CN115665587A

CN115665587A - Autonomous operation equipment unlocking method and system, mobile terminal and autonomous operation equipment

Info

Publication number: CN115665587A
Application number: CN202211088541.5A
Authority: CN
Inventors: 周昶
Original assignee: Zhejiang Baima Technology Co ltd
Current assignee: Zhejiang Baima Technology Co ltd
Priority date: 2022-09-07
Filing date: 2022-09-07
Publication date: 2023-01-31

Abstract

The embodiment of the invention provides an unlocking method and system for autonomous operating equipment, a mobile terminal and autonomous operating equipment, and relates to the technical field of autonomous operating equipment. The autonomous operating device unlocking method includes: when an unlocking operation for an autonomous operating device is detected, judging whether the autonomous operating device is located within an operable range; and if the autonomous operating equipment is located in the operable range, sending an unlocking command for controlling the autonomous operating equipment to enter an unlocking state to the autonomous operating equipment. According to the invention, the mobile terminal unlocks the autonomous operating equipment, password verification is not needed, and the method is more convenient and faster; in addition, only when the autonomous operation equipment is located in the operable range, the unlocking can be carried out, the injury to personnel is avoided, and the operation safety degree is higher.

Description

Autonomous operation equipment unlocking method and system, mobile terminal and autonomous operation equipment

Technical Field

The invention relates to the technical field of autonomous operating equipment, in particular to an unlocking method and system of the autonomous operating equipment, a mobile terminal and the autonomous operating equipment.

Background

Existing autonomous operation equipment with a moving blade takes a mowing robot as an example, and compared with other household robots (such as a sweeping robot) the existing autonomous operation equipment needs to meet stricter safety standard requirements. Generally, if the mowing robot is started again after being stopped manually or is started outside the planned working time, a user needs to unlock manually, so that the injury to people caused by the non-active accidental starting is prevented, and a certain anti-theft effect is achieved.

Generally, a plurality of operation keys are arranged on a man-machine interaction interface of the mowing robot, and password input is completed through the man-machine interaction interface operation keys during manual unlocking. If the password is input correctly, the mowing robot is unlocked and enters a working state after delaying the preset time after the START and the OK are pressed down in sequence; and if the password is input wrongly, the mowing robot keeps locking.

The above operation mode has the following defects: (1) The unlocking operation is inconvenient, and the mowing robot is usually low in height and placed on the ground, so that the user needs to squat down to operate the mowing robot, and the use experience is poor. (2) The safety degree of unlocking operation is low, and because the mowing robot works outdoors for a long time, a human-computer interaction interface is difficult to avoid pollution, and a user has a hidden health hazard by manual operation; if a man-machine interface protection cover is added, on one hand, the cost is increased, and on the other hand, the operation difficulty is improved.

How to study more convenient core technical problems such as a mowing robot unlocking mode and a password resetting operation mode on the premise of ensuring safety after considering the factors and improve the user experience of safe and quick unlocking under the condition of forgetting a machine password. Based on the technical problems, the applicant proposes a technical scheme of the application.

Disclosure of Invention

The invention aims to provide an autonomous operation equipment unlocking method and system, a mobile terminal and autonomous operation equipment, wherein the autonomous operation equipment is unlocked through the mobile terminal without password verification, so that the method is more convenient and faster; in addition, only when the autonomous operation equipment is located in the operable range, the unlocking can be carried out, the injury to personnel is avoided, and the operation safety degree is higher.

In order to achieve the above object, the present invention provides an autonomous operating device unlocking method, which is applied to a mobile terminal, and includes: when an unlocking operation for an autonomous operating device is detected, judging whether the autonomous operating device is located within an operable range; and if the autonomous operating equipment is located in the operable range, sending an unlocking command for controlling the autonomous operating equipment to enter an unlocking state to the autonomous operating equipment.

The invention also provides an unlocking method of the autonomous operating equipment, which is applied to the autonomous operating equipment and comprises the following steps: and entering an unlocking state when receiving an unlocking command sent by the mobile terminal when the autonomous operating equipment is judged to be positioned in the operable range.

The invention also provides a mobile terminal, which is used for executing the autonomous operation equipment unlocking method applied to the mobile terminal.

The invention also provides autonomous operating equipment which is used for executing the autonomous operating equipment unlocking method applied to the autonomous operating equipment.

The invention also provides an unlocking system of the autonomous operating equipment, which comprises the following components: the mobile terminal is in communication connection with the autonomous operating equipment.

In the embodiment of the invention, when the mobile terminal detects the unlocking operation aiming at the autonomous operation equipment, whether the autonomous operation equipment is positioned in an operable range is judged, and when the autonomous operation equipment is judged to be positioned in the operable range, an unlocking command for controlling the autonomous operation equipment to enter an unlocking state is sent to the autonomous operation equipment. The mobile terminal unlocks the autonomous operation equipment, password verification is not needed, and the method is more convenient and faster; in addition, only when the autonomous operation equipment is located in the operable range, the unlocking can be carried out, the injury to personnel is avoided, and the operation safety degree is higher.

In one embodiment, the determining whether the autonomous working apparatus is located within an operable range includes: prompting an obtained unlocking key combination for unlocking the autonomous operating equipment, wherein the unlocking key combination is composed of at least one key on the autonomous operating equipment; receiving an input key operation combination which is sent by the autonomous operating equipment and consists of triggered keys of the autonomous operating equipment, and judging whether the input key operation combination is consistent with the unlocking key combination; and if the input key operation combination is consistent with the unlocking key combination, judging that the autonomous operating equipment is positioned in an operable range.

In one embodiment, the unlocking key combination is composed of physical keys on the autonomous working device.

In one embodiment, the mobile terminal is connected with the autonomous working equipment through wireless communication; the determining whether the autonomous operating device is located within an operable range includes: controlling the wireless communication transmitting power of the autonomous operating equipment to be reduced to a preset transmitting power, and sending a prompt message for prompting the autonomous operating equipment to approach; and when the mobile terminal is in wireless communication connection with the autonomous operating equipment of which the wireless communication transmission power is reduced to the preset transmission power, judging that the autonomous operating equipment is positioned in an operable range.

In one embodiment, before the determining whether the autonomous working device is located within the operable range, the method for unlocking an autonomous working device applied to a mobile terminal further includes: judging whether the autonomous operating equipment is in a non-stolen state or not; if the autonomous operating equipment is in a non-stolen state, entering the step of judging whether the autonomous operating equipment is located in an operable range; and if the autonomous operating equipment is in a stolen state, controlling the autonomous operating equipment to be in a locked state.

In one embodiment, the determining whether the autonomous operating device is in a non-stolen state includes: acquiring position information of the autonomous operating equipment, and judging whether the position of the autonomous operating equipment is within a preset position range; if the position of the autonomous operating equipment is within a preset position range, judging that the autonomous operating equipment is in a non-stolen state; and if the position of the autonomous operating equipment is outside a preset position range, judging that the autonomous operating equipment is in a stolen state.

In one embodiment, the determining whether the autonomous operating device is in a non-stolen state includes: acquiring wireless network information connected with the autonomous operating equipment, and judging whether the wireless network connected with the autonomous operating equipment is a preset legal network or not; if the wireless network connected with the autonomous operating equipment is a preset legal network, judging that the autonomous operating equipment is in a non-stolen state; and if the wireless network connected with the autonomous operating equipment is not a preset legal network, judging that the autonomous operating equipment is in a stolen state.

In one embodiment, before entering the unlocked state when receiving an unlocking command sent by the mobile terminal when determining that the autonomous working device is within the operable range, the autonomous working device unlocking method applied to the autonomous working device further includes: and detecting an input key operation combination formed by triggered keys of the autonomous operating equipment, and sending the input key operation combination to the mobile terminal so that the mobile terminal can judge that the autonomous operating equipment is positioned in an operable range based on the condition that the input key operation combination is consistent with the unlocking key combination.

In one embodiment, after entering the unlock state, if a start instruction is detected, the autonomous operating device enters a working state.

In one embodiment, after entering the unlock state, if a return command is detected, the autonomous operating device enters a return state.

In one embodiment, the autonomous working device is connected with the mobile terminal through wireless communication; before entering an unlocked state when receiving an unlocking command sent by the mobile terminal when determining that the autonomous operating device is within the operable range, the autonomous operating device unlocking method applied to the autonomous operating device further includes: when an instruction for controlling reduction of wireless communication transmission power sent by a mobile terminal is received, reducing the wireless communication transmission power to a preset transmission power, so that when the mobile terminal is connected with the autonomous operation equipment with the wireless communication transmission power reduced to the preset transmission power through wireless communication, the autonomous operation equipment is judged to be located in an operable range.

Drawings

Fig. 1 is a detailed flowchart of an autonomous working apparatus unlocking method applied to a mobile terminal according to a first embodiment of the present invention;

fig. 2 is a detailed flowchart of a first manner of step 101 of the method for unlocking an autonomous working apparatus of fig. 1;

FIG. 3 is a detailed flowchart of a second manner of step 101 of the method for unlocking an autonomous working apparatus of FIG. 1;

fig. 4 is a detailed flowchart of an autonomous working apparatus unlocking method applied to a mobile terminal according to a second embodiment of the present invention;

fig. 5 is a detailed flowchart of an autonomous working apparatus unlocking method applied to an autonomous working apparatus according to a third embodiment of the present invention;

fig. 6 is a detailed flowchart of an autonomous operating device unlocking method applied to an autonomous operating device according to a third embodiment of the present invention, which further includes a step of detecting an input key operation combination made up of triggered keys of the autonomous operating device, and transmitting the input key operation combination to the mobile terminal;

fig. 7 is a detailed flowchart of an autonomous operating device unlocking method applied to an autonomous operating device according to a third embodiment of the present invention, which further includes a step of reducing the bluetooth transmission power to a preset transmission power upon receiving an instruction for controlling reduction of the bluetooth power from the mobile terminal;

fig. 8 is a schematic view of a working area of an autonomous working apparatus according to a fifth embodiment of the present invention;

fig. 9 is a schematic configuration diagram of an autonomous working apparatus according to a fifth embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings in order to more clearly understand the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

In the following description, for the purposes of illustrating various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details. In other instances, well-known devices, structures and techniques associated with this application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

Throughout the specification and claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be understood as an open, inclusive meaning, i.e., as being interpreted to mean "including, but not limited to," unless the context requires otherwise.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or/and" unless the context clearly dictates otherwise.

In the following description, for the purposes of clearly illustrating the structure and operation of the present invention, directional terms will be used, but terms such as "front", "rear", "left", "right", "outer", "inner", "outer", "inward", "upper", "lower", etc. should be construed as words of convenience and should not be construed as limiting terms.

The first embodiment of the invention relates to an unlocking method of autonomous operating equipment, which is applied to a mobile terminal, wherein the mobile terminal can adopt the unlocking method of the autonomous operating equipment to unlock the autonomous operating equipment, and can also control other functions of the autonomous operating equipment except for unlocking, such as working modes, working time and the like; the mobile terminal is computer equipment which can be used in moving, and intelligent equipment with various application functions is not limited to a mobile phone, a notebook, a tablet computer, a POS machine and a vehicle-mounted computer; the autonomous working device is a robot that can autonomously move within a predetermined area and perform a specific work, typically, an intelligent sweeper/cleaner that performs a cleaning work, an intelligent mower that performs a mowing work, or the like. The mobile terminal can be in communication connection with the autonomous operating device through wireless communication modes such as Bluetooth, WIFI, 4G, 5G, UWB and RF, when the mobile terminal is used for setting basic parameters connected with the autonomous operating device for the first time, the mobile terminal prompts a user to confirm identity security, the identity security information comprises but is not limited to any mode of confirming identity security through a mail verification code, a short message verification code or initial information on the autonomous operating device, and the security information on the autonomous operating device is usually initial password information printed on a packing box, a user manual or a separate card.

Fig. 1 is a specific flowchart of the autonomous working apparatus unlocking method according to the embodiment.

Step 101, when an unlocking operation for the autonomous operating apparatus is detected, it is determined whether the autonomous operating apparatus is within an operable range. If yes, go to step 102; if not, the process is ended directly.

In the present embodiment, two specific implementations of determining whether the autonomous operating device is located within the operable range are provided, which are specifically as follows.

In a first mode, referring to fig. 2, the step 101 of determining whether the autonomous operating device is located within the operable range includes the following sub-steps:

and a substep 1011A of prompting the obtained unlocking key combination for unlocking the autonomous operating device, wherein the unlocking key combination is composed of at least one key on the autonomous operating device.

Specifically, an application program for controlling the autonomous operating device is installed in the mobile terminal, after the mobile terminal is in communication connection with the autonomous operating device, if the mobile terminal detects that an unlocking operation which needs to be performed on the autonomous operating device and is input by a user is performed, an unlocking key combination for unlocking the autonomous operating device is obtained first, and the unlocking key combination can be generated by a specific program installed in the mobile terminal or can be sent to the mobile terminal after the specific program installed in the cloud server is generated. The unlocking key combination indicates a key to be triggered and a triggering mode of the key (for example, a long press lasting for a preset duration, a short press, and multiple continuous short presses within a certain time). In one example, the unlocking key combination is composed of an entity key on the autonomous operating device, for example, a STOP key is pressed for a plurality of times continuously in a certain time, so that a user can complete triggering of the unlocking key combination more conveniently and quickly, the entity key generally protrudes from the autonomous operating device, so that the user can operate more conveniently, for example, the user can use a foot-operated mode to trigger, and potential safety hazards which may occur in manual operation are further reduced.

Then, the mobile terminal sends out prompt information according to the unlocking key combination so as to guide a user to unlock the autonomous operation equipment according to the prompt information, wherein the prompt mode can be voice prompt, graphic or text prompt on a display screen or the like, and can also be a combination of multiple prompt modes; for example, a key pattern and a trigger mode which need to be triggered are displayed on a display screen, and meanwhile, a voice prompt is sent out. The duration of the prompt message sent by the mobile terminal may be a set duration.

The unlocking key combination can be a preset fixed key combination or a random single key combination generated by the mobile terminal, and the unlocking key combination is prompted on the mobile terminal so as to guide a user to press the unlocking key combination on the autonomous operation equipment within a set time period, so that the autonomous operation equipment is unlocked.

Sub-step 1012A receives an input key operation combination composed of triggered keys of the autonomous operating device and sent by the autonomous operating device, and determines whether the input key operation combination is consistent with the unlock key combination.

And sub-step 1013A of determining that the autonomous working apparatus is within the operable range.

Sub-step 1014A determines that the autonomous working apparatus is outside the operable range.

Particularly, autonomic operation equipment can trigger the detection of button operation in real time, can will detect the trigger mode combination of the button that the user triggered and button in the settlement time and make up into the input key operation combination to send the input key operation combination to mobile terminal, mobile terminal compares the input key operation combination with the unblock button combination after receiving the input key operation combination that autonomic operation sent, includes: the triggered keys, the triggering modes of the keys and the triggering sequence of the keys are compared, so that the mobile terminal can judge whether an input key operation combination is consistent with an unlocking key combination, and when the input key operation combination is consistent with the unlocking key combination, the autonomous operating equipment is judged to be positioned in an operable range; and when the input key operation combination is inconsistent with the unlocking key combination, judging that the autonomous operating equipment is positioned outside the operable range. In an example, when the mobile terminal sends the prompt message according to the unlocking key combination, the mobile terminal may send an instruction that key detection needs to be performed to the autonomous operating device, so as to activate the autonomous operating device to perform detection of key operation lasting for a certain time.

In the second mode, the mobile terminal is connected with the autonomous operating device in a wireless communication mode, and the wireless communication mode can be specifically Bluetooth, WIFI, 4G, 5G, UWB, RF and the like. Referring to fig. 3, taking the example that the mobile terminal and the autonomous operating device are connected via bluetooth, the step 101 of determining whether the autonomous operating device is located within the operable range includes the following sub-steps:

and a sub-step 1011B of controlling the bluetooth transmission power of the autonomous operating device to be reduced to a preset transmission power and sending a prompt message for prompting the approaching of the autonomous operating device.

And a substep 1012B of determining whether the autonomous operating device, in which the transmission power of the mobile terminal and the bluetooth is reduced to the preset transmission power, is connected through the bluetooth. If yes, go to substep 1013B; if not, then sub-step 1014B is entered.

And sub-step 1013B of determining that the autonomous working apparatus is within the operable range.

Sub-step 1014B determines that the autonomous working apparatus is out of the operable range.

Specifically, an application program for controlling the autonomous operation device is installed in the mobile terminal, after the mobile terminal and the autonomous operation device are in communication connection through bluetooth, if the mobile terminal detects that an unlocking operation which is input by a user and needs to unlock the autonomous operation device is performed, the mobile terminal sends a control instruction for reducing the bluetooth transmission power to the autonomous operation device so as to control the autonomous operation device to reduce the bluetooth transmission power to a preset transmission power, and sends prompt information for prompting the user to get close to the autonomous operation device at the same time, wherein the prompt modes include voice prompt, graphic or text prompt on a display screen and the like, and can also be a combination of multiple prompt modes; for example, a text prompt "please approach the autonomous operation device" that prompts the user to approach the autonomous operation device is displayed on the display screen, and a voice prompt is simultaneously issued. The preset transmission power is determined by a relationship between the bluetooth transmission power and an actual physical distance between the devices, for example, the bluetooth transmission power when an effective connection distance of the autonomous operation device is 2 meters is set as the preset transmission power.

When the Bluetooth transmitting power of the autonomous operation equipment is reduced to a preset transmitting power, the effective connection distance between the mobile terminal and the autonomous operation equipment is reduced to a preset connection distance, if the mobile terminal is located outside the preset connection distance of the autonomous operation equipment, the Bluetooth connection is disconnected between the mobile terminal and the autonomous operation equipment, and when the mobile terminal enters the preset connection distance of the autonomous operation equipment, the Bluetooth connection is reestablished between the mobile terminal and the autonomous operation equipment; when the mobile terminal is located within the preset connection distance of the autonomous operation equipment, the mobile terminal and the autonomous operation equipment are kept in Bluetooth connection.

When the mobile terminal is connected with the autonomous operation equipment with the Bluetooth transmitting power reduced to the preset transmitting power through Bluetooth, the mobile terminal is considered to be within the preset connecting distance of the autonomous operation equipment, and the autonomous operation equipment is judged to be within the operable range; when the mobile terminal is not connected with the autonomous operation equipment with the Bluetooth transmitting power reduced to the preset transmitting power through Bluetooth, the mobile terminal is determined to be out of the preset connection distance of the autonomous operation equipment, the autonomous operation equipment is determined to be out of the operable range, and prompt information prompting the user to approach the autonomous operation equipment can be continuously sent out to prompt the user to continue approaching the autonomous operation equipment.

It should be noted that, in this embodiment, the first manner and the second manner may be combined to determine whether the autonomous operating device is located within the operable range, that is, after the conditions of the first manner and the second manner are simultaneously satisfied, it may be determined that the autonomous operating device is located within the operable range. For example: the second mode is firstly utilized to enable the distance between the user holding the mobile terminal and the autonomous operation equipment to enter a certain distance range, and then the first mode is utilized to prompt the user to input an unlocking key combination on the autonomous operation equipment so as to ensure that the autonomous operation equipment is positioned in an operable range.

And 102, sending an unlocking command for controlling the autonomous operating equipment to enter an unlocking state to the autonomous operating equipment.

Specifically, when the mobile terminal determines that the autonomous operating device is within the operable range, an unlocking command for controlling the autonomous operating device to enter an unlocked state is sent to the autonomous operating device, and meanwhile, the mobile terminal can also prompt a user that the autonomous operating device has entered the unlocked state; in some embodiments, the autonomous working device in the unlocked state may perform state switching according to an instruction input by the user, for example, when a START instruction input by the user is detected (for example, it is detected that the user presses a START key and an OK key on the autonomous working device in sequence), the autonomous working device enters an operating state; for example, when it is detected that the user inputs a return instruction (for example, in order to detect that the user presses the START key and the HOME key in this order), the autonomous operating apparatus enters the return state.

In this embodiment, when detecting an unlocking operation for the autonomous operating device, the mobile terminal first determines whether the autonomous operating device is located within an operable range, and when determining that the autonomous operating device is located within the operable range, sends an unlocking command for controlling the autonomous operating device to enter an unlocked state to the autonomous operating device. The autonomous operation equipment is unlocked through the mobile terminal, password verification is not needed, and the method is more convenient and faster; in addition, only when the autonomous operation equipment is located in the operable range, the unlocking can be carried out, the injury to personnel is avoided, and the operation safety degree is higher.

A second embodiment of the present invention relates to an autonomous working apparatus unlocking method, and differs from the first embodiment in that: a step of judging whether the autonomous operating apparatus is in a stolen state is added.

A specific flow of the autonomous operation apparatus unlocking method according to the present embodiment is shown in fig. 4.

In step 201, when an unlocking operation for the autonomous operating apparatus is detected, it is determined whether the autonomous operating apparatus is in a non-stolen state. If yes, go to step 202; if not, go to step 203.

Specifically, after the mobile terminal establishes a communication connection with the autonomous operation device, if the mobile terminal detects an unlocking operation that needs to be performed on the autonomous operation device and is input by a user, it is determined whether the autonomous operation device is in a non-stolen state to determine whether the autonomous operation device is in a safe state, and if the autonomous operation device is in the non-stolen state, the process proceeds to step 202 to determine whether the autonomous operation device is within an operable range. And if the autonomous operating equipment is in a stolen state, controlling the autonomous operating equipment to enter a locked state, wherein the autonomous operating equipment in the locked state needs to verify a mail verification code, a short message verification code or initial information of the robot so as to determine that the identity of the user is legal.

In the present embodiment, two specific implementation manners for determining whether the autonomous operating apparatus is in the non-stolen state are provided, which are specifically as follows.

The first mode, which judges whether the autonomous operating device is in a non-stolen state, includes: acquiring position information of the autonomous operating equipment, and judging whether the position of the autonomous operating equipment is within a preset position range; if the position of the autonomous operating equipment is within the preset position range, judging that the autonomous operating equipment is in a non-stolen state; and if the position of the autonomous operating equipment is outside the preset position range, judging that the autonomous operating equipment is in a stolen state.

Specifically, a positioning device (for example, a GPS sensor) is disposed in the autonomous operating device, the autonomous operating device can acquire position information of the autonomous operating device and send the position information to the mobile terminal, a preset position range that limits a movement range of the autonomous operating device is preset in the mobile terminal, the mobile terminal compares the position of the autonomous operating device with the preset position range, and when the position of the autonomous operating device is within the preset position range, it is determined that the autonomous operating device is in a non-stolen state; and when the position of the autonomous operating equipment is out of the preset position range, judging that the autonomous operating equipment is in a stolen state. The preset position range may also be a range of a preset electronic fence of the autonomous operating device.

The second mode, judge whether independently operation equipment is in the stolen state of non-, includes: acquiring wireless network information connected with the autonomous operating equipment, and judging whether the wireless network connected with the autonomous operating equipment is a preset legal network or not; if the wireless network connected with the autonomous operating equipment is a preset legal network, judging that the autonomous operating equipment is in a non-stolen state; and if the wireless network connected with the autonomous operating equipment is not a preset legal network, judging that the autonomous operating equipment is in a stolen state.

Specifically, when the autonomous operating device is connected to a new wireless network and is connected to the wireless network for the first time after being started or reset for the first time, request information can be sent on an onboard human-computer interaction interface of the autonomous operating device or through a mobile terminal to request whether the autonomous operating device is bound with the wireless network or not, if the autonomous operating device receives the binding confirmation of a user, the wireless network is saved as a preset legal network, and the information of the preset legal network is sent to the mobile terminal to be stored; therefore, the mobile terminal can compare the wireless network currently connected with the autonomous operation equipment with the preset legal network, and if the wireless network currently connected with the autonomous operation equipment is the preset legal network, the autonomous operation equipment is judged to be in a non-stolen state; and if the currently connected wireless network is not the preset legal network, judging that the autonomous operating equipment is in a stolen state.

In step 202, it is determined whether the autonomous operating device is within the operable range. If yes, go to step 204; if not, the process is ended directly. This step is substantially the same as step 101 in the first embodiment, and will not be described herein again.

And step 203, controlling the autonomous working equipment to enter a locking state.

And step 204, sending an unlocking command for controlling the autonomous operating equipment to enter an unlocking state to the autonomous operating equipment. This step is substantially the same as step 102 in the first embodiment, and will not be described herein again.

A third embodiment of the present invention relates to an unlocking method for an autonomous working device, which is applied to an autonomous working device, where the autonomous working device in this embodiment is a robot that can autonomously move in a preset area and perform a specific operation, typically, an intelligent sweeper/cleaner that performs a cleaning operation, an intelligent mower that performs a mowing operation, and the like, and the autonomous working device can be in communication connection with a mobile terminal through wireless communication methods such as bluetooth, WIFI, 4G, 5G, UWB, RF, and the like.

Fig. 5 is a specific flowchart of the autonomous working apparatus unlocking method according to the embodiment.

Step 301, entering an unlocking state when receiving an unlocking command sent by the mobile terminal when judging that the autonomous operation device is within the operable range.

After the unlocking state is entered, the autonomous operating equipment starts to detect an operating instruction, if the operating instruction is detected, the autonomous operating equipment executes corresponding action according to the operating instruction, and the operating instruction comprises but is not limited to a starting instruction and a returning instruction.

In one example, step 301 is followed by:

step 302, if a start instruction is detected, the autonomous operating device enters a working state.

Step 303, if a return instruction is detected, the autonomous operating device enters a return state.

In one example, referring to fig. 6, in the process of the mobile terminal determining whether the autonomous operating device is within the operable range, the autonomous operating device may operate in coordination with the instruction of the mobile terminal; specifically, when an unlocking command sent by the mobile terminal when the autonomous operating device is determined to be within the operable range is received, before entering the unlocked state, the method further includes the following steps:

step 300A: and detecting an input key operation combination formed by triggered keys of the autonomous operating equipment, and sending the input key operation combination to the mobile terminal so that the mobile terminal can judge that the autonomous operating equipment is positioned in an operable range based on the condition that the input key operation combination is consistent with the unlocking key combination.

Specifically speaking, autonomic operation equipment can carry out the detection that triggers the key operation in real time, will detect the button that the user triggered and the trigger mode of button in the settlement time and make up into input key operation combination to send input key operation combination to mobile terminal, mobile terminal receives the input key operation combination that autonomic operation sent after, compares input key operation combination and unblock key combination, includes: the triggered keys, the triggering modes of the keys and the triggering sequence of the keys are compared, so that the mobile terminal can judge whether an input key operation combination is consistent with an unlocking key combination, and when the input key operation combination is consistent with the unlocking key combination, the autonomous operating equipment is judged to be positioned in an operable range; and when the input key operation combination is inconsistent with the unlocking key combination, judging that the autonomous operating equipment is positioned outside the operable range.

In another example, referring to fig. 7, in the process of the mobile terminal determining whether the autonomous operating device is within the operable range, the autonomous operating device may operate in coordination with the instruction of the mobile terminal; specifically, the autonomous operating device is connected with the mobile terminal through Bluetooth; before entering an unlocked state when an unlocking command sent by the mobile terminal when the autonomous working device is determined to be within the operable range is received, the method further includes the steps of:

step 300B: when an instruction for controlling reduction of the Bluetooth power is received, the Bluetooth transmitting power is reduced to a preset transmitting power, so that when the mobile terminal is connected with the autonomous operation equipment of which the Bluetooth transmitting power is reduced to the preset transmitting power through Bluetooth, the autonomous operation equipment is judged to be in an operable range.

Specifically, an application program for controlling the autonomous operation device is installed in the mobile terminal, after the mobile terminal and the autonomous operation device are in communication connection through bluetooth, if the mobile terminal detects that an unlocking operation which is input by a user and needs to unlock the autonomous operation device is performed, the mobile terminal sends a control instruction for reducing bluetooth transmission power to the autonomous operation device, and when the autonomous operation device receives the instruction for controlling and reducing the bluetooth transmission power sent by the mobile terminal, the autonomous operation device reduces the bluetooth transmission power to a preset transmission power. The preset transmission power is determined by a relationship between the bluetooth transmission power and an actual physical distance between the devices, for example, the bluetooth transmission power when an effective connection distance of the autonomous working device is 2 meters is set as the preset transmission power.

When the mobile terminal is connected with the autonomous operation equipment with the Bluetooth transmitting power reduced to the preset transmitting power through Bluetooth, the mobile terminal is considered to be within the preset connecting distance of the autonomous operation equipment, and the autonomous operation equipment is judged to be within an operable range; when the mobile terminal is not connected with the autonomous operation equipment with the Bluetooth transmitting power reduced to the preset transmitting power through Bluetooth, the mobile terminal is out of the preset connection distance of the autonomous operation equipment, and the autonomous operation equipment is judged to be out of the operable range.

Since the third embodiment corresponds to the first embodiment and the second embodiment, respectively, the third embodiment can be implemented in cooperation with the first embodiment or the second embodiment. The related technical details mentioned in the first embodiment and the second embodiment are still valid in the third embodiment, and the technical effects that can be achieved in the first embodiment and the second embodiment can also be achieved in the third embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the third embodiment can also be applied to the first embodiment and the second embodiment.

A fourth embodiment of the present invention relates to a mobile terminal, which is a computer device that can be used in a mobile environment, a smart device having multiple application functions, and is not limited to a mobile phone, a notebook, a tablet computer, a vehicle-mounted computer, and the like, and is configured to execute the autonomous operation device unlocking method in the first embodiment or the second embodiment.

A fifth embodiment of the present invention relates to an autonomous working apparatus, which is a robot that can autonomously move within a preset area and perform a specific task, typically, an intelligent sweeper/cleaner that performs a cleaning task, an intelligent mower that performs a mowing task, or the like, and is used to perform the method for unlocking the autonomous working apparatus in the third embodiment.

In the following, an autonomous working apparatus is taken as an example of an intelligent lawn mower, and referring to fig. 8 and 9, the autonomous working apparatus 100 is taken as an intelligent lawn mower capable of autonomously performing lawn mowing on the ground, and the autonomous working apparatus 100 includes at least a main body mechanism 12, a moving mechanism 14, a working mechanism, an energy source module, a detection module, an interaction module, a control module 18, and the like.

The main body mechanism 12 generally includes a chassis for mounting and housing the moving mechanism 14, the working mechanism, the energy module, the detection module, the interaction module, the control module 18, and other functional mechanisms and functional modules. The housing is typically configured to at least partially enclose the chassis, and primarily serves to enhance the aesthetics and visibility of the autonomous working apparatus 100. In this embodiment, the housing is configured to be repositionable with respect to the chassis upon application of an external force, and further serves to sense an impact, lift, etc. in conjunction with a suitable sensing module, such as a hall sensor, for example.

The moving mechanism 14 is configured to support the main body mechanism 12 on the ground and drive the main body mechanism 12 to move on the ground, and generally includes a wheel type moving mechanism, a crawler type or semi-crawler type moving mechanism, a walking type moving mechanism 14, and the like. In the present embodiment, the movement mechanism 14 is a wheeled movement mechanism including at least one drive wheel 142 and at least one travel prime mover 144. Travel prime mover 144 is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In the present embodiment, it is preferable to provide a left driving wheel, a left traveling prime mover driving the left driving wheel, a right driving wheel, and a right traveling prime mover driving the right driving wheel. In the present embodiment, the straight travel of the autonomous working machine 100 is achieved by the equidirectional and constant-speed rotation of the left and right drive wheels, and the turning travel is achieved by the equidirectional differential or opposite-direction rotation of the left and right drive wheels. In other embodiments, movement mechanism 14 may also include a steering mechanism that is independent of the drive wheels and a steering prime mover that is independent of travel prime mover 144. In this embodiment, the moving mechanism 14 further includes at least one driven wheel, typically configured as a universal wheel, with the drive wheel 142 and the driven wheel being located at the front and rear ends of the robot, respectively.

The work mechanism is configured for performing a specific work task and includes a work piece and a work prime mover for driving the work piece in operation. Illustratively, for an intelligent sweeper/cleaner, the work pieces include a roller brush, a dust collection pipe, a dust collection chamber, and the like; for intelligent lawn mowers, the working member includes a cutting blade or a cutter disc, and further includes other components for optimizing or adjusting the mowing effect, such as a height adjusting mechanism for adjusting the mowing height. The working prime mover is preferably an electric motor, and in other embodiments may be an internal combustion engine or a machine that uses another type of energy source to generate power. In other embodiments, the working prime mover and the walking prime mover are configured as the same prime mover.

The energy module is configured to provide energy for various operations of the autonomous working apparatus 100. In this embodiment, the energy module includes a battery, preferably a rechargeable battery, and a charging connection structure, preferably a charging electrode, which may be exposed outside the autonomous working apparatus.

The detection module is configured as at least one sensor that senses an environmental parameter of the autonomous working apparatus 100 or an operating parameter of the autonomous working apparatus itself. Typically, the detection module may comprise sensors associated with the definition of the working area S, of various types, for example magnetic induction, impact, ultrasound, infrared, radio, etc., the type of sensor being adapted to the position and number of the corresponding signal generating means. The detection module may also include positioning navigation related sensors such as satellite positioning device 162, laser positioning device, electronic compass, acceleration sensor, odometer, angle sensor, geomagnetic sensor, visual positioning device 164, and the like. The detection module may also include sensors related to its operational safety, such as obstacle sensors, lift sensors, battery pack temperature sensors, etc. The detection module may also include sensors associated with the external environment, such as an ambient temperature sensor, an ambient humidity sensor, a light sensor, a rain sensor, and the like. In the present embodiment, the sensor in the detection module senses the position information of the autonomous working apparatus 100, and then the control module 18 acquires the position information.

Control module 18 typically includes at least one processor and at least one non-volatile memory having a pre-written computer program or set of instructions stored therein, the processor controlling the execution of movements, work, etc. of autonomous working apparatus 100 according to the computer program or set of instructions. Further, control module 18 may also be capable of controlling and adjusting the respective behavior of autonomous working device 100, modifying parameters in memory, etc., based on signals from the detection module and/or user control instructions.

In the present embodiment, the autonomous working apparatus unlocking method in the third embodiment is executed by the control module 18.

The interactive module is configured at least for receiving control instruction information input by a user, emitting information required to be perceived by the user, communicating with other systems or devices to transmit and receive information, and the like. The interactive module includes an input device provided on the autonomous working apparatus 100 for receiving control instruction information input by a user, typically, a control panel, an emergency stop button, and the like; the interactive module further includes a display screen, an indicator light, and/or a buzzer provided on the autonomous working apparatus 100, and allows a user to perceive information by emitting light or sound. In other embodiments, the interactive module includes a communication module provided on the autonomous working apparatus 100 and a terminal device, such as a mobile phone, a computer, a web server, etc., independent of the autonomous working apparatus 100, and control instruction information or other information of the user may be input on the terminal device and reach the autonomous working apparatus 100 via the wired or wireless communication module.

The boundary 800 is the perimeter of the working area S of the robotic system and generally includes an outer boundary and an inner boundary. The autonomous working machine 100 is restricted to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary may be solid, typically such as a wall, fence, railing, etc.; the boundary may also be virtual, typically as a virtual boundary signal, typically an electromagnetic or optical signal, issued by a boundary signal generating device, in some prior art boundaries 800 are configured as closed electrical conductors electrically connected to the boundary signal generating device, which is typically disposed within the docking station 900. For the autonomous working apparatus 100 provided with a positioning device of the present invention, a virtual boundary is constructed in an electronic map formed by two-dimensional or three-dimensional coordinates as an example.

The docking station 900 is generally configured on or within the boundary 800, and the autonomous working apparatus 100 is docked, and in particular, can supply power to the autonomous working apparatus 100 docked at the docking station.

Likewise, since the fifth embodiment and the third embodiment correspond to each other, the fifth embodiment and the third embodiment can be implemented in cooperation with each other. The related technical details mentioned in the third embodiment are still valid in the fifth embodiment, and the technical effect achieved in the third embodiment can also be achieved in the fifth embodiment, and therefore, in order to reduce repetition, detailed description is omitted here. Accordingly, the related-art details mentioned in the third embodiment can also be applied to the fifth embodiment.

A sixth embodiment of the present invention relates to an autonomous working apparatus unlocking system including a mobile terminal in the fourth embodiment and an autonomous working apparatus in the fifth embodiment, the mobile terminal and the autonomous working apparatus being in communication connection. Specifically, the mobile terminal and the autonomous operation equipment are directly connected through a 433/868MHZ wireless communication device, can also communicate through a WIFI local area network, can also communicate through 4G/WIFI and via a cloud server.

While the preferred embodiments of the present invention have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

Claims

1. An autonomous operating device unlocking method is applied to a mobile terminal, and comprises the following steps:

when an unlocking operation for an autonomous operating device is detected, judging whether the autonomous operating device is located within an operable range;

and if the autonomous operating equipment is located in the operable range, sending an unlocking command for controlling the autonomous operating equipment to enter an unlocking state to the autonomous operating equipment.

2. The autonomous working apparatus unlocking method according to claim 1, wherein said determining whether the autonomous working apparatus is within an operable range includes:

prompting an obtained unlocking key combination for unlocking the autonomous operating equipment, wherein the unlocking key combination is composed of at least one key on the autonomous operating equipment;

receiving an input key operation combination which is sent by the autonomous operation equipment and consists of triggered keys of the autonomous operation equipment, and judging whether the input key operation combination is consistent with the unlocking key combination;

and if the input key operation combination is consistent with the unlocking key combination, judging that the autonomous operating equipment is positioned in an operable range.

3. The autonomous working apparatus unlocking method according to claim 1, wherein the mobile terminal is connected to the autonomous working apparatus by wireless communication; the determining whether the autonomous operating device is located within an operable range includes:

controlling the wireless communication transmitting power of the autonomous operating equipment to be reduced to a preset transmitting power, and sending a prompt message for prompting the autonomous operating equipment to approach;

and when the mobile terminal is in wireless communication connection with the autonomous operating equipment of which the wireless communication transmission power is reduced to the preset transmission power, judging that the autonomous operating equipment is positioned in an operable range.

4. The autonomous working apparatus unlocking method according to claim 2, wherein the unlocking key combination is composed of a physical key on the autonomous working apparatus.

5. The autonomous operating device unlocking method according to claim 1, further comprising, before the determining whether the autonomous operating device is located within an operable range:

judging whether the autonomous operating equipment is in a non-stolen state or not;

if the autonomous operating equipment is in a non-stolen state, entering the step of judging whether the autonomous operating equipment is located in an operable range;

and if the autonomous operating equipment is in a stolen state, controlling the autonomous operating equipment to be in a locked state.

6. The method according to claim 5, wherein the determination as to whether the autonomous operating device is in a non-stolen state includes:

acquiring position information of the autonomous operating equipment, and judging whether the position of the autonomous operating equipment is within a preset position range;

if the position of the autonomous operating equipment is within a preset position range, judging that the autonomous operating equipment is in a non-stolen state;

and if the position of the autonomous operating equipment is outside a preset position range, judging that the autonomous operating equipment is in a stolen state.

7. The autonomous operating device unlocking method according to claim 5, wherein the determining whether the autonomous operating device is in a non-stolen state includes:

acquiring wireless network information connected with the autonomous operating equipment, and judging whether the wireless network connected with the autonomous operating equipment is a preset legal network or not;

if the wireless network connected with the autonomous operating equipment is a preset legal network, judging that the autonomous operating equipment is in a non-stolen state;

and if the wireless network connected with the autonomous operating equipment is not a preset legal network, judging that the autonomous operating equipment is in a stolen state.

8. An autonomous working apparatus unlocking method applied to an autonomous working apparatus, the method comprising:

and entering an unlocking state when receiving an unlocking command sent by the mobile terminal when the autonomous operating equipment is judged to be positioned in the operable range.

9. The autonomous working apparatus unlocking method according to claim 8, further comprising, before entering an unlocked state when receiving an unlocking command that is transmitted from a mobile terminal when it is determined that the autonomous working apparatus is within an operable range:

and detecting an input key operation combination formed by triggered keys of the autonomous operating equipment, and sending the input key operation combination to the mobile terminal, so that the mobile terminal judges that the autonomous operating equipment is located in an operable range based on the condition that the input key operation combination is consistent with the unlocking key combination.

10. The autonomous operating device unlocking method according to claim 8, characterized in that the autonomous operating device is connected to the mobile terminal by wireless communication; before entering an unlocked state when receiving an unlocking command sent by a mobile terminal when determining that the autonomous operating device is within an operable range, the method further includes:

when an instruction for controlling reduction of wireless communication transmission power sent by a mobile terminal is received, reducing the wireless communication transmission power to a preset transmission power, so that when the mobile terminal is connected with the autonomous operation equipment with the wireless communication transmission power reduced to the preset transmission power through wireless communication, the autonomous operation equipment is judged to be located in an operable range.

11. The method according to claim 8, wherein after entering the unlocked state, if an operation command is detected, the autonomous operating device executes an action corresponding to the operation command according to the operation command.

12. A mobile terminal characterized by being configured to execute the autonomous working apparatus unlocking method according to any one of claims 1 to 7.

13. An autonomous working apparatus characterized by being configured to execute the autonomous working apparatus unlocking method according to any one of claims 8 to 12.

14. An autonomous work device unlocking system, comprising: the mobile terminal of claim 12 and the autonomous operating device of claim 13, the mobile terminal being communicatively connected to the autonomous operating device.