An intelligent lock passive access method and system based on millimeter wave and Bluetooth

Abstract

This application relates to the technical field of the Internet of Things, and particularly to an intelligent lock passive access method and system based on millimeter wave and Bluetooth, which includes: entering a low-power standby mode after the first boundary is triggered; performing low-frequency trigger verification at the first distance, and after passing, marking the triggered object to obtain a target object; marking the target object and entering a high-frequency tracking mode after being triggered at the second boundary; performing high-frequency trigger verification at the second distance, and after the verification passes, marking the target object as a valid object; after being triggered at the third boundary, waking up the Bluetooth and determining whether the signal source position of the valid object matches the position condition; when matching, connecting with the valid object based on Bluetooth and performing two-way authentication, obtaining a pass credential and performing verification; after the verification is completed, sending a pass instruction based on the pass credential to complete the access action. This application can improve the implementation effect of passive access.

Description

Technical Field

[0001] This application relates to the technical field of the Internet of Things, and in particular, to an intelligent lock passive access method and system based on millimeter wave and Bluetooth. Background Art

[0002] Currently, intelligent locks for passive access are installed in various communities, buildings, etc., which are used to enable users to unlock and open the door without unlocking actions such as physical keys, card swiping, and biometric information.

[0003] Existing intelligent lock passive access solutions mainly use infrared sensors or capacitive sensors as detection devices, and automatic unlocking can be achieved when the sensors detect that a user is approaching the door lock. However, the passive access solutions using infrared sensors or capacitive sensors have the following problems:

[0004] (1) Since infrared sensors are interfered by temperature and sunlight, and the sensitivity of capacitive sensors is interfered by humidity and metal materials, the reliability and detection accuracy of such solutions are poor;

[0005] (2) The detection ranges of infrared sensors and capacitive sensors are very short, and there are angular limitations. Only targets directly in front of the sensors can be detected, which results in response delays in the above solutions, and users need to walk very close and wait for a certain time before the lock unlocks and opens the door;

[0006] (3) Due to the limitations of the detection characteristics of infrared sensors or capacitive sensors, they cannot effectively distinguish between humans and other heat sources (such as pets, moving objects) in the area, and at the same time, they cannot distinguish non-human contacts (such as rainwater, metal objects), so false judgments are likely to occur;

[0007] (4) When multiple people approach at the same time, infrared sensors or capacitive sensors cannot accurately identify the target user, resulting in poor security;

[0008] (5) Whether it is an infrared sensor or a capacitive sensor, it needs to run continuously to wait for access triggering, so both the installation cost and the operating power consumption cost are relatively high. Summary of the Invention

[0009] In order to improve the implementation effect of passive access, this application provides an intelligent lock passive access method and system based on millimeter wave and Bluetooth.

[0010] In a first aspect, this application provides an intelligent lock passive access method based on millimeter wave and Bluetooth, adopting the following technical solution:

[0011] An intelligent lock passive access method based on millimeter wave and Bluetooth includes the following steps:

[0012] After being triggered based on millimeter wave under the first boundary, mark the triggered object and enter the low-power standby mode;

[0013] Under the low-power standby mode, perform low-frequency trigger verification at a first distance based on the millimeter wave. After the low-frequency trigger verification passes, mark the triggered object to obtain the target object;

[0014] After being triggered based on millimeter wave under the second boundary, mark the target object and enter the high-frequency tracking mode;

[0015] Under the high-frequency tracking mode, perform high-frequency trigger verification at a second distance based on the millimeter wave. After the verification passes, mark the target object as a valid object;

[0016] After being triggered based on the millimeter wave under the third boundary, wake up the Bluetooth and determine whether the signal source position of the valid object matches the position condition;

[0017] When it matches, connect with the valid object based on Bluetooth and perform two-way authentication. After the two-way authentication is completed, obtain the access credential and perform verification;

[0018] After the verification is completed, send an access instruction based on the access credential to complete the access action.

[0019] In some of the embodiments, the low-frequency trigger verification includes physiological feature verification and motion trajectory verification, and the high-frequency trigger verification includes motion trajectory verification. Specifically,

[0020] Physiological feature verification:

[0021] Obtain the reflected signal of the millimeter wave and analyze the frequency corresponding to the reflected signal, and determine whether the frequency belongs to the first frequency range corresponding to respiration detection and / or belongs to the second frequency range corresponding to heartbeat detection;

[0022] Motion trajectory verification:

[0023] Respectively use the position of the triggered object when the first boundary is triggered and the position of the target object when the second boundary is triggered as the first starting point and the second starting point;

[0024] Obtain the time delay between the transmitted signal and the corresponding reflected signal of the periodically transmitted millimeter wave to calculate the real-time distance, obtain the Doppler frequency shift corresponding to the reflected signal to calculate the real-time speed, and obtain the time difference or phase difference of the reflected signal arriving at different antennas to calculate the real-time angle;

[0025] Based on the real-time distance, the real-time speed, and the real-time angle, respectively calculate the real-time position data corresponding to the first starting point and the second starting point;

[0026] Fit a number of consecutive pieces of the real-time position data based on the time sequence to respectively obtain the motion trajectories corresponding to the triggering object and the target object;

[0027] Analyze whether it is in a continuous approaching state based on the motion trajectory.

[0028] In some embodiments, in the low-power standby mode, based on the millimeter wave, perform low-frequency trigger verification at a first distance, and further include the following steps:

[0029] When the physiological feature verification fails, do not perform the motion trajectory verification and switch the low-power standby mode to the low-power sleep mode;

[0030] When the physiological feature verification passes and the motion trajectory is not in the continuous approaching state, enter a correction waiting for a preset duration, and when it is still not in the continuous approaching state after the correction waiting times out, record the last coordinate position of the current motion trajectory as the new first starting point and wait again for the next motion trajectory verification.

[0031] In some embodiments, in the high-frequency tracking mode, based on the millimeter wave, perform high-frequency trigger verification at a second distance, and further include the following steps:

[0032] When the motion trajectory is not in the continuous approaching state, enter a correction waiting for a preset duration, and when it is still not in the continuous approaching state after the correction waiting times out, record the last coordinate position of the current motion trajectory as the new second starting point and wait again for the next motion trajectory verification.

[0033] In some embodiments, wake up the Bluetooth and determine whether the signal source position of the valid object matches the position condition, including the following steps:

[0034] After waking up the Bluetooth, switch the unidirectional antennas respectively calibrated as inside the door and outside the door to the working state. After connecting to the broadcast signal of the valid object, respectively obtain the RSSI values corresponding to the two unidirectional antennas;

[0035] When the absolute value of the difference between the RSSI values is greater than a first preset value and the minimum values of the two RSSI values are both greater than a second preset value, it is defined as matching the position condition;

[0036] Determine whether the signal source position is inside or outside the door based on the difference between the RSSI values, and determine the door opening and closing actions based on the change in the difference between the RSSI values.

[0037] In some embodiments, during matching, the valid object is connected based on Bluetooth and two-way authentication is performed, and after the two-way authentication is completed, the pass credential is obtained and verified, including the following steps:

[0038] Obtaining a connection request from the valid object and responding within a preset time;

[0039] Obtain the MAC address corresponding to the valid object and verify whether the MAC address belongs to the registered address, and after the verification is passed, perform handshake authentication and issue a scan request;

[0040] The pass credential in the information response packet sent by the valid object in passive response after handshake authentication is obtained within a preset time and identity verification is performed. When the identity verification fails within a preset number of times, the Bluetooth connection is disconnected.

[0041] In some of the embodiments, the following steps are also included:

[0042] When the number of the valid objects is greater than the number of the pass certificates, determining whether it is a traveling together scene based on the movement trajectory of each of the valid objects;

[0043] If so, perform corresponding access actions based on the access credential;

[0044] If not, the valid object without the pass credential will be defined as an abnormal object, and a pass warning process will be performed based on the number of MAC addresses obtained.

[0045] In some embodiments, the traffic warning process is performed based on the number of the acquired MAC addresses, specifically including the following steps:

[0046] When the number of the acquired MAC addresses is equal to the number of the valid objects, determining the signal source position of each of the abnormal objects;

[0047] If the signal source is outside the door, a corresponding pass action is performed and the MAC address corresponding to each abnormal object is marked as abnormal;

[0048] If the signal source is located inside the door, the MAC address corresponding to each abnormal object is marked as abnormal;

[0049] Wherein, when the abnormal annotation is detected, the passage action is restricted and an alarm is issued;

[0050] When the number of the acquired MAC addresses is less than the number of valid objects, the current access credential is invalidated to restrict the access action and issue an alarm.

[0051] In some of these embodiments, the following steps are further included:

[0052] When the number of the obtained MAC addresses is greater than the number of valid objects and the number of currently obtained access credentials is equal to the number of valid objects, start system self-check to update millimeter wave band parameters;

[0053] If the number of valid objects remains unchanged after the system self-check, register the MAC addresses that do not include the access credentials, complete handshake authentication, and generate access credentials for distribution.

[0054] In a second aspect, the present application provides an intelligent lock touchless access system based on millimeter wave and Bluetooth, adopting the following technical solution:

[0055] An intelligent lock touchless access system based on millimeter wave and Bluetooth is used to implement the above method.

[0056] The technical solution provided by the embodiments of the present application has the following technical effects:

[0057] (1) By grading and verifying blue in different distance ranges, it is judged whether the object outside the intelligent lock is valid, reducing the increase in energy consumption caused by the misawakening of the system by non-humans or other objects;

[0058] (2) Based on the determination results in different distance ranges, the working states of millimeter wave and Bluetooth are switched, and when no person or intelligent terminal is detected and cannot pass the verification, it goes into sleep, saving the working energy consumption of the device;

[0059] (3) Through the combination of millimeter wave and Bluetooth, long-distance object detection and early access permission authentication are realized. When the object moves in front of the intelligent lock, touchless access can be directly performed, saving access time. Description of the Drawings

[0060] Figure 1 is a step schematic diagram of an intelligent lock touchless access method provided by this embodiment. Detailed Embodiments

[0061] To more clearly understand the purpose, technical solution and advantages of this application, the following describes and explains this application in combination with the accompanying drawings and embodiments. However, those of ordinary skill in the art should understand that this application can be implemented without these details. In some cases, in order to avoid unnecessary descriptions from obscuring various aspects of this application, well-known methods, processes, systems, components, and / or circuits that have been described at a higher level will not be elaborated further. For those of ordinary skill in the art, it is obvious that various changes can be made to the disclosed embodiments of this application, and without departing from the principles and scope of this application, the general principles defined in this application can be applied to other embodiments and application scenarios. Therefore, this application is not limited to the shown embodiments, but conforms to the broadest scope consistent with the scope claimed in this application.

[0062] It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] In the description of this application, the meaning of "several" is one or more, the meaning of "multiple" is more than two, understand "greater than", "less than", "exceeding", etc. as not including the number itself, and understand "above", "below", "within", etc. as including the number itself. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0064] In the description of this application, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a combined manner.

[0065] This application mainly integrates low-power millimeter-wave ranging and direction finding with 2.4G Bluetooth and is implemented through a 24GHz millimeter-wave radar chip, a Bluetooth 5.3 chip, and a main control module.

[0066] The millimeter-wave radar emits millimeter waves for pre-detection within a certain distance, while the Bluetooth chip verifies the access credentials based on the obtained Bluetooth connection status, and the main control module performs corresponding processing and analysis on the various data obtained by the millimeter-wave chip and the Bluetooth chip.

[0067] As Figure 1 shown, an embodiment of the present application discloses an intelligent lock passive access method based on millimeter wave and Bluetooth, including the following steps:

[0068] First, hierarchical detection is performed through a millimeter wave radar. The hierarchical standard is based on different detection distances. The core of the millimeter wave hierarchical detection is to judge the legitimacy of the detected object according to the target information detected by the radar, and dynamically adjust the response strategy of the door lock and dynamically control the power consumption.

[0069] S100, after being triggered based on millimeter wave under the first boundary, mark the triggered object and enter the low-power standby mode.

[0070] First, define a boundary within a relatively large distance range. The distance range is characterized by the distance between the required detection position and the millimeter wave radar.

[0071] When an object is detected based on the reflected signal of millimeter wave on the first boundary at a relatively large distance, the corresponding detection chip of millimeter wave is converted from the sleep state to the low-power standby mode. In this way, only when the object enters a certain range, the millimeter wave chip enters the low-power standby state to perform subsequent detection work, reducing the standby power consumption of the door lock.

[0072] The first boundary is characterized as a circular detection boundary with a distance of 8 meters from the millimeter wave radar in the embodiment of the present application.

[0073] S200, perform low-frequency trigger verification at the first distance based on millimeter wave in the low-power standby mode. After the low-frequency trigger verification passes, mark the triggered object to obtain the target object.

[0074] Within a range of a relatively large distance, the millimeter wave radar remains in the low-frequency scanning state. In this state, the main control chip analyzes and processes the data information corresponding to the reflected signal obtained by the millimeter wave chip, and performs low-frequency trigger verification. This verification is mainly used to judge whether the triggered object is a "person" and whether its specific movement logic conforms to the state of approaching the intelligent door lock.

[0075] When the verification passes, the triggered object is further marked as the target object to perform the verification test in the next range.

[0076] In the embodiment of the present application, the first distance is 6 - 8 meters.

[0077] S300, after being triggered based on millimeter wave under the second boundary, mark the target object and enter the high-frequency tracking mode.

[0078] In a medium - distance boundary, it is also determined based on millimeter - wave whether it is triggered by a target object. When triggered, it is considered that the target object has further moved from the first area to the distance of the second boundary, and the second boundary is smaller than the first boundary. Therefore, at this time, it is considered that the object is getting closer and closer to the door lock.

[0079] At this time, the millimeter - wave radar is switched to the high - frequency tracking mode to improve the detection accuracy and further analyze the motion state of the target and the passing tendency.

[0080] In the embodiment of the present application, the second boundary is 4 meters.

[0081] S400, in the high - frequency tracking mode, based on millimeter - wave, perform high - frequency trigger verification at the second distance. After the verification passes, mark the target object as a valid object.

[0082] In the high - frequency tracking mode, the millimeter - wave radar enters a full - load working state and further obtains the motion trajectory of the target object through high - frequency scanning to analyze whether the target object continues to approach the position of the intelligent door lock.

[0083] When the verification passes, mark the target object as a valid object. A valid object is characterized as the detected object meeting the combination of "person" + "approaching the intelligent door lock" + "having a passing tendency". At this time, it is considered necessary to obtain the passing credential of this object in advance to perform the door - opening action before it arrives to achieve touchless access.

[0084] S500, after being triggered based on millimeter - wave at the third boundary, wake up the Bluetooth and determine whether the signal source position of the valid object matches the position condition.

[0085] When it is further detected through the reflected signal of millimeter - wave that the object moves to the third boundary closer to the intelligent door lock, in order to achieve touchless access, it is necessary to wake up the Bluetooth chip in the sleep state and make the Bluetooth chip scan to obtain the broadcast signal emitted by the intelligent terminal of the object to achieve Bluetooth connection, and verify whether it matches the position condition based on the signal source position of the detected Bluetooth signal.

[0086] Matching the position condition further means determining that the position where the object is located is in a position where it can open the door and pass, so as to reduce the situation where the detection accuracy of the Bluetooth signal is limited and the door is opened too early or too late.

[0087] The third boundary is 1 meter in the embodiment of the present application, and the intelligent terminal is characterized as products with Bluetooth functions such as mobile phones and smart watches carried by users.

[0088] S600, when matching, connect with the valid object based on Bluetooth and perform two - way authentication. After the two - way authentication is completed, obtain the passing credential and perform verification.

[0089] When the signal source location matches the location condition, the smart terminal of the valid object and the Bluetooth chip are further subjected to two-way identity authentication. When the two-way authentication is passed, the smart terminal sends the pass credential stored in itself to the Bluetooth chip. After the Bluetooth chip obtains the pass credential, it further verifies the legitimacy of the pass credential in combination with the connection response package of the smart terminal.

[0090] S700, after verification is completed, a pass instruction is sent based on the pass credential to complete the pass action.

[0091] When the verification is passed, the main control module controls the smart door lock to open to complete the non-contact communication action.

[0092] Through the above steps, first, graded detection is performed based on millimeter waves to switch to low-power standby state and identify valid objects in steps based on physiological information verification, movement trend verification, etc., and when it is detected that the user continues to approach within a certain range from the door lock, Bluetooth is awakened to establish Bluetooth connection and authentication with the smart terminal of the valid object in advance. At the same time, the pass corresponding to the valid object is obtained in advance and the door is opened based on it, realizing seamless passage.

[0093] The combination of millimeter wave and Bluetooth will not be affected by environmental parameters such as temperature, humidity, and light. At the same time, based on the characteristics of millimeter wave, it can detect and analyze within a large distance to reduce the waiting time for response. Through long-distance detection, the sleep-working state of the millimeter wave chip and Bluetooth chip can be switched to reduce the power consumption cost of continuous operation.

[0094] In some other embodiments, the low-frequency trigger verification includes physiological feature verification and motion trajectory verification, and the high-frequency trigger verification includes motion trajectory verification. Specifically,

[0095] Physiological feature verification:

[0096] The reflected signal of the millimeter wave is acquired and the frequency corresponding to the reflected signal is analyzed, and it is determined whether the frequency belongs to the first frequency range corresponding to breathing detection and / or the second frequency range corresponding to heartbeat detection.

[0097] First, physiological characteristics of the human body, such as heartbeat and breathing, can be distinguished between humans and other animals within a range.

[0098] When humans breathe, their chests rise and fall periodically. When the millimeter-wave signal emitted by the low-power millimeter-wave sensor hits the human body during breathing, the reflected signal will carry characteristic changes related to the breathing frequency. The average breathing frequency of an adult is 12-20 times / minute, corresponding to a frequency range of 0.2-0.33Hz.

[0099] Meanwhile, when the millimeter-wave sensor is sensitive enough, it can also capture the heartbeat with a smaller body movement amplitude. The heartbeat frequency is generally 60-100 beats per minute, so the corresponding frequency range is 1-1.67 Hz.

[0100] When the first frequency range corresponding to breathing and / or the second frequency range corresponding to heartbeat exist in the reflected signal detected by the sensor of the millimeter-wave chip, it can be determined whether the object corresponding to the reflected signal is a human, so as to distinguish it from other animals.

[0101] Motion trajectory verification:

[0102] The position of the triggering object when the first boundary is triggered and the position of the target object when the second boundary is triggered are respectively used as the first starting point and the second starting point.

[0103] When an object is detected at the first boundary and the second boundary, a unique identifier, such as an ID number, is assigned to the target object first detected on different boundaries.

[0104] Meanwhile, the positions where the target is first detected on the boundaries corresponding to different distance ranges are used as the starting points of the subsequent motion trajectory, which are specifically defined as the first starting point and the second starting point respectively.

[0105] Obtain the time delay between the transmitted signal of the periodically transmitted millimeter wave and the corresponding reflected signal to calculate the real-time distance, obtain the Doppler frequency shift corresponding to the reflected signal to calculate the real-time speed, and obtain the time difference or phase difference between the reflected signal reaching different antennas to calculate the real-time angle.

[0106] The millimeter-wave radar periodically transmits millimeter-wave signals, and uses multiple receiving antennas of the millimeter-wave radar to receive the echo signals reflected from the target object. As time goes by, continuously detect the position information of the target object, and update the latest position of the target according to the new detection data.

[0107] The position information includes distance, speed, and angle, and the latest position of the target can be obtained after specific processing of these three data.

[0108] The millimeter-wave radar transmits millimeter-wave signals, and the signals are reflected back after encountering an object and received by the receiving antenna.

[0109] Then first measure the time delay between the reflected signal and the received signal , according to the formula: the real-time distance between the object and the radar can be calculated. Among them, c represents the speed of light.

[0110] According to the Doppler effect, when the object is moving, the reflected signal will generate a Doppler frequency shift fd, then according to the formula: , the velocity component of the object along the radar line of sight, i.e., the real-time velocity, can be calculated, where is characterized as the wavelength.

[0111] Using a multi-antenna matrix, by measuring the time difference or phase difference of the signal arriving at different antennas, and adopting an angle-of-arrival estimation algorithm, such as the phase interference method, etc., to determine the real-time angle of the object relative to the radar.

[0112] Based on the real-time distance, real-time velocity, and real-time angle, calculate the real-time position data corresponding to the first starting point and the second starting point respectively.

[0113] Continuously detect the real-time distance, real-time velocity, and real-time angle of the detection object at different times to determine the real-time position data of the current object when moving based on the first starting point or the second starting point.

[0114] Based on the time sequence, fit a number of consecutive real-time position data to obtain the motion trajectories corresponding to the trigger object and the target object respectively.

[0115] Based on a series of consecutive detected target position data at different times, adopt the Kalman filtering algorithm to fit the trajectory of each position data, and smooth the data to obtain an accurate running trajectory.

[0116] Analyze whether it is in a continuous approaching state based on the motion trajectory.

[0117] Judge whether the object continuously approaches the direction of the intelligent lock through the motion trajectory of the object and reaches within the verified range. When the motion trajectory is in a continuous approaching state, it is considered that the object continuously walks towards the door from a long distance, and at this time, it is considered that it has the tendency to pass.

[0118] At the same time, before calculating the real-time position, after obtaining the millimeter-wave echo signal, the following preprocessing steps are also required:

[0119] Amplification and filtering: Amplify the received weak echo signal, and at the same time remove noise and interference signals through a filter to improve the signal quality.

[0120] Analog-to-digital conversion: Convert the analog echo signal into a digital signal for subsequent digital signal processing.

[0121] At the same time, after obtaining the running trajectory, it is also necessary to store the real-time updated motion trend data (including information such as target ID, timestamp, position, velocity, angle, etc.) in the local cache or database.

[0122] When the detected object is at the first distance (6 - 8 meters), the verifications required are physiological feature verification and movement trajectory verification. That is, first, it is mainly determined whether the object is a human, and then further, whether its movement tendency is towards the smart lock. When the detected object is at the second distance (3 - 4 meters), it is further determined whether the movement trend towards the smart lock continues.

[0123] In some other embodiments, for the low - frequency trigger verification at the first distance based on millimeter - wave in the low - power standby mode, the following steps are further included:

[0124] S210, when the physiological feature verification fails, the movement trajectory verification is not performed and the low - power standby mode is switched to the low - power sleep mode.

[0125] When the physiological feature verification fails, it is determined that the triggering object is not a human, but may be a static object or other animals. Therefore, at this time, the movement trajectory verification is no longer performed, and instead, the low - power standby state of the millimeter - wave chip is directly switched back to the low - power sleep state to reduce the operating power consumption of the millimeter - wave chip and the corresponding antenna.

[0126] S220, when the physiological feature verification passes and the movement trajectory is not in a continuous approaching state, enter a correction waiting period of a preset duration. And when it is still not in a continuous approaching state after the correction waiting timeouts, record the last coordinate position of the current movement trajectory as the new first starting point and wait for the next movement trajectory verification again.

[0127] After the physiological feature passes, the movement trajectory verification is then carried out. When it is found that the movement trend of the triggering object no longer matches the continuous approaching state, the possible situations are: the object stops after moving a certain distance towards the smart lock, the object passes by the smart lock without the intention of passing through, etc. In these cases, its movement trajectory shows that its real - time position does not change for a certain period of time or the distance between its real - time position and the smart lock becomes longer, etc.

[0128] At this time, first, a certain period of waiting is carried out immediately when it is detected that it is not in a continuous approaching state to detect whether the object can return to the continuous approaching state during this period. In the embodiment of the present application, the correction waiting time is 2s.

[0129] If the object returns to the continuous approaching state within 2s, continue to detect the subsequent real - time position of the object to update the movement trajectory. If the object does not return to the continuous approaching state within 2s, record the last coordinate position of the triggering object during this tracking and stop the current movement trajectory generation. When the triggering object moves again and is in a continuous approaching state later, use the last recorded position of the object as the first starting point to start the next movement trajectory tracking and verification again.

[0130] In some other embodiments, for high-frequency trigger verification at a second distance based on millimeter waves in the high-frequency tracking mode, the following steps are further included:

[0131] S410, when the movement trajectory is not in a continuously approaching state, enter a correction waiting for a preset duration, and when it is still not in a continuously approaching state after the correction waiting times out, record the last coordinate position of the current movement trajectory as the new second starting point and wait again for the next movement trajectory verification.

[0132] The high-frequency trigger verification performed at the second distance is the same as the low-frequency trigger verification process at the first distance.

[0133] When the high-frequency trigger verification at the second distance passes, and the target object continuously moves towards the smart lock position and reaches the third boundary, then wake up the Bluetooth to perform a scan. It will send a scan request message to the broadcast devices of interest to obtain more scan response data, such as detailed capability information, service list, address, etc. of the mobile device. This avoids the Bluetooth device being in the scan broadcast state for a long time and saves working energy consumption. At the same time, start parsing and verifying the Bluetooth data packets at the third boundary which is at a certain distance from the smart lock. The process does not require device connection anymore, saving the connection time of the communication link and avoiding long waiting after the user reaches the smart lock position.

[0134] In some other embodiments, waking up the Bluetooth and determining whether the signal source position of the valid object matches the position condition includes the following steps:

[0135] S510, after waking up the Bluetooth, switch the unidirectional antennas respectively calibrated as inside the door and outside the door to the working state. After connecting to the broadcast signal of the valid object, obtain the RSSI values corresponding to the two unidirectional antennas respectively.

[0136] The Bluetooth chip corresponds to two 2.4G directional antennas. At the same time, the directional antennas are also connected to the wireless switch module. When the wireless switch module detects based on millimeter waves that the valid object reaches the third boundary, it receives an instruction from the main control module to convert the directional antennas to the working state.

[0137] The directional antennas are connected to the low-power Bluetooth chip. At the same time, the receiving directions of the two directional antennas are opposite and perpendicular to the installation plane, that is, one directional antenna faces outside the door and the other directional antenna faces inside the door.

[0138] First, calibrate the positions of the two directional antennas to determine which antenna specifically corresponds to the inside direction of the door and which antenna corresponds to the outside direction of the door.

[0139] The Bluetooth chip performs time-division multi-line scanning to obtain the Bluetooth MAC addresses of mobile devices within a certain range currently for Bluetooth connection. After successful connection, the RSSI values corresponding to two directional antennas are obtained respectively.

[0140] The RSSI value is the received signal strength indication value, which is used to measure the strength of the wireless signal. It is expressed in negative dBm. The smaller the value after the negative number, the stronger the signal, and vice versa. It is mainly related to the distance between the signal source and the antenna. The closer the distance, the higher the signal strength.

[0141] Since the two directional antennas are respectively oriented towards the inside and outside of the door, based on a certain position of the effective object, the distances between the two directional antennas and the effective object are different. Therefore, the detected RSSI values must be different. Thus, based on this difference, the position condition of the effective object can be determined and the specific position and door opening / closing method can be determined.

[0142] S520, when the absolute value of the difference between the RSSI values is greater than the first preset value and the minimum values of the two RSSI values are both greater than the second preset value, it is defined as meeting the position condition.

[0143] First of all, the first requirement for meeting the position condition is that the absolute value of the difference between the two RSSI values should be greater than the first preset value. The size of the first preset value is 20 db in this application and can be adjusted according to the actual scenario.

[0144] This difference represents the antenna signal strength difference corresponding to when the user is within the preset range (1 meter) in front of the smart lock. When the user is outside this range, since the distances from both directional antennas are relatively far and the signal range of the Bluetooth signal is also short, the RSSI values detected by the two directional antennas will be relatively weak. At this time, the absolute value of their difference is often less than 20 db.

[0145] Secondly, the second requirement is that since the RSSI value will fluctuate within a certain range, in order to ensure that the timing antenna can accurately judge the scenario where the user approaches the smart lock, both of the two RSSI values need to be greater than -54 db. The size of this second preset value can also be adjusted according to the actual scenario.

[0146] If any one of the RSSI values is less than -54 db, it is considered that the signal strength received by this antenna is too low. At this time, the object may be too far from the smart lock and is not within the reasonable range for opening the door.

[0147] When any one of the above two conditions is not met, it is considered that the conditions for subsequent access credential verification are not met. At this time, it is necessary to continuously detect and calculate the RSSI value corresponding to this signal source until both conditions are met.

[0148] S530 determines whether the signal source is inside or outside the door based on the difference in RSSI values, and determines the door opening and closing actions based on the change in the difference in RSSI values.

[0149] At the same time, due to the different RSSI values caused by the different distances between different positions and the two directional antennas with different orientations, the specific location of the signal source inside or outside the door can be determined based on the difference.

[0150] When the RSSI value of the directional antenna facing outside the door is greater than the RSSI value of the directional antenna facing inside the door, it is considered that the signal source is closer to the antenna outside the door, so it is determined that the valid object is outside the door.

[0151] When the RSSI value of the directional antenna facing inside the door is greater than the RSSI value of the directional antenna facing outside the door, it is considered that the signal source is closer to the antenna inside the door, so it is determined that the valid object is inside the door.

[0152] At the same time, continuously detect the change in the two RSSI values corresponding to the same signal source. When the RSSI value of the signal source facing outside the door is greater than the RSSI value facing inside the door, it is considered that the valid object is outside the door and the door is opened. When the difference becomes smaller and smaller, changes to 0, and then starts to become smaller again from 0 until the RSSI value facing inside the door is greater than the RSSI value facing outside the door, it is considered that the valid object has completed entering the door, so the door closing action is performed at this time.

[0153] In some other embodiments, when matching, it is connected to the valid object based on Bluetooth and two-way authentication is performed. After the two-way authentication is completed, a pass credential is obtained and verified, including the following steps:

[0154] S610, obtain the connection request sent by the valid object and respond within a preset time.

[0155] When not triggered on the third boundary, the Bluetooth chip is in the deep sleep state and the device scan broadcast is turned off. When triggered, the Bluetooth chip cancels the deep sleep state and enables the device scan to obtain the connection request sent by the smart device of the valid object.

[0156] When no connection request is scanned within 2s, the Bluetooth chip enters the deep sleep state again. When a connection request is scanned, the Bluetooth chip needs to respond within a certain time.

[0157] This process is the response authentication of the smart terminal to the Bluetooth chip. When the Bluetooth chip of the smart lock does not give a response for a long time, the connection is disconnected.

[0158] S620, obtain the MAC address corresponding to the valid object and verify whether the MAC address belongs to the registered address. After the verification passes, perform handshake authentication and send a scan request.

[0159] Get the MAC address given in the connection request sent by the smart terminal of the valid object, and determine whether it is a registered address. The registered address indicates that the Bluetooth address of the smart terminal has been bound and authenticated with the smart lock. For example, the residents of the community have been registered in the entry and exit list of the smart lock before moving in.

[0160] If it does, it means that the object meets the preliminary authentication of entry and exit identity, which belongs to the authentication of the user by the smart lock end.

[0161] After the verification is passed, handshake authentication is performed based on the handshake protocol to determine the legitimacy of the device. At the same time, the Bluetooth chip sends a scan request.

[0162] When the Bluetooth chip receives a connection request but fails to receive the handshake authentication protocol, it disconnects.

[0163] S630, obtaining the pass credential in the information response packet sent by the valid object in passive response after handshake authentication within a preset time and performing identity verification. When the identity verification fails within a preset number of times, the Bluetooth connection is disconnected.

[0164] When the Bluetooth chip scans the broadcast packet of a valid object, the smart terminal waits for the scan request for passive response and replies with an information response packet containing more detailed information. The information response packet includes the pass credential for access authorization authentication.

[0165] When the pass credential is not received for a long time, the Bluetooth chip disconnects and waits for reconnection authentication.

[0166] The Bluetooth chip verifies the authenticity, validity, timestamp, etc. of the pass credential. When the verification passes, the lock / door is unlocked based on the pass credential. When the verification fails, the verification is performed again until the number of failures exceeds the preset 3 times. Then an error response is issued and sent to the smart terminal for the user to view, and the current Bluetooth connection is disconnected.

[0167] In some other embodiments, the following steps are also included:

[0168] S800: When the number of valid objects is greater than the number of passes, determine whether it is a traveling together scenario based on the movement trajectory of each valid object.

[0169] In some cases, there may be a scenario where the number of valid objects is greater than the number of passes. In this scenario, there may be a situation where, for example, a resident enters the community with other non-residents.

[0170] At this time, it is necessary to determine whether the movement trajectories of these valid objects are the same. In the same-row scenario, the objects with access credentials and those without access credentials should maintain the same movement trajectory, and the position distances between the two objects at each time point are relatively close. At this time, it can be considered to belong to the access scenario.

[0171] When the movement trajectories of several valid objects vary greatly and the real-time positions at each time point are far apart, it does not conform to the same-row scenario.

[0172] S810, if so, perform corresponding access actions based on the access credentials.

[0173] When the same-row scenario is satisfied, corresponding access actions can be performed based on the existing access credentials, so that the objects traveling with the user with the access credentials can also pass.

[0174] S820, if not, define the valid objects without access credentials as abnormal objects, and perform access warning processing based on the number of obtained MAC addresses.

[0175] When not in the same-row scenario, define the valid objects without access credentials as abnormal objects, and perform further processing based on the specific number of MAC addresses.

[0176] Among them, the method for determining which valid user the access credential belongs to is specifically as follows: First, obtain the movement trajectories of each valid object to estimate the current distance between each valid object and the smart lock. At the same time, combine the intensities of several RSSI values received by the directional antenna to estimate the positions of each signal source, and combine the estimated positions and the positions of the movement trajectories to determine which valid object the access credential corresponds to.

[0177] In some other embodiments, performing access warning processing based on the number of obtained MAC addresses specifically includes the following steps:

[0178] S821, when the number of obtained MAC addresses is equal to the number of valid objects, determine the signal source positions of each abnormal object.

[0179] S822, if the signal source position is outside the door, perform corresponding access actions and mark the MAC addresses corresponding to each abnormal object as abnormal.

[0180] S823, if the signal source position is inside the door, mark the MAC addresses corresponding to each abnormal object as abnormal.

[0181] When the number of obtained MAC addresses is equal to the number of valid objects, it indicates that the number of people and smart terminals within this range is consistent. In this case, first determine the locations of each valid object. If the abnormal object is outside the door, it indicates that the abnormal object wants to pass through and enter the door. At the same time, since there may be other valid objects with access credentials outside the door, if the door-opening action is not performed, some objects that can pass through will be unable to do so, affecting the experience. Therefore, at this time, the access action is performed, but the MAC address corresponding to the abnormal object needs to be marked as abnormal.

[0182] When the abnormal object is inside the door, directly mark the MAC address of the abnormal object as abnormal.

[0183] Among them, when an abnormal mark is detected, restrict the access action and issue an alarm. That is to say, an abnormal object outside the door can enter the door, but it will be unable to open the door when going out later. At the same time, an abnormal object originally inside the door is also unable to open the door. Moreover, when an abnormal object is detected, the Bluetooth chip will trigger the main control chip to alarm to remind the management staff to conduct a security verification.

[0184] This can reduce the impact of the seamless access of objects with access credentials outside the door and enable abnormal objects to be restricted when going out to improve security.

[0185] S824, when the number of obtained MAC addresses is less than the number of valid objects, invalidate the current access credential to restrict the access action and issue an alarm.

[0186] In some other scenarios, if the number of MAC addresses is less than the number of valid objects, it indicates that some valid objects do not carry smart terminals and thus cannot obtain Bluetooth addresses. At this time, since the abnormal mark cannot be issued to the MAC address of the abnormal object, in order to ensure security, the access behaviors of all valid objects will be restricted at this time, and an alarm will be issued, waiting for the management staff to verify the identity of the abnormal object and then resume access.

[0187] In some other embodiments, the following steps are further included:

[0188] S900, when the number of obtained MAC addresses is greater than the number of valid objects and the number of currently obtained access credentials is equal to the number of valid objects, start the system self-check to update the millimeter-wave frequency band parameters.

[0189] When the number of detected access credentials is equal to the number of valid objects, if other MAC addresses are also detected, resulting in the number of all MAC addresses being greater than the number of valid objects, the following scenarios may exist: Some users carry more than one smart terminal, such as a user carrying a mobile phone and a smart watch.

[0190] At this time, since the number of access permits is the same as the number of valid objects, it can be determined that each valid object has an access permit and meets the access conditions.

[0191] In this case, first, the system will perform a self-check to determine whether there are signal processing errors such as millimeter-wave transmission and reception, and at the same time update the millimeter-wave frequency band parameters to improve the detection accuracy.

[0192] S910. After the system self-check, if the number of valid objects remains unchanged, the MAC addresses that do not contain valid vouchers will be registered, handshake authentication will be completed, and access vouchers will be generated and issued.

[0193] When there is still no change after the system self-check, it indicates that there are no abnormal faults in the millimeter-wave chip and the radar. At this time, the Bluetooth chip will perform supplementary authentication of the access voucher to issue the new access voucher to the MAC address that currently does not contain the access voucher, so as to realize seamless access while sharing the access vouchers of multiple smart terminals of a valid access object.

[0194] This application also discloses an intelligent lock seamless access system based on millimeter-wave and Bluetooth for implementing the above method.

[0195] The implementation principle is as follows:

[0196] First, hierarchical detection is performed based on millimeter-wave to separately perform step-by-step switching of the low-power standby state and identification of valid objects based on verification of physiological information, verification of movement trends, etc. When it is detected that the user continuously approaches within a certain range of the door lock, Bluetooth is awakened to establish a Bluetooth connection and authentication with the smart terminal of the valid object in advance, and at the same time, the access voucher corresponding to the valid object is obtained in advance and the door opening action is performed based on this, realizing seamless access.

[0197] It should be understood that although the steps in the flowchart of the accompanying drawings are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit and can be executed in other orders.

[0198] The above are all the preferred embodiments of this application. The protection scope of this application is not limited by this. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A method for non-sensing passage of smart locks based on millimeter waves and Bluetooth, characterized in that: The following steps are involved: After being triggered based on the millimeter wave at the first boundary, marking the triggering object and entering a low-power standby mode; In the low-power standby mode, low-frequency trigger verification is performed at a first distance based on the millimeter wave, and after the low-frequency trigger verification is passed, the trigger object is marked to obtain a target object, and the low-frequency trigger verification includes physiological feature verification and motion trajectory verification; marking the target object after being triggered based on the millimeter wave at the second boundary and entering a high-frequency tracking mode; In the high-frequency tracking mode, high-frequency trigger verification is performed based on the millimeter wave at a second distance, and after the verification is passed, the target object is marked as a valid object, and the high-frequency trigger verification includes motion trajectory verification; After the millimeter wave is triggered under the third boundary, Bluetooth is awakened and it is determined whether the signal source position of the valid object matches the position condition. Specifically, After waking up the Bluetooth, the unidirectional antennas marked as inside and outside the door are switched to working state, and after connecting with the broadcast signal of the valid object, the RSSI values ​​corresponding to the two unidirectional antennas are respectively obtained; When the absolute value of the difference between the RSSI values ​​is greater than a first preset value and the minimum value of the two RSSI values ​​is greater than a second preset value, it is defined as matching the location condition; Determine whether the signal source is inside or outside the door based on the difference of the RSSI values, and determine the door opening and closing action based on the change of the difference of the RSSI values; During the matching, the valid object is connected based on Bluetooth and two-way authentication is performed. After the two-way authentication is completed, the pass certificate is obtained and verified, wherein: When the number of the valid objects is greater than the number of the pass certificates, determining whether it is a traveling together scene based on the movement trajectory of each of the valid objects; If so, perform corresponding access actions based on the access credential; If not, the valid object without the pass credential is defined as an abnormal object, and a pass warning process is performed based on the number of MAC addresses obtained; When the number of the acquired MAC addresses is equal to the number of the valid objects, determining the signal source position of each of the abnormal objects; If the signal source is outside the door, a corresponding pass action is performed and the MAC address corresponding to each abnormal object is marked as abnormal; If the signal source is located inside the door, the MAC address corresponding to each abnormal object is marked as abnormal; Wherein, when the abnormal annotation is detected, the passage action is restricted and an alarm is issued; When the number of the acquired MAC addresses is less than the number of valid objects, invalidating the current access credential to restrict the access action and issuing an alarm; After the verification is completed, a pass instruction is sent based on the pass credential to complete the pass action.

2. The method for non-sensing passage through a smart lock based on millimeter wave and Bluetooth according to claim 1 is characterized in that: The physiological feature verification and the motion trajectory verification are specifically: Physiological feature verification: Acquire the reflected signal of the millimeter wave, analyze the frequency corresponding to the reflected signal, and determine whether the frequency belongs to a first frequency range corresponding to breathing detection and / or a second frequency range corresponding to heartbeat detection; Motion trajectory verification: taking the position of the triggering object when the first boundary is triggered and the position of the target object when the second boundary is triggered as a first starting point and a second starting point respectively; Obtaining the time delay of the periodically transmitted millimeter wave transmission signal and the corresponding reflected signal to calculate the real-time distance, obtaining the Doppler frequency shift corresponding to the reflected signal to calculate the real-time speed, and obtaining the time difference or phase difference of the reflected signal arriving at different antennas to calculate the real-time angle; Calculate the real-time position data corresponding to the first starting point and the second starting point respectively based on the real-time distance, the real-time speed, and the real-time angle; Fitting a plurality of continuous real-time position data based on a time sequence to respectively obtain motion trajectories corresponding to the trigger object and the target object; Whether the motion trajectory is in a continuous approaching state is analyzed based on the motion trajectory.

3. The method for non-sensing passage through a smart lock based on millimeter wave and Bluetooth according to claim 2 is characterized in that: The method further comprises the following steps: performing low-frequency trigger verification at a first distance based on the millimeter wave in the low-power standby mode: When the physiological feature verification fails, the motion trajectory verification is not performed and the low-power standby mode is switched to a low-power sleep mode; When the physiological feature verification is passed and the motion trajectory is not in the continuous approach state, it enters a correction waiting period of a preset time. If it is still not in the continuous approach state after the correction waiting timeout, the last coordinate position of the motion trajectory is recorded as the new first starting point and the next motion trajectory verification is waited again.

4. The method for non-sensing passage through a smart lock based on millimeter wave and Bluetooth according to claim 2 is characterized in that: The high-frequency trigger verification at a second distance based on the millimeter wave in the high-frequency tracking mode also includes the following steps: When the motion trajectory is not in the continuous approach state, it enters a correction waiting period of a preset time. When the correction waiting period is over and it is still not in the continuous approach state, the last coordinate position of the motion trajectory is recorded as the new second starting point and the next motion trajectory verification is waited again.

5. The method for non-sensing passage through a smart lock based on millimeter wave and Bluetooth according to claim 4 is characterized in that: During matching, the valid object is connected based on Bluetooth and two-way authentication is performed. After the two-way authentication is completed, the pass credential is obtained and verified, including the following steps: Obtaining a connection request from the valid object and responding within a preset time; Obtain the MAC address corresponding to the valid object and verify whether the MAC address belongs to the registered address, and after the verification is passed, perform handshake authentication and issue a scan request; The pass credential in the information response packet sent by the valid object in passive response after handshake authentication is obtained within a preset time and identity verification is performed. When the identity verification fails within a preset number of times, the Bluetooth connection is disconnected.

6. The method for non-sensing passage through a smart lock based on millimeter wave and Bluetooth according to claim 5 is characterized in that: The following steps are also included: When the number of the acquired MAC addresses is greater than the number of the valid objects and the number of the currently acquired pass certificates is equal to the number of the valid objects, starting a system self-check to update the millimeter wave frequency band parameters; If the number of valid objects remains unchanged after the system self-check, the MAC address without the pass credential will be registered, handshake authentication will be completed, and a pass credential will be generated for distribution.

7. A smart lock non-contact access system based on millimeter wave and Bluetooth, characterized in that: Used to implement the method described in any one of claims 1 to 6.

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