WO2018133878A1 - 自移动设备及其控制方法 - Google Patents

自移动设备及其控制方法 Download PDF

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Publication number
WO2018133878A1
WO2018133878A1 PCT/CN2018/073895 CN2018073895W WO2018133878A1 WO 2018133878 A1 WO2018133878 A1 WO 2018133878A1 CN 2018073895 W CN2018073895 W CN 2018073895W WO 2018133878 A1 WO2018133878 A1 WO 2018133878A1
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WO
WIPO (PCT)
Prior art keywords
mobile device
self
module
user
location
Prior art date
Application number
PCT/CN2018/073895
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English (en)
French (fr)
Inventor
吴双龙
邵勇
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710313929.3A external-priority patent/CN108811081A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN201880001168.0A priority Critical patent/CN110692273A/zh
Publication of WO2018133878A1 publication Critical patent/WO2018133878A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • This application relates to a self-mobile device, and more particularly to a self-mobile device that automatically operates and moves within a work area.
  • the application file relates to a positioning method, in particular to a positioning method from a mobile device.
  • the smart self-mobile device does not require human operation, the self-mobile device is easily lost when not in the line of sight of the person. Therefore, the user needs a method capable of automatically determining whether the self-mobile device is lost; and the self-mobile device In the case of loss, a method for tracking and positioning from a mobile device is needed.
  • an anti-theft tracking method based on a global positioning navigation system is generally used, which is costly and has poor versatility.
  • the technical problem solved in this paper is to provide a self-mobile device and a self-mobile device control method for automatically determining whether it is stolen and capable of real-time positioning.
  • the present application proposes a control method for a self-mobile device, the self-mobile device includes a communication module, and the communication module includes a WIFI module, and the method includes the following steps:
  • the self-mobile device scans the gateway device through the WIFI module, and obtains the MAC address of the scanned gateway device.
  • S2 Obtain location related information from the mobile device based on the MAC address.
  • the location related information comprises a geographic location.
  • the step S2 comprises the following steps:
  • S102 Send a geographic location acquisition request of the MAC address.
  • S104 Receive a geographic location corresponding to the MAC address.
  • the method further comprises the steps of:
  • S106 output from a current geographic location of the mobile device to a predetermined location for the user to obtain.
  • step S1 is included before step S1:
  • S101 Query the geographic location corresponding to the MAC address from the mobile device. If the query is successful, go to step S106. If the query fails, go to step S102.
  • the method further includes the following steps: S105: storing the MAC address and the corresponding geographical location into the self-mobile device.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address.
  • the external server or the user's terminal device or the predetermined web address displays the geographic location or displays the alarm information.
  • the location related information includes a location change alert.
  • S201 determining whether the MAC address of the gateway device changes, and if the change occurs, issuing a location change alert;
  • said locking said self-mobile device comprises a drive module and/or a work module locked from the mobile device.
  • the steps are as follows:
  • the method for authenticating the user identity comprises: determining whether the user input information received from the mobile device matches the preset information.
  • the preset information is a password or a user physical feature.
  • the method for authenticating the user identity comprises: determining whether the current user of the mobile device is an authorized user.
  • the method for authenticating a user identity comprises the following steps:
  • S2032 Enter the serial number of the mobile device to determine whether the serial number is bound to other users. If not, the current user of the mobile device is an authorized user.
  • step S2032 the following steps are included:
  • the connecting the WIFI module from the mobile device to the gateway device is: connecting the WIFI module of the mobile device from the mobile device to the gateway device.
  • the serial number input from the mobile device is a serial number input from the mobile device on the user's terminal device.
  • the process proceeds to:
  • the process proceeds to:
  • the second anti-theft measure is a geographic location uploaded from the mobile device to a predetermined location for the user to acquire.
  • the steps are as follows:
  • S2051 Upload a geographic location corresponding to a MAC address of the gateway device from the mobile device to a predetermined location for the user to obtain.
  • the steps are as follows:
  • S2052 The geographic location of the GPS module of the mobile device or the geographic location corresponding to the cellular network module is uploaded from the mobile device to the predetermined location for the user to obtain.
  • the steps are as follows:
  • the mobile device control terminal device uploads a geographical location of the terminal device that is connected to the mobile device to a predetermined location for the user to acquire.
  • the matching with the self-mobile device comprises the serial number entered on the terminal device and the serial number from the mobile device.
  • the mating connection with the self-mobile device comprises the terminal device being connected to the self-mobile device and the same gateway device.
  • the geographic location of the terminal device that is connected to the mobile device includes a geographic location corresponding to the IP address of the terminal device or a geographic location of the GPS module or a geographical location corresponding to the cellular network module or a geographic location corresponding to the MAC address.
  • the first anti-theft measure is turned on.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address.
  • the external server or the user's terminal device or the predetermined web address displays the geographic location or generates alarm information.
  • the self-mobile device comprises speed detecting means for detecting the moving speed of the mobile device, the method comprising the steps of:
  • S701 determining whether the moving speed of the self-mobile device exceeds a preset value
  • the third anti-theft measure is: locking the drive module or the cutting module from the mobile device.
  • the third anti-theft measure is: controlling the alarm device generated by the mobile device to generate alarm information.
  • the speed detecting device is an acceleration sensor.
  • the present application also proposes a self-mobile device, the self-mobile device includes a communication module and a control module, and the communication module includes a WIFI module, and the self-mobile device scans the gateway device through the WIFI module to obtain the scanned gateway device.
  • MAC address based on the MAC address, the control module obtains location related information from the mobile device.
  • the location related information comprises a geographic location.
  • the communication module sends a geographic location acquisition request of the MAC address; and receives a geographic location corresponding to the MAC address.
  • the communication module outputs the current geographic location of the mobile device to a predetermined location for the user to acquire.
  • the communication module receives a positioning request.
  • the control module queries the mobile device for the geographic location corresponding to the MAC address. If the query is successful, the communication module outputs the corresponding geographic location to the predetermined location for the user to obtain; if the query fails, The communication module sends a geographic location acquisition request for the MAC address.
  • the self-mobile device comprises a storage module, and the storage module stores the MAC address and the corresponding geographical location into the self-mobile device.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address.
  • the external server or the user's terminal device or the predetermined web address displays the geographic location or displays the alarm information.
  • the location related information includes a location change alert.
  • control module includes a judging module and an early warning module, and the judging module determines whether the MAC address of the gateway device changes. If the change occurs, the alert module issues a position change alert; if the location change alert is received, the control module starts. The first anti-theft measure.
  • the first anti-theft measure is: locking the self-mobile device.
  • said locking said self-mobile device comprises a drive module and/or a work module locked from the mobile device.
  • control module comprises a user identity authentication module, and the user identity authentication module performs user identity authentication.
  • the user identity authentication module determines whether the user entry information received from the mobile device matches the preset information.
  • the preset information is a password or a user physical feature.
  • the user identity authentication module determines whether the current user of the mobile device is an authorized user.
  • the determining whether the current user of the mobile device is an authorized user is: inputting a serial number from the mobile device, determining whether the serial number is bound to another user, and if not bound, the current current mobile device The user is an authorized user.
  • the WIFI module of the mobile device is connected to the gateway device to access the Internet from the mobile device, and it is determined whether the current user of the mobile device is an authorized user.
  • the WIFI module from the mobile device is connected to the gateway device to connect the WIFI module of the mobile device from the mobile device to the gateway device.
  • the serial number input from the mobile device is a serial number input from the mobile device on the terminal device.
  • the lock on the mobile device is released.
  • the control module turns on the second anti-theft measure.
  • the second anti-theft measure is a geographic location uploaded from the mobile device to a predetermined location for the user to acquire.
  • the geographic location uploaded from the mobile device is: a geographic location corresponding to the MAC address of the gateway device uploaded from the mobile device.
  • the geographic location uploaded from the mobile device is: a geographic location of the GPS module uploaded from the mobile device from the mobile device or a geographic location corresponding to the cellular network module.
  • the geographic location uploaded from the mobile device is: uploading, from the mobile device control terminal device, a geographic location of the terminal device that is connected with the mobile device.
  • the matching with the self-mobile device comprises the serial number entered on the terminal device and the serial number from the mobile device.
  • the mating connection with the self-mobile device comprises connecting the terminal device and the self-mobile device to a same gateway device.
  • the geographic location of the terminal device that is connected to the mobile device includes a geographic location corresponding to the IP address of the terminal device or a geographic location of the GPS module or a geographical location corresponding to the cellular network module or a geographic location corresponding to the MAC address.
  • the control module turns on the first anti-theft measure.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address.
  • the external server or the user's terminal device or the predetermined web address displays the geographic location or generates alarm information.
  • the self-mobile device includes a control module and a speed detecting device
  • the control module includes a determining module
  • the speed detecting device is configured to detect a moving speed from the mobile device
  • the determining module determines whether the moving speed of the self-mobile device exceeds a preset value
  • control module turns on the third anti-theft measure.
  • the third anti-theft measure is: locking the drive module or the cutting module from the mobile device.
  • the third anti-theft measure is: controlling an alarm device from the mobile device to generate an alarm message.
  • the speed detecting device is an acceleration sensor.
  • the self-mobile device and the control method thereof proposed by the present invention can automatically identify the relevant location information of the mobile device device by using the WIFI module to scan the MAC address of the gateway device, and can automatically identify Whether the mobile device is stolen or not, and can be located in real time from the mobile device, and can effectively track the self-mobile device in the case that the mobile device is lost, the positioning method does not need to add an additional GPS module and other positioning devices from the mobile device 104. It helps to reduce product costs.
  • the application document also provides an anti-theft protection system with a wide range of applications, low cost, and accurate tracking of the location of the automatic mobile device.
  • an anti-theft protection system based on location tracking comprising: an automatic mobile device, a position reference device, a tracking terminal, and the position reference device to the automatic mobile device
  • the location coordinates are sent to the automatic mobile device, which obtains the location coordinates of the automatic mobile device.
  • the system further comprises a server, the server comprising a database for storing location coordinates, the automatic mobile device, after obtaining the location coordinates, transmitting the location coordinates to the server, the database in the server storing the Position coordinates of the automatic mobile device, the tracking terminal accessing a database of the server to acquire location coordinates of the automatic mobile device.
  • the server comprising a database for storing location coordinates
  • the automatic mobile device after obtaining the location coordinates, transmitting the location coordinates to the server, the database in the server storing the Position coordinates of the automatic mobile device, the tracking terminal accessing a database of the server to acquire location coordinates of the automatic mobile device.
  • the automatic mobile device includes a positioning communication module, and the automatic mobile device obtains position coordinates of the automatic mobile device from the position reference device by using the positioning communication module, and the tracking terminal obtains position coordinates.
  • the positioning communication module comprises a cellular network module.
  • the location reference device includes a reference station to which the cellular network belongs, the automatic mobile device obtains location coordinates of the reference station by the cellular network module, and the tracking terminal acquires the location coordinates.
  • the positioning communication module comprises a WIFI module.
  • the location reference device comprises a router having a geographic location coordinate database
  • the WIFI module is connected to the router to obtain location coordinates of the router in the geographical location coordinate database
  • the tracking terminal passes the The WIFI module obtains the position coordinates.
  • the positioning communication module comprises a cellular network module and a WIFI module.
  • the location reference device comprises a router having a geographic location coordinate database
  • the WIFI module queries a router to obtain location coordinates of the router in the geographic coordinate database
  • the tracking terminal is obtained by the cellular network module The position coordinates.
  • the theft protection system further comprises a second tracking terminal
  • the second tracking terminal comprises an automatic mobile device application system
  • the location reference device comprises a router
  • the WIFI module is connected to the router
  • the device application system determines that the automatic mobile device is in the same network environment as the second tracking terminal, and the automatic mobile device application system uploads the location coordinates of the router to the database of the server, and the tracking terminal queries the location The server obtains the location coordinates.
  • the positioning communication module comprises a DGPS positioning module and a WIFI module
  • the position reference device comprises a satellite positioning navigation system
  • the automatic mobile device obtains position coordinates provided by the satellite positioning navigation system by using the DGPS positioning module.
  • the tracking terminal obtains the location coordinates through the WIFI module.
  • the positioning communication module comprises a DGPS positioning module and a cellular network module
  • the position reference device comprises a satellite positioning navigation system
  • the automatic mobile device obtains position coordinates provided by the satellite positioning navigation system by using the DGPS positioning module
  • the tracking terminal obtains the location coordinates by using the cellular network module.
  • the invention has the beneficial effects that: by setting a positioning communication module on the automatic mobile device, the position coordinate of the automatic mobile device is obtained based on the position reference device, and the connection with the tracking terminal is realized by the positioning communication module, so that the tracking terminal obtains the position Coordinate, position reference device and positioning communication module are combined with various implementation schemes, each technical solution is suitable for different types of automatic mobile devices, and the anti-theft protection system introduced by the invention finally obtains accurate positioning and high reliability.
  • the cost is low, the installation is convenient, and the application range is wide.
  • the application document also provides a positioning method and system for a self-mobile device capable of reducing product cost, and also provides a self-mobile device.
  • a method for locating a mobile device the self-mobile device being connected to a wireless router through a wireless module; the method comprising: acquiring a physical address of the wireless router accessed by the mobile device; generating geographic coordinates according to the physical address Obtaining a request; outputting the geographic coordinate acquisition request to a database server; receiving a geographic coordinate returned by the database server corresponding to the physical address; and using the geographic coordinate as the current positioning coordinate of the self-mobile device and outputting the geographic coordinate.
  • the positioning method of the self-mobile device obtains the geographical coordinates corresponding to the wireless router according to the physical address of the accessed wireless router, so that the geographic coordinate is used as the positioning coordinate of the mobile device, so as to realize positioning of the self-mobile device and prevent self-moving Loss of equipment.
  • the above positioning method does not need to add an additional positioning device such as a GPS module to the mobile device, which is advantageous for reducing the product cost.
  • the method before acquiring the physical address of the wireless router accessed by the mobile device, the method further includes the step of receiving a positioning request.
  • the step of storing the physical address and the positioning coordinates is further included.
  • the method further includes: determining whether the physical address acquired this time is relative to the stored physical address a step of generating a geographic coordinate acquisition request according to the physical address and a subsequent step thereof; if not, determining whether the positioning coordinate corresponding to the physical address is stored in the self-mobile device; The step of generating a geographic coordinate acquisition request according to the physical address and subsequent steps thereof are performed when the positioning coordinates corresponding to the physical address are not stored in the mobile device.
  • the step of determining whether the positioning coordinates corresponding to the physical address are stored in the self-mobile device if the positioning coordinates corresponding to the physical address are stored in the self-mobile device, outputting the Positioning coordinates.
  • a positioning device of a mobile device is connected to a wireless router through a wireless module; the positioning device includes: an obtaining module, configured to acquire a physical address of the wireless router accessed by the mobile device; and a request module a method for generating a geographic coordinate acquisition request according to the physical address; an output module, configured to output the geographic coordinate acquisition request to a database server; and a receiving module, configured to receive a geographic coordinate corresponding to the physical address returned by the database server And a determining module, configured to use the geographic coordinate as a current positioning coordinate of the self-mobile device; the output module is further configured to output the positioning coordinate.
  • the receiving module is further configured to receive a positioning request, where the acquiring module is configured to acquire, when the receiving module receives the positioning request, a physical address of the wireless router accessed by the mobile device.
  • the method further includes: a storage module; the storage module is configured to store the physical address and the positioning coordinate; and the determining module is configured to determine, after the acquiring module acquires the physical address of the accessed wireless router Whether the physical address is changed with respect to the stored physical address; the determining module is further configured to: determine, when the physical address does not change, whether the positioning corresponding to the physical address is stored in the self-mobile device.
  • the requesting module is configured to generate, according to the physical address, when the determining module determines that the physical address changes, when the positioning coordinate corresponding to the physical address is not stored in the self-mobile device Get the request by geographic coordinates.
  • the output module is configured to output the positioning coordinates when the determining module determines that the positioning coordinates corresponding to the physical address are stored in the mobile device.
  • a self-mobile device comprising: a device body for implementing a self-moving function and performing a target operation; a wireless module disposed on the device body for connecting with a wireless router for wireless communication; and any one of the foregoing
  • the positioning device described in the embodiment; the positioning device is disposed on the device body for positioning the self-mobile device.
  • FIG. 1 is a schematic diagram of a working field of a self-mobile device in an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing the internal structure of a self-mobile device according to an embodiment of the present invention.
  • FIG. 3 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention
  • FIG. 4 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention
  • FIG. 5 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention
  • FIG. 6 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 8 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 9 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 11 is a flowchart of a method for controlling a self-mobile device according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of an antitheft protection system according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of an antitheft protection system according to another embodiment of the present invention.
  • Figure 14 is a schematic diagram of an theft protection system in the first embodiment of the present invention.
  • FIG. 15 is a schematic diagram of an antitheft protection system in Embodiment 2 of the present invention.
  • FIG. 16 is a schematic diagram of an antitheft protection system in Embodiment 3 of the present invention.
  • FIG. 17 is a schematic diagram of an antitheft protection system in Embodiment 4 of the present invention.
  • FIG. 18 is a schematic diagram of an theft protection system according to Embodiment 5 of the present invention.
  • FIG. 19 is a schematic diagram of an antitheft protection system according to Embodiment 6 of the present invention.
  • FIG. 20 is a schematic diagram of an application environment of a positioning method of a self-mobile device according to an embodiment of the present invention.
  • 21 is a schematic diagram showing the internal structure of a self-mobile device according to an embodiment of the present invention.
  • FIG. 22 is a schematic flowchart diagram of a positioning method of a self-mobile device according to an embodiment of the present invention.
  • FIG. 23 is a schematic flowchart diagram of a positioning method of a self-mobile device according to another embodiment of the present invention.
  • FIG. 24 is a structural block diagram of a positioning apparatus of a self-mobile device according to an embodiment of the present invention.
  • FIG. 25 is a structural block diagram of a positioning apparatus of a self-mobile device according to another embodiment of the present invention.
  • the mobile device may be an automatic or semi-automatic device that performs target operations, such as a smart lawn mower or a cleaning robot.
  • the application environment includes from the mobile device 104, at least one gateway device 102 from the periphery of the mobile device 104, the gateway device 102 being within a predetermined distance that the mobile device 104 can scan, the database server 106, the external server 110, and the terminal device 108.
  • the gateway device 102 is, for example, a wireless router, and the self-mobile device 104 includes a communication module, and the communication module includes a WIFI module, and the mobile device 104 can scan the at least one gateway device 102 around the mobile device 104 through the WIFI module to obtain
  • the MAC address of the gateway device 102 (ie, the physical address of the gateway device 102) is equipped with a geographic coordinate database stored in the database server 106.
  • the geographic coordinate database stores a MAC address associated with the gateway device 102.
  • a corresponding geographic location (e.g., geographic coordinates), from the mobile device 104 accessing the geographic coordinate database in the database server 106 via a communication module capable of connecting to the Internet, can query the geographic coordinates to form a geographic location from the mobile device 104.
  • the geographic coordinate database in the database server 106 can be accessed, for example, via a networked WIFI module or a cellular network module.
  • the mobile device 104, the database server 106, the terminal device 108, and the external server 110 can communicate with each other, and the geographic location is uploaded from the communication module of the mobile device 104 to the external server 110 or the terminal device 108 for the user to obtain.
  • the external server 110 can be accessed by the terminal device 108.
  • the terminal device 108 is a mobile phone, a personal PC, or the like.
  • the mobile device 104 can directly upload the geographic location directly to the terminal device 108 for the user to obtain.
  • the self-mobile device 104 includes a device body, and the device body includes a control module, a communication module, a driving module, a mobile module, and a working module connected through a system bus, wherein the control module of the mobile device 104 is used.
  • the communication module of the mobile device 104 is networked with the Internet to implement a communication function, the communication module including, for example, WIFI
  • the module, the WIFI module is connected to the gateway device 102 to implement a communication function, and the communication module may also include a cellular network module to implement a communication function through the cellular network.
  • the driving module of the mobile device 104 is connected to the mobile module and the working module.
  • the driving module includes a battery module and a motor module for powering the mobile module and the working module, and the mobile module is configured to implement the mobile function of the mobile device 104, and work.
  • the module is used to perform the target operation.
  • the self-moving device 104 herein is exemplified by a smart lawn mower, and the working module is a cutting device. It will be understood by those skilled in the art that the structure shown in FIG.
  • FIG. 2 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the self-mobile device 104 to which the solution of the present application is applied, and the specific self-moving
  • the device may include more or fewer components than shown in the figures, or some components may be combined, or have different component arrangements.
  • a method for controlling a self-mobile device is provided.
  • the present embodiment is applied to the self-mobile device 104 in FIG. 1 and FIG. 2 as an example, and includes the following steps. :
  • S1 scanning the gateway device 102 from the mobile device through the WIFI module, and acquiring the MAC address of the scanned gateway device;
  • the MAC address of the gateway device is obtained. It can be understood that the WIFI module of the mobile device can be connected to a gateway device or not connected to any gateway device, and can scan the opened gateway device within a predetermined distance.
  • S2 Obtain information related to the location of the mobile device based on the MAC address.
  • control method is preferably a positioning method
  • location related information is a geographic location from the mobile device.
  • step S1 needs to be started after receiving the positioning request, that is, a step of receiving a positioning request by S100.
  • the location request may be sent by the user through an application on the terminal device or by the self-mobile device itself.
  • the positioning operation may be performed periodically from the mobile device or when a certain parameter such as the MAC address of the gateway device changes.
  • Each gateway device has a unique MAC address corresponding to it. After the WIFI module of the mobile device scans the gateway device, the MAC address of the gateway device can be obtained. It can be understood that the WIFI module of the mobile device can be connected to a gateway device or not connected to any gateway device, and can realize the scanning of the gateway device within a predetermined distance.
  • step S2 specifically includes the following steps:
  • S102 Send a geographic location acquisition request of a MAC address.
  • the location obtaining request is generated based on the at least one MAC address, where the location obtaining request carries the MAC address information of the at least one gateway device, and is sent by using the communication module of the mobile device.
  • the geographic location obtains a request to the database server.
  • the database server stores a geographic coordinate database, where the geographic coordinate database includes the correspondence between the MAC address and the geographic location of each gateway device.
  • the geographic location is a geographic coordinate.
  • the correspondence between the MAC address and the geographical location may be manually uploaded to the database server by the user, or may be calculated by the database server according to the related information to obtain the geographical location and stored in the geographic coordinate database. It can be understood that the manner in which the location acquisition request is sent from the mobile device may include directly accessing the geographic coordinate database of the database server 106 from the mobile device, or outputting the geographic location acquisition request to an external server (eg, the user's mobile phone).
  • the geographical location of the database server is obtained by an external server accessing the geographic coordinate database of the database server.
  • S104 Receive a geographic location corresponding to the MAC address.
  • the database server After receiving the location acquisition request, the database server analyzes the request to obtain the MAC address, queries the corresponding geographic location in the geographic coordinate data according to the MAC address, and generates a response message according to the geographic location to return to the self.
  • the mobile device receives the response information returned by the database server from the communication module of the mobile device.
  • the manner of receiving the geographic location from the mobile device may include the database server directly outputting the response information carrying the geographical location to the self-mobile device, or the database server outputting the response information to the external server, externally.
  • the server outputs the response message to the mobile device.
  • Step S2 also includes the following steps:
  • S106 output from a current geographic location of the mobile device to a predetermined location for the user to obtain.
  • the geographic location can be obtained from the mobile device, so that the communication module takes the geographic location as the current location of the mobile device and outputs it to the predetermined location.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address.
  • the external server or the user's terminal device or the predetermined web address displays the geographic location or displays an alarm message.
  • the geographic location of the external server or the user's terminal device or the predetermined website may be visually displayed.
  • an alarm message is generated to remind the user, for example, the alarm information.
  • the manner in which the user obtains the geographic location includes multiple manners, the user may directly obtain the geographic location from the database server or the external server, or may receive the geographic location returned from the database server from the mobile device, and then transmit the geographic location to the user.
  • the transfer process may have experienced a transit of an external server.
  • the triggering mode may be that the user sends the location to the user from the mobile device or the database server or the external server after issuing the instruction, or triggers the sending function after the mobile device determines that the received MAC address changes, from the mobile device or the external
  • the server or database server actively sends the geographic location to the user.
  • the positioning method further includes the step S105 of storing the MAC address and the corresponding geographic location into the mobile device. It can be understood that the MAC address and the corresponding geographical location can also be stored in an external server or in a terminal device for calling.
  • the self-mobile device includes a storage module, for example, a corresponding storage area is provided on the mobile device for storing the geographic location and the corresponding MAC address.
  • the mobile device can delete the historical geographical location and the corresponding MAC address while storing the geographical location and the corresponding MAC address to save storage space.
  • the self-mobile device 104 may also retain the historical geographic location and the corresponding MAC address while storing the geographic location and the corresponding MAC address, thereby facilitating subsequent calls to view the motion trajectory from the mobile device 104 for better Learn about how your mobile device works.
  • step S101 Query the geographic location corresponding to the MAC address from the mobile device, if the query is successful, go to step S106;
  • step S102 If the query fails, the process proceeds to step S102.
  • the mobile device may first query whether the locality and the corresponding MAC address are stored locally, for example, whether the storage module is used to query whether the storage is performed. If the local storage is performed, the current geographic location of the mobile device is directly output to the predetermined location for the user to obtain. If the local storage is not stored, a geolocation acquisition request is generated and output.
  • step S102 is performed.
  • step S106 is performed.
  • the positioning method of the self-mobile device obtains the geographical location corresponding to the wireless router according to the MAC address of the accessed wireless router, so that the geographic location is used as the positioning coordinate of the mobile device, so as to realize positioning of the self-mobile device and prevent self-moving
  • the loss of the device also enables tracking of the self-mobile device in the event that the mobile device is lost.
  • the above positioning method does not need to add an additional positioning device such as a GPS module to the mobile device, which is advantageous for reducing the product cost.
  • the location area where the mobile device is located can be known, thereby facilitating management of the self-mobile device, and the anti-theft tracking effect can be well performed.
  • the mobile device stores the geographical location and the corresponding MAC address, so that when multiple positioning requests are received in the same location area, the positioning coordinates stored in the first positioning operation are directly output, thereby improving self-moving.
  • control method is preferably an anti-theft positioning method.
  • anti-theft positioning method also includes the following steps:
  • S1 scanning the gateway device from the mobile device through the WIFI module, and obtaining the MAC address of the scanned gateway device;
  • Step S1 needs to be started after receiving the anti-theft request.
  • the anti-theft request can be issued by the user through an application on the terminal device or by the self-mobile device itself.
  • the mobile device may perform a positioning operation periodically, or may issue the anti-theft request when a certain parameter such as the MAC address of the gateway device changes.
  • the anti-theft function is automatically turned on.
  • the anti-theft function can be turned off according to the setting.
  • the WIFI module of the mobile device automatically scans the nearby gateway device.
  • Each gateway device has a unique physical address corresponding to it. Therefore, whether the WIFI module of the mobile device is connected to the gateway device can scan all open gateway devices within a predetermined distance from the mobile device, and obtain the MAC address (that is, the physical address) of the gateway device.
  • the mobile device needs to obtain authorization to obtain the physical address of the accessed wireless router. That is, before performing step S1, the physical address reading authority needs to be obtained first to perform the subsequent steps.
  • S2 Obtain location-related information related to the location of the mobile device based on the MAC address.
  • the location related information is the location change warning information from the mobile device.
  • the anti-theft positioning method includes the following steps:
  • S201 determining whether the MAC address of the gateway device changes, and if the change occurs, issuing a location change alert;
  • the WIFI module of the mobile device receives the MAC address of the at least one gateway device, and determines whether the at least one MAC address changes.
  • the condition that the MAC address changes is that the MAC addresses of all the gateway devices that are scanned are changed. For example, the MAC addresses of all the gateway devices that are scanned cannot be queried in the MAC address stored in the mobile device. It is determined that the MAC address has changed.
  • the position change alert is for example an alert signal from within the mobile device or an alert action generated in response to the alert signal, such as using a buzzer from the mobile device to sound.
  • the condition for determining that the MAC address changes is that the MAC address of the gateway device connected to the mobile device changes, and the MAC addresses of all other scanned gateway devices do not change. Under such conditions, if the result of the determination is whether the MAC address of the gateway device changes, it may happen that, for example, the mobile device is stolen by the user's neighbor. S202: If the location change alert is received, the first anti-theft measure is initiated.
  • the control module initiates the first anti-theft measure. After the first anti-theft measure is turned on, the self-mobile device is in a state in which it cannot work effectively, so that the thief cannot use the self-mobile device.
  • the first anti-theft measure is: locking the self-mobile device.
  • locking the drive module and/or work module from the mobile device The drive module of the mobile device is locked so that the self-mobile device cannot move, and the work module of the mobile device is locked so that the self-mobile device cannot perform work work, such as not being able to mowing or cleaning.
  • the self-mobile device can be selectively locked from any of the drive module and the work module of the mobile device.
  • the steps are as follows:
  • the self-mobile device After the first anti-theft measure is activated, that is, after the self-mobile device is locked, if the self-mobile device is to be used, the self-mobile device needs to determine the identity of the user, that is, the user is determined to be the user or the thief, and therefore, the self-mobile device is utilized.
  • User authentication module the step of performing a user identity authentication.
  • User authentication methods include a variety of methods, such as:
  • Authentication method 1 Determine whether the user input information received from the mobile device matches the preset information.
  • the preset information is, for example, a password or a user physical feature.
  • the user enters a password on the operation panel of the mobile device to determine whether the entry password matches the preset password, to verify whether the identity of the user belongs to the mobile device. user.
  • the user inputs a user's physical characteristics, such as entering a fingerprint of the user in the sensing device or entering a facial contour of the user in the imaging device for identification. It is determined whether the identity of the user is matched with the physical characteristics of the preset user to verify whether the identity of the user is the user to which the mobile device belongs. It can be understood that the above-mentioned authentication manner that can be implemented on the mobile device is not limited, for example, recording a two-dimensional code feature, determining whether to match, or the like.
  • Authentication method 2 Determine whether the current user of the mobile device is an authorized user. The judgment method in the second method is performed under the condition of networking.
  • the method for determining whether the current user of the mobile device is an authorized user includes:
  • S2032 Enter the serial number of the mobile device to determine whether the serial number is bound to other users. If not, the current user of the mobile device is an authorized user.
  • the authentication method 2 can be performed on the mobile device or the user's terminal device.
  • the method for determining whether the current user of the mobile device is an authorized user includes the following steps:
  • S2031 Connect the WIFI module from the mobile device to the gateway device.
  • the account and password of the gateway device are input from the mobile device, thereby connecting the WIFI module of the mobile device to the gateway device.
  • S2032 Enter the serial number of the mobile device from the mobile device to determine whether the serial number is bound to other users. If not, the current user of the mobile device is an authorized user.
  • the above method for performing user identity authentication on a mobile device is applicable to a self-mobile device that does not have a remote terminal configured.
  • step S2032 if it is performed on the terminal device of the user, the action of step S2032 is performed directly on the terminal device of the user.
  • the method of performing user identity authentication on the user's terminal device is applicable to the self-mobile device configured with the remote terminal, and the user identity authentication is performed on the APP of the remote terminal.
  • step S203 if the user passes the user identity authentication, the process proceeds to step S204: the lock on the mobile device is released.
  • step S203 if the user does not pass the user identity authentication, the process proceeds to step S205: the second theft prevention measure is turned on.
  • the second anti-theft measure is a geographic location uploaded from the mobile device to a predetermined location, thereby being located for the self-mobile device for the user to obtain.
  • the predetermined location is an external server or a user's terminal device or a predetermined web address, and the user can visually display the geographic location of the external server or the user's terminal device or an electronic map of the predetermined website, and the user selects the self-mobile device according to the geographic location. Track and find lost mobile devices.
  • the geographic coordinates uploaded from the mobile device also include various methods according to the structure of the mobile device, and the applicable positioning manner and uploading method may be selected according to the actual situation, and the combination manner of other positioning is not here.
  • the applicable positioning manner and uploading method may be selected according to the actual situation, and the combination manner of other positioning is not here.
  • step S203 the process proceeds to step S2051: the geographic location corresponding to the MAC address of the gateway device is uploaded from the mobile device to the predetermined location for the user to obtain.
  • the user identity authentication method 1 if the user does not pass the identity authentication, if the mobile device is not connected to the network, the user will connect the mobile device to the gateway device, and upload the geographic location corresponding to the MAC address of the gateway device to the predetermined location. .
  • step S203 the process proceeds to step S2052: the geographic location of the GPS module of the mobile device or the geographic location corresponding to the cellular network module is uploaded from the mobile device to the predetermined location for the user to obtain.
  • the mobile device may also select the geographic location of the GPS module or the geographic location corresponding to the cellular network module for the user to obtain.
  • step S2053 the mobile device controls the terminal device to upload the geographic location of the terminal device to the predetermined location for the user to acquire.
  • the terminal device is a terminal device that is connected with the self-mobile device.
  • the terminal device is connected with the self-mobile device, for example, if the serial number entered on the terminal device is consistent with the serial number of the mobile device, the terminal device is considered to be connected with the self-mobile device.
  • the terminal device is connected to the self-mobile device or, for example, the terminal device and the self-mobile device are connected to the same gateway device.
  • the geographic location of the terminal device that is connected to the mobile device includes the geographic location corresponding to the IP address of the terminal device or the geographic location of the GPS module or the geographic location corresponding to the cellular network module or the geographic location corresponding to the MAC address.
  • the first anti-theft measure is turned on.
  • the self-mobile device When the user cannot obtain the location of the mobile device, that is, the self-mobile device cannot be tracked, the self-mobile device is locked again, and the locked time can be permanently locked according to the preset algorithm in the mobile device or the user preset. Users can also unlock manually.
  • the anti-theft function is selected, and the WIFI module of the mobile device scans the MAC address of the nearby gateway device.
  • the control module starts the first.
  • Anti-theft measures Locked from mobile devices.
  • the mobile device prompts the user to perform user identity authentication, and the user inputs the serial number of the mobile device on the application system of the terminal device. If the serial number is input, the display result is that the serial number is bound to other users, then the The user does not pass the user identity authentication, and the second anti-theft measure is opened from the mobile device: the geographic location uploaded from the mobile device.
  • the way to upload from mobile devices at this time includes:
  • the positioning module of the mobile device only sets the WIFI module, and the WIFI module of the mobile device has been connected to the gateway device, the geographical location corresponding to the MAC address of the gateway device uploaded from the mobile device.
  • the positioning module of the mobile device sets the WIFI module and the opened GPS module, the geographic location corresponding to the GPS module is uploaded.
  • the positioning module of the mobile device sets the WIFI module and the opened cellular network module, and the MAC address of the gateway device corresponding to the WIFI module does not have a revenue in the geographic coordinate database, the geographic location corresponding to the cellular network module is uploaded.
  • the terminal device is controlled (the serial number entered on the terminal device is consistent with the self-mobile device, At this time, it is considered that the geographic location of the upload terminal device is connected to the self-mobile device as the geographic location of the mobile device for the user to obtain.
  • the geographic location of the terminal device includes a geographical location corresponding to the IP address of the terminal device or a geographical location of the GPS module or a geographical location corresponding to the cellular network module or a geographical location corresponding to the MAC address.
  • the applicable positioning method can be selected according to the actual situation. The combination of other positioning is not mentioned here.
  • a method for controlling a self-mobile device that is, a method for preventing theft from a mobile device, wherein the self-mobile device includes a moving speed for detecting the moving speed of the mobile device is also proposed.
  • a speed detecting device wherein, for example, the speed detecting device is an acceleration sensor, the method comprising the steps of:
  • S701 determining whether the moving speed of the self-mobile device exceeds a preset value
  • the third anti-theft measure is: locking the drive module or the cutting module from the mobile device.
  • the third anti-theft measure is: controlling the alarm device generated by the mobile device to generate an alarm message.
  • the self-moving device in the above embodiment operates at a predetermined moving speed within a predetermined work area, and when the mobile device is carried by the thief to the vehicle, such as a motor vehicle, the speed detecting device detects the moving speed from the mobile device If the preset value is exceeded, it is judged that the mobile device is beyond the working area, and if it is suspected of being stolen, the drive module or the cutting module of the mobile device is locked or an alarm message is generated. The user performs subsequent authentication, unlocking, tracking, and the like.
  • the terminal devices described in this document include desktops, all-in-ones, laptops, and handheld handheld computers (Handheld PCs, HPCs), smart phones (Smart Phones), and personal digital assistants (Personal Digital Assistants). , referred to as PDA), Pocket PC (Pocket PC) and other intelligent terminals that can communicate with the Internet.
  • the positioning tracking-based theft protection system shown in FIG. 12 includes: an automatic mobile device 10, a position reference device 20, and a tracking terminal 108.
  • the position reference device 20 transmits the position coordinates of the automatic mobile device 10 to the automatic mobile device 10, and tracks
  • the terminal 108 obtains the position coordinates of the automatic mobile device 10.
  • the tracking terminal 108 obtains the position coordinates of the automatic mobile device 10.
  • the tracking terminal 108 sends an inquiry signal to the automatic mobile device 10
  • the automatic mobile device 10 transmits the location coordinates to the tracking terminal 108, wherein the tracking terminal 108 periodically or irregularly sends an inquiry signal to the automatic mobile device 10, or may be automatic.
  • the mobile device 10 actively sends its own location coordinates to the tracking terminal 108 periodically or irregularly.
  • the theft protection system further includes a server 110.
  • the server 110 includes a database 41 for storing location coordinates, and the automatic mobile device 10 obtains the position coordinates.
  • the location coordinates are sent to the server 110, the database 41 in the server 110 stores the location coordinates of the automatic mobile device 10, and the tracking terminal 108 accesses the server's database 41 to obtain the location coordinates of the automatic mobile device 10.
  • the tracking terminal 108 may periodically or irregularly access the server 110 to obtain the location coordinates of the automatic mobile device 10, or the tracking terminal 108 may actively access the server 110 to acquire the location coordinates of the automatic mobile device 10, or may be the server 110 periodically.
  • the location coordinates of the automatic mobile device 10 are actively sent to the tracking terminal 108.
  • the manner in which the tracking terminal 108 acquires the position coordinates of the automatic mobile device 10 in the present invention is not limited herein, and direct or indirect communication between the two, active and passive communication, and regular or irregular communication are within the protection scope of the present invention. .
  • the tracking terminal 108 introduced in the present invention includes a handheld handheld computer (Handheld PC, HPC for short), a smart mobile phone (Smart Phone), a personal digital assistant (PDA), a pocket computer (Pocket PC), etc. All intelligent terminals that acquire the position coordinates of the automatic mobile device through the communication network.
  • the automatic mobile device 104 introduced in the present invention includes a robot that performs various functions, such as all gardening robots/indoor robots applied in industrial and household products. This is an example of a smart lawn mower.
  • the automatic mobile device 104 includes a positioning communication module 11 that obtains the position coordinates of the automatic mobile device 104 from the position reference device 20 through the positioning communication module 11, and the tracking terminal 108 obtains the position coordinates. .
  • the positioning communication module 11 includes a cellular network module 12, and the location reference device 20 includes a reference station 21 to which the cellular network belongs.
  • the automatic mobile device 104 obtains the location coordinates of the reference station 21 through the cellular network module 12 (A, B).
  • the tracking terminal 108 acquires the position coordinates (A, B).
  • the cellular network module 12 of the automatic mobile device 104 queries the associated base station 21, and obtains the location coordinates (A, B) of the automatic mobile device 104 according to the location information of the reference station 21, and the cellular network module of the automatic mobile device 104. 12 Obtaining the position coordinates (A, B), the tracking terminal 108 acquires the position coordinates (A, B) through the network signal provided by the cellular network module 12. The manner in which the tracking terminal 108 acquires the position coordinates (A, B) is various. For example, the tracking terminal 108 issues a query position coordinate request to the automatic mobile device 10, and the cellular network module 12 of the automatic mobile device 10 transmits the position coordinates (A, B). ) to the tracking terminal 108.
  • the automatic mobile device 10 transmits the location coordinates to the server 110 via the cellular network module 12, and the tracking terminal 108 queries the server 110 to obtain the location coordinates (A, B).
  • the reference station 21 to which the cellular network belongs may be a reference station to which the cellular network belongs, or may be a plurality of reference stations to which the cellular network belongs, and the plurality of reference stations make the position coordinates received by the automatic mobile device 104 (A , B) is more precise.
  • the cellular network in the present invention is not limited, and includes a GSM network (some countries are called pcs-1900), a CDMA network, a 3G network, FDMA, TDMA, PDC, TACS, AMPS, and the like.
  • the anti-theft protection system in the first embodiment does not need to install GPS, and the communication is located through the cellular network module 12, which is simple and safe, and has high reliability.
  • the positioning communication module 11 includes a WIFI module 13, and the location reference device 20 includes a router 22 having a geographic location coordinate database.
  • the WIFI module 13 is connected to the router 22 to obtain the position coordinates of the router 22 in the geographic location coordinate database ( A, B), finally the tracking terminal 108 obtains the position coordinates (A, B) through the WIFI module 13.
  • the working process is as follows: the WIFI module 13 of the automatic mobile device 104 is connected to the router 22; the WIFI module 13 queries the MAC address of the wireless network to which the router 22 belongs; and queries the location coordinates (A, B) of the router 22 in the geographic coordinate database according to the MAC address.
  • the WIFI module 13 of the automatic mobile device 10 obtains the position coordinates (A, B), and the tracking terminal 108 acquires the position coordinates (A, B) through the network signal provided by the WIFI module 13, and the tracking terminal 108 acquires the position coordinates (A, B).
  • the manner in which the tracking terminal 108 obtains the position coordinates (A, B) is various.
  • the tracking terminal 108 issues a query position coordinate request to the automatic mobile device 10, and the automatic mobile device 10 transmits the position coordinates through the WIFI module 13 (A, B).
  • the automatic mobile device 10 transmits the position coordinates (A, B) to the server 110 via the WIFI module 13, and the tracking terminal 108 queries the server 110 to obtain the position coordinates (A, B).
  • the router 22 needs to purchase the geographic coordinate database in advance.
  • the automatic mobile device 10 does not need a GPS module, and relies on the WIFI module 13 to implement positioning and tracking. This method has low cost and simple installation. .
  • the positioning communication module 11 of the automatic mobile device 104 is newly added.
  • a cellular network module when the WIFI module 13 cannot connect to the router 22, establishes a communication connection between the cellular network module and the tracking terminal 108.
  • the positioning communication module 11 includes a cellular network module 12 and a WIFI module 13
  • the location reference device 20 includes a router 22 having a geographic location coordinate database, the WIFI module 13 queries the router 22, obtains location coordinates (A, B) of the router 22 in the geographic location coordinate database, and the tracking terminal 108 obtains the location via the cellular network module 12. Coordinates (A, B).
  • the WIFI module 13 of the automatic mobile device 104 queries the router 22 (when the WIFI module cannot connect to the router, but can query the router); the WIFI module 13 queries the MAC address of the wireless network to which the router 22 belongs;
  • the manner in which the tracking terminal 108 acquires the position coordinate (A, B) includes various types, for example, tracking.
  • the terminal 108 issues a query location coordinate request to the automated mobile device 104, and the automatic mobile device 104 transmits the location coordinates (A, B) to the tracking terminal 108 via the cellular network module 12, and more preferably, the automated mobile device 104 passes the cellular network module 12.
  • the location coordinates (A, B) are sent to the server 110 for storage, and the tracking terminal 108 queries the server 110 to obtain the location coordinates (A, B).
  • the second embodiment is the same as the second embodiment.
  • the router 22 needs to purchase the geographic coordinate database in advance.
  • the anti-theft protection system in the third embodiment does not require the GPS module, and the automatic mobile device 104 does not need to be connected to the WIFI.
  • the communication connection between the automatic mobile device 104 and the tracking terminal 108 is realized by the cellular network module 12. This method is safe, reliable, simple and fast.
  • the theft protection system further includes a second tracking terminal 50
  • the second tracking terminal 50 includes an automatic mobile device application system 51
  • the location reference device 20 includes a router 22
  • the positioning communication module 11 includes a WIFI module 13
  • the second tracking The terminal 50 and the WIFI module 13 of the automatic mobile device 104 are connected to the router 22, and the automatic mobile device application system 51 of the second tracking terminal 50 is opened to determine that the automatic mobile device 104 and the second tracking terminal 50 are automatically moved in the same network environment.
  • the device application system 51 uploads the location coordinates (A, B) of the router 22 to the database of the server 110, and the tracking terminal 108 queries the server 110 to obtain the location coordinates (A, B).
  • the second tracking terminal 50 can be a tracking terminal other than itself, for example, a stealer's mobile phone.
  • the method of the automatic mobile device application system 51 of the second tracking terminal 50 determining that the automatic mobile device 104 and the second tracking terminal 50 are in the same network environment may be: the automatic mobile device application system 51 automatically sends a message and receives a message from The feedback message of the automatic mobile device 104 proves that the automatic mobile device 104 and the second tracking terminal 50 are in the same local area network, for example, the automatic mobile device 104 and the second tracking terminal 50 are connected to the same router 22.
  • the anti-theft protection system in the fourth embodiment does not require GPS, and the cost is also low.
  • the automatic mobile device application system 51 on the second tracking terminal 50 can support different types and different types of automatic mobile devices 104.
  • the positioning communication module includes a DGPS positioning module 14 and a WIFI module 13.
  • the position reference device 20 includes a satellite positioning navigation system 23, and the automatic mobile device 104 obtains the position coordinates provided by the satellite positioning navigation system 23 through the DGPS positioning module 14. A, B), the tracking terminal 108 obtains the position coordinates (A, B) through the WIFI module 13.
  • the DGPS positioning module of the automatic mobile device 104 receives the position coordinates (A, B) provided by the satellite positioning navigation system, and the WIFI module 13 is connected to the associated router 22 to obtain a network signal, and the tracking terminal 108 is provided by the WIFI module 13.
  • the network signal acquires the position coordinates (A, B), and the manner in which the tracking terminal 108 acquires the position coordinates (A, B) includes various types, for example, the tracking terminal 108 issues a query position coordinate request to the automatic mobile device 104, and the automatic mobile device 104 transmits the location coordinates (A, B) to the tracking terminal 108 through the WIFI module 13, and more preferably, the automatic mobile device 104 transmits the location coordinates (A, B) to the server 110 via the WIFI module 13, and the tracking terminal 108 queries the server. 110, obtain the position coordinates (A, B).
  • the position coordinates (A, B) of the automatic mobile device 104 obtained by the tracking system are accurate and convenient to use.
  • the positioning communication module 11 includes a DGPS positioning module 14 and a cellular network module 12.
  • the position reference device 20 includes a satellite positioning navigation system 23, and the automatic mobile device 104 obtains the position provided by the satellite positioning navigation system 23 through the DGPS positioning module 14.
  • the coordinates (A, B), the tracking terminal 108 obtains the position coordinates (A, B) through the cellular network module 12.
  • the working process is as follows: after the DGPS positioning module 14 of the automatic mobile device 104 receives the position coordinates (A, B) provided by the satellite positioning navigation system 23, the cellular network module 12 of the automatic mobile device 104 is connected to the associated reference station 21 to obtain a network signal.
  • the tracking terminal 108 acquires the location coordinates (A, B) through the network signal provided by the cellular network module 12, and the manner in which the tracking terminal 108 acquires the location coordinates (A, B) includes various types, for example, tracking the terminal 108 to the automatic mobile device.
  • the automatic mobile device 104 issues a query location coordinate request, and the automatic mobile device 104 transmits the location coordinates (A, B) to the tracking terminal 108 via the cellular network module 12, and more preferably, the automatic mobile device 104 transmits the location coordinates (A, via the cellular network module 12).
  • the tracking terminal 108 Stored at the server 110, the tracking terminal 108 queries the server 110 to obtain the location coordinates (A, B).
  • the position coordinates (A, B) of the automatic mobile device 104 obtained in this manner are accurate, and network communication can be performed within the coverage of the cellular network.
  • the present invention also provides an anti-theft protection system, which includes all the technical solutions in the foregoing Embodiment 1 to Embodiment 6, and details are not described herein again.
  • an application environment diagram of a positioning method from a mobile device 104 includes a wireless router 102, a self-mobile device 104, and a database server 106.
  • the mobile device 104 is connected to the wireless router 102 for wireless communication.
  • the mobile device 104 is also in communication with the database server 106106.
  • the internal structure of the self-mobile device 104 is as shown in FIG.
  • the self-mobile device 104 includes a device body.
  • the device body includes a processor connected by a system bus, an internal memory, a non-volatile storage medium, a wireless module, a motor device, a mobile device, and an execution device.
  • the motor device is also connected to the mobile device and the execution device.
  • the positioning device is stored in the non-volatile storage medium of the mobile device 104.
  • the positioning device is used to implement a positioning method from a mobile device.
  • the processor from the mobile device 104 is configured to provide computing and control capabilities configured to perform a positioning method to locate the self-mobile device.
  • the wireless module from the mobile device 104 is configured to be connected to a wireless router to make a network connection with the Internet through a wireless router to implement a wireless communication function.
  • Motor devices in the mobile device 104 are used to control the mobile device and perform device operations.
  • the mobile device in the mobile device 104 is used to implement the mobile function from the mobile device, and the execution device is used to perform the target operation.
  • the self-moving device can be a smart lawn mower, and the executing device is a mowing device.
  • the self-mobile device can also be a device such as a self-mobile robot that can automatically perform a target operation. It will be understood by those skilled in the art that the structure shown in FIG.
  • 21 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation of the self-mobile device to which the solution of the present application is applied, and the specific self-mobile device. More or fewer components than those shown in the figures may be included, or some components may be combined, or have different component arrangements.
  • a positioning method from a mobile device is provided.
  • the present embodiment is applied to the self-mobile device 104 in FIG. 20 and FIG. 21 as an example.
  • the positioning method of the self-mobile device includes the following steps:
  • Step S302 Acquire a physical address of a wireless router accessed from the mobile device.
  • step S302 needs to be started after receiving the positioning request.
  • the location request may be sent by the user through an application on the smart terminal 108 (eg, cell phone, tablet, etc.) or from the mobile device 104 itself.
  • the positioning operation may be performed periodically from the mobile device 104 or when a certain parameter, such as the physical address of the wireless router, changes.
  • Each wireless router 102 has a unique physical address corresponding to it. Therefore, after the mobile device 104 is connected to the wireless router 102, the physical address (ie, MAC address) of the wireless router 102 can be obtained. In an embodiment, the mobile device 104 needs to be authorized to obtain the physical address of the accessed wireless router 102. That is, before performing step S302, the physical address reading authority needs to be obtained first to perform the subsequent steps.
  • Step S304 generating a geographic coordinate acquisition request according to the physical address.
  • a geographic coordinate acquisition request is generated according to the physical address.
  • the physical coordinate acquisition request carries the physical address information.
  • step S306 the geographic coordinate acquisition request is output to the database server 106.
  • a geographic coordinate database is stored in the database server 106106.
  • the geographic coordinate database includes the correspondence between the physical addresses of the routers and their corresponding geographic coordinates.
  • the correspondence in the geographic coordinate database is pre-stored in the database server 106106.
  • the correspondence between the physical address and its corresponding geographic coordinates may be manually uploaded by the user to the database server 106106, or may be calculated by the database server 106106 based on the related information.
  • Step S308 receiving the geographic coordinates corresponding to the physical address returned by the database server 106.
  • the database server 106106 After receiving the geographic coordinate acquisition request, the database server 106106 analyzes the request to obtain the physical address therein. The database server 106106 can obtain the corresponding geographic coordinates in the geographic coordinate database according to the physical address, and generate response information according to the geographic coordinates and return to the self-mobile device 104.
  • Step S310 the geographic coordinate is taken as the current positioning coordinate of the mobile device and output.
  • the mobile device 104 accepts the response information returned by the database server 106106, which contains the geographic coordinate information.
  • the geographic coordinates can be obtained from the mobile device 104 such that the geographic coordinates are taken as the current positioning coordinates of the mobile device 104 and output.
  • the mobile device 104 can transmit the positioning coordinates to the smart terminal 104 via the wireless router 102 to visually display the positioning coordinates on the electronic map of the smart terminal 104.
  • step S312 needs to be performed after step S310.
  • Step S312 storing the positioning coordinates and the corresponding physical address.
  • the positioning coordinates and the corresponding physical address are stored.
  • a corresponding storage area is provided on the mobile device 104 for storing the positioning coordinates and the corresponding physical address.
  • the mobile device 104 can delete the historical positioning coordinates and the corresponding physical address while storing the positioning coordinates and the corresponding physical address to save storage space.
  • the self-mobile device 104 may also retain the historical positioning coordinates and the corresponding physical address while storing the positioning coordinates and the corresponding physical address, thereby facilitating subsequent calls to view the motion trajectory from the mobile device 104, so as to be better. Understanding the operation of the mobile device 104.
  • the positioning method of the mobile device 104 obtains the geographic coordinates corresponding to the wireless router 102 according to the physical address of the accessed wireless router 102, so that the geographic coordinate is used as the positioning coordinate of the mobile device 104 to implement positioning of the mobile device 104. To prevent loss from the mobile device 104.
  • the above positioning method does not need to add an additional positioning device such as a GPS module from the mobile device 104, which is advantageous for reducing the product cost.
  • the location area where the mobile device 104 is located that is, the working area of the mobile device 104 or the user's home, can be known, so that the self-mobile device 104 can be conveniently managed, and the anti-lost effect can be well achieved. .
  • Step S402 receiving a positioning request.
  • the location request may be triggered by the self-mobile device 104 according to the triggering condition, or may be delivered by the smart terminal 108.
  • Step S404 obtaining a physical address of the wireless router accessed from the mobile device.
  • Step S406 determining whether the physical address acquired this time changes with respect to the stored physical address.
  • the mobile device 104 After the physical address of the wireless router 102 is obtained, the mobile device 104 compares the physical address with the stored latest physical address to determine whether the two are the same. If the two are the same, it means that the wireless router 102 accessed from the mobile device 104 does not change, that is, the geographic coordinates of the mobile device 104 have not changed, then step S416 is performed, and if a change occurs, step S408 is performed.
  • Step S408 generating a geographic coordinate acquisition request according to the physical address.
  • step S410 the geographic coordinate acquisition request is output to the database server 106.
  • Step S412 receiving the geographic coordinates corresponding to the physical address returned by the database server 106.
  • Step S414 the geographic coordinate is taken as the current positioning coordinate of the mobile device and output.
  • Step S416 determining whether the positioning coordinates corresponding to the physical address are stored in the mobile device.
  • step S418 is performed.
  • the positioning coordinates corresponding to the physical address are stored, it may be determined that the positioning operation has been performed since the mobile device 104, and the current positioning request is the same as the previous one.
  • the positioning process is not changed from the location area of the mobile device 104, so the positioning coordinates can be directly output, so that the positioning operation can be avoided from the mobile device 104 for each positioning request, and the response speed of the self-moving device 104 can be greatly improved. And reduce its operational complexity.
  • the positioning method of the mobile device 104 obtains the geographic coordinates corresponding to the wireless router 102 according to the physical address of the accessed wireless router 102, so that the geographic coordinate is used as the positioning coordinate of the mobile device 104 to implement positioning of the mobile device 104. To prevent loss from the mobile device 104.
  • the above positioning method does not need to add an additional positioning device such as a GPS module from the mobile device 104, which is advantageous for reducing the product cost.
  • the mobile device 104 stores the positioning coordinates and the corresponding physical address, so that when multiple positioning requests are received in the same location area, the positioning coordinates stored in the first positioning operation can be directly output, thereby greatly improving The response speed of the mobile device 104 is reduced and its operational complexity is reduced.
  • a positioning device from the mobile device 104 includes an obtaining module 502, a requesting module 504, an output module 506, a receiving module 508, and a determining module 510.
  • the acquisition module 502 is configured to obtain the physical address of the wireless router 102 accessed from the mobile device 104.
  • the receiving module 508 of the mobile device 104 is further configured to receive a positioning request.
  • the acquisition module 502 acquires the physical address of the wireless router 102 accessed from the mobile device 104 only after the receiving module 508 receives the location request.
  • the location request may be sent by the user through an application on the smart terminal 108, such as a cell phone, tablet, etc., or may be sent by the mobile device 104 itself.
  • the positioning operation may be performed periodically from the mobile device 104 or when a certain parameter, such as the physical address of the wireless router, changes.
  • Each wireless router 102 has a unique physical address corresponding to it. Therefore, after the mobile device 104 is connected to the wireless router 102, the physical address (ie, MAC address) of the wireless router 102 can be obtained. In an embodiment, the mobile device 104 needs to be authorized to obtain the physical address of the accessed wireless router 102.
  • the requesting module 504 is configured to generate a geographic coordinate acquisition request according to the physical address.
  • the generated geographic address acquisition request contains the physical address information.
  • the output module 506 is configured to output the geographic coordinate acquisition request to the database server 106.
  • a geographic coordinate database is stored in the database server 106106.
  • the geographic coordinate database includes the correspondence between the physical addresses of the routers and their corresponding geographic coordinates.
  • the receiving module 508 is configured to receive the geographic coordinates returned by the database server 106106 corresponding to the physical address.
  • the determining module 510 is configured to use the geographic coordinates as the current positioning coordinates of the mobile device 1042 and output through the output module 506.
  • the output module 506 can output the positioning coordinates to the smart terminal 108 through the wireless router 102.
  • the smart terminal 108 can visually display its positioning coordinates on an electronic map.
  • the positioning device further includes a storage module 512.
  • the storage module 512 is configured to store positioning coordinates and a physical address corresponding thereto.
  • a corresponding storage area is provided on the mobile device 104 for storing the positioning coordinates and the corresponding physical address.
  • the mobile device 104 can delete the historical positioning coordinates and the corresponding physical address while storing the positioning coordinates and the corresponding physical address to save storage space.
  • the self-mobile device 104 may also retain the historical positioning coordinates and the corresponding physical address while storing the positioning coordinates and the corresponding physical address, thereby facilitating subsequent calls to view the motion trajectory from the mobile device 104, so as to be better. Understanding the operation of the mobile device 104.
  • the positioning device of the mobile device 104 obtains the geographical coordinates corresponding to the wireless router 102 according to the physical address of the accessed wireless router 102, thereby using the geographic coordinates as the positioning coordinates of the mobile device 104 to implement positioning of the mobile device 104. To prevent loss from the mobile device 104.
  • the positioning device does not need to add an additional positioning device such as a GPS module to the mobile device 104, which is advantageous for reducing the product cost.
  • the positioning device further includes a determining module 602 on the basis of the embodiment shown in FIG. 25.
  • the determining module 602 is configured to determine, after the obtaining module 502 acquires the physical address of the accessed wireless router 102, whether the physical address changes relative to the stored physical address. When the determining module 602 determines that the physical address changes, the requesting module 504 generates a geographic coordinate acquiring request to continue performing the subsequent positioning operation. The determining module 602 is further configured to: when determining that the physical address has not changed, further determining whether the positioning coordinate corresponding to the physical address is stored in the mobile device 104, and if so, the control output module 506 directly outputs the positioning coordinate, if If not, the control request module 504 generates a geographic coordinate acquisition request to continue performing subsequent positioning operations.
  • the positioning device of the mobile device 104 obtains the geographical coordinates corresponding to the wireless router 102 according to the physical address of the accessed wireless router 102, thereby using the geographic coordinates as the positioning coordinates of the mobile device 104 to implement positioning of the mobile device 104. To prevent loss from the mobile device 104.
  • the positioning device does not need to add an additional positioning device such as a GPS module to the mobile device 104, which is advantageous for reducing the product cost.
  • the mobile device 104 stores the positioning coordinates and the corresponding physical address, so that when multiple positioning requests are received in the same location area, the positioning coordinates stored in the first positioning operation can be directly output, thereby greatly improving The response speed of the mobile device 104 is reduced and its operational complexity is reduced.
  • the storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

Abstract

本发明公开一种自移动设备及其控制方法，所述自移动设备包括通信模块，所述通信模块包括WIFI模块，所述方法包括以下步骤：S1：所述自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；S2：基于所述MAC地址，获得自移动设备的位置相关信息，本发明提出的自移动设备及其控制方法，利用WIFI模块扫描网关设备的MAC地址，能够自动识别自移动设备设备的相关位置信息，既可以自动识别自移动设备是否被盗，又能够实时定位自移动设备，在自移动设备丢失的情况下，能够有效追踪到自移动设备，上述定位方法无需在自移动设备上增加额外的GPS模块等定位设备，有利于降低产品成本。

Description

自移动设备及其控制方法 技术领域
本申请文件涉及一种自移动设备，特别是一种自动在工作区域内工作及移动的自移动设备。
本申请文件涉及一种定位方法，特别是一种自移动设备的定位方法。
背景技术
随着科学技术的发展，智能的自移动设备为人们所熟知，由于自移动设备可以自动预先设置的程序执行预先设置的相关任务，无须人为的操作与干预，因此在工业应用及家居产品上的应用非常广泛。工业上的应用如执行各种功能的机器人，家居产品上的应用如割草机、吸尘器等，这些智能的自移动设备极大地节省了人们的时间，给工业生产及家居生活都带来了极大的便利。
由于这种智能的自移动设备无须人为操作，当不在人们的视线下时，这种自移动设备容易丢失，因此，用户需要一种能够自动判断自移动设备是否丢失的方法；而在自移动设备丢失的情况下，需要一种能够追踪定位自移动设备的方法，目前普遍使用的是基于全球定位导航系统的防盗追踪方法，此种方法成本较高，通用性不好。
因此，本文需要提出一种新的技术方案以解决上述技术问题。
发明内容
本文解决的技术问题为：提供一种自动判断是否被盗、能够实时定位的自移动设备及自移动设备的控制方法。
为解决上述技术问题，本申请文件提出一种自移动设备的控制方法，所述自移动设备包括通信模块，所述通信模块包括WIFI模块，所述方法包括以下步骤：
S1：所述自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；
S2：基于所述MAC地址，获得自移动设备的位置相关信息。
优选地，所述位置相关信息包括地理位置。
优选地，所述步骤S2包括以下步骤：
S102：发送所述MAC地址的地理位置获取请求；
S104：接收与所述MAC地址对应的地理位置。
优选地，还包括步骤：
S106：输出自移动设备当前的地理位置至预定位置，以供用户获取。
优选地，在步骤S1之前包括步骤：
S100：接收定位请求。
优选地，S102之前以下步骤：S101，在自移动设备上查询所述MAC地址对应的地理位置，若查询成功，转入步骤S106，若查询失败，转入步骤S102。
优选地，还包括以下步骤：S105：将MAC地址及对应的地理位置存储到自移动设备中。
优选地，所述预定位置为外部服务器或用户的终端设备或预定网址。
优选地，所述外部服务器或用户的终端设备或预定网址显示地理位置或显示报警信息。
优选地，所述位置相关信息包括位置变化预警。
优选地，包括以下步骤：
S201：判断网关设备的MAC地址是否发生变化，若变化，则发出位置变化预警；
S202：若收到位置变化预警，则启动第一防盗措施。12、根据权利要求11所述的自移动设备的控制方法，其特征在于，所述第一防盗措施为：锁定所述自移动设备。
优选地，所述锁定所述自移动设备包括锁定自移动设备的驱动模块和/或工作模块。
优选地，所述步骤S202之后，进入步骤：
S203：进行用户身份认证。
优选地，所述用户身份认证的方法包括：判断自移动设备上接收的用户录入信息是否和预设信息匹配。
优选地，所述预设信息为密码或用户身体特征。
优选地，所述用户身份认证的方法包括：判断自移动设备的当前用户是否为授权用户。
优选地，所述用户身份认证的方法包括以下步骤：
S2032：输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
优选地，在所述步骤S2032之前包括以下步骤：
S2031：将自移动设备的WIFI模块与网关设备连接。
优选地，所述将自移动设备的WIFI模块与网关设备连接为：在自移动设备上将自移动设备的WIFI模块与网关设备连接。
优选地，所述输入自移动设备的序列号为在用户的终端设备上输入自移动设备的序列号。
优选地，若通过用户身份认证，则进入步骤：
S204：解除对自移动设备的锁定。
优选地，若不通过用户身份认证，则进入步骤：
S205：开启第二防盗措施。
优选地，所述第二防盗措施为上传自移动设备的地理位置至预定位置，以供用户获取。
优选地，所述步骤S203之后，进入步骤：
S2051：自移动设备上传网关设备的MAC地址对应的地理位置至预定位置，以供用户获取。
优选地，所述步骤S203之后，进入步骤：
S2052：自移动设备上传自移动设备的GPS模块的地理位置或蜂窝网络模块对应的地理位置至预定位置，以供用户获取。
优选地，所述步骤S203之后，进入步骤：
S2053：自移动设备控制终端设备上传与自移动设备相配连接的终端设备的地理位置至预定位置，以供用户获取。
优选地，所述与自移动设备相配连接包括在所述终端设备上录入的序列号与自移动设备的序列号一致。
优选地，所述与自移动设备相配连接包括所述终端设备与所述自移动设备与同一个网关设备连接。
优选地，所述与自移动设备相配连接的终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。
优选地，若第二防盗措施失败，开启第一防盗措施。
优选地，所述预定位置为外部服务器或用户的终端设备或预定网址。
优选地，所述外部服务器或用户的终端设备或预定网址显示地理位置或产生报警信息。
优选地，所述自移动设备包括用于检测自移动设备移动速度的速度检测装置，所述方法包括以下步骤：
S701：判断所述自移动设备的移动速度是否超过一预设值；
S702：若是，开启第三防盗措施。
优选地，所述第三防盗措施为：锁定自移动设备的驱动模块或切割模块。
优选地，所述第三防盗措施为：控制自移动设备的报警装置产生报警信息。
优选地，所述速度检测装置为加速度传感器。
本申请文件还提出了一种自移动设备，所述自移动设备包括通信模块和控制模块，所述通信模块包括WIFI模块，所述自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；基于所述MAC地址，所述控制模块获得自移动设备的位置相关信息。
优选地，所述位置相关信息包括地理位置。
优选地，所述通信模块发送所述MAC地址的地理位置获取请求；并接收与所述MAC地址对应的地理位置。
优选地，所述通信模块输出自移动设备当前的地理位置至预定位置，以供用户获取。
优选地，所述通信模块接收定位请求。
优选地，所述控制模块在自移动设备上查询是否有所述MAC地址对应的地理位置，若查询成功，则通信模块输出对应的地理位置至预定位置，以供用户获取；若查询失败，则通信模块发送所述MAC地址的地理位置 获取请求。
优选地，所述自移动设备包括存储模块，所述存储模块将MAC地址及对应的地理位置存储到自移动设备中。
优选地，所述预定位置为外部服务器或用户的终端设备或预定网址。
优选地，所述外部服务器或用户的终端设备或预定网址显示地理位置或显示报警信息。
优选地，所述位置相关信息包括位置变化预警。
优选地，所述控制模块包括判断模块和预警模块，所述判断模块判断网关设备的MAC地址是否发生变化，若变化，则预警模块发出位置变化预警；若收到位置变化预警，则控制模块启动第一防盗措施。
优选地，所述第一防盗措施为：锁定所述自移动设备。
优选地，所述锁定所述自移动设备包括锁定自移动设备的驱动模块和/或工作模块。
优选地，所述控制模块包括用户身份认证模块，所述用户身份认证模块进行用户身份认证。
优选地，所述用户身份认证模块判断自移动设备上接收的用户录入信息是否和预设信息匹配。
优选地，所述预设信息为密码或用户身体特征。
优选地，所述用户身份认证模块判断自移动设备的当前用户是否为授权用户。
优选地，所述判断自移动设备的当前用户是否为授权用户为：输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
优选地，将自移动设备的WIFI模块与网关设备连接而将自移动设备接入互联网，判断自移动设备的当前用户是否为授权用户。
优选地，所述将自移动设备的WIFI模块与网关设备连接为在自移动设备上将自移动设备的WIFI模块与网关设备连接。
优选地，所述输入自移动设备的序列号为在终端设备上输入自移动设备的序列号。
优选地，若通过用户身份认证，则解除对自移动设备的锁定。
优选地，若不通过用户身份认证，-则控制模块开启第二防盗措施。
优选地，所述第二防盗措施为上传自移动设备的地理位置至预定位置，以供用户获取。
优选地，所述上传自移动设备的地理位置为：自移动设备上传网关设备的MAC地址对应的地理位置。
优选地，所述上传自移动设备的地理位置为：自移动设备上传自移动设备的GPS模块的地理位置或蜂窝网络模块对应的地理位置。
优选地，所述上传自移动设备的地理位置为：自移动设备控制终端设备上传与自移动设备相配连接的终端设备的地理位置。
优选地，所述与自移动设备相配连接包括在所述终端设备上录入的序列号与自移动设备的序列号一致。
优选地，所述与自移动设备相配连接包括在所述终端设备与所述自移动设备与同一个网关设备连接。
优选地，所述与自移动设备相配连接的终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。
优选地，若第二防盗措施失败，控制模块开启第一防盗措施。
优选地，所述预定位置为外部服务器或用户的终端设备或预定网址。
优选地，所述外部服务器或用户的终端设备或预定网址显示地理位置或产生报警信息。
优选地，所述自移动设备包括控制模块和速度检测装置，所述控制模块包括判断模块，所述速度检测装置用于检测自移动设备移动速度，
所述判断模块判断所述自移动设备的移动速度是否超过一预设值；
若是，控制模块开启第三防盗措施。
优选地，所述第三防盗措施为：锁定自移动设备的驱动模块或切割模块。
优选地，所述第三防盗措施为：控制自移动设备的报警装置产生报警信 息。
优选地，所述速度检测装置为加速度传感器。
本发明的有益效果：与现有技术相比，本文提出的自移动设备及其控制方法，利用WIFI模块扫描网关设备的MAC地址，能够自动识别自移动设备设备的相关位置信息，既可以自动识别自移动设备是否被盗，又能够实时定位自移动设备，在自移动设备丢失的情况下，能够有效追踪到自移动设备，上述定位方法无需在自移动设备104上增加额外的GPS模块等定位设备，有利于降低产品成本。
本申请文件还提供一种应用范围广、费用较低且能够准确追踪到自动移动设备位置的防盗保护系统。
为解决上述技术问题，本发明的技术方案是：一种基于定位追踪的防盗保护系统，所述系统包括：自动移动设备，位置基准装置，追踪终端，所述位置基准装置将所述自动移动设备的位置坐标发送给自动移动设备，所述追踪终端获得所述自动移动设备的位置坐标。
优选地，所述系统还包括服务器，所述服务器包括用于存储位置坐标的数据库，所述自动移动设备获得位置坐标后，将位置坐标发送到所述服务器，所述服务器中的数据库存储所述自动移动设备的位置坐标，所述追踪终端访问所述服务器的数据库获取所述自动移动设备的位置坐标。
优选地，所述自动移动设备上包括定位通信模块，所述自动移动设备通过所述定位通信模块从所述位置基准装置中获得所述自动移动设备的位置坐标，所述追踪终端获得位置坐标。
优选地，所述定位通信模块包括蜂窝网络模块。
优选地，所述位置基准装置包括所述蜂窝网络所属的基准站，所述自动移动设备通过所述蜂窝网络模块获得所述基准站的位置坐标，追踪终端获取所述位置坐标。
优选地，所述定位通信模块包括WIFI模块。
优选地，所述位置基准装置包括具有地理位置坐标数据库的路由器，所述WIFI模块与所述路由器连接，获得所述路由器在所述地理位置坐标数据库中的位置坐标，所述追踪终端通过所述WIFI模块获得所述位置坐标。
优选地，所述定位通信模块包括蜂窝网络模块和WIFI模块。
优选地，所述位置基准装置包括具有地理位置坐标数据库的路由器，所述WIFI模块查询路由器，获得所述路由器在所述地理坐标数据库中的位置坐标，所述追踪终端通过所述蜂窝网络模块获得所述位置坐标。
优选地，所述防盗保护系统还包括第二追踪终端，所述第二追踪终端包括自动移动设备应用系统，所述位置基准装置包括路由器，所述WIFI模块连接上所述路由器，所述自动移动设备应用系统判断所述自动移动设备与所述第二追踪终端在同一个网络环境下，所述自动移动设备应用系统上传所述路由器的位置坐标到所述服务器的数据库，所述追踪终端查询所述服务器获取所述位置坐标。
优选地，所述定位通信模块包括DGPS定位模块和WIFI模块，所述位置基准装置包括卫星定位导航系统，所述自动移动设备通过所述DGPS定位模块获得所述卫星定位导航系统提供的位置坐标，所述追踪终端通过所述WIFI模块获得所述位置坐标。
优选地，所述定位通信模块包括DGPS定位模块和蜂窝网络模块，所述位置基准装置包括卫星定位导航系统，所述自动移动设备通过所述DGPS定位模块获得所述卫星定位导航系统提供的位置坐标，所述追踪终端通过所述蜂窝网络模块获得所述位置坐标。
本发明的有益效果为：通过在自动移动设备上设置定位通信模块，基于位置基准装置，获得自动移动设备的位置坐标，并通过该定位通信模块实现与追踪终端的连接，使得追踪终端获得该位置坐标，位置基准装置与定位通信模块的搭配使用，结合出多种实施方案，每种技术方案适合不同类型的自动移动设备，通过本发明介绍的防盗保护系统，最终获得的定位准确，可靠性高，成本较低，安装方便，应用范围广。
本申请文件还提供一种能够降低产品成本的自移动设备的定位方法和系统，还提供一种自移动设备。
一种自移动设备的定位方法，所述自移动设备通过无线模块与无线路由器连接；所述方法包括：获取所述自移动设备接入的无线路由器的物理地址；根据所述物理地址生成地理坐标获取请求；将所述地理坐标获取请求输出至数据库服务器；接收数据库服务器返回的与所述物理地址对应的地理坐标； 以及将所述地理坐标作为所述自移动设备当前的定位坐标并输出。
上述自移动设备的定位方法，根据接入的无线路由器的物理地址获取与之对应的地理坐标，从而将该地理坐标作为自移动设备的定位坐标，以实现对自移动设备的定位，防止自移动设备的丢失。上述定位方法无需在自移动设备上增加额外的GPS模块等定位设备，有利于降低产品成本。
优选地，在获取所述自移动设备接入的无线路由器的物理地址之前，还包括接收定位请求的步骤。
优选地，还包括存储所述物理地址和所述定位坐标的步骤。
优选地，在获取所述自移动设备接入的无线路由器的物理地址之后、在根据所述物理地址生成地理坐标获取请求之前，还包括：判断本次获取的物理地址相对于存储的物理地址是否发生变化；若是，则执行根据所述物理地址生成地理坐标获取请求的步骤及其后续步骤；若否，则判断所述自移动设备内是否存储有与所述物理地址对应的定位坐标；若所述自移动设备内未存储有与所述物理地址对应的定位坐标，则执行根据所述物理地址生成地理坐标获取请求的步骤及其后续步骤。
优选地，在判断所述自移动设备内是否存储有与所述物理地址对应的定位坐标的步骤中，若所述自移动设备内存储有与所述物理地址对应的定位坐标，则输出所述定位坐标。
一种自移动设备的定位装置，所述自移动设备通过无线模块与无线路由器连接；所述定位装置包括：获取模块，用于获取所述自移动设备接入的无线路由器的物理地址；请求模块，用于根据所述物理地址生成地理坐标获取请求；输出模块，用于将所述地理坐标获取请求输出至数据库服务器；接收模块，用于接收数据库服务器返回的与所述物理地址对应的地理坐标；以及确定模块，用于将所述地理坐标作为所述自移动设备当前的定位坐标；所述输出模块还用于输出所述定位坐标。
优选地，所述接收模块还用于接收定位请求；所述获取模块用于在所述接收模块接收到所述定位请求时，获取所述自移动设备接入的无线路由器的物理地址。
优选地，还包括：存储模块；所述存储模块用于存储所述物理地址和所述定位坐标；判断模块，用于在所述获取模块获取到接入的无线路由器的物 理地址后，判断所述物理地址相对于存储的物理地址是否发生变化；所述判断模块还用于在判断出所述物理地址未发生变化时，判断所述自移动设备内是否存储有与所述物理地址对应的定位坐标；所述请求模块用于在所述判断模块判断出所述物理地址发生变化时、在所述自移动设备内未存储有与所述物理地址对应的定位坐标时，根据所述物理地址生成地理坐标获取请求。
优选地，所述输出模块用于在所述判断模块判断出所述自移动设备内存储有与所述物理地址对应的定位坐标时，输出所述定位坐标。
一种自移动设备，包括：设备本体，用于实现自移动功能并执行目标操作；无线模块，设置在所述设备本体上，用于与无线路由器连接，以进行无线通信；以及如前述任一实施例所述的定位装置；所述定位装置设置在所述设备本体上，用于对所述自移动设备进行定位。
附图说明
以上所述的本文解决的技术问题、技术方案以及有益效果可以通过下面的能够实现本文的较佳的具体实施例的详细描述，同时结合附图描述而清楚地获得。
附图以及说明书中的相同的标号和符号用于代表相同的或者等同的元件。
图1是本发明一实施例中的自移动设备的工作场示意图；
图2是本发明一实施例中的自移动设备的内部结构示意图；
图3是本发明一实施例中的自移动设备的控制方法的流程图；
图4是本发明一实施例中的自移动设备的控制方法的流程图；
图5是本发明一实施例中的自移动设备的控制方法的流程图；
图6是本发明一实施例中的自移动设备的控制方法的流程图；
图7是本发明一实施例中的自移动设备的控制方法的流程图；
图8是本发明一实施例中的自移动设备的控制方法的流程图；
图9是本发明一实施例中的自移动设备的控制方法的流程图；
图10是本发明一实施例中的自移动设备的控制方法的流程图；
图11是本发明一实施例中的自移动设备的控制方法的流程图；
图12是本发明一实施例中防盗保护系统的示意图；
图13为本发明中另一实施例防盗保护系统的示意图；
图14是本发明的实施方式一中防盗保护系统的示意图；
图15是本发明的实施方式二中防盗保护系统的示意图；
图16是本发明的实施方式三中防盗保护系统的示意图；
图17是本发明的实施方式四中防盗保护系统的示意图；
图18是本发明的实施方式五中防盗保护系统的示意图；
图19是本发明的实施方式六中防盗保护系统的示意图；
图20为本发明一实施例中的自移动设备的定位方法的应用环境示意图；
图21为本发明一实施例中的自移动设备的内部结构示意图；
图22为本发明一实施例中的自移动设备的定位方法的流程示意图；
图23为本发明另一实施例中的自移动设备的定位方法的流程示意图；
图24为本发明一实施例中的自移动设备的定位装置的结构框图；
图25为本发明另一实施例中的自移动设备的定位装置的结构框图。
具体实施方式
有关本文的详细说明和技术内容，配合附图说明如下，然而所附附图仅提供参考与说明，并非用来对本文加以限制。
如图1所示的自移动设备的应用环境示意图，自移动设备可以为智能割草机或清洁机器人等自动、半自动执行目标操作的设备。该应用环境包括自移动设备104，自移动设备104周边的至少一个网关设备102，该网关设备102在自移动设备104能够扫描到的预定距离内，数据库服务器106，外部服务器110，终端设备108。该网关设备102，例如为无线路由器，该自移动设备104包括通信模块，该通信模块包括WIFI模块，自移动设备104能够通过WIFI模块扫描到自移动设备104周边的至少一个网关设备102，从而获取网关设备102的MAC地址(即网关设备102的物理地址)，该网关设备102配备有地理坐标数据库，地理坐标数据库存储在数据库服务器106中，地理坐标数据库中存储有与网关设备102所属MAC地址一一对应的地理位置(例如：地理坐标)，自移动设备104通过能够与互联网连接的通信模块访问数据库服务器106中的地理坐标数据库即可查询到地理坐标而形成自移动设备 104的地理位置。例如可以通过联网的WIFI模块或蜂窝网络模块访问数据库服务器106中的地理坐标数据库。自移动设备104、数据库服务器106、终端设备108、外部服务器110之间能够相互进行通信，通过自移动设备104的通信模块将地理位置上传到该外部服务器110或终端设备108，以供用户获取，或者该外部服务器110能够被终端设备108访问，例如该终端设备108为手机，个人PC机等，可选择地，自移动设备104也可以直接将地理位置直接上传至终端设备108以供用户获取。
如图2所示，该自移动设备104包括设备本体，设备本体内包括通过系统总线连接的控制模块、通信模块、驱动模块、移动模块和工作模块，其中，该自移动设备104的控制模块用于提供计算和控制能力，被配置为执行一种定位方法，以对自移动设备104进行定位，该自移动设备104的通信模块与互联网进行网络连接，以实现通信功能，该通信模块例如包括WIFI模块，WIFI模块与网关设备102连接，以实现通信功能，通信模块也可以包括蜂窝网络模块，通过蜂窝网络实现通信功能。该自移动设备104的驱动模块与移动模块和工作模块连接，驱动模块包括电池模块和电机模块，用于为移动模块和工作模块提供动力，移动模块用于实现自移动设备104的移动功能，工作模块则用于执行目标操作。本文中的自移动设备104以智能割草机为例，此时工作模块为切割装置。本领域技术人员可以理解，图2中给出的结构，仅仅是与本申请相关的部分结构的框图，并不构成对本申请方案所应用于其上的自移动设备104的限定，具体的自移动设备可以包括比图中所示更多或者更少的部件，或者组合某些部件，或者具有不同的部件布置。
如图3所示，在一实施例中，提供了一种自移动设备的控制方法，本实施例以该方法应用于上述图1和图2中的自移动设备104来举例说明，包括以下步骤：
S1：自移动设备通过WIFI模块扫描网关设备102，获取扫描到的网关设备的MAC地址；
自移动设备的WIFI模块扫描到该网关设备后，即可得到该网关设备的MAC地址。可以理解的是，自移动设备的WIFI模块可以与一网关设备连接， 也可不与任何网关设备连接，均可以扫描到预定距离内的开通的网关设备。
S2：基于MAC地址，获得与自移动设备的位置相关信息。
在一实施例中，该控制方法优选为定位方法，位置相关信息为自移动设备的地理位置。
如图4所示，步骤S1需要接收到定位请求后方启动，即包括一个S100接收定位请求的步骤。定位请求可以由用户通过终端设备上的应用程序发出，也可以由自移动设备自身发出。例如，自移动设备可以定期执行定位操作，或者在某一参数如网关设备的MAC地址发生变化时发出该定位请求。
每个网关设备，均有唯一的MAC地址与之对应，自移动设备的WIFI模块扫描到该网关设备后，即可得到该网关设备的MAC地址。可以理解的是，自移动设备的WIFI模块可以与一网关设备连接，也可不与任何网关设备连接，均可以实现扫描预定距离内的开通的网关设备。
如图5所示，步骤S2具体包括以下步骤：
S102：发送MAC地址的地理位置获取请求；
在获取到至少一个网关设备的MAC地址后，基于该至少一个MAC地址生成地理位置获取请求，该地理位置获取请求中携带有该至少一个网关设备的MAC地址信息，利用自移动设备的通信模块发送该地理位置获取请求至数据库服务器，数据库服务器中存储有地理坐标数据库，该地理坐标数据库中包含了各网关设备的MAC地址和地理位置的对应关系，优选地，该地理位置为地理坐标。当扫描到多个网关设备，获取到的MAC地址为多个时，发送多个MAC地址的地理位置获取请求，数据库服务器结合该多个MAC地址，计算出一个精确的地理位置，以供用户获取。MAC地址和地理位置的对应关系可以由用户手动上传至数据库服务器中，也可以由数据库服务器根据相关信息进行计算获得地理位置存储到地理坐标数据库中。可以理解的是，自移动设备发送该地理位置获取请求的方式可以包括自移动设备直接访问数据库服务器106的地理坐标数据库中，也可以将该地理位置获取请求输出到外部服务器(例如用户的手机)，由外部服务器访问该数据库服务器的地理坐标数据库而获得该地理位置。
S104：接收与MAC地址对应的地理位置。
数据库服务器在接收到该地理位置获取请求后，会对该请求进行分析获取其中的MAC地址，根据该MAC地址查询到地理坐标数据中对应的地理位置，并根据该地理位置生成应答信息返回至自移动设备，自移动设备的通信模块接收数据库服务器返回的应答信息。
可以理解的是，自移动设备接收该地理位置的方式可以包括该数据库服务器直接将携带有地理位置的应答信息输出至自移动设备，也可以是数据库服务器将该应答信息输出到外部服务器，由外部服务器输出该应答信息至自移动设备。
步骤S2还包括以下步骤：
S106：输出自移动设备当前的地理位置至预定位置，以供用户获取。
自移动设备可以获取到该地理位置，从而通信模块将该地理位置作为自移动设备当前的定位位置并输出至预定位置。其中，该预定位置为外部服务器或用户的终端设备或预定网址。外部服务器或用户的终端设备或预定网址显示地理位置或显示报警信息。例如可以在外部服务器或用户的终端设备或预定网址的电子地图上对其地理位置进行直观显示，当地理位置不满足用户设置的预设条件时，则产生报警信息以提醒用户，例如该报警信息为将该地理位置数据设置为突出颜色，或者通过扬声器产生警报声音。
可以理解的是，用户获取该地理位置的方式包括多种方式，用户可以从数据库服务器、外部服务器直接获取该地理位置，也可是自移动设备接收从数据库服务器返回的地理位置，再传递给用户，其中传递过程中可能经历了外部服务器的中转。其中，触发方式可以是用户发出指令后自移动设备或数据库服务器或外部服务器再将地理位置发给用户，或者是在自移动设备判断接收到的MAC地址变化后触发发送功能，自移动设备或外部服务器或数据库服务器主动将地理位置发送给用户。
在一实施例中，该定位方法还包括步骤S105，将MAC地址及对应的地理位置储存到自移动设备中。可以理解的是，也可以将MAC地址及对应的地理位置存储到外部服务器中或终端设备中，以供调用。
在自移动设备最终得到该地理位置后，将该地理位置以及对应的MAC地址进行存储。在一实施例中，自移动设备包括存储模块，例如，自移动设备上设置有对应的存储区域用于存储该地理位置和对应的MAC地址。自移动设备可以在存储地理位置和对应的MAC地址的同时将历史地理位置和对应的MAC地址进行删除，以节省存储空间。在另一实施例中，自移动设备104也可以在存储地理位置和对应的MAC地址的同时保留历史地理位置和对应的MAC地址，从而方便后续调用查看自移动设备104的运动轨迹，以便更好的了解自移动设备的工作情况。
如图6所示，在一实施例中，S102之前以下步骤：
S101：在自移动设备上查询MAC地址对应的地理位置，若查询成功，转入步骤S106；
若查询失败，转入步骤S102。
自移动设备可先查询本地是否存储过地理位置和对应的MAC地址，例如利用控制模块查询是否存储过，如果本地存储过，则直接输出自移动设备当前的地理位置至预定位置，以供用户获取，若本地未存储过，则生成地理位置获取请求并输出。
在确定自移动设备接入的无线路由器没有发生变化时，需要进一步判断自移动设备内是否存储有地理位置，也即自移动设备是否执行过定位操作。当判断出自移动设备内没有存储有地理位置时，则仍然需要执行定位操作，也即执行步骤S102。当判断出自移动设备内存储有地理位置时，则执行步骤S106。
上述自移动设备的定位方法，根据接入的无线路由器的MAC地址获取与之对应的地理位置，从而将该地理位置作为自移动设备的定位坐标，以实现对自移动设备的定位，防止自移动设备的丢失，也实现在自移动设备丢失的情况下，对自移动设备进行追踪。上述定位方法无需在自移动设备上增加额外的GPS模块等定位设备，有利于降低产品成本。通过上述定位方法，可以知晓自移动设备所处的位置区域，从而方便对自移动设备进行管理，可以很好起到防盗追踪的效果。
并且，自移动设备会对地理位置和对应的MAC地址进行存储，从而在同一位置区域下接收到多次定位请求时，直接输出第一次定位操作存储的定 位坐标即可，从而可以提高自移动设备的响应速度并降低其操作复杂度。
在另一实施例中，该控制方法优选为防盗定位方法，请再参考图3所示，该防盗定位方法同样包括以下步骤：
S1：自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；
步骤S1需要接收到防盗请求后方启动。防盗请求可以由用户通过终端设备上的应用程序发出，也可以由自移动设备自身发出。例如，自移动设备可以定期执行定位操作，或者在某一参数如网关设备的MAC地址发生变化时发出该防盗请求。用户在对自移动设备开机后，自动开启防盗功能，当然，也可以根据设置选择关闭防盗功能，开启防盗功能后，自移动设备的WIFI模块自动扫描附近的网关设备。
每个网关设备，均有唯一的物理地址与之对应。因此，自移动设备的WIFI模块是否与网关设备连接，均可以扫描到自移动设备预定距离内的所有开放的网关设备，获取到该网关设备的MAC地址(也即物理地址)。在一实施例中，自移动设备需要获得授权才可以获取接入的无线路由器的物理地址。也即在执行步骤S1之前，需要先获取物理地址读取权限方可执行后续步骤。
S2：基于MAC地址，获得与自移动设备位置相关的位置相关信息。
与上述实施例不同的是，位置相关信息为自移动设备的位置变化预警信息。
在一实施例中，如图7所示，该防盗定位方法包括以下步骤：
S201：判断网关设备的MAC地址是否发生变化，若变化，则发出位置变化预警；
自移动设备的WIFI模块接收至少一个网关设备的MAC地址，判断该至少一个MAC地址是否发生变化，其中MAC地址是否发生变化的条件有多种设置方式。在一实施例中，判断MAC地址发生变化的条件为扫描到的所有网关设备的MAC地址均发生变化，例如扫描到的所有网关设备的MAC地址在自移动设备中存储的MAC地址无法查询到而判断为MAC地址发生变化。在MAC地址发生变化的情况下，判断为疑似位置发生变化，则自移动设备的预警模块发出位置变化预警。该位置变化预警例如自移动设备内部的一个预警信号或者响应于该预警信号而产生的报警动作，例如利用自移动设备的 蜂鸣器发出声音。
在另一实施例中，判断MAC地址发生变化的条件为自移动设备所连接的网关设备的MAC地址发生变化，而其他所有扫描到的网关设备的MAC地址均没有发生变化。在此种条件下，若判断结果为网关设备的MAC地址是否发生变化，则可能发生的情况为，例如自移动设备被用户的邻居所盗取。S202：若收到位置变化预警，则启动第一防盗措施。
自移动设备收到位置变化预警时，控制模块启动第一防盗措施。开启第一防盗措施后，自移动设备处于无法有效工作的状态，以使得偷盗者无法使用自移动设备。
在一实施例中，第一防盗措施为：锁定所述自移动设备。例如，锁定自移动设备的驱动模块和/或工作模块。锁定自移动设备的驱动模块以使得自移动设备无法移动，锁定自移动设备的工作模块以使自移动设备无法进行执行工作作业，例如无法割草或无法清洁等。自移动设备可选择性地锁定自移动设备的驱动模块和工作模块中的任意一个。
在一实施例中，启动第一防盗措施后，进入步骤：
S203：进行用户身份认证。
在启动第一防盗措施后，即锁定自移动设备后，如需使用自移动设备，则自移动设备需要判断该使用者的身份，即判断使用者是用户或者偷盗者，因此，利用自移动设备的用户身份认证模块，进行一个用户身份认证的步骤。
用户身份认证的方式包括多种，例如：
认证方式一：判断自移动设备上接收的用户录入信息是否和预设信息匹配。其中，预设信息例如为密码或用户身体特征。
在一实施例中，针对有操作面板的自移动设备，使用者在自移动设备的操作面板上录入密码，判断录入密码是否与预设密码匹配，来认证使用者的身份是否是自移动设备所属用户。
在一实施例中，针对有感应装置或摄像装置的自移动设备，使用者录入用户身体特征，例如在感应装置中录入使用者的指纹或者在摄像装置中录入使用者的面部轮廓以进行识别，以判断录入用户 身体特征是否与预设用户身体特征匹配，来认证使用者的身份是否是自移动设备所属用户。可以理解地，上述能够在自移动设备上实现的认证方式不做限定，例如录入二维码特征，判断是否匹配等。
认证方式二：判断自移动设备的当前用户是否为授权用户。方式二中的判断方式在联网的条件下进行。
在一实施例中，如图8所示，该判断自移动设备的当前用户是否为授权用户的方法包括：
S2032：输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
该认证方式二可以在自移动设备或用户的终端设备上进行。
在一实施例中，若在自移动设备上进行，如图9所示，判断自移动设备的当前用户是否为授权用户的方法包括以下步骤：
S2031：将自移动设备的WIFI模块与网关设备连接。例如为，在自移动设备上输入网关设备的账户和密码，从而将自移动设备的WIFI模块与网关设备连接。
S2032：在自移动设备上输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
上述在自移动设备上进行用户身份认证的方式适用未配置远程终端的自移动设备。
在一实施例中，若在用户的终端设备上进行，则直接在用户的终端设备上进行步骤S2032的动作。在用户的终端设备上进行用户身份认证的方式适用配置有远程终端的自移动设备，在远程终端的APP上进行用户身份认证。
请结合图10所示，其中，步骤S203中，若使用者通过用户身份认证，则进入步骤S204：解除对自移动设备的锁定。
步骤S203中，若使用者未通过用户身份认证，则进入步骤S205：开启第二防盗措施。优选地，第二防盗措施为上传自移动设备的地理位置至预定位置，从而为自移动设备定位，以供用户获取。该预定位置为外部服务器或用户的终端设备或预定网址，用户可以在外 部服务器或用户的终端设备或预定网址的电子地图上对其地理位置进行直观显示，用户根据该地理位置对该自移动设备进行追踪，而寻找到丢失的自移动设备。
根据应用场景，自移动设备的结构等的不同，上传自移动设备的地理坐标也包括多种方式，即可根据实际情况进行选择其适用的定位方式和上传方式，其他定位的组合方式在此不一一例举。
上传方式一：步骤S203后，进入步骤S2051：自移动设备上传网关设备的MAC地址对应的地理位置至预定位置，以供用户获取。
例如，针对用户身份认证方式一，若使用者未通过身份认证，如若自移动设备未联网，则使用者将自移动设备与网关设备连接，将网关设备的MAC地址对应的地理位置上传至预定位置。
上传方式二：步骤S203之后，进入步骤S2052：自移动设备上传自移动设备的GPS模块的地理位置或蜂窝网络模块对应的地理位置至预定位置，以供用户获取。
在一实施例中，在自移动设备还设置了GPS或蜂窝网络模块时，自移动设备也可以选择上传GPS模块的地理位置或者蜂窝网络模块对应的地理位置，以供用户获取。
上传方式三：步骤S203之后，进入步骤S2053：自移动设备控制终端设备上传与终端设备的地理位置至预定位置，以供用户获取。该步骤S2053中，该终端设备为与自移动设备相配连接的终端设备。
终端设备与自移动设备相配连接例如为：在该终端设备上录入的序列号与自移动设备的序列号一致，则认为该终端设备与自移动设备相配连接。
终端设备与自移动设备相配连接或者例如为：终端设备与自移动设备与同一个网关设备连接。
与自移动设备相配连接的终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。
在一实施例中，若第二防盗措施失败，则开启第一防盗措施。
当用户无法获取到自移动设备的位置时，即无法追踪到自移动设备时，则再次锁定自移动设备，根据自移动设备内的预设算法或用户预设选择锁定 的时间，也可永久锁定，用户也可手动解锁。
下面提供一种具体的实施例：
自移动设备开机后，选择开启防盗功能，自移动设备的WIFI模块扫描附近网关设备的MAC地址，当判断结果为MAC地址发生变化，且自移动设备收到位置变化预警时，控制模块开启第一防盗措施：锁定自移动设备。自移动设备提示使用者进行用户身份认证，使用者在终端设备的应用系统上输入自移动设备的序列号，若输入该序列号后，显示结果为该序列号与其他用户绑定过，则该使用者未通过用户身份认证，自移动设备开启第二防盗措施：上传自移动设备的地理位置。
此时上传自移动设备的方式包括：
若自移动设备的定位模块只设置WIFI模块，且自移动设备的WIFI模块已经与网关设备连接，则上传自移动设备的网关设备的MAC地址对应的地理位置。
若自移动设备的定位模块设置WIFI模块及开通的GPS模块，则上传GPS模块对应的地理位置。
若自移动设备的定位模块设置WIFI模块及开通的蜂窝网络模块，且WIFI模块对应的网关设备的MAC地址没有收入在地理坐标数据库中，则上传蜂窝网络模块对应的地理位置。
其他定位的组合方式在此不一一例举。
若自移动设备的定位模块只设置WIFI模块，但自移动设备的WIFI模块无法获得网关设备的MAC地址对应的地理位置，则控制该终端设备(终端设备上录入的序列号与自移动设备一致，此时认为与自移动设备相配连接)上传终端设备的地理位置作为自移动设备的地理位置，以供用户获取。终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。可根据实际情况进行选择其适用的定位方式。其他定位的组合方式在此不一一例举。
如图11所示，在一实施例中，本文中还提出一种的自移动设备的控制方法，即自移动设备的防盗方法，其中，该自移动设备包括用于检测自移动设备移动速度的速度检测装置，其中，例如该速度检测装置为加速度传感器， 该方法包括以下步骤：
S701：判断所述自移动设备的移动速度是否超过一预设值；
S702：若是，开启第三防盗措施。
第三防盗措施为：锁定自移动设备的驱动模块或切割模块。
或者第三防盗措施为：控制自移动设备的报警装置产生报警信息。
上述实施例中的自移动设备在预定的工作区域内以预定的移动速度工作，当自移动设备被偷盗者携带到车辆上，例如机动汽车上时，自移动设备的速度检测装置检测到移动速度超过了预设值，则判断自移动设备超出了工作区域，疑似被盗，则锁定自移动设备的驱动模块或切割模块或产生报警信息。用户进行后续的身份认证，解锁，追踪等动作。
本申请文件中介绍的终端设备包括台式机(Desktop)、一体机、笔记本电脑，及手持性掌上型电脑(Handheld PC,简称HPC)、智能移动电话(Smart Phone)、个人数字助理(Personal Digital Assistant,简称PDA)、口袋电脑(Pocket PC)等能够与互联网通信的所有智能终端。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
如图12所示的基于定位追踪的防盗保护系统，包括：自动移动设备10，位置基准装置20，追踪终端108，位置基准装置20将自动移动设备10的位置坐标发送给自动移动设备10，追踪终端108获得自动移动设备10的位置坐标。追踪终端108获得自动移动设备10的位置坐标方式有多种。例如，追踪终端108向自动移动设备10发送查询信号，自动移动设备10发送位置坐标到追踪终端108，其中包括追踪终端108定期或不定期的向自动移动设备10发送查询信号，或者也可以是自动移动设备10定期或不定期地主动向追踪终端108发送自己的位置坐标。
下面介绍一种自动移动设备10与追踪终端108的通信方式，如图13所示，防盗保护系统还包括服务器110，服务器110包括用于存储位置坐标的数据库41，自动移动设备10获得位置坐标后，将位置坐标发送到服务器110，服务器110中的数据库41存储自动移动设备10的位置坐标，追踪终端108 访问服务器的数据库41获取自动移动设备10的位置坐标。例如可以是追踪终端108定期或不定期自动访问服务器110获取自动移动设备10的位置坐标，也可以是追踪终端108根据需要主动访问服务器110获取自动移动设备10的位置坐标，也可以是服务器110定期或不定期主动发送自动移动设备10的位置坐标到追踪终端108。本发明中追踪终端108获取自动移动设备10的位置坐标的方式本文不做限定，两者之间直接或间接通信，主动与被动通信，定期或不定期通信，都在本发明的保护范围之内。
本发明中介绍的追踪终端108包括手持性掌上型电脑(Handheld PC,简称HPC)、智能移动电话(Smart Phone)、个人数字助理(Personal Digital Assistant,简称PDA)、口袋电脑(Pocket PC)等能够通过通信网络获取自动移动设备的位置坐标的所有智能终端。
而本发明中介绍的自动移动设备104包括执行各种功能的机器人，例如在工业上、家居产品上应用的所有园艺机器人/室内机器人，本文以智能割草机为例。
结合图12-13所示，自动移动设备104上包括定位通信模块11，自动移动设备104通过定位通信模块11从位置基准装置20中获得自动移动设备104的位置坐标，追踪终端108获得该位置坐标。
实施方式一
结合图14所示，定位通信模块11包括蜂窝网络模块12，位置基准装置20包括蜂窝网络所属的基准站21，自动移动设备104通过蜂窝网络模块12获得该基准站21的位置坐标(A，B)，最后追踪终端108获取该位置坐标(A，B)。
工作过程如下：自动移动设备104的蜂窝网络模块12查询到所属的基准站21，根据基准站21的位置信息得到自动移动设备104的位置坐标(A，B)，自动移动设备104的蜂窝网络模块12获得该位置坐标(A，B)，追踪终端108通过蜂窝网络模块12提供的网络信号获取该位置坐标(A，B)。追踪终端108获取位置坐标(A，B)的方式为多种，例如是，追踪终端108向自动移动设备10发出查询位置坐标请求，自动移动设备10的蜂窝网络模块12发送位置坐标(A，B)到追踪终端108中。更优地为，自动移动设备10通过蜂窝网络模块12发送位置坐标到服务器110存储，追踪终端108查询服务 器110，获得该位置坐标(A，B)。可以理解的是，蜂窝网络所属的基准站21，可以为蜂窝网络所属的一个基准站，也可以是蜂窝网络所属的多个基准站，多个基准站使得自动移动设备104接收的位置坐标(A，B)更精确。本发明中的蜂窝网络不做限定，包括GSM网络(有些国家叫pcs-1900)、CDMA网络、3G网络、FDMA、TDMA、PDC、TACS、AMPS等。
实施方式一中的防盗保护系统，不需要安装GPS，通过蜂窝网络模块12定位通信，简单安全，可靠性高。
实施方式二
结合图15所示，定位通信模块11包括WIFI模块13，位置基准装置20包括具有地理位置坐标数据库的路由器22，WIFI模块13与路由器22连接，获得路由器22在地理位置坐标数据库中的位置坐标(A，B)，最后追踪终端108通过WIFI模块13获得该位置坐标(A，B)。
工作过程如下：自动移动设备104的WIFI模块13与路由器22相连；WIFI模块13查询该路由器22所属无线网络的MAC地址；根据MAC地址查询路由器22在地理坐标数据库中的位置坐标(A，B)，自动移动设备10的WIFI模块13获得该位置坐标(A，B)，追踪终端108通过WIFI模块13提供的网络信号获取该位置坐标(A，B)，追踪终端108获取该位置坐标(A，B)。追踪终端108获取该位置坐标(A，B)的方式为多种，例如是，追踪终端108向自动移动设备10发出查询位置坐标请求，自动移动设备10通过WIFI模块13发送位置坐标(A，B)到追踪终端108中，更优地为，自动移动设备10通过WIFI模块13发送位置坐标(A，B)到服务器110存储，追踪终端108查询服务器110，获得该位置坐标(A，B)。
需要说明的是，该路由器22需要提前购买地理坐标数据库，通过实施方式二中的防盗保护系统，自动移动设备10不需要GPS模块，依靠WIFI模块13实现定位追踪，此种方式成本低，安装简单。
实施方式三
在实施方式二的基础上，当WIFI模块13无法连接到路由器22的时候，自动移动设备104与追踪终端108之间无法实现通讯连接，因此，在自动移动设备104的定位通讯模块11中新增一蜂窝网络模块，在WIFI模块13无法连接到路由器22时，使用蜂窝网络模块与追踪终端108之间建立通讯连接， 结合图16所示，定位通信模块11包括蜂窝网络模块12和WIFI模块13，位置基准装置20包括具有地理位置坐标数据库的路由器22，WIFI模块13查询路由器22，获得路由器22在地理位置坐标数据库中的位置坐标(A，B)，追踪终端108通过蜂窝网络模块12获得该位置坐标(A，B)。
工作过程如下：自动移动设备104的WIFI模块13查询到路由器22(此时WIFI模块无法连接到路由器，但是可以查询到路由器)；WIFI模块13查询到该路由器22所属无线网络的MAC地址；根据MAC地址查询路由器22在地理坐标数据库中的位置坐标(A，B)，自动移动设备104的WIFI模块13获得该位置坐标(A，B)，自动移动设备104的蜂窝网络模块12与所属的基准站21相连获得网络信号，追踪终端108通过蜂窝网络模块12提供的网络信号获取该位置坐标(A，B)，追踪终端108获取该位置坐标(A，B)的方式包括多种，例如是，追踪终端108向自动移动设备104发出查询位置坐标请求，自动移动设备104通过蜂窝网络模块12发送位置坐标(A，B)到追踪终端108中，更优地为，自动移动设备104通过蜂窝网络模块12发送位置坐标(A，B)到服务器110存储，追踪终端108查询服务器110，获得该位置坐标(A，B)。
与实施方式二相同的是，该路由器22需要提前购买地理坐标数据库，通过实施方式三中的防盗保护系统，自动移动设备104不需要GPS模块，同时自动移动设备104也无需连上WIFI，在WIFI模块13无法连接到路由器22时，通过蜂窝网络模块12实现自动移动设备104与追踪终端108的通讯连接，此种方式安全可靠，简单快捷。
实施方式四
结合图17所示，防盗保护系统还包括第二追踪终端50，第二追踪终端50包括自动移动设备应用系统51，位置基准装置20包括路由器22，定位通信模块11包括WIFI模块13，第二追踪终端50和自动移动设备104的WIFI模块13连接上路由器22，打开第二追踪终端50的自动移动设备应用系统51，判断自动移动设备104与第二追踪终端50在同一个网络环境下，自动移动设备应用系统51上传路由器22的位置坐标(A，B)到服务器110的数据库，追踪终端108查询服务器110获取该位置坐标(A，B)。可以理解的是，第二追踪终端50可以为除自己以外的其他追踪终端，例如为，偷盗者的手机。
第二追踪终端50的自动移动设备应用系统51判断自动移动设备104与第二追踪终端50在同一个网络环境下的方法可以是：自动移动设备应用系统51自动发送一个消息后，收到一个来自自动移动设备104的反馈消息，证明自动移动设备104与第二追踪终端50在同一个局域网内，例如自动移动设备104与第二追踪终端50连接上同一个路由器22。
实施方式四中的防盗保护系统，不需要GPS，同时成本也较低，第二追踪终端50上的自动移动设备应用系统51能够支持不同种类，不同型号的自动移动设备104。
实施方式五
结合图18所示，定位通信模块包括DGPS定位模块14和WIFI模块13，位置基准装置20包括卫星定位导航系统23，自动移动设备104通过DGPS定位模块14获得卫星定位导航系统23提供的位置坐标(A，B)，追踪终端108通过WIFI模块13获得位置坐标(A，B)。
工作过程如下：自动移动设备104的DGPS定位模块接收卫星定位导航系统提供的位置坐标(A，B)，WIFI模块13与所属的路由器22相连接获得网络信号，追踪终端108通过WIFI模块13提供的网络信号获取该位置坐标(A，B)，追踪终端108获取该位置坐标(A，B)的方式包括多种，例如是，追踪终端108向自动移动设备104发出查询位置坐标请求，自动移动设备104通过WIFI模块13发送位置坐标(A，B)到追踪终端108中，更优地为，自动移动设备104通过WIFI模块13发送位置坐标(A，B)到服务器110存储，追踪终端108查询服务器110，获得该位置坐标(A，B)。
采用实施方式五中的防盗保护系统，追踪系统获得的自动移动设备104的位置坐标(A，B)准确，使用方便。
实施方式六
结合图19所示，定位通信模块11包括DGPS定位模块14和蜂窝网络模块12，位置基准装置20包括卫星定位导航系统23，自动移动设备104通过DGPS定位模块14获得卫星定位导航系统23提供的位置坐标(A，B)，追踪终端108通过蜂窝网络模块12获得该位置坐标(A，B)。
工作过程如下：自动移动设备104的DGPS定位模块14接收卫星定位导航系统23提供的位置坐标(A，B)后，自动移动设备104的蜂窝网络模块 12与所属的基准站21相连获得网络信号，追踪终端108通过蜂窝网络模块12提供的网络信号获取该位置坐标(A，B)，追踪终端108获取该位置坐标(A，B)的方式包括多种，例如是，追踪终端108向自动移动设备104发出查询位置坐标请求，自动移动设备104通过蜂窝网络模块12发送位置坐标(A，B)到追踪终端108中，更优地为，自动移动设备104通过蜂窝网络模块12发送位置坐标(A，B)到服务器110存储，追踪终端108查询服务器110，获得该位置坐标(A，B)。
此种方式获得的自动移动设备104的位置坐标(A，B)准确，在蜂窝网络覆盖范围内都可以进行网络通讯。
本发明还提出一种防盗保护系统，包括上述实施方式一到实施方式六中所有的技术方案，在此不再赘述。
如图20所示，在一实施例中，自移动设备104的定位方法的应用环境示意图，该应用环境包括无线路由器102、自移动设备104和数据库服务器106。自移动设备104与无线路由器102连接，以进行无线通信。自移动设备104还与数据库服务器106106进行通信连接。
在一实施例中，自移动设备104的内部结构如图21所示。该自移动设备104包括设备本体。设备本体内包括通过系统总线连接的处理器、内存储器、非易失性存储介质、无线模块、电机装置、移动装置和执行装置。其中，电机装置还与移动装置和执行装置连接。该自移动设备104的非易失性存储介质中存储有一种定位装置。该定位装置用于实现自移动设备的定位方法。该自移动设备104的处理器用于提供计算和控制能力，被配置为执行一种定位方法，以对自移动设备进行定位。该自移动设备104的无线模块用于与无线路由器连接，以通过无线路由器与互联网进行网络连接，以实现无线通信功能。自移动设备104中的电机装置用于控制移动装置和执行装置工作。自移动设备104中的移动装置用于实现自移动设备的移动功能，执行装置则用于执行目标操作。自移动设备可以为智能割草机，此时执行装置为割草装置。自移动设备也可以为自移动机器人等能够自动执行目标操作的设备。本领域技术人员可以理解，图21中给出的结构，仅仅是与本申请相关的部分结构的 框图，并不构成对本申请方案所应用于其上的自移动设备的限定，具体的自移动设备可以包括比图中所示更多或者更少的部件，或者组合某些部件，或者具有不同的部件布置。
如图22所示，在一实施例中，提供了一种自移动设备的定位方法，本实施例以该方法应用于上述图20和图21中的自移动设备104来举例说明。该自移动设备的定位方法包括以下步骤：
步骤S302，获取自移动设备接入的无线路由器的物理地址。
在一实施例中，步骤S302需要接收到定位请求后方启动。定位请求可以由用户通过智能终端108(如手机、平板等)上的应用程序发出，也可以由自移动设备104自身发出。例如，自移动设备104可以定期执行定位操作，或者在某一参数如无线路由器的物理地址发生变化时发出该定位请求。
每个无线路由器102均有唯一的物理地址与之对应。因此在自移动设备104与无线路由器102连接后，即可获取到该无线路由器102的物理地址(也即MAC地址)。在一实施例中，自移动设备104需要获得授权才可以获取接入的无线路由器102的物理地址。也即在执行步骤S302之前，需要先获取物理地址读取权限方可执行后续步骤。
步骤S304，根据物理地址生成地理坐标获取请求。
在获取到接入的无线路由器102的物理地址后，根据该物理地址生成地理坐标获取请求。该地理坐标获取请求中携带有该物理地址信息。
步骤S306，将该地理坐标获取请求输出至数据库服务器106。
数据库服务器106106中存储有地理坐标数据库。该地理坐标数据库中包含了各路由器的物理地址和其对应的地理坐标的对应关系。该地理坐标数据库中的对应关系为预先存储在数据库服务器106106中的。物理地址和其对应的地理坐标的对应关系可以由用户手动上传至数据库服务器106106中，也可以由数据库服务器106106根据相关信息进行计算获得。
步骤S308，接收数据库服务器106返回的与该物理地址对应的地理坐标。
数据库服务器106106在接收到该地理坐标获取请求后，会对该请求进行 分析获取其中的物理地址。数据库服务器106106可以根据该物理地址在地理坐标数据库中获取对应的地理坐标，并根据该地理坐标生成应答信息返回至自移动设备104。
步骤S310，将该地理坐标作为自移动设备当前的定位坐标并输出。
自移动设备104接受数据库服务器106106返回的应答信息，该应答信息中包含了地理坐标信息。自移动设备104可以获取到该地理坐标，从而将该地理坐标作为自移动设备104当前的定位坐标并输出。
在一实施例中，自移动设备104可以将该定位坐标通过无线路由器102传输至智能终端104上，以在智能终端104的电子地图上对其定位坐标进行直观显示。
在一实施例中，在步骤S310之后还需要执行步骤S312。
步骤S312，存储该定位坐标和对应的物理地址。
在最终得到定位坐标后，将该定位坐标以及对应的物理地址进行存储。在一实施例中，自移动设备104上设置有对应的存储区域用于存储该定位坐标和对应的物理地址。自移动设备104可以在存储定位坐标和对应的物理地址的同时将历史定位坐标和对应的物理地址进行删除，以节省存储空间。在另一实施例中，自移动设备104也可以在存储定位坐标和对应的物理地址的同时保留历史定位坐标和对应的物理地址，从而方便后续调用查看自移动设备104的运动轨迹，以便更好的了解自移动设备104的工作情况。
上述自移动设备104的定位方法，根据接入的无线路由器102的物理地址获取与之对应的地理坐标，从而将该地理坐标作为自移动设备104的定位坐标，以实现对自移动设备104的定位，防止自移动设备104的丢失。上述定位方法无需在自移动设备104上增加额外的GPS模块等定位设备，有利于降低产品成本。通过上述定位方法，可以知晓自移动设备104所处的位置区域，也即自移动设备104在哪个工作区域或者用户家中，从而方便对自移动设备104进行管理，可以很好起到防丢的效果。
参见图23，还提供了另一实施例中的自移动设备的定位方法，该方法包 括以下步骤：
步骤S402，接收定位请求。
定位请求可以由自移动设备104自动依触发条件进行触发，也可以由智能终端108下发。
步骤S404，获取自移动设备接入的无线路由器的物理地址。
步骤S406，判断本次获取的物理地址相对于存储的物理地址是否发生变化。
在获取到无线路由器102的物理地址之后，自移动设备104会将该物理地址与存储的最新的物理地址进行比较，判断二者是否相同。如果二者相同，则表示自移动设备104接入的无线路由器102并没有发生变化，也即自移动设备104的地理坐标没有发生变化，则执行步骤S416，若发生变化则执行步骤S408。
步骤S408，根据物理地址生成地理坐标获取请求。
步骤S410，将该地理坐标获取请求输出至数据库服务器106。
步骤S412，接收数据库服务器106返回的与该物理地址对应的地理坐标。
步骤S414，将该地理坐标作为自移动设备当前的定位坐标并输出。
步骤S416，判断自移动设备内是否存储有与该物理地址对应的定位坐标。
在确定自移动设备104接入的无线路由器102没有发生变化时，需要进一步判断自移动设备104内是否存储有定位坐标，也即自移动设备104是否执行过定位操作。当判断出自移动设备104内没有存储有定位坐标时，则仍然需要执行定位操作，也即执行步骤S408～步骤S414。当判断出自移动设备104内存储有定位坐标时，则执行步骤S418。
步骤S418，输出存储的定位坐标。
当自移动设备104接入的自移动设备的物理地址没有发生改变且存储有与该物理地址对应的定位坐标时，可以确定自移动设备104已经执行过定位操作，且本次定位请求与前一次定位过程自移动设备104的位置区域并没有发生改变，因此直接输出该定位坐标即可，从而可以避免自移动设备104对 每一次定位请求均执行定位操作，可以大大提高自移动设备104的响应速度并降低其操作复杂度。
上述自移动设备104的定位方法，根据接入的无线路由器102的物理地址获取与之对应的地理坐标，从而将该地理坐标作为自移动设备104的定位坐标，以实现对自移动设备104的定位，防止自移动设备104的丢失。上述定位方法无需在自移动设备104上增加额外的GPS模块等定位设备，有利于降低产品成本。并且，自移动设备104会对定位坐标和对应的物理地址进行存储，从而在同一位置区域下接收到多次定位请求时，直接输出第一次定位操作存储的定位坐标即可，从而可以大大提高自移动设备104的响应速度并降低其操作复杂度。
图24所示，在一实施例中，提供了一种自移动设备104的定位装置。该定位装置包括获取模块502、请求模块504、输出模块506、接收模块508和确定模块510。
获取模块502用于获取自移动设备104接入的无线路由器102的物理地址。在一实施例中，该自移动设备104的接收模块508还用于接收定位请求。获取模块502仅在接收模块508接收到定位请求后才获取自移动设备104接入的无线路由器102的物理地址。定位请求可以由用户通过智能终端108如手机、平板等上的应用程序发出，也可以由自移动设备104自身发出。例如，自移动设备104可以定期执行定位操作，或者在某一参数如无线路由器的物理地址发生变化时发出该定位请求。
每个无线路由器102均有唯一的物理地址与之对应。因此在自移动设备104与无线路由器102连接后，即可获取到该无线路由器102的物理地址(也即MAC地址)。在一实施例中，自移动设备104需要获得授权才可以获取接入的无线路由器102的物理地址。
请求模块504用于根据该物理地址生成地理坐标获取请求。生成的地理坐标获取请求中包含了该物理地址信息。
输出模块506用于将该地理坐标获取请求输出至数据库服务器106。数 据库服务器106106中存储有地理坐标数据库。该地理坐标数据库中包含了各路由器的物理地址和其对应的地理坐标的对应关系。
接收模块508用于接收数据库服务器106106返回的与该物理地址对应的地理坐标。
确定模块510用于将该地理坐标作为自移动设备1042当前的定位坐标并通过输出模块506进行输出。输出模块506可以将该定位坐标通过无线路由器102输出给智能终端108。智能终端108可以在电子地图上对其定位坐标进行直观显示。
在一实施例中，该定位装置还包括存储模块512。存储模块512用于存储定位坐标和与之对应的物理地址。在一实施例中，自移动设备104上设置有对应的存储区域用于存储该定位坐标和对应的物理地址。自移动设备104可以在存储定位坐标和对应的物理地址的同时将历史定位坐标和对应的物理地址进行删除，以节省存储空间。在另一实施例中，自移动设备104也可以在存储定位坐标和对应的物理地址的同时保留历史定位坐标和对应的物理地址，从而方便后续调用查看自移动设备104的运动轨迹，以便更好的了解自移动设备104的工作情况。
上述自移动设备104的定位装置，根据接入的无线路由器102的物理地址获取与之对应的地理坐标，从而将该地理坐标作为自移动设备104的定位坐标，以实现对自移动设备104的定位，防止自移动设备104的丢失。上述定位装置无需在自移动设备104上增加额外的GPS模块等定位设备，有利于降低产品成本。
参见图25，还提供另一实施例中的定位装置，该定位装置在图25所示实施例的基础上还包括判断模块602。
判断模块602用于在获取模块502获取到接入的无线路由器102的物理地址后，判断该物理地址相对于存储的物理地址是否发生变化。请求模块504在判断模块602判断出该物理地址发生变化时，生成地理坐标获取请求，以继续执行后续定位操作。判断模块602还用于在判断出物理地址没有发生变 化时，进一步判断自移动设备104内是否存储有与该物理地址对应的定位坐标，如果有，则控制输出模块506直接输出该定位坐标，如果没有则控制请求模块504生成地理坐标获取请求，以继续执行后续定位操作。
上述自移动设备104的定位装置，根据接入的无线路由器102的物理地址获取与之对应的地理坐标，从而将该地理坐标作为自移动设备104的定位坐标，以实现对自移动设备104的定位，防止自移动设备104的丢失。上述定位装置无需在自移动设备104上增加额外的GPS模块等定位设备，有利于降低产品成本。并且，自移动设备104会对定位坐标和对应的物理地址进行存储，从而在同一位置区域下接收到多次定位请求时，直接输出第一次定位操作存储的定位坐标即可，从而可以大大提高自移动设备104的响应速度并降低其操作复杂度。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)等非易失性存储介质，或随机存储记忆体(Random Access Memory，RAM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请文件范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请文件构思的前提下，还可以做出若干变形和改进，这些都属于本申请文件的保护范围。因此，本申请文件的保护范围应以所附权利要求为准。

Claims (72)

  1. 一种自移动设备的控制方法，所述自移动设备包括通信模块，所述通信模块包括WIFI模块，其特征在于，所述方法包括以下步骤：
    S1：所述自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；
    S2：基于所述MAC地址，获得自移动设备的位置相关信息。
  2. 根据权利要求1所述的自移动设备的控制方法；其特征在于，所述位置相关信息包括地理位置。
  3. 根据权利要求2所述的自移动设备的控制方法；其特征在于，所述步骤S2包括以下步骤：
    S102：发送所述MAC地址的地理位置获取请求；
    S104：接收与所述MAC地址对应的地理位置。
  4. 根据权利要求2所述的自移动设备的控制方法；其特征在于，还包括步骤：
    S106：输出自移动设备当前的地理位置至预定位置，以供用户获取。
  5. 根据权利要求3所述的自移动设备的控制方法，其特征在于，在步骤S1之前包括步骤：
    S100：接收定位请求。
  6. 根据权利要求3所述的自移动设备的控制方法，其特征在于：S102之前以下步骤：S101，在自移动设备上查询所述MAC地址对应的地理位置，若查询成功，转入步骤S106，若查询失败，转入步骤S102。
  7. 根据权利要求3所述的自移动设备的控制方法，其特征在于，还包括以下步骤：S105：将MAC地址及对应的地理位置存储到自移动设备中。
  8. 根据权利要求4所述的自移动设备的控制方法，其特征在于，所述预定位置为外部服务器或用户的终端设备或预定网址。
  9. 根据权利要求8所述的自移动设备的控制方法，其特征在于，所述外部服务器或用户的终端设备或预定网址显示地理位置或显示报警信息。10、根据权利要求9所述的自移动设备的控制方法；其特征在于，所述位置相关信息包括位置变化预警。
  10. 根据权利要求10所述的自移动设备的控制方法，其特征在于， 包括以下步骤：
    S201：判断网关设备的MAC地址是否发生变化，若变化，则发出位置变化预警；
    S202：若收到位置变化预警，则启动第一防盗措施。12、根据权利要求11所述的自移动设备的控制方法，其特征在于，所述第一防盗措施为：锁定所述自移动设备。
  11. 根据权利要求12所述的自移动设备的控制方法，其特征在于，所述锁定所述自移动设备包括锁定自移动设备的驱动模块和/或工作模块。
  12. 根据权利要求11所述的自移动设备的控制方法，其特征在于，所述步骤S202之后，进入步骤：
    S203：进行用户身份认证。
  13. 根据权利要求14所述的自移动设备的控制方法，其特征在于，所述用户身份认证的方法包括：判断自移动设备上接收的用户录入信息是否和预设信息匹配。
  14. 根据权利要求15所述的自移动设备的控制方法，其特征在于，所述预设信息为密码或用户身体特征。
  15. 根据权利要求14所述的自移动设备的控制方法，其特征在于，所述用户身份认证的方法包括：判断自移动设备的当前用户是否为授权用户。
  16. 根据权利要求17所述的自移动设备的控制方法，其特征在于，所述用户身份认证的方法包括以下步骤：
    S2032：输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
  17. 根据权利要求18所述的自移动设备的控制方法，其特征在于，在所述步骤S2032之前包括以下步骤：
    S2031：将自移动设备的WIFI模块与网关设备连接。
  18. 根据权利要求19所述的自移动设备的控制方法，其特征在于，所述将自移动设备的WIFI模块与网关设备连接为：在自移动设备上将自移动设备的WIFI模块与网关设备连接。
  19. 根据权利要求18所述的自移动设备的控制方法，其特征在于，所述输入自移动设备的序列号为在用户的终端设备上输入自移动设备的序列号。
  20. 根据权利要求14所述的自移动设备的控制方法，其特征在于，若通过用户身份认证，则进入步骤：
    S204：解除对自移动设备的锁定。
  21. 根据权利要求14所述的自移动设备的控制方法，其特征在于，若不通过用户身份认证，则进入步骤：
    S205：开启第二防盗措施。
  22. 根据权利要求23所述的自移动设备的控制方法，其特征在于，所述第二防盗措施为上传自移动设备的地理位置至预定位置，以供用户获取。
  23. 根据权利要求24所述的自移动设备的控制方法，其特征在于，所述步骤S203之后，进入步骤：
    S2051：自移动设备上传网关设备的MAC地址对应的地理位置至预定位置，以供用户获取。
  24. 根据权利要求24所述的自移动设备的控制方法，其特征在于，所述步骤S203之后，进入步骤：
    S2052：自移动设备上传自移动设备的GPS模块的地理位置或蜂窝网络模块对应的地理位置至预定位置，以供用户获取。
  25. 根据权利要求24所述的自移动设备的控制方法，其特征在于，所述步骤S203之后，进入步骤：
    S2053：自移动设备控制终端设备上传与自移动设备相配连接的终端设备的地理位置至预定位置，以供用户获取。
  26. 根据权利要求27所述的自移动设备的控制方法，其特征在于，所述与自移动设备相配连接包括在所述终端设备上录入的序列号与自移动设备的序列号一致。
  27. 根据权利要求27所述的自移动设备的控制方法，其特征在于，所述与自移动设备相配连接包括所述终端设备与所述自移动设备与同一个网关设备连接。
  28. 根据权利要求27所述的自移动设备的控制方法，其特征在于，所述与自移动设备相配连接的终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。
  29. 根据权利要求23所述的自移动设备的控制方法，其特征在于，若第二防盗措施失败，开启第一防盗措施。
  30. 根据权利要求24所述的自移动设备的控制方法，其特征在于，所述预定位置为外部服务器或用户的终端设备或预定网址。
  31. 根据权利要求20所述的自移动设备的控制方法，其特征在于，所述外部服务器或用户的终端设备或预定网址显示地理位置或产生报警信息。
  32. 根据权利要求1所述的自移动设备的控制方法，其特征在于，所述自移动设备包括用于检测自移动设备移动速度的速度检测装置，所述方法包括以下步骤：
    S701：判断所述自移动设备的移动速度是否超过一预设值；
    S702：若是，开启第三防盗措施。
  33. 根据权利要求34所述的自移动设备的控制方法，其特征在于，所述第三防盗措施为：锁定自移动设备的驱动模块或切割模块。
  34. 根据权利要求34所述的自移动设备的控制方法，其特征在于，所述第三防盗措施为：控制自移动设备的报警装置产生报警信息。
  35. 根据权利要求34所述的自移动设备的控制方法，其特征在于，所述速度检测装置为加速度传感器。
  36. 一种自移动设备，所述自移动设备包括通信模块和控制模块，所述通信模块包括WIFI模块，其特征在于，所述自移动设备通过WIFI模块扫描网关设备，获取扫描到的网关设备的MAC地址；基于所述MAC地址，所述控制模块获得自移动设备的位置相关信息。
  37. 根据权利要求38所述的自移动设备；其特征在于，所述位置相关信息包括地理位置。
  38. 根据权利要求39所述的自移动设备；其特征在于，所述通信模块发 送所述MAC地址的地理位置获取请求；并接收与所述MAC地址对应的地理位置。
  39. 根据权利要求39所述的自移动设备；其特征在于，所述通信模块输出自移动设备当前的地理位置至预定位置，以供用户获取。
  40. 根据权利要求38所述的自移动设备，其特征在于，所述通信模块接收定位请求。
  41. 根据权利要求40所述的自移动设备，其特征在于，所述控制模块在自移动设备上查询是否有所述MAC地址对应的地理位置，若查询成功，则通信模块输出对应的地理位置至预定位置，以供用户获取；若查询失败，则通信模块发送所述MAC地址的地理位置获取请求。
  42. 根据权利要求40所述的自移动设备，其特征在于，所述自移动设备包括存储模块，所述存储模块将MAC地址及对应的地理位置存储到自移动设备中。
  43. 根据权利要求41所述的自移动设备，其特征在于，所述预定位置为外部服务器或用户的终端设备或预定网址。
  44. 根据权利要求45所述的自移动设备，其特征在于，所述外部服务器或用户的终端设备或预定网址显示地理位置或显示报警信息。
  45. 根据权利要求38所述的自移动设备的自移动设备；其特征在于，所述位置相关信息包括位置变化预警。
  46. 根据权利要求47所述的自移动设备，其特征在于，所述控制模块包括判断模块和预警模块，所述判断模块判断网关设备的MAC地址是否发生变化，若变化，则预警模块发出位置变化预警；若收到位置变化预警，则控制模块启动第一防盗措施。
  47. 根据权利要求48所述的自移动设备，其特征在于，所述第一防盗措施为：锁定所述自移动设备。
  48. 根据权利要求49所述的自移动设备，其特征在于，所述锁定所述自移动设备包括锁定自移动设备的驱动模块和/或工作模块。
  49. 根据权利要求48所述的自移动设备，其特征在于，所述控制模块包括用户身份认证模块，所述用户身份认证模块进行用户身份认 证。
  50. 根据权利要求51所述的自移动设备，其特征在于，所述用户身份认证模块判断自移动设备上接收的用户录入信息是否和预设信息匹配。
  51. 根据权利要求52所述的自移动设备，其特征在于，所述预设信息为密码或用户身体特征。
  52. 根据权利要求51所述的自移动设备，其特征在于，所述用户身份认证模块判断自移动设备的当前用户是否为授权用户。
  53. 根据权利要求54所述的自移动设备，其特征在于，所述判断自移动设备的当前用户是否为授权用户为：输入自移动设备的序列号，判断该序列号是否与其他用户绑定过，若未绑定过，则自移动设备的当前用户为授权用户。
  54. 根据权利要求55所述的自移动设备，其特征在于，将自移动设备的WIFI模块与网关设备连接而将自移动设备接入互联网，判断自移动设备的当前用户是否为授权用户。
  55. 根据权利要求56所述的自移动设备，其特征在于，所述将自移动设备的WIFI模块与网关设备连接为在自移动设备上将自移动设备的WIFI模块与网关设备连接。
  56. 根据权利要求55所述的自移动设备，其特征在于，所述输入自移动设备的序列号为在终端设备上输入自移动设备的序列号。
  57. 根据权利要求51所述的自移动设备，其特征在于，若通过用户身份认证，则解除对自移动设备的锁定。
  58. 根据权利要求51所述的自移动设备，其特征在于，若不通过用户身份认证，-则控制模块开启第二防盗措施。
  59. 根据权利要求60所述的自移动设备，其特征在于，所述第二防盗措施为上传自移动设备的地理位置至预定位置，以供用户获取。
  60. 根据权利要求61所述的自移动设备，其特征在于，所述上传自移动设备的地理位置为：自移动设备上传网关设备的MAC地址对应的地理位置。
  61. 根据权利要求61所述的自移动设备，其特征在于，所述上传自移 动设备的地理位置为：自移动设备上传自移动设备的GPS模块的地理位置或蜂窝网络模块对应的地理位置。
  62. 根据权利要求61所述的自移动设备，其特征在于，所述上传自移动设备的地理位置为：自移动设备控制终端设备上传与自移动设备相配连接的终端设备的地理位置。
  63. 根据权利要求64所述的自移动设备，其特征在于，所述与自移动设备相配连接包括在所述终端设备上录入的序列号与自移动设备的序列号一致。
  64. 根据权利要求64所述的自移动设备，其特征在于，所述与自移动设备相配连接包括在所述终端设备与所述自移动设备与同一个网关设备连接。
  65. 根据权利要求65所述的自移动设备，其特征在于，所述与自移动设备相配连接的终端设备的地理位置包括终端设备的IP地址对应的地理位置或GPS模块的地理位置或蜂窝网络模块对应的地理位置或MAC地址对应的地理位置。
  66. 根据权利要求60所述的自移动设备，其特征在于，若第二防盗措施失败，控制模块开启第一防盗措施。
  67. 根据权利要求61所述的自移动设备，其特征在于，所述预定位置为外部服务器或用户的终端设备或预定网址。
  68. 根据权利要求57所述的自移动设备，其特征在于，所述外部服务器或用户的终端设备或预定网址显示地理位置或产生报警信息。
  69. 根据权利要求38所述的自移动设备，其特征在于，所述自移动设备包括控制模块和速度检测装置，所述控制模块包括判断模块，所述速度检测装置用于检测自移动设备移动速度，
    所述判断模块判断所述自移动设备的移动速度是否超过一预设值；
    若是，控制模块开启第三防盗措施。
  70. 根据权利要求71所述的自移动设备，其特征在于，所述第三防盗措施为：锁定自移动设备的驱动模块或切割模块。
  71. 根据权利要求71所述的自移动设备，其特征在于，所述第三防盗措施为：控制自移动设备的报警装置产生报警信息。
  72. 根据权利要求71所述的自移动设备，其特征在于，所述速度检测装置为加速度传感器。
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