, the section 210 can spray; when the section 210 is in the closed state, the section 210 does not spray.

[0042] It is appreciated that the present application does not limit the type of the mobile device 100, which can be various movable devices such as an electric vehicle, a diesel vehicle, a hybrid vehicle, etc., and the mobile device 100 can be a manually driven device or a self-moving device without a driver. In other embodiments, the implement 200 can also be other devices with multiple independently controllable sections, such as a seeding device, a plant protection device, etc., and accordingly, the mobile device 100 can form other working systems with the implement 200, such as a seeding machine, a plant protection machine, etc. The present application does not limit the specific types of the mobile device 100, the implement 200, and the working system 10.

[0043] In some embodiments, the mobile device 100 further comprises an antenna 103 for realizing the positioning and wireless data transmission of the mobile device 100. The antenna 103 can be used to realize the wireless data transmission between the controller of the mobile device 100 and the sub-controller of each section 210, or can be used to realize the wireless data transmission between the controller of the mobile device 100 and an external device. It is appreciated that the wireless data transmission mode can be at least one of Bluetooth transmission, cellular network transmission, microwave transmission, GPRS transmission, twisted pair transmission, video baseband transmission, light transmission, wideband coaxial cable transmission, wireless SmartAir transmission, or a wireless transmission mode known to those skilled in the art. The present application does not limit the specific method of realizing the positioning of the mobile device 100.

[0044] Please continue to refer to FIG. 2, which is a flowchart of a section control method provided by an embodiment of the present application. It is appreciated that the section control method can be executed by the controller on the mobile device 100, or in other embodiments, the section control method can also be executed by a control device or a host computer independent of the mobile device 100, such as a remote server, etc. In some embodiments, the section control method comprises steps S201 to S203. Among them,

[0045] Step S201: Obtain the working area of the mobile device, the current driving state, the working distance of the section, and the center coordinates.

[0046] The working area is map data representing the working range of the working system 10. The working area can be pre-stored in the memory of the mobile device 100, can be obtained from the host computer of the mobile device 100, or can be actively measured by the mobile device 100. For example, the mobile device 100 can drive along the boundary of the field block currently working, and at the same time, the controller collects the position of each boundary point of the field block in the driving process and the corresponding heading angle to calculate the boundary data of the field block, thereby obtaining the working area. The present application does not limit the source of the working area.

[0047] The current driving state of the mobile device 100 can include the current speed and heading angle of the mobile device 100, and other data for representing the movement of the mobile device 100. In some embodiments, the speed and heading angle of the mobile device 100 can be calculated by obtaining the antenna coordinates through the antenna 103, and then calculating the change in the position of the antenna 103. Specifically, the controller can establish a virtual coordinate system in a specified area according to a predetermined rule, at which time each point in the specified area corresponds to a unique coordinate data. The controller can calculate the antenna coordinates by communicating with the base stations or other communication markers in the specified area through the antenna 103. In other embodiments, the controller can also use an existing or known coordinate system (for example, the latitude and longitude coordinate system) to determine the actual antenna coordinates according to the communication between the antenna 103 and other wireless devices, and then determine the antenna coordinates of the antenna 103 in the virtual coordinate system according to the actual antenna coordinates. In other embodiments, the controller can also directly use the actual coordinates of the antenna 103 in the existing or known coordinate system as the antenna coordinates. The embodiments of the present application do not limit this. Further, the controller can calculate the antenna coordinates through the antenna 103 based on at least one of the GPS positioning technology, the Beidou positioning technology, and the real-time dynamic (RTK) positioning technology.

[0048] In other embodiments, a mileage meter and an inertial measurement unit can be installed on the mobile device 100. The mileage meter can be used to obtain data such as the movement distance of the mobile device 100, and the inertial measurement unit can be used to obtain the acceleration and angular velocity of the mobile device 100. In this way, the processor can calculate the current speed and heading angle of the mobile device 100 according to the data obtained by the mileage meter and the inertial measurement unit. In other embodiments, the driving state of the mobile device 100 can also be obtained in other ways, which are not limited in the present application.

[0049] The working distance is used to represent the working range of the section 210 when working. In the present embodiment, the working distance can represent the spraying range of the section 210. In some embodiments, the working distance of the same section 210 can be an adjustable parameter, so that the section 210 can match different working distances at different time periods. In the present application, the working distances of different sections 210 can be equal or not equal. Understandably, the working distance can have different meanings according to different working systems 10, for example, in other embodiments, when the working system 10 is a seeder, the working distance can also represent the plant spacing.

[0050] Understandably, since the section 210 and the antenna 103 are both arranged on the mobile device 100, that is, the positional relationship between the section 210 and the antenna 103 is relatively determined, the center coordinates of the section 210 can be determined according to the antenna coordinates and the current driving state.

[0051] Referring to FIG. 3, in some embodiments, the current driving state includes a speed and a heading angle, and obtaining the center coordinates of the section according to the antenna coordinates and the current driving state includes the following sub-steps S301-S303.

[0052] Step S301: obtaining the number of all sections, the width and number of each section, the first distance from the antenna to the center axis of the mobile device, and the second distance from the antenna to the center point of the implement;

[0053] Step S302: determining the third distance from the center of each section to the center axis of the mobile device according to the number of all sections, the width and number of each section, the first distance from the antenna to the center axis of the mobile device, and the second distance from the antenna to the center point of the implement;

[0054] Step S303: determining the center coordinates of the corresponding section according to the current driving state of the mobile device, the first distance, the second distance, and the third distance.

[0055] Referring to FIG. 4, in some embodiments, the connecting line s of the plurality of sections 210 intersects with the center axis c of the mobile device. Wherein, L1 represents the first distance from the antenna 103 to the center axis c of the mobile device, L2 represents the second distance from the antenna 103 to the center point N of the implement, and L3 k represents the third distance from the center point N of the implement to the center point of the corresponding section.

[0056] Generally, when the implement 200 is mounted to the mobile device 100, the implement 200 is symmetrically centered on the center axis of the mobile device. That is, when the implement 200 is mounted to the mobile device 100, the distance from the center of each section to the center axis c of the mobile device, i.e., the third distance L3 k , can be calculated according to the number of sections n and the width w of each section.

[0057] For example, when the plurality of sections 210 on the implement 200 are equally distributed, and the width w of each section 210 is equal, the corresponding third distance L3 k of each section can be calculated according to the following formula.

[0058] Wherein, n represents the number of all sections, n is a positive integer, k represents the number of sections, and takes a value of [1, n]. That is, L3 k represents the third distance L3 corresponding to the section 210 with the number k.

[0059] Wherein, the first distance L1 and the third distance L3 kThe value can be positive or negative. A negative value indicates that the antenna 103 or the corresponding section is on one side of the axis c in the mobile device; a positive value indicates that the corresponding section of the antenna 103 is on the other side of the axis c in the mobile device.

[0060] In this way, the third distance L3 from the center point N of the implement to the center point of the corresponding section can be determined according to the first distance, the second distance, the width of each section, and the number of sections. k For example, for the implement shown in FIG. 4 including five sections 210, when numbered from top to bottom as 1 to 5 in turn, the third distances L31 to L35 of the corresponding sections 210 are -2w, -w, 0, w, and 2w in turn.

[0061] Referring again to FIG. 4, in some embodiments, the virtual coordinate system established by the controller is the OXY coordinate system, and the heading angle is the angle formed by the axis c and the X axis in the OXY coordinate system. The unit vector of the vector in the OXY coordinate system in which the axis c is located The unit vector of the vector in the OXY coordinate system in which the line s perpendicular to the axis c is located

[0062] Taking the point at which the antenna 103 is located as the point G, and taking the point at which the perpendicular line from the antenna 103 connects to the axis c as the point M. Then

[0063] In this way, the center coordinates of the center point of the section k are:

[0064] The above formula can be decomposed to obtain the following formula:

[0065] wherein x k represents the center horizontal coordinate of the center coordinates of the corresponding section k; and y k represents the center vertical coordinate of the center coordinates of the corresponding section k.

[0066] In this way, by performing the above steps S301 to S303, the center coordinates of the sections can be obtained according to the antenna coordinates and the current driving state.

[0067] In other embodiments, a positioning sensor can be arranged on the implement 200 or each section 210 of the implement 200, so that the center coordinates of each section can be directly obtained through the positioning sensor. The specific way of obtaining the center coordinates is not limited in the present application.

[0068] Step S202: determining the working range of the section according to the current driving state, the center coordinates, and the working distance.

[0069] Understandably, since there is a delay problem between the sub-controller of the section 210 and the controller of the mobile device 100, the step S202 obtains the coordinate closer to the actual position of the section 210 according to the current driving state and the delay duration. Since each section 210 is configured with a corresponding working distance, the working range of each section 210 in the control delay duration can also be calculated. In this way, compared with controlling the section 210 only according to the coordinate of the section, the step S202 realizes more accurate control of each section 210 by further determining the working range, realizes accurate work, reduces the probability of repeated work or missed work, reduces the cost, and improves the efficiency.

[0070] Please refer to FIG. 5, in some embodiments, the step S202 includes a sub-step S501 to a sub-step S504. Specifically,

[0071] The step S501: obtaining the instruction response duration of the section.

[0072] The instruction response duration can be the duration between the time when the section 210 receives the control instruction of switching to the second state issued by the controller of the mobile device 100 in the first state and the time when the controller of the mobile device 100 receives the feedback data packet of the corresponding section 210. Understandably, when the section 210 receives the control instruction of switching to the second state issued by the controller of the mobile device 100 in the first state, the section 210 switches from the first state to the second state, and at the same time, the sub-controller of the corresponding section 210 also sends a feedback data packet to the controller 100 of the mobile device 100, so that the controller 100 confirms that the corresponding section 210 has switched to the second state. The first state is one of the on state and the off state, and the second state is the other of the on state and the off state. In this way, the instruction response duration is used to represent the delay duration between the sub-controller and the controller of the mobile device 100.

[0073] In some embodiments, when the sub-controller of the section 210 receives the control instruction, it controls the corresponding section 210 to switch states and generates a first timestamp to record the first time when the control instruction is received. The sub-controller also feeds back the data including the first timestamp to the controller of the mobile device 100 through the feedback data packet. The controller of the mobile device 100 generates a second timestamp to record the second time when the feedback data packet is received when receiving the feedback data packet. The controller can calculate the instruction response duration of the corresponding section 210 according to the first timestamp and the second timestamp. Understandably, the instruction response duration can be a preset value, and the preset value can be the average of a plurality of instruction response durations.

[0074] The step S502: determining the corrected coordinate according to the heading angle, the speed, the center coordinate and the instruction response duration.

[0075] The corrected coordinates are used to represent the coordinates of the center of the section after compensation.

[0076] It can be understood that, due to the control delay between the controller of the mobile device 100 and the sub-controller of the section 210, the corresponding section 210 has actually generated a displacement at a certain speed and heading angle during the instruction response time from when the sub-controller receives the control instruction to when the sub-controller sends the feedback data packet to the controller of the mobile device 100. Therefore, in step S502, the displacement during the instruction response time can be calculated according to the heading angle, the speed and the instruction response time, and then the corrected coordinates closer to the actual position of the section 210 can be obtained according to the displacement.

[0077] Referring to FIG. 6, in some embodiments, the center coordinates include a center horizontal coordinate and a center vertical coordinate, and the corrected coordinates include a first horizontal coordinate and a first vertical coordinate. Step S502 includes the following sub-steps:

[0078] Step S601: determining a first compensation value and a second compensation value according to the speed, the instruction response time and the heading angle.

[0079] Step S602: determining the first horizontal coordinate according to the center horizontal coordinate and the first compensation value.

[0080] Step S603: determining the first vertical coordinate according to the center vertical coordinate and the second compensation value.

[0081] It can be understood that the displacement of the section 210 during the instruction response time can be decomposed into displacements on the X-axis and the Y-axis according to the heading angle. Therefore, in step S601, the first compensation value on the X-axis and the second compensation value on the Y-axis can be determined according to the speed, the instruction response time and the heading angle. In this way, the first horizontal coordinate can be determined according to the center horizontal coordinate and the first compensation value, and the first vertical coordinate can be determined according to the center vertical coordinate and the second compensation value.

[0082] For example, in some embodiments, the corrected coordinates can be determined according to the following formula

[0083] wherein x kt represents the first horizontal coordinate, v represents the current speed of the mobile device 100, t represents the instruction response time, y kt represents the first vertical coordinate. It can be understood that, in the formula, the value calculated by v*t*cosα is the first compensation value, and the value calculated by v*t*sinα is the second compensation value.

[0084] It can be understood that the present application does not limit the formula for calculating the corrected coordinates, for example, in other embodiments, the corrected coordinates can also be determined according to the following formula

[0085] wherein b1 and b2 are constants, and b1 and b2 can be empirical values obtained according to laboratory data. Thus, in the above formula, the value calculated by v*t*cos a+b1 is the first compensation value, and the value calculated by v*t*sin a+b2 is the second compensation value.

[0086] Thus, by performing the above steps S601 to S603, the corrected coordinates can be calculated according to the heading angle, the speed, the center coordinates and the instruction response time.

[0087] Understandably, after the corrected coordinates are determined in step S502, the following steps S503 to S504 can be continuously performed to determine the working range.

[0088] Step S503: determining target coordinates according to the corrected coordinates, the heading angle and the working distance.

[0089] Step S504: determining the working range according to the target coordinates.

[0090] The target coordinates are used to represent the coordinates used to represent the working distance of the section 210 when the coordinates of the section 210 are the corrected coordinates. Taking the example that the section 210 works in one direction, the corresponding section 210 forms a certain working range according to the working distance in the direction corresponding to the heading angle. Therefore, in step S503, the target coordinates corresponding to the working range of the section 210 within the instruction response time can be calculated according to the corrected coordinates, the heading angle and the working distance, and in step S504, the working range can be determined according to the target coordinates.

[0091] Thus, by performing steps S501 to S503, the working range in step S202 can be determined. Understandably, after the working range is determined, step S203 can be continuously performed.

[0092] Step S203: controlling the switching state of the section according to the positional relationship between the working range and the working area.

[0093] The working area includes the to-be-worked area and the worked area. Understandably, the to-be-worked area represents the area where the section 210 has not worked, and the worked area represents the area where the section 210 has worked. Generally, in order to reduce the probability of repeated work or missed work, not only the positional relationship between the working range and the working area, but also the positional relationship between the working range of the section 210 and the to-be-worked area, and the positional relationship between the working range of the section 210 and the worked area, need to be considered to control the switching state of the section 210.

[0094] Thus, the section control method provided in this application determines the working range of section 210 based on the current driving status of mobile device 100, the center coordinates of section 210, and the working distance, and then controls the on / off state of section 210 based on the positional relationship between the working range and the working area, thereby realizing the automated control of section 210 and enabling the precise operation of machine 200.

[0095] Scene 1

[0096] In Scenario 1, the specific implementation details of the section control method provided in this application are illustrated by taking the working distance as the working range when granular fertilizer, liquid spraying or other materials are used in section 210, i.e., the working system 10 is a sprinkler irrigation machine, etc.

[0097] Please refer to Figure 7. In some embodiments, the target coordinates include a first coordinate and a second coordinate. Step S503 includes the following sub-steps:

[0098] Step S701: Determine the first offset angle and the second offset angle based on the working distance and heading angle.

[0099] Wherein, the first offset angle β1 is the angle at which the first endpoint of the working distance is offset from the heading angle, and the second offset angle β2 is the angle at which the second endpoint of the working distance is offset from the heading angle.

[0100] Please refer to Figure 8 again. For example, when the working distance is the width of segment 210, the first coordinate (xKL, yKL) and the second coordinate (xKR, yKR) can be determined based on the correction coordinates (xkt, ykt). The first coordinate (xKL, yKL) is located at one end of the length formed by the width of segment 210, i.e., the first endpoint of the working distance of segment 210. The second coordinate (xKR, yKR) is located at the other end of the length formed by the width of segment 210, i.e., the second endpoint of the working distance of segment 210. In this embodiment, the first offset angle β1 is -π / 2, and the second offset angle β2 is π / 2.

[0101] Understandably, this application does not limit the specific values ​​of the first offset angle and the second offset angle. The -π / 2 and π / 2 mentioned in this embodiment are merely examples of this application.

[0102] Step S702: Determine the first coordinates based on the correction coordinates, working distance, heading angle, and first offset angle.

[0103] In some embodiments, the first coordinates (xKL, yKL) can be calculated according to the following formula.

[0104] Where, x kt The x-coordinate of the correction coordinate, y ktThe vertical coordinate represents the correction coordinate. w represents the width of segment 210, α represents the heading angle, and β1 represents the first offset angle.

[0105] Therefore, by substituting β1 = -π / 2 into the above formula, the first coordinate can be obtained.

[0106] Step S703: Determine the second coordinates based on the correction coordinates, working distance, heading angle, and second offset angle.

[0107] In some embodiments, the first coordinates (xKR, yKR) can be calculated according to the following formula.

[0108] Where, x kt The x-coordinate of the correction coordinate, y kt The vertical coordinate represents the correction coordinate. w represents the width of segment 210, α represents the heading angle, and β2 represents the second offset angle.

[0109] Therefore, by substituting β2 = π / 2 into the above formula, the second coordinate can be obtained.

[0110] Understandably, in this embodiment, when the working distance is the width of segment 210, the correction coordinate is exactly located at the midpoint of the working distance. Thus, in the above formula, 0.5*w represents the distance from the first coordinate (or second coordinate) to the correction coordinate. In other embodiments, the working distance is not limited to the width of segment 210, or the correction coordinate is not limited to being obtained from the center coordinate of segment 210. In this case, 0.5 in the above formula can also be replaced with other values.

[0111] Accordingly, in some embodiments, step S504 includes: obtaining a first vector formed by connecting the first coordinate and the second coordinate as the working range.

[0112] Thus, the first vector formed by connecting the first coordinate (xKL, yKL) and the second coordinate (xKR, yKR) can be used to characterize the working range of the corresponding segment 210 (i.e. the segment with center coordinates (xk, yk)).

[0113] Referring to Figure 9, in some embodiments, the work area includes a work-to-be-worked area and a work-already-worked area. Step S203 includes:

[0114] Step S901: Obtain the first preset distance.

[0115] The first preset distance represents the maximum distance between the boundary of the work area and the work zone. The first preset distance can be positive, negative, or zero. When the first preset distance is positive, its absolute value represents the maximum distance between the endpoint of the work area outside the work zone and the boundary of the work zone when the work area intersects with the boundary of the work zone. When the first preset distance is negative, its absolute value represents the minimum distance between the endpoint of the work area closest to the boundary of the work zone and the boundary when the work area is within the work zone.

[0116] Step S902: Update the boundary of the work area according to the first preset distance.

[0117] Specifically, please refer to Figure 10(A). In step S902, when the first preset distance is a positive value, the boundary of the work area expands outward, and the distance between the expanded boundary and the original boundary is the first preset distance (i.e., x in Figure 10(A) is the first preset distance).

[0118] Please refer to Figure 10(B). In step S902, when the first preset distance is negative, the boundary of the work area shrinks inward, and the distance between the shrunken boundary and the original boundary is the opposite of the first preset distance (i.e., -x in Figure 10(B) represents the opposite of the first preset distance).

[0119] Step S903: When the work area is outside the boundary of the work zone, the control section is in the closed state.

[0120] In some embodiments, the intersection points of the work range and the boundary of the work area can be calculated, that is, the intersection points of the first vector and the boundary of the work area can be calculated. When there are intersection points between the work range and the boundary of the work area, the location of the work range within or outside the boundary of the work area can be determined by the ray method. For example, a ray can be established from one endpoint of the first vector, and then the number of intersection points between this ray and the boundary can be calculated. If the number of intersection points is odd, the first vector (i.e., the work range) is within the boundary of the work area; if the number of intersection points is even, the first vector (i.e., the work range) is outside the boundary of the work area. Understandably, this application does not limit the algorithm for determining the positional relationship between the work range and the boundary, and those skilled in the art can choose other algorithms to determine the positional relationship.

[0121] After updating the work area in step S902, if the work range is outside the boundary of the work area, that is, the work range does not intersect with the updated boundary of the work area and the work range is outside the range defined by the updated boundary, it means that the current segment 210 is not in the work area. Therefore, the control segment 210 is in the closed state to reduce material loss and improve efficiency.

[0122] Step S904: When the work range intersects with the boundary of the work area, and the ratio of the length of the work range outside the boundary of the work area to the work range is greater than the first preset overlap rate, the control section is in the closed state.

[0123] The first preset overlap rate represents the overlap between the work area and the work zone boundary. Understandably, work is still permitted within the overlap area in section 210. The first preset overlap rate can be set from [0, 100%]. The first preset overlap rate can be set by the user. The first preset overlap rate can also be a variable parameter.

[0124] In some embodiments, after calculating the intersection point of the first vector with the boundary of the work area, a first distance between the intersection point and the endpoint of the first vector located outside the boundary of the work area can be calculated as the length of the work range located outside the boundary of the work area. Thus, the ratio between the first distance and the length of the first vector can be calculated as the ratio of the length of the work range located outside the boundary of the work area to the work range itself.

[0125] Understandably, after updating the work area in step S902, when the work range intersects with the boundary of the work area, and the ratio of the length of the work range outside the boundary of the work area to the work range is greater than the first preset overlap rate, it indicates that most of the work range of the current segment 210 is outside the work area. Therefore, the control segment 210 is in a closed state, which can reduce material loss.

[0126] Step S905: When the work range intersects with the boundary of the work area, and the ratio of the length of the work range outside the boundary of the work area to the work range is less than or equal to the first preset overlap rate, or the work range is inside the boundary of the work area, control the switching state of the section according to the positional relationship between the work range and the already worked area.

[0127] Understandably, when the work range intersects with the boundary of the work area, and the ratio of the length of the work range outside the boundary of the work area to the work range is less than or equal to the first preset overlap rate, it indicates that most of the work range of segment 210 is within the work area. Furthermore, since the work area includes the area to be worked on and the area already worked on, and the area already worked on is the area that the work system 10 has already worked on, when most of the work range of segment 210 is within the work area, or when the work range of segment 210 is within the boundary of the work area, it is necessary to further determine the on / off state of segment 210 based on the positional relationship between the work range and the already worked area to reduce the probability of duplicate or missed work.

[0128] Please refer to Figures 11(A) to 11(C), which show the intersection of the working area formed by each segment 210 on the equipment 200 and the boundary of the updated working area when the mobile device 100 travels along a heading angle under different overlap rates. The equipment 200 includes four segments 210 as an example for illustration.

[0129] Figure 11(A) shows the intersection of the working range (i.e., the first vector) of each segment 210 with the boundary of the updated working area when the overlap rate is 0.

[0130] Figure 11(B) shows the intersection of the work area (i.e. the first vector) of each segment 210 with the boundary of the updated work area when the overlap rate is 50%.

[0131] Figure 11(C) shows the intersection of the work area (i.e., the first vector) of each segment 210 with the boundary of the updated work area when the overlap rate is 100%.

[0132] Obviously, as can be seen from Figures 11(A) to 11(C), by setting different first preset overlap rates, the segment control method provided by this application can achieve precise control of segment 210 at the boundary of the work area, adapt to various scenarios, thereby effectively reducing overspraying or overplanting, providing the best growth conditions for crops, minimizing crop losses and reducing the impact on the environment, while saving input and maximizing yield.

[0133] Please refer to Figure 12. In some embodiments, step S905 includes:

[0134] Step S121: Obtain the second preset distance.

[0135] The second preset distance represents the maximum distance between the work area and the boundary of the already worked area. The second preset distance can be positive, negative, or zero. When the second preset distance is positive, its absolute value represents the maximum distance between the endpoint of the work area outside the already worked area and the boundary of the already worked area when the work area intersects with it. When the second preset distance is negative, its absolute value represents the minimum distance between the endpoint of the work area closest to the boundary of the already worked area and the boundary when the work area is within the already worked area.

[0136] The second preset distance may be equal to or unequal to the first preset distance; this application does not impose any restrictions on this.

[0137] Step S122: Update the boundary of the already worked area according to the second preset distance.

[0138] Similarly, please refer to Figure 13(A). In step S122, when the second preset distance is a positive value, the boundary of the work area is expanded outward, and the distance between the expanded boundary and the original boundary is the second preset distance (i.e., x in Figure 13(A) is the second preset distance).

[0139] Please refer to Figure 13(B). In step S122, when the second preset distance is negative, the boundary of the work area shrinks inward, and the distance between the shrunken boundary and the original boundary is the opposite of the second preset distance (i.e., -x in Figure 13(B) represents the opposite of the second preset distance).

[0140] Step S123: When the area of ​​the already worked area is not 0 and the work range is outside the boundary of the already worked area, the control section is in the open state.

[0141] The specific calculation process for determining the positional relationship between the work scope and the boundary of the already worked area in step S123 is roughly the same as the specific calculation process for determining the positional relationship between the work scope and the boundary of the work area, and will not be repeated here.

[0142] Understandably, if the area of ​​the already worked area is not 0 and the work range is outside the boundary of the already worked area, it means that the work range of section 210 is within the work area to be worked. In this case, section 210 needs to be controlled to be in the open state for normal operation.

[0143] Step S124: When the ratio of the length of the work area outside the boundary of the already worked area to the work area is less than or equal to the second preset overlap rate, the control section is in the closed state.

[0144] The second preset overlap rate represents the overlap between the work area and the boundary of the already worked area. Understandably, work is still allowed in section 210 within the overlap area. The second preset overlap rate can be set within the range of [0, 100%]. The second preset overlap rate can be set by the user. The second preset overlap rate can be equal to or different from the first preset overlap rate. The second preset overlap rate can also be a variable value.

[0145] Understandably, when the ratio of the length of the working range outside the boundary of the already worked area to the working range is less than or equal to the second preset overlap rate, it means that the current working range of segment 210 is mostly within the already worked area. At this time, segment 210 can be controlled to be in the open state to reduce material loss.

[0146] Step S125: When the ratio of the length of the work area outside the boundary of the already worked area to the work area is greater than the second preset overlap rate, the control section is in the open state.

[0147] Understandably, when the ratio of the length of the work area outside the boundary of the already worked area to the work area is greater than the second preset overlap rate, it means that the current work area of ​​segment 210 is mostly outside the already worked area, that is, the current work area of ​​segment 210 is mostly within the area to be worked. At this time, segment 210 can be controlled to be in the open state to reduce the probability of missed work.

[0148] Please refer to Figures 14(A) to 14(C), which show the intersection of the working area formed by each segment 210 on the equipment 200 and the boundary of the updated working area when the mobile device 100 travels along a heading angle under different overlap rates. The example is an equipment 200 consisting of four segments 210.

[0149] Figure 14(A) shows the intersection of the working range (i.e., the first vector) of each segment 210 with the boundary of the updated working area when the overlap rate is 0.

[0150] Figure 14(B) shows the intersection of the working range (i.e., the first vector) of each segment 210 with the boundary of the updated working area when the overlap rate is 50%.

[0151] Figure 14(C) shows the intersection of the working range (i.e., the first vector) of each segment 210 with the boundary of the updated working area when the overlap rate is 100%.

[0152] Obviously, as can be seen from Figures 14(A) to 14(C), by setting different preset overlap rates, the segment control method provided in this application can achieve precise control of segment 210 at the boundary of the already operated area or the boundary of the operating area, adapting to various scenarios. This can effectively reduce overspraying and overplanting, provide the best growth conditions for crops, minimize crop losses and reduce the impact on the environment, while saving input and maximizing yield.

[0153] In summary, by implementing the above method, the switching state of section 210 can be controlled based on the positional relationship between the working range of section 210 and the boundary of the working area. This can effectively reduce material loss, reduce the probability of repetitive and missed operations, and achieve automated control of section 210, thus enabling precise operation.

[0154] Scene 2

[0155] In Scenario 2, the specific implementation details of the section control method provided in this application are illustrated by taking the working distance as the working range when the section 210 uses granular seeds or other materials, i.e., the working system 10 is a seeder or the like.

[0156] In some embodiments of scenario two, step S503 includes:

[0157] The target coordinates are determined based on the calibration coordinates, speed, command response time, working distance, and heading angle.

[0158] Referring to Figure 4, in this embodiment, the working distance can be the length of segment 210 in the heading angle direction. In this case, the length can be, for example, the plant spacing. Thus, the target coordinates (xkP, ykP) can be determined according to the following formula.

[0159] Where, x kt Represents the first x-coordinate, y kt The first ordinate L represents the length of the working distance of segment 210 in the heading direction. Alternatively, in other embodiments, the target coordinates (xkP, ykP) can be determined according to the following formula.

[0160] Where, x k This represents the x-coordinate of the center of the corresponding segment k; y k The center ordinate of the corresponding segment k represents the center coordinate, v represents the current speed of the mobile device 100, and t represents the command response time.

[0161] Thus, by substituting the length of the working distance of section 210 in the heading direction into the above formula, the target coordinates can be obtained.

[0162] Understandably, in other embodiments, the target coordinates can also be calculated using other formulas. This application does not limit the specific formula for calculating the target coordinates.

[0163] Accordingly, step S504 may include: obtaining a second vector formed by connecting the correction coordinates and the target coordinates as the working range.

[0164] Thus, the second vector formed by connecting the correction coordinates and the target coordinates can be used to characterize the working range determined based on the working distance of the corresponding segment 210 when the center coordinates of the segment 210 are corrected to the correction coordinates.

[0165] In some embodiments, step S203 includes the following sub-steps:

[0166] Obtain the third preset distance.

[0167] The third preset distance represents the maximum distance between the target coordinates and the boundary of the work area. The third preset distance can be positive, negative, or zero. For example, it can be defined that when the third preset distance is positive, it represents the maximum distance between the target coordinates and the boundary of the work area when the target coordinates are outside the boundary; and when the third preset distance is negative, its absolute value represents the minimum distance between the target coordinates and the boundary of the work area when the target coordinates are inside the boundary. Understandably, in other embodiments, when the third preset distance is positive, its absolute value represents the minimum distance between the target coordinates and the boundary of the work area when the target coordinates are inside the boundary; and when the third preset distance is negative, it represents the maximum distance between the target coordinates and the boundary of the work area when the target coordinates are outside the boundary. This application does not impose any limitations on this.

[0168] When the third preset distance indicates that the target coordinates are outside the boundary of the work area, and the maximum distance between the target coordinates and the boundary of the work area (i.e., the third preset distance is a positive value) is greater than the third preset distance, the control section is in the closed state; if the distance between the target coordinates and the boundary of the work area is less than or equal to the third preset distance, or if the target coordinates are inside the boundary of the work area, the opening and closing state of the section is determined according to the positional relationship between the target coordinates and the boundary of the already worked area.

[0169] Specifically, when the target coordinates are located outside the boundary of the work area, the intersection point of the target coordinates along the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the first positive intersection point. The intersection point of the target coordinates along the opposite direction of the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the first negative intersection point. The distance between the target coordinates and the first positive intersection point is calculated as the first positive distance between the target coordinates and the boundary of the work area, and the distance between the target coordinates and the first negative intersection point is calculated as the first negative distance between the target coordinates and the boundary of the work area. As long as the first positive distance or the first negative distance meets the above conditions, the section 210 can be controlled to be in the corresponding on / off state. In this way, it can be ensured that the section 210 can detect whether the distance between the target coordinates and the boundary of the work area meets the preset conditions on both sides of the work area, so as to achieve more comprehensive automated control of the section 210.

[0170] When the third preset distance indicates that the target coordinates are within the boundary of the work area, and the minimum distance between the target coordinates and the boundary of the work area (i.e., the third preset distance is negative) is reached, then if the target coordinates are outside the boundary of the work area, the control section is in a closed state; if the distance between the target coordinates and the boundary of the work area is less than the third preset distance, the control section is in a closed state; if the distance between the target coordinates and the boundary of the work area is greater than or equal to the third preset distance, the opening and closing state of the section is determined according to the positional relationship between the target coordinates and the boundary of the already worked area.

[0171] Specifically, when the target coordinates are located within the boundary of the work area, the intersection point of the target coordinates along the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the second positive intersection point. The intersection point of the target coordinates along the opposite direction of the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the second negative intersection point. The distance between the target coordinates and the second positive intersection point is calculated as the second positive distance between the target coordinates and the boundary of the work area, and the distance between the target coordinates and the second negative intersection point is calculated as the second negative distance between the target coordinates and the boundary of the work area. As long as either the second positive distance or the second negative distance meets the above conditions, the section 210 can be controlled to be in the corresponding on / off state. In this way, it can be ensured that the section 210 can detect whether the distance between the target coordinates and the boundary of the work area meets the preset conditions on both sides of the work area, thereby achieving more comprehensive automated control of the section 210.

[0172] In some embodiments, determining the switching state of a section based on the positional relationship between the target coordinates and the boundary of the already worked area includes:

[0173] Obtain the fourth preset distance.

[0174] Similarly, the fourth preset distance is used to represent the maximum value of the distance between the target coordinates and the boundary of the work area. The fourth preset distance can be positive, negative, or 0. In this embodiment, it can be specified that when the fourth preset distance is positive, it represents the maximum distance between the target coordinates and the boundary of the work area when the target coordinates are located within the boundary of the work area; when the fourth preset distance is negative, its absolute value represents the minimum distance between the target coordinates and the boundary of the work area when the target coordinates are located outside the boundary of the work area. Understandably, in other embodiments, when the fourth preset distance is positive, its absolute value represents the minimum distance between the target coordinates and the boundary of the work area when the target coordinates are located outside the boundary of the work area; and when the third preset distance is negative, the fourth preset distance represents the maximum distance between the target coordinates and the boundary of the work area when the target coordinates are located within the boundary of the work area. This application does not limit this.

[0175] When the fourth preset distance represents the maximum distance between the target coordinates and the boundary of the already worked area (i.e., the fourth preset distance is a positive value), if the target coordinates are within the boundary of the already worked area and the distance between the target coordinates and the boundary of the already worked area is greater than the fourth preset distance, the control section is in the closed state; if the target coordinates are within the boundary of the already worked area and the distance between the target coordinates and the boundary of the already worked area is less than or equal to the fourth preset distance, the control section is in the open state; if the target coordinates are not within the boundary of the already worked area, the control section is in the open state.

[0176] Specifically, when the target coordinates are located within the boundary of the work area, the intersection point of the target coordinates along the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the third positive intersection point. The intersection point of the target coordinates along the opposite direction of the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the fourth negative intersection point. The distance between the target coordinates and the third positive intersection point is calculated as the third positive distance between the target coordinates and the boundary of the work area, and the distance between the target coordinates and the third negative intersection point is calculated as the third negative distance between the target coordinates and the boundary of the work area. As long as either the third positive distance or the third negative distance meets the above conditions, the section 210 can be controlled to be in the corresponding on / off state. In this way, it can be ensured that the section 210 can detect whether the distance between the target coordinates and the boundary of the work area meets the preset conditions on both sides of the work area, thereby achieving more comprehensive automated control of the section 210.

[0177] When the fourth preset distance indicates that the target coordinates are outside the boundary of the already worked area, the minimum distance between the target coordinates and the boundary of the already worked area (i.e., the fourth preset distance is negative) means that if the target coordinates are inside the boundary of the already worked area, the control section is in a closed state; if the target coordinates are outside the boundary of the already worked area and the distance between the target coordinates and the boundary of the already worked area is less than the fourth preset distance, the control section is in a closed state; if the target coordinates are outside the boundary of the already worked area and the distance between the target coordinates and the boundary of the already worked area is greater than or equal to the fourth preset distance, the control section is in an open state.

[0178] When the target coordinates are located outside the boundary of the work area, the intersection point of the target coordinates along the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the fourth positive intersection point. The intersection point of the target coordinates along the opposite direction of the current travel direction of the mobile device 100 (i.e., along the heading angle direction) with the boundary of the work area can be calculated as the fourth negative intersection point. The distance between the target coordinates and the fourth positive intersection point is calculated as the fourth positive distance between the target coordinates and the boundary of the work area, and the distance between the target coordinates and the fourth negative intersection point is calculated as the fourth negative distance between the target coordinates and the boundary of the work area. As long as the fourth positive distance or the fourth negative distance meets the above conditions, the section 210 can be controlled to be in the corresponding on / off state. In this way, it can be ensured that the section 210 can detect whether the distance between the target coordinates and the boundary of the work area meets the preset conditions on both sides of the work area, so as to achieve more comprehensive automated control of the section 210.

[0179] For example, please refer to Figure 15, which shows the first positive intersection point A+, the first negative intersection point A-, the second positive intersection point B+, the second negative intersection point B-, the third positive intersection point C+, the third negative intersection point C-, the fourth positive intersection point D+, and the fourth negative intersection point D-. This ensures more comprehensive automated control of section 210. Understandably, the actually worked area is located within the working area. Figure 15 distinguishes the worked area from the working area to more clearly illustrate the target coordinates and the working area, and the corresponding negative and positive intersection points when the target coordinates and the worked area are in different positional relationships.

[0180] Understandably, any two or more combinations of the first preset distance, second preset distance, third preset distance, and fourth preset distance may have the same or different values.

[0181] In summary, the section control methods provided in this application for scenarios one and two are applicable to a variety of devices, and by introducing parameters such as working distance, first preset distance, second preset distance, third preset distance and fourth preset distance, the amount of calculation can be effectively reduced and work efficiency can be improved.

[0182] Please refer to Figure 16. In scenario one or scenario two, after executing step S203, the section control method further includes the following steps:

[0183] Step S161: Record the position point when the section remains open.

[0184] In some embodiments, the controller of the mobile device 100 may record the center coordinates of segment 210 when it switches from the off state to the on state, and record the center coordinates of segment 210 at preset intervals until segment 210 switches from the on state to the off state, and record the corrected coordinates of segment 210 at this time.

[0185] In other words, the location points in step S161 may include: the center coordinates of segment 210 when it switches from the closed state to the open state, the center coordinates recorded at preset intervals, and the correction coordinates when it switches from the open state to the closed state.

[0186] Step S162: When the preset update conditions are met, connect the location points of the section in the area to be worked on, so as to update the already worked area.

[0187] In step S162, before connecting the location points, the controller also confirms whether each recorded location point is located within the work area. Furthermore, after connecting the segment 210 to a location point within the work area, the controller combines the width of the corresponding segment 210 to form a newly added work area. Thus, the controller can redefine the boundary of the work area based on the newly added work area.

[0188] The preset update conditions in step S162 include any one of the following conditions:

[0189] The time since the last update of the completed area has reached the first preset time.

[0190] The number of location points has reached the preset number;

[0191] The duration for which the section remains open reaches the second preset duration.

[0192] The first preset duration may be equal or unequal, and this application does not limit the specific values ​​of the first preset duration and the second preset duration.

[0193] Understandably, by updating the already worked area when the preset update conditions are met, the controller increases the number of times the working area is updated during the operation of the machine 200, which can both increase the accuracy of the section control and reduce the amount of data for each calculation.

[0194] In some embodiments, the mobile device 100 is also equipped with a display screen (not shown in Figure 1). The display screen can show the already worked area and the area to be worked in the work area, and can also show the on / off status of each section 210. In this way, the driver can understand the on / off status and work range of each section 210 in real time, and can work conveniently even in low visibility conditions.

[0195] Referring to Figure 17, this application also provides a mobile device 100. The mobile device 100 is equipped with a device 200. The device 200 includes several sections 210. The mobile device 100 includes a controller 110 and a memory 120. The memory 120 is used to store a computer program. The controller 110 is used to execute the computer program; when the computer program is executed, the controller 110 is used to perform the section control method as described in any of the preceding claims.

[0196] This application also provides an operating system 10, including a machine 200 and a mobile device 100. The machine 200 is mounted on the mobile device 100, and the machine 200 includes several sections 210.

[0197] It is understood that the mobile device 100 may include, but is not limited to, the controller 110 and the memory 120. Those skilled in the art will understand that FIG12 is merely an example of the mobile device 100 and does not constitute a limitation on the mobile device 100. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the mobile device 100 may also include input / output devices, network access devices, buses, motion mechanisms, etc.

[0198] It is understandable that the controller 110 mentioned above can be a central processing unit (CPU), or other general-purpose controllers, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose controller can be a microcontroller, controller 110, or any conventional controller. Controller 110 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and lines.

[0199] The memory 120 can be used to store computer programs and / or modules / units. The controller 110 implements various functions of the electronic device by running or executing the computer programs and / or modules / units stored in the memory 120, and by calling the data stored in the memory 120. The memory 120 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc. The data storage area may store data created according to the use of the electronic device (such as video data, audio data, telephone directory, etc.). In addition, the memory 120 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0200] Referring to Figure 18, this application also provides a control device 300. The control device 300 includes:

[0201] The acquisition module 310 is used to acquire the working area and current driving status of the mobile device, the working distance of the section and the center coordinates.

[0202] The determination module 320 is used to determine the working range of the section based on the current driving status, center coordinates and working distance.

[0203] The control module 330 is used to control the switching status of the section according to the positional relationship between the work range and the work area.

[0204] Understandably, the specific process of the acquisition module 310, the determination module 320 and the control module 330 executing the above-mentioned segment control method has been described in the above embodiments and will not be repeated here.

[0205] Referring to Figure 19, another embodiment of this application also provides a computer-readable storage medium 400 storing a computer program 410 including at least one instruction, which is executed by a controller in an electronic device to implement the segment control method as described in any of the above embodiments.

[0206] For example, computer program 410 may be divided into one or more modules / units, one or more of which are stored in memory 120 and executed by controller 110 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in an electronic device.

[0207] This application implements all or part of the processes in the methods of the above embodiments. Alternatively, a computer program can instruct related hardware to implement these processes. The computer program can be stored in a computer-readable storage medium. When executed by a controller, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, an executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0208] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0209] Furthermore, the functional modules in the various embodiments of this application can be integrated into the same processing module, or each module can exist physically separately, or two or more modules can be integrated into the same module. The integrated modules described above can be implemented in hardware or in the form of hardware plus software functional modules.

[0210] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other modules or steps, and the singular does not exclude the plural. Multiple modules or electronic devices recited in the electronic device claims may also be implemented by the same module or electronic device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0211] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this application, and are not intended to be limiting.

[0212] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist for the test fixture without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. A section control method applied to a mobile device, characterized by, The mobile device is mounted with a machine tool, the machine tool includes a plurality of sections, and the section control method includes: acquiring a working area of the mobile device and a current driving state, a working distance and a center coordinate of the section; determining a working range of the section according to the current driving state, the center coordinate and the working distance; controlling an on-off state of the section according to a positional relationship between the working range and the working area.

2. The section control method according to claim 1, characterized in that, The current driving state includes a speed and a heading angle, and the determination of the working range of the section according to the current driving state, the center coordinate and the working distance includes: acquiring an instruction response time length of the section; determining a correction coordinate according to the heading angle, the speed, the center coordinate and the instruction response time length; determining a target coordinate according to the correction coordinate, the heading angle and the working distance; determining the working range according to the target coordinate.

3. The section control method according to claim 2, characterized in that, The target coordinate includes a first coordinate and a second coordinate, and the determination of the target coordinate according to the correction coordinate, the heading angle and the working distance includes: determining a first offset angle and a second offset angle according to the working distance and the heading angle, wherein the first offset angle is an angle of a first end point of the working distance offset from the heading angle, and the second offset angle is an angle of a second end point of the working distance offset from the heading angle; determining the first coordinate according to the correction coordinate, the working distance, the heading angle and the first offset angle; determining the second coordinate according to the correction coordinate, the working distance, the heading angle and the second offset angle.

4. The section control method according to claim 3, characterized in that, The determination of the working range according to the target coordinate includes: acquiring a first vector formed by connecting the first coordinate and the second coordinate as the working range.

5. The section control method according to claim 1, wherein, The working area includes a worked area, and the control of the on-off state of the section according to the positional relationship between the working range and the working area includes: acquiring a first preset distance; updating a boundary of the working area according to the first preset distance; controlling the section to be in an off state when the working range is located outside the boundary of the working area; controlling the section to be in the off state when the working range intersects with the boundary of the working area and a ratio of a length of the working range located outside the boundary of the working area to the working range is greater than a first preset overlap rate; controlling the on-off state of the section according to a positional relationship between the working range and the worked area when the working range intersects with the boundary of the working area and the ratio of the length of the working range located outside the boundary of the working area to the working range is less than or equal to the first preset overlap rate or the working range is located inside the boundary of the working area.

6. The section control method according to claim 5, wherein The control of the on-off state of the section according to the positional relationship between the working range and the worked area includes: acquiring a second preset distance; updating a boundary of the worked area according to the second preset distance; controlling the section to be in an on state when an area of the worked area is not 0 and the working range is located outside the boundary of the worked area; control the section to be in the closed state when a ratio of a length of the working range located outside the boundary of the worked area to the working range is less than or equal to a second preset overlap rate; control the section to be in the open state when the ratio of the length of the working range located outside the boundary of the worked area to the working range is greater than the second preset overlap rate.

7. The section control method according to claim 2, wherein determining a target coordinate according to the corrected coordinate, the heading angle and the working distance, including: determining the target coordinate according to the corrected coordinate, the speed, the instruction response time length, the working distance and the heading angle.

8. The section control method according to claim 7, wherein determining the working range according to the target coordinate, including: obtaining a second vector formed by connecting the corrected coordinate and the target coordinate as the working range.

9. The section control method according to claim 8, wherein, the working area includes a worked area, and controlling the on-off state of the section according to the positional relationship between the working range and the working area, including: obtaining a third preset distance; when the third preset distance represents a maximum distance between the target coordinate and the boundary of the working area, if the distance between the target coordinate and the boundary of the working area is greater than the third preset distance, controlling the section to be in the closed state; if the distance between the target coordinate and the boundary of the working area is less than or equal to the third preset distance or if the target coordinate is within the boundary of the working area, determining the on-off state of the section according to the positional relationship between the target coordinate and the boundary of the worked area; when the third preset distance represents a maximum distance between the target coordinate and the boundary of the working area, if the target coordinate is located outside the boundary of the working area, controlling the section to be in the closed state; if the distance between the target coordinate and the boundary of the working area is less than the third preset distance, controlling the section to be in the closed state; if the distance between the target coordinate and the boundary of the working area is greater than or equal to the third preset distance, determining the on-off state of the section according to the positional relationship between the target coordinate and the boundary of the worked area.

10. The section control method according to claim 9, wherein, determining the on-off state of the section according to the positional relationship between the target coordinate and the boundary of the worked area, including: obtaining a fourth preset distance; When the fourth preset distance represents a maximum distance between the target coordinate and the boundary of the worked area, if the target coordinate is located within the boundary of the worked area, and the distance between the target coordinate and the boundary of the worked area is greater than the fourth preset distance, the section is controlled to be in the closed state; if the target coordinate is located within the boundary of the worked area, and the distance between the target coordinate and the boundary of the worked area is less than or equal to the fourth preset distance, the section is controlled to be in the open state; if the target coordinate is not located within the boundary of the worked area, the section is controlled to be in the open state; When the fourth preset distance represents a minimum distance between the target coordinate and the boundary of the worked area, if the target coordinate is located within the boundary of the worked area, the section is controlled to be in the closed state; if the target coordinate is located outside the boundary of the worked area, and the distance between the target coordinate and the boundary of the worked area is less than the fourth preset distance, the section is controlled to be in the closed state; if the target coordinate is located outside the boundary of the worked area, and the distance between the target coordinate and the boundary of the worked area is greater than or equal to the fourth preset distance, the section is controlled to be in the open state.

11. The section control method according to claim 6 or 10, characterized by, The working area further includes a to-be-worked area, and the control method further includes: recording a position point of each section when the section keeps a switch state; connecting the position points of the sections in the to-be-worked area to update the worked area when a preset update condition is met, wherein the preset update condition includes any one of the following conditions: a time length from last update of the worked area reaches a first preset time length; a number of the position points reaches a preset number; a time length that the section keeps the open state reaches a second preset time length.

12. A mobile device, comprising: The mobile device is mounted with a machine tool including a plurality of sections, and the mobile device includes a memory and a controller, the memory is used to store a computer program; the controller is used to execute the computer program, and when the computer program is executed, the controller is used to execute the section control method according to any one of claims 1 to 11.

13. An operating system, characterized by The working system includes a machine tool and the mobile device according to claim 12, the machine tool is mounted on the mobile device, and the machine tool includes a plurality of sections.

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