Unlocking control method of unmanned vehicle and electronic device

Abstract

The application relates to the technical field of unmanned vehicles and discloses an unlocking control method of an unmanned vehicle and an electronic device. The unlocking control method of the unmanned vehicle is applied to the unmanned vehicle, and the unlocking control method of the unmanned vehicle comprises the following steps: the unmanned vehicle is in a locked hibernation state, a prompt information is sent to a remote control device in response to a first pushing operation of a user on the unmanned vehicle and when the shaking degree of the unmanned vehicle is greater than a preset shaking degree; and the unmanned vehicle is unlocked to switch from the hibernation state to a working state after receiving the unlocking information sent by the remote control device. Through the first pushing operation of the user on the unmanned vehicle in the locked hibernation state, the prompt information is sent to the remote control device when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and the unmanned vehicle is unlocked after the remote control device determines that the unmanned vehicle meets the unlocking condition, the application can locally realize the purposeful unlocking of the unmanned vehicle suitable for performing a task.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of unmanned vehicles, in particular to an unlocking control method of an unmanned vehicle and an electronic device. BACKGROUND

[0002] An unmanned vehicle is a vehicle capable of perceiving surrounding environment and navigation without human intervention, which can be used to perform tasks such as delivery, guidance and cleaning. For example, the unmanned vehicle can perform a cleaning task outdoors to clean areas such as a park and a public road.

[0003] At present, in the case that multiple unmanned vehicles capable of performing the same task exist outdoors, a user needs to select one unmanned vehicle from multiple unmanned vehicles locally and unlock the unmanned vehicle to perform a task. However, the user cannot determine whether the selected and unlocked unmanned vehicle meets the condition of performing the task, and cannot locally and specifically unlock the unmanned vehicle suitable for performing the task. SUMMARY

[0004] To solve the above technical problem, the embodiment of the present application provides an unlocking control method of an unmanned vehicle and an electronic device to locally and specifically unlock the unmanned vehicle suitable for performing a task.

[0005] The embodiment of the present application provides the following technical solutions:

[0006] In a first aspect, the embodiment of the present application provides an unlocking control method of an unmanned vehicle applied to the unmanned vehicle, and the unlocking control method of the unmanned vehicle comprises the following steps.

[0007] The unmanned vehicle is in a locked sleep state, and in response to a first push operation of a user on the unmanned vehicle, when a shaking degree of the unmanned vehicle is greater than a preset shaking degree, a prompt information is sent to a remote control device, wherein after the remote control device determines that the unmanned vehicle meets an unlocking condition according to the prompt information, the remote control device sends an unlocking information to the unmanned vehicle.

[0008] After receiving the unlocking information sent by the remote control device, the unmanned vehicle is unlocked to switch from the sleep state to a working state.

[0009] In some embodiments, the unmanned vehicle is provided with an inertial sensor.

[0010] The step that the unmanned vehicle is in a locked sleep state, in response to a first push operation of a user on the unmanned vehicle, and when a shaking degree of the unmanned vehicle is greater than a preset shaking degree, a prompt information is sent to a remote control device, comprises the following steps.

[0011] The unmanned vehicle is in a locked sleep state, and whether a first push operation of a user on the unmanned vehicle exists is detected based on an inertial sensor.

[0012] When the first pushing operation of the user on the unmanned vehicle is detected, and the pitch angle and / or roll angle of the unmanned vehicle obtained is greater than the preset angle value, it is determined that the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and prompt information is sent to the remote control device.

[0013] In some embodiments, the step of sending prompt information to the remote control device comprises:

[0014] initiating a top dialog box to the display interface of the remote control device for the administrator to send unlocking information to the unmanned vehicle based on the dialog box after determining permission according to the prompt information, wherein the prompt information is displayed in the dialog box; or,

[0015] sending prompt information to the remote control device, so that the management system sends unlocking information to the unmanned vehicle after determining permission according to the prompt information.

[0016] In some embodiments, the unmanned vehicle is a wheeled unmanned vehicle;

[0017] When the unmanned vehicle is in a locked sleep state, the wheels of the unmanned vehicle are locked;

[0018] When the unmanned vehicle is in an unlocked working state, the wheels of the unmanned vehicle are unlocked and released.

[0019] In some embodiments, the unmanned vehicle is a cleaning unmanned vehicle, the unmanned vehicle is provided with a clean water tank, a sewage tank and cleaning tools, and the prompt information carries an identity of the unmanned vehicle;

[0020] After the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle, and the step comprises:

[0021] The remote control device obtains state information of the corresponding unmanned vehicle according to the identity in the prompt information, wherein the state information includes the battery capacity, the clean water amount of the clean water tank, the sewage amount of the sewage tank and the wear degree of the cleaning tools;

[0022] When the battery capacity of the unmanned vehicle is greater than a preset battery capacity, the clean water amount of the clean water tank is greater than a preset clean water amount, the sewage amount of the sewage tank is less than a preset sewage amount, and the wear degree of the cleaning tools is less than a preset wear degree, it is determined that the unmanned vehicle meets the unlocking condition, and the remote control device sends unlocking information to the unmanned vehicle.

[0023] In some embodiments, the method further comprises:

[0024] When it is determined that the unmanned vehicle does not meet the unlocking condition, the factor that does not meet the unlocking condition is obtained from the state information of the unmanned vehicle, and is displayed on the display interface of the unmanned vehicle.

[0025] In some embodiments, after the step of unlocking the unmanned vehicle to switch from the dormant state to the working state, the method further comprises:

[0026] In response to the selection operation of the user on the display interface of the unmanned vehicle, the cleaning demand of the user is determined, and the cleaning demand includes one or more of a cleaning area, a cleaning mode, a cleaning time period, and a parking position after cleaning;

[0027] The unmanned vehicle is controlled to perform a cleaning action according to the cleaning demand.

[0028] In some embodiments, after the step of unlocking the unmanned vehicle to switch from the dormant state to the working state, the method further comprises:

[0029] In response to the second push operation of the user on the unmanned vehicle;

[0030] The user's intention of the second push operation is determined according to the pushing directions of the first push operation and the second push operation, and the unmanned vehicle is controlled to operate according to the user's intention.

[0031] In some embodiments, the step of determining the user's intention of the second push operation according to the pushing directions of the first push operation and the second push operation, and controlling the unmanned vehicle to operate according to the user's intention, comprises:

[0032] When the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the first angle interval, it is determined that the user's intention of the second push operation is to pause the execution of the current task, and the unmanned vehicle is controlled to pause the execution of the current task;

[0033] When the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the second angle interval, it is determined that the user's intention of the second push operation is to cancel the execution of the current task, and the unmanned vehicle is controlled to cancel the execution of the current task;

[0034] When the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the third angle interval, it is determined that the user's intention of the second push operation is to control the unmanned vehicle to enter the dormant state, and the unmanned vehicle is controlled to be locked and enter the dormant state.

[0035] In a second aspect, the embodiments of the present application provide an unlocking control device of an unmanned vehicle, comprising:

[0036] The sending unit is configured to, when the unmanned vehicle is in a locked dormant state, in response to a first push operation of the user on the unmanned vehicle, and when the shaking degree of the unmanned vehicle is greater than a preset shaking degree, send a prompt information to a remote control device, wherein after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends an unlocking information to the unmanned vehicle.

[0037] The unlocking unit is configured to, after receiving the unlocking information sent by the remote control device, unlock the unmanned vehicle to switch from the sleep state to the working state.

[0038] In a third aspect, an electronic device is provided, which comprises a memory, a processor, and an unlocking control program stored in the memory and executable on the processor. When the unlocking control program is executed by the processor, the steps of the unlocking control method of the unmanned vehicle according to the first aspect are implemented.

[0039] In a fourth aspect, a non-volatile computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the unlocking control method of the unmanned vehicle according to the first aspect is implemented.

[0040] The beneficial effects of the embodiments of the present application are as follows: Different from the prior art, the embodiments of the present application provide an unlocking control method of an unmanned vehicle, which is applied to the unmanned vehicle. The unlocking control method of the unmanned vehicle comprises: the unmanned vehicle is in a locked sleep state; in response to a first pushing operation of a user on the unmanned vehicle, and when the shaking degree of the unmanned vehicle is greater than a preset shaking degree, sending prompt information to a remote control device; after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle; and after receiving the unlocking information sent by the remote control device, unlocking the unmanned vehicle to switch from the sleep state to the working state. By responding to the first pushing operation of the user on the unmanned vehicle in the locked sleep state, sending the prompt information to the remote control device when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and unlocking the unmanned vehicle after the remote control device determines that the unmanned vehicle meets the unlocking condition, the present application can locally unlock the unmanned vehicle suitable for performing tasks. BRIEF DESCRIPTION OF DRAWINGS

[0041] One or more embodiments are illustrated by way of example in the accompanying drawings, which are not intended to be limiting of the embodiments, and in which like references numbers refer to like elements, unless otherwise specified. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the embodiments.

[0042] FIG. 1 is a schematic diagram of an application environment provided by the embodiments of the present application;

[0043] FIG. 2 is a flowchart of an unlocking control method of an unmanned vehicle provided by the embodiments of the present application;

[0044] FIG. 3 is a schematic diagram of a first angle interval, a second angle interval, and a third angle interval provided by the embodiments of the present application;

[0045] FIG. 4 is a structural schematic diagram of an unlocking control device of an unmanned vehicle provided by an embodiment of the present application.

[0046] FIG. 5 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0047] BRIEF DESCRIPTION OF DRAWINGS

[0048] Reference Signs Names Reference Signs Names 100 Application Environment 402 Unlocking Unit 10 Unmanned Vehicle 500 Electronic Device 20 Remote Control Device 501 Processor 400 Unlocking Control Apparatus of Unmanned Vehicle 502 Memory 401 Transmitting Unit DETAILED DESCRIPTION

[0049] In order to facilitate the understanding of the present application, the present application will be described in more detail below in combination with the drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the present specification are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used in the present specification have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the present specification are only for the purpose of describing specific embodiments of the present application and are not intended to limit the present application. The term "and / or" used in the present specification includes any and all combinations of one or more related listed items.

[0051] The technical solutions of the present application will be described in detail below in combination with the drawings of the specification:

[0052] Please refer to FIG. 1 , FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application.

[0053] As FIG. 1 shown, the application environment 100 includes an unmanned vehicle 10 and a remote control device 20, wherein the number of unmanned vehicles 10 can be multiple, and each unmanned vehicle 10 is connected to the remote control device 20 through a network communication, wherein the network includes a wired network and / or a wireless network. It can be understood that the network includes 2G, 3G, 4G, 5G, wireless local area network, Bluetooth, etc. wireless network, and can also include serial line, network cable, etc. wired network.

[0054] In the embodiments of the present application, the unmanned vehicle 10 includes a mobile service unmanned vehicle, for example, a cleaning unmanned vehicle, a delivery unmanned vehicle, a welcome unmanned vehicle, and the like. The cleaning unmanned vehicle includes, but is not limited to, an unmanned floor sweeping vehicle. The unmanned vehicle 10 can be used to provide services in outdoor scenes such as parks, communities, and public roads. Each unmanned vehicle 10 can be used to execute the unlocking control method of the unmanned vehicle in any method embodiment described below.

[0055] Exemplarily, the unmanned vehicle is configured with components including, but not limited to, wheels and an inertial sensor. The wheels include a left drive wheel, a right drive wheel, and an omnidirectional wheel. When the unmanned vehicle is in a locked dormant state, the wheels of the unmanned vehicle are locked. When the unmanned vehicle is in an unlocked working state, the wheels of the unmanned vehicle are unlocked and released. The inertial sensor is used to detect the shaking degree of the unmanned vehicle.

[0056] In the embodiments of the present application, the remote control device 20 is used to receive prompt information sent by a user-selected unmanned vehicle 10, and determine whether the unmanned vehicle 10 meets the unlocking condition according to the prompt information, so as to send unlocking information to the unmanned vehicle 10 after determining that the unmanned vehicle 10 meets the unlocking condition. The remote control device 20 includes a terminal or a cloud server. The terminal includes, but is not limited to, a cloud terminal, a computer device, or other electronic devices with video playing and online functions. The number of cloud servers can be multiple, and multiple cloud servers can constitute a cloud computing service center.

[0057] Please refer to FIG. 2 , FIG. 2 is a flowchart of an unlocking control method of an unmanned vehicle provided in the embodiments of the present application.

[0058] In the first aspect, the embodiments of the present application provide an unlocking control method of an unmanned vehicle. The unlocking control method of the unmanned vehicle is applied to an electronic device, for example, an unmanned vehicle or a robot. Specifically, the execution subject of the unlocking control method of the unmanned vehicle is one or at least two processors of the unmanned vehicle.

[0059] In the embodiments of the present application, the unmanned vehicle is in communication connection with a remote control device. The remote control device includes a terminal or a cloud server. The unmanned vehicle is configured with an inertial sensor (IMU). The inertial sensor is used to detect the shaking degree of the unmanned vehicle.

[0060] In the case that there are multiple unmanned vehicles available for performing the same task in the outdoor environment, each unmanned vehicle is in communication connection with a remote control device, and each unmanned vehicle is in a locked sleep state. At this time, a user needs to select one unmanned vehicle from the multiple unmanned vehicles present locally, and perform a first push operation on the unmanned vehicle to unlock the unmanned vehicle. Correspondingly, each unmanned vehicle can execute the unlocking control method of the unmanned vehicle in any one of the following method embodiments in response to the first push operation of the user on the unmanned vehicle when the unmanned vehicle is in the locked sleep state, so as to unlock the unmanned vehicle. The first push operation is a push action of the user on the unmanned vehicle at an arbitrary angle when the unmanned vehicle is in the locked sleep state.

[0061] As shown in FIG. 2 the unlocking control method of the unmanned vehicle includes steps S201-S202:

[0062] Step S201: When the unmanned vehicle is in the locked sleep state, the unmanned vehicle sends prompt information to the remote control device in response to the first push operation of the user on the unmanned vehicle, and after obtaining that the shaking degree of the unmanned vehicle is greater than a preset shaking degree.

[0063] Specifically, when the unmanned vehicle is in the locked sleep state, the unmanned vehicle detects the shaking degree based on an inertial sensor in response to the first push operation of the user on the unmanned vehicle, and sends prompt information to the remote control device after obtaining that the shaking degree of the unmanned vehicle is greater than a preset shaking degree, wherein the prompt information carries an identity of the unmanned vehicle.

[0064] In the embodiments of the present application, when the unmanned vehicle is in the locked sleep state, the unmanned vehicle sends prompt information to the remote control device in response to the first push operation of the user on the unmanned vehicle, and after obtaining that the shaking degree of the unmanned vehicle is greater than a preset shaking degree.

[0065] When the unmanned vehicle is in the locked sleep state, the unmanned vehicle detects whether there is a first push operation of the user on the unmanned vehicle based on an inertial sensor; when it is detected that there is a first push operation of the user on the unmanned vehicle, and the obtained pitch angle and / or roll angle of the unmanned vehicle is greater than a preset angle value, it is determined that the shaking degree of the unmanned vehicle is greater than a preset shaking degree, and prompt information is sent to the remote control device.

[0066] Specifically, when the unmanned vehicle is in the locked sleep state, the unmanned vehicle detects whether the unmanned vehicle has a shaking action through the inertial sensor. If it is detected that the unmanned vehicle does not have a shaking action, the unmanned vehicle determines that there is no first pushing operation of the unmanned vehicle by the user, and the unmanned vehicle continues to keep the locked sleep state. If it is detected that the unmanned vehicle has a shaking action, the unmanned vehicle determines that there is a first pushing operation of the unmanned vehicle by the user, and judges whether the pitch angle and / or the roll angle of the unmanned vehicle obtained based on the inertial sensor is greater than a preset angle value. The preset angle value includes a preset pitch angle value and a preset roll angle value, which can be set by a person skilled in the art according to actual conditions, and is not limited in the embodiment of the present application.

[0067] It can be understood that in the present application, the forward direction of the unmanned vehicle is the X axis, the left side direction of the unmanned vehicle is the Y axis, the direction perpendicular to the plane XY and vertically upward is the Z axis, wherein the direction angle of rotation around the X axis is the roll angle, the direction angle of rotation around the Y axis is the pitch angle, and the direction angle of rotation around the Z axis is the yaw angle. The change of the pitch angle and / or the roll angle of the unmanned vehicle under the first pushing operation can be determined based on the existing angle inclination change measurement technology, which is not limited in the present application.

[0068] For example, in the case that there are multiple unmanned vehicles that can be used to perform the same task outdoors, each unmanned vehicle is in communication connection with a remote control device, and each unmanned vehicle is in a sleep state with the wheels being locked. The user selects one of the unmanned vehicles and performs a pushing action on the unmanned vehicle. Correspondingly, the unmanned vehicle in the locked sleep state shakes due to the pushing action. After the unmanned vehicle detects that the unmanned vehicle has a shaking action through the inertial sensor, it is determined that there is a first pushing operation of the unmanned vehicle by the user, and it is judged whether the pitch angle and / or the roll angle of the unmanned vehicle obtained based on the inertial sensor is greater than a preset angle value.

[0069] If the pitch angle of the unmanned vehicle is less than or equal to the preset pitch angle value, and the roll angle of the unmanned vehicle is less than or equal to the preset roll angle value, the unmanned vehicle determines that the shaking degree of the unmanned vehicle is less than or equal to the preset shaking degree. At this time, it may be that the user accidentally touches the unmanned vehicle, and the unmanned vehicle continues to keep the locked sleep state.

[0070] If the pitch angle of the unmanned vehicle is greater than the preset pitch angle value, or the roll angle of the unmanned vehicle is greater than the preset roll angle value, the unmanned vehicle determines that the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and sends prompt information to the remote control device, so that the remote control device determines whether the unmanned vehicle meets the unlocking condition according to the prompt information, so that the remote control device sends unlocking information to the unmanned vehicle after determining that the unmanned vehicle meets the unlocking condition according to the prompt information. Wherein, the preset shaking degree is the shaking degree of the unmanned vehicle when the pitch angle of the unmanned vehicle is the preset pitch angle value and / or the roll angle of the unmanned vehicle is the preset roll angle value, and the preset shaking degree can be set by those skilled in the art according to actual conditions, which is not limited in the embodiment of the present application.

[0071] In the embodiment of the present application, the step of sending prompt information to the remote control device comprises:

[0072] The top dialog box is initiated to the display interface of the remote control device, so that the administrator sends the unlocking information to the unmanned vehicle based on the dialog box after determining the permission according to the prompt information; or, the prompt information is sent to the remote control device, so that the management system sends the unlocking information to the unmanned vehicle after determining the permission according to the prompt information.

[0073] Specifically, the unlocking information is used to unlock the unmanned vehicle to control the unmanned vehicle to switch from the hibernation state to the working state. When the unmanned vehicle determines that the shaking degree thereof is greater than the preset shaking degree, the prompt information is sent to the remote control device to trigger the display interface of the remote control device to generate the top dialog box, and the prompt information is displayed in the dialog box, so that the administrator determines whether to unlock the unmanned vehicle according to the prompt information.

[0074] In some embodiments, after the dialog box is displayed on the display interface of the remote control device, the administrator can determine whether the unmanned vehicle meets the unlocking condition according to the prompt information displayed in the dialog box, and control the remote control device to send the unlocking information to the unmanned vehicle in the form of the dialog box after determining that the unmanned vehicle meets the unlocking condition, or control the remote control device to obtain the factors that do not meet the unlocking condition in the state information of the unmanned vehicle and send them to the unmanned vehicle after determining that the unmanned vehicle does not meet the unlocking condition.

[0075] In some embodiments, the remote control device is configured with a management system, for example, the management system is an intelligent AI program, the management system is configured to determine whether to permit unlocking the unmanned vehicle according to the prompt information, and send unlocking information to the unmanned vehicle after determining to permit unlocking the unmanned vehicle. After the unmanned vehicle sends the prompt information to the remote control device, the management system configured in the remote control device can determine whether the unmanned vehicle meets the unlocking condition according to the prompt information, and control the remote control device to send unlocking information to the unmanned vehicle after determining that the unmanned vehicle meets the unlocking condition, or control the remote control device to obtain the factors that do not meet the unlocking condition from the state information of the unmanned vehicle and send them to the unmanned vehicle after determining that the unmanned vehicle does not meet the unlocking condition.

[0076] In some embodiments, the unmanned vehicle is a wheeled unmanned vehicle. When the unmanned vehicle is in a locked sleep state, the wheels of the unmanned vehicle are locked; when the unmanned vehicle is in an unlocked working state, the wheels of the unmanned vehicle are unlocked and released.

[0077] In some embodiments, the unmanned vehicle is a cleaning unmanned vehicle, for example, the unmanned vehicle is an unmanned sweeper, and the unmanned vehicle is configured with a clean water tank, a sewage tank and cleaning tools. After the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle, including:

[0078] The remote control device obtains the state information of the corresponding unmanned vehicle according to the identity in the prompt information; when the battery power of the unmanned vehicle is greater than a preset battery power, the clean water amount of the clean water tank is greater than a preset clean water amount, the sewage amount of the sewage tank is less than a preset sewage amount, and the wear degree of the cleaning tools is less than a preset wear degree, it is determined that the unmanned vehicle meets the unlocking condition, and the remote control device sends unlocking information to the unmanned vehicle.

[0079] Specifically, the state information includes the battery power, the clean water amount of the clean water tank, the sewage amount of the sewage tank and the wear degree of the cleaning tools, and each unmanned vehicle corresponds to an identity. After the remote control device receives the prompt information sent by a certain unmanned vehicle, the remote control device obtains the state information of the corresponding unmanned vehicle according to the identity in the prompt information, and the management personnel or the management system judges whether the unmanned vehicle meets the unlocking condition according to the state information of the unmanned vehicle.

[0080] If the battery power of the unmanned vehicle is greater than a preset battery power, the clean water amount of the clean water tank is greater than a preset clean water amount, the sewage amount of the sewage tank is less than a preset sewage amount, and the wear degree of the cleaning tools is less than a preset wear degree, the remote control device determines that the unmanned vehicle meets the unlocking condition, and sends unlocking information to the unmanned vehicle. The preset battery power, the preset clean water amount, the preset sewage amount and the preset wear degree can be set by those skilled in the art according to the actual situation, which is not limited in the embodiments of the present application.

[0081] If the battery level of the unmanned vehicle is less than or equal to the preset battery level, or the clean water level of the clean water tank is less than or equal to the preset clean water level, or the sewage level of the sewage tank is greater than or equal to the preset sewage level, or the wear degree of the cleaning tool is greater than or equal to the preset wear degree, the remote control device determines that the unmanned vehicle does not meet the unlocking condition, obtains the factor that does not meet the unlocking condition in the state information of the unmanned vehicle, and sends it to the unmanned vehicle.

[0082] In some embodiments, if the factor that the unmanned vehicle does not meet the unlocking condition is the battery level, the remote control device can be used to send a charging instruction to the unmanned vehicle, and the unmanned vehicle navigates to a charging point for charging after receiving the charging instruction, wherein the charging instruction is used to instruct the unmanned vehicle to navigate to the charging point for charging; if the factor that the unmanned vehicle does not meet the unlocking condition is the clean water level of the clean water tank, the sewage level of the sewage tank, or the wear degree of the cleaning tool, the factor that does not meet the unlocking condition is displayed on the display interface of the remote control device to prompt the administrator to supplement clean water in the clean water tank, discharge sewage in the sewage tank, or replace the cleaning tool. Or, send a replenishment instruction to the unmanned vehicle to automatically locate and navigate to a supply station to supplement clean water in the clean water tank, discharge sewage in the sewage tank, or replace the cleaning tool.

[0083] In some embodiments, the unlocking control method of the unmanned vehicle further comprises:

[0084] When it is determined that the unmanned vehicle does not meet the unlocking condition, the factor that does not meet the unlocking condition is obtained in the state information of the unmanned vehicle, and is displayed on the display interface of the unmanned vehicle.

[0085] Specifically, when the remote control device determines that the unmanned vehicle does not meet the unlocking condition, the unmanned vehicle obtains the factor that does not meet the unlocking condition in the state information of the unmanned vehicle sent by the remote control device, and displays it on the display interface of the unmanned vehicle to prompt the user to select another unmanned vehicle for unlocking.

[0086] For example, because the battery level of the unmanned vehicle is less than the preset battery level, the remote control device determines that the unmanned vehicle does not meet the unlocking condition, and when the factor that does not meet the unlocking condition is the battery level, the unmanned vehicle receives the factor that does not meet the unlocking condition sent by the remote control device, and displays the factor that does not meet the unlocking condition as the battery level on the display interface.

[0087] After displaying the factor that the certain unmanned vehicle does not meet the unlocking condition on the display interface of the certain unmanned vehicle, the user can select another unmanned vehicle for performing the same task from the other unmanned vehicles, and perform a first push operation to unlock the unmanned vehicle.

[0088] In the embodiment of the present application, by responding to the first pushing operation of the user on the unmanned vehicle when the unmanned vehicle is in the locked dormant state, and sending prompt information to the remote control device when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, the remote control device determines whether the unmanned vehicle meets the unlocking condition, the local user is isolated from the remote manager or management system, the user only needs to select the unmanned vehicle, and then the remote control device determines whether the unmanned vehicle is suitable for performing the task, so as to determine whether to unlock the unmanned vehicle, thereby realizing targeted unlocking of the unmanned vehicle suitable for performing the task, and through this wake-on-demand operation mode, the success rate of completing the task of the unmanned vehicle can be improved.

[0089] Step S202: After receiving the unlocking information sent by the remote control device, the unmanned vehicle is unlocked to switch from the dormant state to the working state.

[0090] Specifically, the processor in the dormant state in the unmanned vehicle controls each functional module of the unmanned vehicle to start up after receiving the unlocking information sent by the remote control device, thereby unlocking the unmanned vehicle, controlling the unmanned vehicle to switch from the dormant state to the working state, and entering the working state. The unmanned vehicle in the working state can provide services for the user. The functional modules include but are not limited to a positioning navigation module, a communication module, etc., the positioning navigation module includes but is not limited to a positioning system, a radar, etc., and the communication module includes but is not limited to a WIFI module, a ZigBee module, an NB_IoT module, a 4G module, a 5G module, a Bluetooth module, etc.

[0091] In some embodiments, after the step of unlocking the unmanned vehicle to switch from the dormant state to the working state, the method further includes:

[0092] In response to the selection operation of the user on the display interface of the unmanned vehicle, the cleaning demand of the user is determined; and the unmanned vehicle is controlled to perform a cleaning action according to the cleaning demand.

[0093] Specifically, the unmanned vehicle is a cleaning unmanned vehicle, for example, an unmanned floor sweeping vehicle, which can clean outdoor areas such as parks, public roads, and communities, and the cleaning demand includes one or more of a cleaning area, a cleaning method, a cleaning time period, and a parking position after cleaning, wherein the cleaning method includes a water washing, cleaning, or disinfection method. In response to the selection operation of the user on the display interface of the unmanned vehicle on one or more of the cleaning area, the cleaning method, the cleaning time period, and the parking position after cleaning, the cleaning demand of the user is determined, and the unmanned vehicle is controlled to perform a cleaning action according to the cleaning demand to clean the cleaning area selected by the user.

[0094] The unmanned vehicle is switched from the sleep state to the working state after receiving the unlocking information sent by the remote control device, and performs a cleaning action according to the cleaning demand of the user. In the present application, the user only needs to select the unmanned vehicle and input the cleaning demand, and the unmanned vehicle can automatically complete the cleaning task, thereby improving the use efficiency of the unmanned vehicle.

[0095] In some embodiments, after the step of unlocking the unmanned vehicle to switch from the sleep state to the working state, the method further comprises:

[0096] In response to the second push operation of the user on the unmanned vehicle; determining the user intention of the second push operation according to the pushing directions of the first push operation and the second push operation, and controlling the unmanned vehicle to run according to the user intention.

[0097] Specifically, when the unmanned vehicle is in the working state, for example, during the execution of the cleaning task, the unmanned vehicle responds to the second push operation of the user on the unmanned vehicle, determines the pushing directions of the first push operation and the second push operation based on the inertial sensor, and determines the user intention of the second push operation according to the pushing directions of the first push operation and the second push operation, thereby controlling the unmanned vehicle to run according to the user intention.

[0098] It can be understood that the pushing directions of the first push operation and the second push operation are determined according to the change of the inclination angle of the unmanned vehicle.

[0099] The second push operation is a push action of the user on the unmanned vehicle at any angle when the unmanned vehicle is in the working state. The steps of determining the user intention of the second push operation according to the pushing directions of the first push operation and the second push operation, and controlling the unmanned vehicle to run according to the user intention, include:

[0100] When the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the first angle interval, it is determined that the user intention of the second push operation is to pause the execution of the current task, and the unmanned vehicle is controlled to pause the execution of the current task; when the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the second angle interval, it is determined that the user intention of the second push operation is to cancel the execution of the current task, and the unmanned vehicle is controlled to cancel the execution of the current task; when the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the third angle interval, it is determined that the user intention of the second push operation is to control the unmanned vehicle to enter the sleep state, and the unmanned vehicle is controlled to be locked and enter the sleep state.

[0101] Specifically, if the inertial sensor detects that the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the first angle interval, that is, the pushing direction of the first push operation and the pushing direction of the second push operation are approximately the same, the unmanned vehicle determines that the user's intention of the second push operation is to pause the execution of the current task, and the unmanned vehicle pauses the execution of the current task. Wherein, the first angle interval can be set by those skilled in the art according to the actual situation, and optionally, the first angle interval is [0°, 15°].

[0102] If the inertial sensor detects that the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the second angle interval, that is, the pushing direction of the second push operation is on the side of the pushing direction of the first push operation, the unmanned vehicle determines that the user's intention of the second push operation is to cancel the execution of the current task, and the unmanned vehicle cancels the execution of the current task. Wherein, the second angle interval can be set by those skilled in the art according to the actual situation, and optionally, the second angle interval is (15°, 120°].

[0103] If the inertial sensor detects that the angle between the pushing direction of the first push operation and the pushing direction of the second push operation is in the third angle interval, that is, the pushing direction of the second push operation is in the approximately opposite direction of the pushing direction of the first push operation, the unmanned vehicle determines that the user's intention of the second push operation is to control the unmanned vehicle to enter the hibernation state, lock the wheels, and enter the hibernation state. Or, after the unmanned vehicle determines that the user's intention of the second push operation is to control the unmanned vehicle to enter the hibernation state, the unmanned vehicle sends a control signal to the remote control device to make the remote control device send locking information to the unmanned vehicle according to the control signal, so that the unmanned vehicle locks the wheels and enters the hibernation state after receiving the locking information. Wherein, the third angle interval can be set by those skilled in the art according to the actual situation, and optionally, the third angle interval is (120°, 240°], the control signal is used to instruct the remote control device to send the locking information to the unmanned vehicle, and the locking information is used to instruct the unmanned vehicle to lock the wheels and enter the hibernation state.

[0104] Please refer to FIG. 3 , FIG. 3 is a schematic diagram of the first angle interval, the second angle interval and the third angle interval provided by the embodiment of the application.

[0105] FIG. 3 is a schematic diagram of the first angle interval, the second angle interval and the third angle interval determined under the plane polar coordinate system with the pushing direction of the first push operation as the polar axis. Wherein, the pushing direction of the first push operation is 21, the pushing direction of the second push operation is 22, the first angle interval is A, the second angle interval is B, and the third angle interval is C.

[0106] When the pushing direction 22 of the second pushing operation is substantially the same as the pushing direction 21 of the first pushing operation, the angle between the pushing direction 21 of the first pushing operation and the pushing direction 22 of the second pushing operation is in the first angle interval A; when the pushing direction 22 of the second pushing operation is on the side of the pushing direction 21 of the first pushing operation, the angle between the pushing direction 21 of the first pushing operation and the pushing direction 22 of the second pushing operation is in the second angle interval B; and when the pushing direction 22 of the second pushing operation is in the substantially opposite direction of the pushing direction 21 of the first pushing operation, the angle between the pushing direction 21 of the first pushing operation and the pushing direction 22 of the second pushing operation is in the third angle interval C.

[0107] Optionally, the value of the first angle interval is less than the value of the second angle interval, and the value of the second angle interval is less than the value of the third angle interval. For example, in the first angle interval [0°, 15°], the second angle interval (15°, 120°], and the third angle interval (120°, 240°]. FIG. 3

[0108] By responding to the second pushing operation of the user on the unmanned vehicle, determining the user's intention of the second pushing operation according to the pushing directions of the first pushing operation and the second pushing operation, and controlling the unmanned vehicle to run according to the user's intention, the present application can control the unmanned vehicle to run according to different pushing actions of the user on the unmanned vehicle, simplify the operation mode of the unmanned vehicle, and improve the flexibility of the unmanned vehicle in executing tasks.

[0109] In the embodiment of the present application, by providing an unlocking control method of an unmanned vehicle, the unlocking control method of the unmanned vehicle is applied to the unmanned vehicle, and the unlocking control method of the unmanned vehicle comprises: the unmanned vehicle is in a locked sleep state, in response to the first pushing operation of the user on the unmanned vehicle, and when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, sending prompt information to the remote control device, wherein after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle; after receiving the unlocking information sent by the remote control device, unlocking the unmanned vehicle to switch from the sleep state to the working state.

[0110] By responding to the first pushing operation of the user on the unmanned vehicle in the locked sleep state, sending prompt information to the remote control device when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and unlocking the unmanned vehicle after the remote control device determines that the unmanned vehicle meets the unlocking condition, the present application can locally realize the purpose of unlocking the unmanned vehicle suitable for executing tasks.

[0111] Please refer to FIG. 4 , FIG. 4 is a structural schematic diagram of an unlocking control device of an unmanned vehicle provided by the embodiment of the present application.

[0112] ​In a second aspect, the embodiments of the present application provide an unlocking control device of an unmanned vehicle, which is applied to an electronic device, for example, an unmanned vehicle or a robot. Specifically, the unlocking control device of the unmanned vehicle is arranged in the unmanned vehicle, wherein the unmanned vehicle is in communication connection with a remote control device.

[0113] As shown in FIG. 4, the unlocking control device 400 of the unmanned vehicle includes:

[0114] The sending unit 401 is configured to, in response to a first push operation of a user on the unmanned vehicle and when the shaking degree of the unmanned vehicle is greater than a preset shaking degree, send prompt information to the remote control device, wherein after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle.

[0115] The unlocking unit 402 is configured to, after receiving the unlocking information sent by the remote control device, unlock the unmanned vehicle to switch from the sleep state to the working state.

[0116] In some embodiments of the present application, the unmanned vehicle is provided with an inertial sensor; the sending unit 401 is further configured to: when the unmanned vehicle is in the locked sleep state, detect whether the first push operation of the user on the unmanned vehicle exists based on the inertial sensor; and when the first push operation of the user on the unmanned vehicle is detected and the pitch angle and / or roll angle of the unmanned vehicle is greater than a preset angle value, it is determined that the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and the prompt information is sent to the remote control device.

[0117] In some embodiments of the present application, the sending unit 401 is further configured to: initiate a top dialog box to the display interface of the remote control device, so that the administrator sends the unlocking information to the unmanned vehicle based on the dialog box after determining the permission according to the prompt information, wherein the prompt information is displayed in the dialog box; or send the prompt information to the remote control device, so that the management system sends the unlocking information to the unmanned vehicle after determining the permission according to the prompt information.

[0118] In some embodiments of the present application, the unmanned vehicle is a wheeled unmanned vehicle; when the unmanned vehicle is in the locked sleep state, the wheels of the unmanned vehicle are locked; and when the unmanned vehicle is in the working state after being unlocked, the wheels of the unmanned vehicle are unlocked and released.

[0119] In some embodiments of the present application, the unmanned vehicle is a cleaning unmanned vehicle, the unmanned vehicle is provided with a clean water tank, a sewage tank and a cleaning tool, and the prompt information carries an identity of the unmanned vehicle.

[0120] In some embodiments of the present application, the unmanned vehicle further comprises a control unit, configured to: in response to a selection operation of the user on the display interface of the unmanned vehicle, determine the cleaning requirement of the user, the cleaning requirement comprising one or more of a cleaning area, a cleaning mode, a cleaning time period and a parking position after cleaning; and control the unmanned vehicle to perform a cleaning action according to the cleaning requirement.

[0121] In some embodiments of the present application, the control unit is further configured to: in response to a second pushing operation of the user on the unmanned vehicle; determine the user's intention of the second pushing operation according to the pushing direction of the first pushing operation and the pushing direction of the second pushing operation, and control the unmanned vehicle to operate according to the user's intention.

[0122] In some embodiments of the present application, the control unit is specifically configured to: when the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a first angle range, determine that the user's intention of the second pushing operation is to pause the execution of the current task, and control the unmanned vehicle to pause the execution of the current task; when the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a second angle range, determine that the user's intention of the second pushing operation is to cancel the execution of the current task, and control the unmanned vehicle to cancel the execution of the current task; and when the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a third angle range, determine that the user's intention of the second pushing operation is to control the unmanned vehicle to enter a sleep state, control the unmanned vehicle to be locked, and enter the sleep state.

[0123] It can be understood that the implementation principle and technical effects of the unlocking control device 400 of the unmanned vehicle according to the second aspect of the present application can be referred to the implementation principle and technical effects of the unlocking control method of the unmanned vehicle according to the first aspect of the present application, which will not be repeated here.

[0124] Please refer to 5, FIG. 5 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0125] As FIG. 5 shown, the electronic device 500 comprises one or more processors 501 and a memory 502, and the electronic device 500 can be an unmanned vehicle, a mobile robot, etc. Wherein, FIG. 5 take one processor 501 as an example.

[0126] The processor 501 and the memory 502 can be connected through a bus or other means, FIG. 5 take the connection through the bus as an example.

[0127] The processor 501 is configured to provide computing and control capabilities to control the electronic device 500 to perform corresponding tasks, for example, to control the electronic device 500 to perform the unlocking control method of the unmanned vehicle in any of the above method embodiments. The unlocking control method of the unmanned vehicle is applied to the unmanned vehicle, and the unlocking control method of the unmanned vehicle comprises: the unmanned vehicle is in a locked sleep state, in response to a first push operation of the user on the unmanned vehicle, and when it is determined that the shaking degree of the unmanned vehicle is greater than a preset shaking degree, sending prompt information to a remote control device, wherein after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle; after receiving the unlocking information sent by the remote control device, the unmanned vehicle is unlocked to switch from the sleep state to the working state.

[0128] By responding to the first push operation of the user on the unmanned vehicle in the locked sleep state, sending prompt information to the remote control device when the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and unlocking the unmanned vehicle after the remote control device determines that the unmanned vehicle meets the unlocking condition, the application can locally realize the purpose of unlocking the unmanned vehicle suitable for performing tasks.

[0129] The processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0130] The memory 502, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the unlocking control method of the unmanned vehicle in the embodiments of the present application. The processor 501 can implement the unlocking control method of the unmanned vehicle in any of the method embodiments described above by running the non-transitory software programs, instructions and modules stored in the memory 502. Specifically, the memory 502 can include a volatile memory (VM), such as a random access memory (RAM); the memory 502 can also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), or other non-transitory solid-state storage devices; the memory 502 can also include a combination of the above types of memories.

[0131] The memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 can optionally include a memory disposed remotely with respect to the processor 501, and these remote memories can be connected to the processor 501 through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0132] One or more modules are stored in the memory 502, and when executed by the one or more processors 501, perform the unlocking control method of the unmanned vehicle in any of the method embodiments described above, for example, perform the various steps described above. FIG. 2 The functions of the various modules or units described above can also be implemented. FIG. 4

[0133] In the embodiments of the present application, the electronic device 500 can also have a wired or wireless network interface, a keyboard, and an input / output interface, etc., to perform input / output, and the electronic device 500 can also include other components for implementing device functions, which are not described herein.

[0134] The unmanned vehicle of the embodiments of the present application exists in various forms, and when performing the various steps described above FIG. 2 The functions of the various units described above can also be implemented. FIG. 4 The unmanned vehicle includes but is not limited to a cleaning unmanned vehicle, a delivery unmanned vehicle, a welcome unmanned vehicle, etc. ​

[0135] The embodiments of the present application also provide a computer readable storage medium, for example, a memory including program codes, which can be executed by a processor to complete the unlocking control method of the unmanned vehicle in the above embodiments. For example, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CDROM), a magnetic tape, a floppy disk and an optical data storage device, etc.

[0136] The embodiments of the present application also provide a computer program product including one or more program codes stored in a computer readable storage medium. The processor of the electronic device reads the program codes from the computer readable storage medium, and the processor executes the program codes to complete the method steps of the unlocking control method of the unmanned vehicle provided in the above embodiments.

[0137] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by program codes related hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a Read-Only Memory, a magnetic disk or an optical disk, etc.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a general hardware platform, and of course, it can also be realized by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above embodiments. The storage medium can be a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM), etc.

[0139] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; under the idea of the present application, the technical features in the above examples or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in detail for simplicity; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unlocking control method of an unmanned vehicle, characterized by, The method is applied to an unmanned vehicle, and the method comprises the following steps: The unmanned vehicle is in a locked sleep state, and in response to a first pushing operation of a user on the unmanned vehicle, prompt information is sent to a remote control device when it is obtained that a shaking degree of the unmanned vehicle is greater than a preset shaking degree, wherein after the remote control device determines that the unmanned vehicle meets an unlocking condition according to the prompt information, the remote control device sends unlocking information to the unmanned vehicle, the unmanned vehicle is a cleaning unmanned vehicle, the unmanned vehicle is provided with a clean water tank, a sewage tank and cleaning tools, and the prompt information carries an identity of the unmanned vehicle; After receiving the unlocking information sent by the remote control device, the unmanned vehicle is unlocked to switch from the sleep state to a working state; The step of sending the unlocking information to the unmanned vehicle by the remote control device after the remote control device determines that the unmanned vehicle meets the unlocking condition according to the prompt information comprises the following steps: The remote control device obtains state information of the corresponding unmanned vehicle according to the identity in the prompt information, wherein the state information comprises a battery capacity, a clean water amount of the clean water tank, a sewage amount of the sewage tank and a wear degree of the cleaning tools; When the battery capacity of the unmanned vehicle is greater than a preset battery capacity, the clean water amount of the clean water tank is greater than a preset clean water amount, the sewage amount of the sewage tank is less than a preset sewage amount, and the wear degree of the cleaning tools is less than a preset wear degree, it is determined that the unmanned vehicle meets the unlocking condition, and the remote control device sends the unlocking information to the unmanned vehicle.

2. The method of claim 1, wherein, The unmanned vehicle is provided with an inertial sensor; The step of sending the prompt information to the remote control device by the unmanned vehicle in the locked sleep state in response to the first pushing operation of the user on the unmanned vehicle comprises the following steps: The unmanned vehicle is in a locked sleep state, and whether the first pushing operation of the user on the unmanned vehicle exists is detected based on the inertial sensor; When it is detected that the first pushing operation of the user on the unmanned vehicle exists and the obtained pitch angle and / or roll angle of the unmanned vehicle is greater than a preset angle value, it is determined that the shaking degree of the unmanned vehicle is greater than the preset shaking degree, and the prompt information is sent to the remote control device.

3. The method of claim 2, wherein, The step of sending the prompt information to the remote control device comprises the following steps: A top dialog box is initiated on a display interface of the remote control device, so that a management personnel sends the unlocking information to the unmanned vehicle based on the dialog box after determining permission according to the prompt information, wherein the prompt information is displayed in the dialog box; or The prompt information is sent to the remote control device, so that a management system sends the unlocking information to the unmanned vehicle after determining permission according to the prompt information.

4. The method of claim 1, wherein, The unmanned vehicle is a wheeled unmanned vehicle; when the unmanned vehicle is in a locked sleep state, the wheels of the unmanned vehicle are locked; when the unmanned vehicle is in a working state after being unlocked, the wheels of the unmanned vehicle are unlocked and released.

5. The method of claim 1, wherein, The method further comprises the following steps: When it is determined that the unmanned vehicle does not meet the unlocking condition, a factor that does not meet the unlocking condition is obtained from the state information of the unmanned vehicle, and the factor is displayed on a display interface of the unmanned vehicle.

6. The method of claim 1, wherein, After the step of unlocking the unmanned vehicle to switch from the hibernation state to the working state, the method further comprises: In response to a selection operation of a user on the display interface of the unmanned vehicle, a cleaning requirement of the user is determined, the cleaning requirement including one or more of a cleaning area, a cleaning mode, a cleaning time period, and a parking position after cleaning; The unmanned vehicle is controlled to perform a cleaning action according to the cleaning requirement.

7. The method according to any one of claims 1 to 6, characterized in that, After the step of unlocking the unmanned vehicle to switch from the hibernation state to the working state, the method further comprises: In response to a second pushing operation of a user on the unmanned vehicle; According to the pushing directions of the first pushing operation and the second pushing operation, a user intention of the second pushing operation is determined, and the unmanned vehicle is controlled to operate according to the user intention.

8. The method of claim 7, wherein, According to the pushing directions of the first pushing operation and the second pushing operation, a user intention of the second pushing operation is determined, and the unmanned vehicle is controlled to operate according to the user intention. When the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a first angle interval, it is determined that the user intention of the second pushing operation is to pause the execution of the current task, and the unmanned vehicle is controlled to pause the execution of the current task. When the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a second angle interval, it is determined that the user intention of the second pushing operation is to cancel the execution of the current task, and the unmanned vehicle is controlled to cancel the execution of the current task. When the angle between the pushing direction of the first pushing operation and the pushing direction of the second pushing operation is in a third angle interval, it is determined that the user intention of the second pushing operation is to control the unmanned vehicle to enter the hibernation state, the unmanned vehicle is controlled to be locked, and the hibernation state is entered.

9. An electronic device, comprising: The electronic device comprises a memory, a processor, and an unlocking control program stored on the memory and running on the processor, and the unlocking control program, when executed by the processor, implements the steps of the unlocking control method of the unmanned vehicle according to any one of claims 1 to 8.

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