CN113062658A

CN113062658A - Automatic locking method of intelligent door lock and intelligent door lock

Info

Publication number: CN113062658A
Application number: CN202110199892.2A
Authority: CN
Inventors: 魏三涛
Original assignee: Shenzhen Haiyi Zhixin Technology Co Ltd
Current assignee: Shenzhen Haiyi Zhixin Technology Co Ltd
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-07-02
Anticipated expiration: 2041-02-22
Also published as: CN113062658B

Abstract

The application discloses an automatic locking method of an intelligent door lock and the intelligent door lock. The method comprises the following steps: acquiring first closing position data acquired by a gyroscope sensor during starting; determining whether the first door-closing position data is within a door-closing position data range formed based on the second door-closing position data; if the first door closing position data is not in the door closing position data range, judging whether the intelligent door lock completes the door closing process or not through the gyroscope sensor, and judging whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data or not through the geomagnetic sensor; and starting the locking when the intelligent door lock is judged to finish the door closing process and return to the door closing position corresponding to the second door closing position data. Through the mode, the accuracy rate of automatic locking can be improved.

Description

Automatic locking method of intelligent door lock and intelligent door lock

Technical Field

The application relates to the technical field of intelligent door locks, in particular to an automatic locking method of an intelligent door lock and the intelligent door lock.

Background

Along with the arrival of the intelligent era, the application of the intelligent door lock is more and more extensive, and compared with the traditional mechanical door lock, the intelligent door lock is safer and more convenient. The automatic locking technology of the intelligent door lock is a key technology in the field of intelligent door locks.

However, in the existing automatic locking technology, there is a situation that the intelligent door lock misjudges that the door panel has reached the door closing position, and thus the locking is started, that is, when the door panel or the intelligent door lock has not reached the door closing position, the lock tongue of the door lock is extended and locked, and the user needs to perform the door opening action again before continuing to close the lock.

Disclosure of Invention

The technical problem that this application mainly solved is that provide automatic locking method and intelligent lock of shutting of intelligent lock to solve the technical problem who how to improve the rate of accuracy of automatic locking.

In order to solve the technical problem, the application adopts a technical scheme that: the automatic locking method of the intelligent door lock comprises the following steps: acquiring first closing position data acquired by a gyroscope sensor during starting; determining whether the first door-closing position data is within a door-closing position data range formed based on the second door-closing position data; if the first door closing position data is not in the door closing position data range, judging whether the intelligent door lock completes the door closing process or not through the gyroscope sensor, and judging whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data or not through the geomagnetic sensor; and starting the locking when the intelligent door lock is judged to finish the door closing process and return to the door closing position corresponding to the second door closing position data.

In order to solve the above technical problem, another technical solution adopted by the present application is: the intelligent door lock comprises a memory, a geomagnetic sensor, a gyroscope sensor and a processor, wherein the memory stores a computer program which can be executed by the processor to realize the steps of the automatic locking method of the intelligent door lock.

The beneficial effect of this application is: whether the first door closing position data acquired by the gyroscope sensor is located in the door closing position data range is further judged by utilizing the door closing position data range formed by the first door closing position data acquired by the geomagnetic sensor, if the first door closing position data is not located in the door closing position data range, the situation that the automatic locking is carried out by directly utilizing the gyroscope sensor can cause the occurrence of the situation of mistaken locking, and the situation that the automatic locking is carried out by utilizing the geomagnetic sensor can also cause the occurrence of the mistaken locking because the geomagnetic sensor is easily interfered, therefore, the position data of the intelligent door lock is acquired by the geomagnetic sensor and is compared with the second door closing position data, whether the intelligent door lock completes the door closing process is judged by utilizing the gyroscope sensor, the automatic locking is carried out under the condition that the conditions are met, and the misjudgment caused by the automatic locking only utilizing the gyroscope sensor or the geomagnetic sensor can be effectively reduced, the accuracy rate of automatic locking is improved, and under the condition that the door position is misjudged by the gyroscope sensor, the geomagnetic sensor can be used for realizing effective automatic locking, so that the accuracy rate and the automation degree of locking are further improved.

Drawings

Fig. 1 is a schematic view of an application scenario of an intelligent door lock according to an embodiment of the present application in a door closing state;

FIG. 2 is a schematic view of an application scenario of an intelligent door lock according to an embodiment of the present application in an open state;

FIG. 3 is a block diagram illustrating the structure of an embodiment of the intelligent door lock of the present application;

FIG. 4 is a block diagram of a module structure of an embodiment of a door lock controller according to the present application;

FIG. 5 is a schematic flow chart diagram illustrating an embodiment of a method for automatically locking an intelligent door lock according to the present application;

fig. 6 is a block diagram schematically illustrating the structure of an embodiment of the apparatus with storage function according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of an application scenario of an intelligent door lock according to an embodiment of the present application in a door closing state, and fig. 2 is a schematic view of an application scenario of an intelligent door lock according to an embodiment of the present application in a door opening state.

As shown in fig. 1 and 2, the intelligent door lock 1 may be fixed to a door panel a. The door buckle 2 is fixed on the door frame B. The intelligent door lock 1 is matched with the door buckle plate 2, and the bolt of the intelligent door lock 1 can be inserted into the door buckle plate 2 in a door closing state so as to realize locking. As shown in fig. 1, when the door panel a is returned to the door frame B, it is the actual closed door position. The intelligent door lock 1 can be locked at an actual door closing position, namely, a door closing state. As shown in fig. 2, the door panel a is far from the door frame B, and the door is open. The intelligent door lock 1 can realize automatic locking with higher accuracy, and can solve the problem that the intelligent door lock in the prior art is easy to misjudge the door closing position to cause locking under the condition of not closing the door. For the structure and principle of the intelligent door lock 1, reference may be made to the following:

referring to fig. 3, fig. 3 is a schematic block diagram of an embodiment of an intelligent door lock according to the present application.

The smart door lock 1 may include a geomagnetic sensor 11, a gyro sensor 12, and a door lock controller 13. The smart door lock 1 may further include a communication transceiver coupled to the door lock controller 13, where the communication transceiver is an interface for the smart door lock 1 to communicate with an external device, and the communication transceiver may communicate with a smart phone, a smart watch, a personal digital assistant, and a computing device (such as a tablet computer, a portable computer, or a notebook computer) wirelessly or by wire, so as to implement remote locking or intelligent management.

Of course, the smart door lock 1 may comprise a memory 14 for storing a computer program. Memory 14 may be provided as a non-volatile computer-readable storage medium that may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 14 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charge Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and so on. The memory 14 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. Memory 14 in embodiments of the present invention may also be circuitry or any other device capable of performing a storage function to store program instructions and/or data.

Optionally, the door lock controller 13 is used to control the operation of the intelligent door lock 1, and may be a processor or a device including a processor. The door lock controller 13 may be implemented in the form of one or more integrated circuit chips, such as, but not limited to, one or more single-core processors, one or more multi-core processors, one or more reduced-instruction-set-computing (RISC) processors, or one or more complex-instruction-set-computing (CISC) processors. Specifically, the processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip having signal processing capabilities. The processor 110 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The geomagnetic sensor 11 and the gyro sensor 12 may be respectively coupled to the door lock controller 13. Optionally, geomagnetic sensor 11 and/or gyroscope sensor 12 can regard as the inside subassembly of intelligence lock 1, can set up inside intelligence lock 1, so can regard as whole device direct replacement traditional lock with intelligence lock 1 to the realization is upgraded fast to the intellectuality of traditional intelligence lock 1.

The geomagnetic sensor 11 is a sensor for detecting the earth's magnetic field, and can detect a direction by detecting geomagnetism. The geomagnetic field is an inherent resource of the earth, provides a natural coordinate system, can be applied to positioning and orientation and attitude control, and currently, geomagnetic sensors are mostly used for positioning and orientation of automobiles, ships and warships and the like. The gyro sensor 12 serves as an angular motion sensor for measuring the angular velocity of a moving object with respect to an inertial space, or for establishing a reference coordinate system that can be used for precise positioning, orientation, and attitude control.

In particular, the gyro sensor 12 may be used to collect first closed door position data at start-up. The geomagnetic sensor 11 may be used to acquire second door closing position data at the actual door closing position. The actual door closing position refers to a position of the door panel a when the door panel a is normally closed, and for the structure shown in fig. 1, the actual door closing position refers to a position corresponding to the position where the door panel a returns to the door frame B, the intelligent door lock 1 is opposite to the door buckle plate 2, and the bolt of the intelligent door lock 1 can be inserted into the door buckle plate 2.

The door lock controller 13 may be configured to obtain second door closing position data collected by the geomagnetic sensor 11, and form a door closing position data range based on the second door closing position data. The door lock controller 13 is configured to acquire first door closing position data acquired by the gyro sensor 12 at the time of start. The door lock controller 13 is configured to determine whether the first door-closing position data is within the door-closing position data range. If the first door closing position data is determined not to be within the door closing position data range, it is determined whether the intelligent door lock 1 completes the door closing process through the gyroscope sensor 12, it is determined whether the intelligent door lock 1 returns to the door closing position corresponding to the second door closing position data through the geomagnetic sensor 11, and when it is determined that the intelligent door lock 1 completes the door closing process and returns to the door closing position corresponding to the second door closing position data, the lock closing is started.

After the locking is started, the intelligent door lock 1 enters a door closing state. In the door closing state shown in fig. 1, the geomagnetic sensor 11 of the intelligent door lock 1 may collect second door closing position data and upload the second door closing position data to the door lock controller 13 for storage. The door lock controller 13 forms a door-closing position data range based on the second door-closing position data. Unblank to intelligent lock 1 through the user, gyroscope sensor 12 can start when unblanking, and then gathers first closed position data, closes as gyroscope sensor 12's closed position data. After the user opens the door, the positions of the door panel a and the smart door lock 1 with respect to the door frame B are changed, and the door is opened as shown in fig. 2.

In an exemplary scenario, the first closing position data is within the range of the closing position data, that is, the coincidence degree between the closing position corresponding to the first closing position data and the actual closing position is higher, and it is further determined that the accuracy of the first closing position data of the gyro sensor 12 is higher, and because the accuracy of the gyro sensor 12 is higher, the door lock controller 13 may perform position data acquisition through the gyro sensor 12 to implement closing lock, and may implement higher accuracy. When the intelligent door lock 1 returns to the door closing position shown in fig. 1, the door lock controller 13 determines that the real-time position data acquired by the gyroscope sensor 12 is consistent with the second door closing position data, and the door lock controller 13 sends a lock closing instruction to close the lock. In another exemplary scenario, if the first door-closing position data is not within the range of the door-closing position data, the coincidence degree between the first door-closing position data and the actual door-closing position is low, and the door lock controller 13 performs position data acquisition through the geomagnetic sensor 11 to achieve locking. When the intelligent door lock 1 returns to the door closing position shown in fig. 1, the door lock controller 13 determines that the current real-time position data acquired by the geomagnetic sensor 11 is consistent with the second door closing position data, and the door lock controller 13 sends a lock closing instruction to close the lock.

The geomagnetic sensor 11 is stable and reliable, but is also easily interfered by the magnetic field, and has lower accuracy than the gyro sensor 12. The gyro sensor 12 has high accuracy, but has a short duration, for example, when the smart door lock 1 is dormant, it may be dormant or turned off, which may make the collected position data difficult to use for performing self-locking.

If utilize single sensor to carry out position data acquisition, judge the position of closing the door very easily by mistake, and then make intelligent lock 1 close the lock by mistake automatically, and this application combines earth magnetic sensor 11 and gyroscope sensor 12 to carry out position data acquisition, utilize lock controller 13 to carry out analysis and judgment to the position data who gathers, in order to reduce gyroscope sensor 12 to the erroneous judgement of the position of closing the door, and under the condition that gyroscope sensor 12 appears the erroneous judgement scheduling problem, can utilize gyroscope sensor and earth magnetic sensor 11 to realize automatic lock closing, the rate of accuracy of automatic lock closing has been improved.

The above-mentioned process can be executed by the door lock controller 13 capable of reading the computer program in the memory 14, and for the above-mentioned process flow of the intelligent door lock embodiment of the present application in which the door lock controller 13 executes the more specific automatic locking, reference may be made to the detailed description of the embodiment of the method for automatically locking the intelligent door lock of the present application.

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating an embodiment of an automatic locking method for an intelligent door lock according to the present application. As shown in fig. 3, the present embodiment may include the following steps:

s100: first closing position data acquired by a gyroscope sensor during starting are acquired.

The first door closing position data is position data which is acquired by the gyro sensor 12 at the time of starting and corresponds to when automatic door closing is performed on the basis of the gyro sensor 12. That is, if the door lock controller 13 collects the position data through the gyro sensor 12 to perform automatic locking, the intelligent door lock 1 starts locking when returning to the position corresponding to the first door closing position data.

The gyro sensor 12 also enters the off state immediately after the smart door lock 1 is in a sleep state or turned off, and the first door closing position data and other position data collected by the gyro sensor 12 before the smart door lock is turned off are cleared and zeroed. The gyro sensor 12 is restarted each time the smart door lock 1 is started or awakened, and acquires position data corresponding to the start time as first door closing position data. If the corresponding position when the intelligent door lock 1 is restarted or awakened is not the actual door closing position, for example, the door opening state shown in fig. 2, the first door closing position data acquired when the gyro sensor 12 is started cannot correctly indicate the actual door closing position, and at this time, the reliability of the first door closing position data is low. In contrast, the geomagnetic sensor 11 should not lose information for the smart door lock 1 to be turned off or to sleep. The intelligent door lock 1 mentioned above is put into sleep or turned off, which may mean that the door lock controller 13 goes into sleep or turned off. Generally, the intelligent door lock 1 may enter a sleep state or a power-off state after the intelligent door lock is turned on or awakened and is still not locked for a preset time. The intelligent door lock 1 also goes to sleep or is powered off after the lock is closed.

S200: and acquiring second door closing position data acquired by the geomagnetic sensor at the actual door closing position, and forming a door closing position data range based on the second door closing position data.

The second door-closing position data refers to position data of the intelligent door lock 1 in a door-closing state, which is acquired by the geomagnetic sensor 11, that is, position data acquired at an actual door-closing position. The second door-closing position data may be data indicating an actual door-closing position of the smart door lock 1 using the geomagnetic sensor 11. The second door-closing position data acquired by the geomagnetic sensor 11 is not lost even after the intelligent door lock 1 is turned off or is in a sleep state, and therefore, the reliability is high. The geomagnetic sensor 11 may be obtained from a memory element of the intelligent door lock 1, that is, the second door-closing position data acquired by the geomagnetic sensor 11 at the actual door-closing position may be stored in the memory element of the intelligent door lock 1, or the memory element of the door lock controller 13, from which the door lock controller 13 may obtain the data. Of course, the second closing position data may also be obtained from the geomagnetic sensor 11, for example, the geomagnetic sensor 11 may be stored in itself after acquiring the second closing position data at the actual door closing position, and the door lock controller 13 may obtain the second closing position data from the geomagnetic sensor 11.

The door-closing position data range refers to a numerical range formed by the door lock controller 13 based on the obtained second door-closing position data, and can be used to determine whether the first door-closing position data collected by the gyro sensor 12 is reliable. The second door-closing position data and the door-closing position data range acquired by the geomagnetic sensor 11 at the actual door-closing position can better correspond to the actual door-closing position, and can be used as a reference data range for judging the matching degree or the coincidence degree between the door-closing position corresponding to the first door-closing position data acquired by the gyroscope sensor 12 and the actual door-closing position.

Optionally, before the step S200 of obtaining the second door-closing position data collected by the geomagnetic sensor 11, the following steps are included:

s180: and sending a data calibration instruction to the geomagnetic sensor under the actual closing position.

Although the geomagnetic field is relatively stable, the error of the geomagnetic sensor 11 is relatively large, and the geomagnetic sensor 11 is also susceptible to interference from other external magnetic fields, which may cause a problem of accuracy degradation of the geomagnetic sensor 11 during long-term use. Therefore, the present embodiment can correct the geomagnetic sensor 11 when the smart door lock 1 is located at the actual door-closing position. The intelligent door lock 1 is in an actual door closing position, enters a door closing state after being locked, and can send a data calibration instruction to the geomagnetic sensor 11, so that the geomagnetic sensor 11 is conveniently calibrated. After the door is closed for a corresponding time, the intelligent door lock 1 may enter a sleep mode or be turned off.

S190: and acquiring current door closing position data acquired by the geomagnetic sensor in response to the data calibration instruction, and storing the current door closing position data as second door closing position data.

The geomagnetic sensor 11 may acquire the current door closing position data after receiving the data calibration instruction from the door lock controller 13 when the door is closed. Specifically, the geomagnetic sensor 11 obtains geomagnetic information corresponding to an actual door closing position, and can further acquire position data of the actual door closing position. The actual door-closing position in the door-closing state can be used as the calibration position of the geomagnetic sensor 11 because it is the correct door-closing position. The position data acquired by the geomagnetic sensor 11 at this time necessarily corresponds to the actual door-closing position, and thus calibration is performed. The current position data of closing the door that intelligence lock 1 can gather earth magnetic sensor 11 is stored as the second position of closing the door, is convenient for can instruct the actual position of closing the door more accurately when intelligence lock 1 is in the state of opening the door once more, closes the door position data with the second and stores for the second closes the door position data safelyr, is difficult to lose and obtain easily. Through the mode, the geomagnetic sensor 11 is calibrated by using the data calibration instruction in the door closing state, so that the error of the collected second door closing position data is effectively reduced, and the accuracy of automatic locking is improved.

Optionally, the forming of the door-closing position data range based on the second door-closing position data in step S200 may specifically include:

s210: and performing precision processing corresponding to the preset precision value on the second door-closing position data to obtain a door-closing position data range.

Specifically, the second door-closing position data is added with the preset precision value to obtain the maximum value of the door-closing position data range, and the second door-closing position data is subtracted with the preset precision value to obtain the minimum value of the door-closing position data range. In one embodiment, the precision value of the geomagnetic sensor 11 may be used as the preset precision value. For example, the door width of the door panel a is set as a radius, and the rotation angle of the door panel a is set as 360 ° in one rotation. The second door-closing position data acquired by the geomagnetic sensor 11 is 75 °, and the precision value of the geomagnetic sensor 11 is 3 °. Based on the precision value of the geomagnetic sensor 11, the error range of the second door-closing position data is set as the door-closing position data range, and the door-closing position data range can be obtained as 72 ° to 78 °. In this embodiment, the second door-closing position data acquired by the geomagnetic sensor 11 may be subjected to benchmarking, for example, the second door-closing position data converted by acquiring geomagnetic information is 75 °, and then may be subjected to benchmarking to be mapped to 0 °, and then the door-closing position data range is-3 ° -3 °.

In other embodiments, the preset precision value may be a precision value calculated based on actual conditions, and may be greater than the precision value of the geomagnetic sensor 11.

The precision of the gyro sensor 12 in positioning and orientation is higher than that of the geomagnetic sensor 11 in positioning and orientation, but the endurance of the gyro sensor 12 itself is poor, which easily makes the intelligent door lock 1 misjudge the position of the automatic locking, so the accuracy of the automatic locking of the intelligent door lock 1 is not high, therefore, when actually closing the door and locking the door, different strategies can be adopted for different situations, and specifically, the following step S300 can be executed for the judgment of different situations.

S300: and judging whether the first door-closing position data is in the door-closing position data range.

Because the geomagnetic sensor 11 has higher reliability, the second door closing position data is not subjected to shutdown or dormancy of the intelligent door lock 1, and then whether the first door closing data is located in the door closing position data range is determined based on the second door closing position data, and the first door closing position data is determined by means of the door closing position data range, so that whether the position corresponding to the first door closing position data is the actual door closing position can be determined more accurately. Therefore, the method can be divided into two conditions, wherein one condition is that the first door closing position data are in the door closing position data range, the other condition is that the first door closing position data are not in the door closing position range, different strategies are adopted aiming at different conditions, and the accuracy rate of closing the lock can be improved.

For example, assuming that the second closed door position data is 75 °, the accuracy value is 3 °, the closed door position data range is 72 ° to 78 °, and the first closed door position data acquired by the gyro sensor 12 is 76 °. Comparing 76 ° with 72 ° to 78 °, it can be determined that the first door closing position data is within the door closing position data range. Assuming that the first door closing position data acquired by the gyro sensor 12 is 71 °, it is not within the door closing position range of 72 ° to 78 °.

Generally, in the door closing state, when it is not necessary to determine whether the first door closing position data is within the door closing position data range, if the position of the intelligent door lock 1 has been changed, that is, the intelligent door lock is in the door opening state, it may be determined whether the second door closing position data is within the door closing position data range, so that the processing pressure of the door lock controller 13 can be reduced, and the energy consumption can be further reduced. The following procedure can be referred to how to determine whether or not the position of the smart door lock 1 has been changed.

Optionally, before step S300, that is, before determining whether the first door-closing position data is located in the door-closing position data range, it may be determined whether the position of the intelligent door lock 1 is changed by determining the direction and the displacement of the gyro sensor 12, and specifically, the determining may include:

s290: and acquiring the motion trail data of the gyroscope sensor so as to judge whether the position of the intelligent door lock moves in the door opening direction or not according to the motion trail data.

The motion trajectory data indicates the correspondence between the direction, time, and position of the gyro sensor 12, and indicates the motion trajectory of the gyro sensor 12. The motion trajectory data includes position data of each time node and a corresponding time node to describe the motion trajectory of the gyro sensor 12 or the smart door lock 1, for example, the position data expressed by an angle size means that the smart door lock 1 moves in the door opening direction if the position data becomes larger gradually, for example, the smart door lock 1 moves in the door opening direction if the door closing state in fig. 1 is switched to the door closing state in fig. 2.

S291: if the gyroscope sensor is judged to move towards the door opening direction, the position of the intelligent door lock is judged to be changed, and then whether the first door closing position data is located in the door closing position data range or not is judged;

the position of the intelligent door lock 1 is changed, that is, the position of the intelligent door lock 1 is deviated from the actual door closing position, that is, the position of the intelligent door lock 1 is not at the actual door closing position. After the door is opened, the position data of the gyro sensor 12 changes with the passage of time, and the position of the smart door lock 1 is inevitably changed. Of course, if the user does not intentionally close the door for a long period of time, for example, the door is kept in the open state shown in fig. 2, the position of the gyro sensor 12 is not changed with time after the start in the open state, and it is not necessarily possible to determine that the position of the smart door lock 1 has not been changed, and at this time, the position of the smart door lock 1 has actually been changed. For the situation that the position of the gyroscope 12 does not change with time, further determination is needed to determine whether the position of the intelligent door lock 1 is changed, and the following steps can be specifically referred to.

S292: and if the position of the gyroscope sensor is judged not to move towards the door opening direction, second real-time position data acquired by the geomagnetic sensor is acquired, and whether the second real-time position data is consistent with the second door closing position data or not is judged.

The second real-time position data may be acquired by the geomagnetic sensor 11 in real time, for example, once every predetermined time during operation, or continuously during operation. The position of the intelligent door lock 1 is further judged through the geomagnetic sensor 11, the influence of misjudgment of the gyroscope sensor 12 on normal work of the intelligent door lock 1 is reduced, the accuracy of position judgment of the intelligent door lock 1 can be improved, and the fault rate of the intelligent door lock 1 can be reduced.

S293: and if the second real-time position data is inconsistent with the second door closing position data, judging that the position of the intelligent door lock is changed, and executing to judge whether the second door closing position data is located in the door closing position data range.

If the second real-time position data is consistent with the second door closing position data, the position of the intelligent door lock 1 is judged to be unchanged, the process is ended, and the subsequent processing steps are not required. If it is determined that the position of the smart door lock 1 has been changed, it is determined that the smart door lock 1 is in the open/close state, and preparation for the subsequent door closing and lock closing process is required, and step S300 and the subsequent steps are performed.

Whether the position of the intelligent door lock 1 is changed or not is comprehensively judged in a cascading mode by combining the motion track data of the gyroscope sensor 12 and the second real-time position data acquired by the geomagnetic sensor 11, so that the accuracy of judging whether the position of the intelligent door lock 1 is changed or not can be effectively improved, the subsequent selection of an observation strategy is facilitated, the execution efficiency of the whole locking method can be improved, the locking accuracy is further improved, and the locking fault of the intelligent door lock 1 caused by the fact that the door closing position data acquired by the gyroscope sensor 12 is inaccurate and is misjudged by the intelligent door lock 1 is avoided.

In the process of specifically determining whether the second door-closing position data is located within the door-closing data range, since the data format, the reference, the principle, and the like of the gyro sensor 12 and the geomagnetic sensor 11 may be different, the data of the two data generally need to be converted correspondingly and then compared. Specifically, the step S300 includes the following steps:

s310: and converting a coordinate system of the first door closing position data acquired by the gyroscope sensor, so that the first door closing position data and the second door closing position data after the coordinate system is converted correspond to the same coordinate system.

For example, the second closed door position data acquired by the gyro sensor 12 is formed based on the three-axis coordinate system of the gyro sensor 12 itself. The first closing position data acquired by the geomagnetic sensor 11 is formed based on a three-axis coordinate system of the geomagnetic sensor 11 itself. The two three-axis coordinate systems may be different, incompletely corresponding or non-coincident, and the coordinates of the two coordinate systems need to be correspondingly converted. For example, the second door-closing position data measured by the geomagnetic sensor 11 is 3 °, and the range of the door-closing position data is 0 ° to 6 °. The first closing position data measured by the gyro sensor 12 based on its own coordinate system is 20 °, and the first closing position data after coordinate conversion is 5 °. It is thus possible to determine whether the 5 ° obtained after the conversion falls within the range of the door-closing position data from 0 ° to 6 °.

Of course, the second door-closing position data may be converted into the same coordinate system as the first door-closing position data. The first door closing position data and the second door closing position data can be converted into the same coordinate system at the same time. In the present embodiment, the gyro sensor 12 may be a three-axis gyro sensor, a six-axis gyro sensor, or a nine-axis gyro sensor, but may also be another type of gyro sensor.

S320: and judging whether the first door-closing position data after the coordinate system is converted is located in the door-closing position range.

After the coordinate system conversion, the first door closing position data and the second door closing position data correspond to the same coordinate system, so that the first door closing position data and the door closing position range formed based on the second door closing position data can be quickly and accurately compared, and whether the door closing position corresponding to the first door closing position obtained by the gyroscope sensor 12 corresponds to the actual door closing position or not can be quickly and effectively judged.

S410: and if the first door closing position data are determined to be in the door closing position data range, judging whether the intelligent door lock returns to the door closing position corresponding to the first door closing position data through the gyroscope sensor.

If the result of step S300 is yes, that is, it is determined that the first door-closing position data is within the door-closing position data range, it indicates that the probability that the position corresponding to the first door-closing position data acquired by the gyro sensor 12 coincides with the actual door-closing position is very high, which indicates that the accuracy of successfully performing locking using the gyro sensor 12 is also very high, and since the accuracy of the gyro sensor 12 for positioning and orientation is higher, that is, the accuracy of the acquired first door-closing position data is higher relative to the accuracy of the second door-closing position data acquired by the geomagnetic sensor 11, it may be further determined that the position of the intelligent door lock 1 is determined by using the gyro sensor 12 as a criterion to perform locking, and it is determined by using the gyro sensor 12 whether the intelligent door lock 1 returns to the door-closing position corresponding to the first door-closing position data.

S420: and if the intelligent door lock is judged to return to the door closing position corresponding to the first door closing position data, starting the locking.

The position data of the intelligent door lock 1 are acquired through the gyroscope sensor 12, and when the acquired position data are consistent with the first door closing position data, it is determined that the gyroscope sensor 12 returns to the door closing position corresponding to the first door closing position data, and then the locking is started. The door closing data range formed by the second door closing position data of the geomagnetic sensor 11 is used for judging the gyroscope sensor 12, so that the data validity of the gyroscope sensor 12 can be effectively identified, and the accuracy of automatic locking can be effectively improved.

If it is determined that the intelligent door lock 1 does not return to the door closing position corresponding to the first door closing position data, the process may return to step S410, and determine whether the intelligent door lock returns to the door closing position corresponding to the first door closing position data through the gyroscope sensor.

For the position of the intelligent door lock 1 obtained by the gyroscope sensor 12, and then whether the position of the intelligent door lock 1 returns to the door closing position corresponding to the first door closing position data is determined, the following steps included in S410 may be specifically implemented:

s411: first real-time position data of the gyroscope sensor in the operation process after starting is obtained.

The gyro sensor 12 may collect first real-time position data at intervals or continuously during the operation after the start and send the first real-time position data to the door lock controller 13. Of course, the door lock controller 13 may also send a corresponding data acquisition instruction, and the gyro sensor 12 acquires the first real-time position data in response to the data acquisition instruction and sends the first real-time position data to the door lock controller 13. The first real-time position data may be collected by the gyro sensor 12 and used to indicate the current real-time position of the intelligent door lock 1.

After the gyroscope sensor 12 collects the first door closing position data when starting, the first door closing position data is within the door closing position data range, the gyroscope sensor 12 is used as the standard to collect the first real-time position data of the intelligent door lock 1, and in the subsequent operation process, the door lock controller 13 can continuously compare the first real-time door closing position data with the first door closing position data.

S412: and judging whether the first real-time position data is consistent with the first door closing position data within the preset operation time length so as to judge whether the door returns to the door closing position corresponding to the first door closing position data within the preset operation time length.

And setting corresponding preset running time for judging whether the user intentionally does not close the door. Of course, the preset operation time may also be the duration of the gyro sensor 12 after starting. After the gyroscope sensor 12 is started and operates for a preset operation time, it may enter a sleep or off state and needs to be started again. Of course, the intelligent door lock 1 may be in a sleep state or turned off after the preset operation time period passes after being started, and the gyro sensor 12 may also be in a sleep state or turned off along with the preset operation time period, which is equivalent to the preset operation time period of the intelligent door lock 1 also being the preset operation time period of the gyro sensor 12. So, can energy saving through setting for when presetting the operation, promote the duration of the intelligent lock 1, but this has led to the 12 relatively poor duration of the gyroscope sensor. Therefore, the first real-time position data needs to be acquired in real time within the preset operation duration to judge whether the first real-time position data is consistent with the actual door closing position data within the preset operation duration, so that the locking can be effectively realized. The preset operation time period, for example, three minutes, five minutes, etc., may be set according to specific situations. If the preset operation time length elapses, the intelligent door lock 1 does not return to the actual door closing position, which means that the user may intentionally not close the door, or the user does not close the door.

For the locking start-up in step S420, the following steps may be specifically included:

s421: and if the first real-time position data is judged to be consistent with the first door closing position data within the preset operation duration, judging that the intelligent door lock returns to the door closing position corresponding to the first door closing position data within the preset operation duration, and starting the locking.

In the preset running time before the gyroscope sensor 12 enters the dormancy state or is turned off, the intelligent door lock 1 smoothly returns to the door closing position corresponding to the first door closing position data, and then the locking can be started, so that the power consumption can be reduced, and the accuracy and the efficiency of automatic locking can be improved.

For the case that the first real-time position data is not inconsistent with the first door-closing position data within the preset operation duration, the embodiment includes the following steps:

s430: if the first real-time position data is judged to be not consistent with the first door closing position data within the preset operation time, the intelligent door lock is judged not to return to the door closing position corresponding to the first door closing position data within the preset operation time, and then the gyroscope sensor is closed.

The gyro sensor 12 being turned off may refer to the gyro sensor 12 entering a sleep state. After the gyro sensor 12 is turned off, the intelligent door lock 1 switches to the position where the geomagnetic sensor 11 is used as a criterion to determine the intelligent door lock 1, and then the following lock-closing procedure is executed. Specifically, the gyroscope sensor 12 may determine whether the intelligent door lock 1 completes the door closing process and determine whether the intelligent door lock 1 returns to the door closing position corresponding to the second door closing position data through the geomagnetic sensor 11, that is, perform the following specific steps in step S510.

For example, if the intelligent door lock 1 does not successfully return to the door closing position corresponding to the first door closing position data within the preset operation duration, the intelligent door lock 1 may enter the sleep mode or be turned off. At this time, the gyro sensor 12 is turned off, and power consumption can be saved. After the gyro sensor 12 is turned off, the geomagnetic sensor 11 may acquire the position of the intelligent door lock 1, that is, step S620 and subsequent steps described below are performed, so as to determine whether to return to the actual door-closing position to perform the subsequent locking procedure.

Of course, the intelligent door lock 1 does not return to the door closing position corresponding to the first door closing position data within the preset operation duration, and only the gyroscope sensor 12 may enter the sleep state, and other devices such as the door lock controller 13 do not sleep or are turned off.

The above-mentioned determining whether the first real-time position data and the first door-closing position data are consistent may refer to that the two are completely consistent, or may refer to that a certain difference range exists between the two, and the difference range is considered to be consistent. For example, if the first real-time position data is 61 °, the first closing position data is 61.5 °, and the difference range is 1 °, it can be determined that the first real-time position data is consistent with the first closing position data.

S510: and if the first door closing position data is not in the door closing position data range, judging whether the intelligent door lock completes the door closing process through the gyroscope sensor, and judging whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data through the geomagnetic sensor.

If the result of the step S300 is no, that is, it is determined that the first door closing position data is not within the door closing position data range, it indicates that the gyro sensor 12 is the first door closing position data acquired when the door is restarted in the door opening state, at this time, the coincidence degree between the door closing position corresponding to the first door closing position data and the actual door closing position is low, and the accuracy of performing the locking by using the gyro sensor 12 is low. The second door-closing position data acquired by the geomagnetic sensor 11 has higher reliability than the first door-closing position data acquired by the gyro sensor 12 at the time of starting, but the accuracy of the geomagnetic sensor 11 is low, so that locking is performed by using the mutual cooperation of the geomagnetic sensor 11 and the gyro sensor 12 at the same time. The door closing process refers to a process that the intelligent door lock 1 rotates in the door closing direction, and the gyroscope sensor 12 can further judge whether the intelligent door lock is in the door closing process and whether the door closing process is completed according to the direction and the position.

Utilize geomagnetic sensor 11 and gyroscope sensor 12 to judge the position of intelligent lock 1, to the first condition of closing the door position data differentiation difference of gyroscope sensor 12, deal with different circumstances through the means of difference, and then can make the actual position of closing the door all can be in comparatively accurate state under the different circumstances to make intelligent lock 1 can close the lock under comparatively accurate position of closing the door, improve the success rate of closing the lock.

S520: and starting the locking when the intelligent door lock is judged to finish the door closing process and return to the door closing position corresponding to the second door closing position data.

Although the second door-closing position data cannot be lost due to the dormancy of the intelligent door lock 1, the second door-closing position data has high reliability, but the precision is poor due to the fact that the geomagnetic sensor 11 is easily interfered, and in order to improve the accuracy of automatic locking, when the geomagnetic sensor 11 is used for executing automatic locking, the gyroscope sensor 12 needs to be further used for judging whether the door is closed or not, and whether the door is closed or not is judged. The gyroscope sensor 12 determines that the door closing process is completed, which does not mean that the door returns to the actual door closing position, and the door closing process simulated by the gyroscope sensor 12 in the software algorithm level, for example, the door panel a is stationary after moving under the door closing action, and then the stationary time meets the corresponding condition, so that the door closing process can be considered to be completed. Because the intelligent door lock 1 moves along with the door and the intelligent door lock 1 is used to determine whether the door closing process is completed, the door closing process of the intelligent door lock 1 in this embodiment may actually refer to the door closing process of the door panel a.

If the intelligent door lock does not finish the door closing process and/or does not return to the door closing position corresponding to the second door closing position data, the step S510 is executed in a returning manner, whether the intelligent door lock finishes the door closing process is judged through the gyroscope sensor, and whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data is judged through the geomagnetic sensor. Specifically, if the smart door lock 1 is not in the process of closing the door, it means that the door has not actually returned to the actual closing position, and the locking will not be activated. If the intelligent door lock 1 has finished the process of closing the door, still need further obtain the position data of intelligent door lock 1 through geomagnetic sensor 11, and it is unanimous to carry out the comparison with second door closing position data, also whether intelligent door lock 1 gets back to the position that second door closing position data corresponds, so can reduce geomagnetic sensor 11 and receive the inaccurate and automatic probability that misjudgement appears of closing the lock that leads to of position data that external disturbance obtained in closing the door, judge through gyroscope sensor 12 to the process of closing the door and can promote the rate of accuracy of automatic lock closing effectively.

The determination of the door closing process by the gyro sensor 12 may be implemented by the following steps included in S510:

s511: and acquiring the motion track data of the gyroscope sensor.

For the motion trajectory data, the description in the foregoing step S290 may be referred to.

S512: and judging whether the intelligent door lock moves to a static state in the door closing direction or not by utilizing the motion trail data and continuing the preset time in the static state so as to judge whether the intelligent door lock completes the door closing process or not.

The moving direction of the intelligent door lock 1 can be known through the motion trail data. The door closing direction is a direction corresponding to a movement from the door open state to the door closed state, and for example, a direction in which the state of fig. 2 is switched to the state of fig. 1 is the door closing direction. The door opening direction is a direction corresponding to a movement from the door closed state to the door closed state, and for example, a direction corresponding to a switch from the state of fig. 1 to the state of fig. 2 is a door opening direction.

The intelligent door lock 1 can move in the door closing direction from any position in the opening and closing state, and if the intelligent door lock is in the static state after moving, whether the static state lasts for the preset time is further judged. If the intelligent door lock 1 lasts for the preset time in the static state, the intelligent door lock is judged to finish the door closing process. If the intelligent door lock 1 moves in the door closing direction and is in the stop state, as long as the intelligent door lock is in the stop state, that is, in the static state, and does not last for the preset time, it is determined that the intelligent door lock 1 is still in the door closing process and the door closing process is not completed. If the intelligent door lock 1 enters a static state after moving in the door closing direction and continues for a preset time length in the static state, it is determined that the intelligent door lock 1 completes the door closing process.

S513: and if the intelligent door lock is judged to move to the static state along the door closing direction and the static state lasts for the preset time, the intelligent door lock is judged to complete the door closing process.

The gyroscope sensor 12 is used for judging whether the door is closed, so that even if the geomagnetic sensor 11 is interfered during the door closing process, the lock cannot be automatically closed. Even if the door closing process is completed, the gyroscope sensor 12 does not mean that the door is in an actual door closing position, and the geomagnetic sensor 11 still needs to acquire the position of the intelligent door lock 1, and when the position of the intelligent door lock 1 is further consistent with the position corresponding to the second door closing position data, locking is started.

If the intelligent door lock 1 is judged not to move towards the door closing direction and/or the static state does not last for the preset time, the intelligent door lock 1 is judged not to complete the door closing process.

The above-described determination of whether the intelligent door lock 1 returns to the door closing position corresponding to the second door closing position data by the geomagnetic sensor 11 may be implemented by the following steps included in step S510:

s514: and acquiring second real-time position data acquired by the geomagnetic sensor.

The second real-time position data is collected by the geomagnetic sensor 11 and is used to indicate the current real-time position of the intelligent door lock 1. Specifically, the door lock controller 13 may send a data refresh command to the geomagnetic sensor 11, and the geomagnetic sensor 11 may respond to the data refresh command in real time to acquire second real-time position data and send the second real-time position data to the door lock controller 13. The door lock controller 13 may send a data refresh command to the geomagnetic sensor 11 at predetermined time intervals, such as once every 3 seconds or 5 seconds. During the door closing process, the geomagnetic sensor 11 may continuously acquire the second real-time position data, and the door lock controller 13 may continuously compare the second real-time position data with the second door-closing position data, or may compare the second real-time position data acquired in the stationary state with the second door-closing position data, that is, step S514 described below.

S515: and judging whether the second real-time position data in the static state is consistent with the second door closing position data or not so as to judge whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data or not.

Because the intelligent door lock 1 has already finished the process of closing the door, is in quiescent condition, further with the second real-time position data under quiescent condition with the second position data of closing the door, and then can judge more accurately whether the intelligent door lock 1 gets back to the position of closing the door that the second closed the door position data corresponds, reduce the emergence of the automatic mistake of closing lock scheduling problem that unexpected interference etc. led to, reduce the probability of automatic mistake of closing lock.

If the determination result in step S515 is yes, step S521 is performed. If the determination result in step S515 is negative, step S530 is executed.

For the locking start-up in step S520, the following steps may be specifically included:

s521: and if the second real-time position data in the static state is consistent with the second door closing position data, judging that the intelligent door lock returns to the door closing position corresponding to the second door closing position data, and starting to close the door lock.

Through mutual cooperation of gyroscope sensor 12 and geomagnetic sensor 11, satisfying and accomplishing the process of closing the door and the second real-time position data under quiescent condition is unanimous with the real-time position data of second, then judges that intelligent lock 1 has got back to the actual position of closing the door, perhaps has great coincidence degree with the actual position of closing the door, can close the lock automatically this moment.

For the inconsistency between the second real-time position data and the actual door-closing position data in the static state, the embodiment may include the following steps:

s530: if the second real-time position data in the static state is determined to be inconsistent with the second door-closing position data, it is determined that the intelligent door lock 1 does not return to the door-closing position corresponding to the second door-closing position data, and then the step returns to execute step S511, that is, the motion trajectory data of the gyroscope sensor is obtained, and the step returns to execute step S513, that is, the second real-time position data acquired by the geomagnetic sensor is obtained.

If the second real-time position data in the static state is determined to be inconsistent with the second door closing position data, it is indicated that the intelligent door lock 1 does not return to the door closing position corresponding to the second door closing position data. In the open/closed state shown in fig. 2, the second real-time position data is inconsistent with the second closed-door position data, and the user does not close the door or does not close the door during the closing process.

The intelligent door lock 1 does not return to the door closing position corresponding to the second door closing position data, and the door lock controller 13 may return to perform steps S511 and S513, obtain the motion trajectory data of the gyro sensor 12 again, and wait for the refreshing of the second real-time position data of the geomagnetic sensor 11. Until the user closes the door again, that is, the gyroscope sensor 12 determines that the intelligent door lock 1 moves in the door closing direction, the second real-time position data of the geomagnetic sensor 11 may be refreshed accordingly, the subsequent steps are executed according to the above steps, until the second real-time position data in the static state is consistent with the second door closing position data, the intelligent door lock 1 is determined and returns to the door closing position corresponding to the second door closing position data, and then the locking is started.

The above-mentioned determination of whether the second real-time position data and the second door-closing position data are consistent may mean that the two are completely consistent, or may mean that a certain difference range exists between the two, and the two are considered to be consistent in the difference range. For example, the second real-time position data is 76 °, the second closing position data is 75 °, and the difference range is 1 °, it can be determined that the second real-time position data is consistent with the second closing position data.

Based on the above description, in step S420 and step S520, after the lock is turned on and the corresponding time elapses, the smart door lock 1 may be turned off or enter a sleep state, and the gyro sensor 12 is also turned off immediately. The corresponding time may be the aforementioned preset operation time period, or may be shorter than the aforementioned preset operation time period. In step S430, the smart door lock 1 does not return to the door closing position corresponding to the actual door closing position data within the preset operation duration, and the gyro sensor 12 is also turned off. After the start-up lock is turned off or after the gyro sensor 12 is turned off, the present embodiment may start up the gyro sensor 12 by the following steps, specifically including:

s610: and receiving an unlocking instruction or a awakening instruction.

For example, the smart door lock 1 may support one or more of key unlocking, fingerprint unlocking, face unlocking, APP unlocking, wearable device unlocking, password unlocking, and verification code unlocking, and when the user unlocks the smart door lock 1 in the unlocking mode supported by the smart door lock 1 or prepares for unlocking, it is equivalent to sending an unlocking instruction or a wake-up instruction to the door lock controller 13.

S620: responding to an unlocking instruction or a wake-up instruction, controlling the start of the gyroscope sensor, and further executing the acquisition of first closing position data acquired by the gyroscope sensor when the gyroscope sensor is started.

The door lock controller 13 may control the gyro sensor 12 to be activated in response to an unlock instruction or a wake-up instruction. After the gyro sensor 12 is started, the first closing position data acquired at the time of starting may be acquired, that is, step S100 is performed.

In summary, in the present embodiment, it is determined whether the first door-closing position data obtained by the geomagnetic sensor 11 is within the door-closing position data range, and then whether the first door-closing position data obtained by the gyro sensor 12 is within the door-closing position data range, if the first door-closing position data is not within the door-closing position data range, then performing automatic locking by directly using the gyro sensor 12 may cause a situation of mistaken locking, and performing automatic locking by using only the geomagnetic sensor 11 may also cause a situation of mistaken locking because the geomagnetic sensor 11 is easily interfered, for this reason, the present embodiment further collects the position data of the intelligent door lock 1 by using the geomagnetic sensor 11 and the gyro sensor 12 in cooperation, compares the position data with the second door-closing position data, and determines whether the intelligent door lock 1 completes the door-closing process by using the gyro sensor 12, the automatic locking is executed under the condition that the conditions are met, so that the misjudgment caused by executing the automatic locking only by using the gyroscope sensor 12 or the geomagnetic sensor 11 can be effectively reduced, the accuracy of the automatic locking is improved, the geomagnetic sensor 11 can be used for realizing the effective automatic locking under the condition that the door closing position is misjudged by using the gyroscope sensor 12, and the accuracy and the automation degree of the locking are further improved.

Further, if the first closing position data is within the range of the closing position data, it means that the first closing position data has higher reliability, and due to the high precision of the gyro sensor 12, the automatic closing is performed by using the gyro sensor 12, so that the closing accuracy can be effectively improved. Therefore, the positions of the intelligent door lock 1 can be acquired through different sensors under different conditions, different execution strategies are formed by the sensors, automatic locking with high accuracy is achieved, and the probability of failure of automatic locking is reduced.

By using the automatic locking method of the embodiment, the accuracy of automatic locking can be effectively improved, but the accuracy of the embodiment is not limited to hundred percent.

Referring to fig. 4, fig. 4 is a schematic block diagram of a module structure of an embodiment of a door lock controller according to the present application.

The door lock controller 13 described in this embodiment may include a first data acquisition module 131, a second data acquisition module 132, a first determination module 133, a second determination module 134, and an execution processing module 135.

The first data acquisition module 131 may be used to acquire first closed door position data collected by the gyro sensor 12 at the time of start-up. The second data obtaining module 132 may be configured to obtain second door-closing position data collected by the geomagnetic sensor 11, and form a door-closing position data range based on the second door-closing position data. The first determining module 133 may be configured to determine whether the first door-closing position data is within the door-closing position data range, if it is determined that the second door-closing position data is not within the door-closing position data range, the execution processing module 135 is configured to determine whether the intelligent door lock 1 completes the door-closing process through the gyroscope sensor 12, determine whether the intelligent door lock 1 returns to the door-closing position corresponding to the second door-closing position data through the geomagnetic sensor 11, and start the closing lock when it is determined that the intelligent door lock 1 completes the door-closing process and returns to the door-closing position corresponding to the second door-closing position data.

In the embodiments provided in the present application, it should be understood that the disclosed automatic locking method and intelligent door lock, etc. may be implemented in other ways. For example, the above-described embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

As shown in fig. 6, for the form of integrated software functional unit for unit, for example, the method described in the above-mentioned embodiment of the method for automatically closing the intelligent door lock according to the present application, if implemented in the form of software functional unit and sold or used as a separate product, may be stored in the device 3 having a storage function. The device 3 having a storage function is a computer-readable device and may be a computer-storable medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage device and includes instructions (program data) for causing a computer (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. The aforementioned apparatus having a storage function includes: various media such as a usb disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and electronic devices such as a computer, a mobile phone, a notebook computer, a tablet computer, and a camera having the storage medium.

The description of the execution process of the program data in the device with the storage function may refer to the above embodiments of the automatic locking method for an intelligent door lock of the present application, and will not be described herein again.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. An automatic locking method of an intelligent door lock is characterized by comprising the following steps:

acquiring first closing position data acquired by a gyroscope sensor during starting;

judging whether the first door closing position data is in a door closing position data range formed on the basis of second door closing position data, wherein the second door closing position data is acquired by a geomagnetic sensor at an actual door closing position;

if the first door closing position data is not within the range of the door closing position data, judging whether the intelligent door lock completes the door closing process through the gyroscope sensor, and judging whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data through the geomagnetic sensor;

and starting locking when the intelligent door lock is judged to finish the door closing process and return to the door closing position corresponding to the second door closing position data.

2. The method for automatically closing the lock according to claim 1, wherein the determining whether the smart door lock completes the door closing process through the gyro sensor comprises:

acquiring motion track data of the gyroscope sensor;

judging whether the intelligent door lock moves to a static state in a door closing direction or not by using the motion trail data and the static state lasts for a preset time so as to judge whether the intelligent door lock completes the door closing process or not;

the intelligent door lock is judged to finish the door closing process, and the intelligent door lock comprises the following steps:

and if the intelligent door lock is judged to move to the static state along the door closing direction and the static state lasts for the preset time, the intelligent door lock is judged to complete the door closing process.

3. The method of claim 2, wherein the determining, by the geomagnetic sensor, whether the smart door lock returns to the door-closing position corresponding to the second door-closing position data includes:

acquiring second real-time position data acquired by the geomagnetic sensor;

judging whether the second real-time position data in the static state is consistent with the second door closing position data or not so as to judge whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data or not;

the determining that the intelligent door lock returns to the door closing position corresponding to the second door closing position data includes:

and if the second real-time position data and the second door closing position data in the static state are consistent, judging that the intelligent door lock returns to the door closing position corresponding to the second door closing position data.

4. The automatic locking method of claim 3, further comprising:

and if the second real-time position is judged not to be consistent with the door closing position corresponding to the second door closing position data, returning to execute the motion trail data of the gyroscope sensor and the second real-time position data acquired by the geomagnetic sensor.

5. The automatic locking method of claim 1, further comprising:

if the first door closing position data is determined to be in a door closing position data range formed based on the second door closing position data, judging whether the intelligent door lock returns to a door closing position corresponding to the first door closing position data through the gyroscope sensor;

and if the intelligent door lock is judged to return to the door closing position corresponding to the first door closing position data, starting the locking.

6. The method of claim 5, wherein the determining, by the gyroscope sensor, whether the smart door lock returns to the door-closing position corresponding to the first door-closing position data comprises:

acquiring first real-time position data acquired in the running process of the gyroscope sensor after starting;

judging whether the first real-time position data is consistent with the first door closing position data within a preset operation time length after the gyroscope sensor is started so as to judge whether the intelligent door lock returns to a door closing position corresponding to the first door closing position data within the preset operation time length;

the determining that the smart door lock returns to the door closing position corresponding to the first door closing position data includes:

and if the first real-time position data is judged to be consistent with the first door closing position data within the preset operation time length, judging that the intelligent door lock returns to the door closing position corresponding to the first door closing position data within the preset operation time length.

7. The auto-close method of claim 6, further comprising:

if the first real-time position data is judged to be not consistent with the first door closing position data within the preset operation duration, the intelligent door lock is judged not to return to the door closing position corresponding to the first door closing position data within the preset operation duration, the gyroscope sensor is further closed, the process that whether the intelligent door lock completes the door closing process is judged through the gyroscope sensor, and whether the intelligent door lock returns to the door closing position corresponding to the second door closing position data is judged through the geomagnetic sensor.

8. The automatic locking method of claim 7, after the initiating locking or after the shutting down the gyro sensor, comprising:

receiving a wake-up instruction;

and responding to the awakening instruction, controlling the starting of the gyroscope sensor, and then returning to execute the first closing position data acquired when the gyroscope sensor is started.

9. The automatic locking method according to any one of claims 1 to 8, comprising:

sending a data calibration instruction to the geomagnetic sensor under the actual closing position;

and acquiring current door closing position data acquired by the geomagnetic sensor in response to the data calibration instruction at the actual door closing position, and storing the current door closing position data as second door closing position data.

10. The method of automatically closing a lock according to claim 1, wherein said forming a door-closing position data range based on said second door-closing position data comprises:

and performing precision processing corresponding to a preset precision value on the second door-closing position data to obtain a door-closing position data range.

11. An intelligent door lock, comprising a memory, a geomagnetic sensor, a gyroscope sensor, and a processor, wherein the memory, the geomagnetic sensor, and the gyroscope sensor are respectively coupled to the processor, wherein the memory stores a computer program, and the processor can read the computer program to implement the steps of the method according to any one of claims 1 to 10.