Autonomous operation equipment, terminal equipment, control method and autonomous operation system

Abstract

The invention provides autonomous operation equipment, terminal equipment, a control method and an autonomous operation system, and relates to the technical field of autonomous operation equipment. The control method of the autonomous operation equipment comprises the following steps: detecting the receiving power of a signal received by a wireless communication module, and carrying out average filtering processing on the receiving power; judging whether the mean filtering result meets a first judgment condition or not, and if yes, sending a safety control prompt to a user; then, whether first interaction information of the user is received or not is judged within preset time, if not, the wireless communication module is triggered to control limitation, and otherwise, whether the mean filtering result meets a second judgment condition or not is triggered to be judged, and the judgment process of the mean filtering result is carried out again. Through the receiving power of the wireless communication module, the distance for a user to control the operation of the autonomous operation equipment is limited, and the safety risk of manual control of the autonomous operation equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile autonomous operation equipment such as intelligent lawn mowers and sweepers, and in particular to an autonomous operation equipment, a terminal device, a control method and an autonomous operation system. Background Art

[0002] For autonomous mobile equipment such as lawn mowers and sweepers, in order to enable the autonomous equipment to complete the work tasks within the entire work map, the APP can send automatic operation control instructions to the autonomous equipment through the network, or send manual operation instructions to the autonomous equipment through a wireless communication module such as Bluetooth, and remotely control the autonomous equipment to perform operations. When the autonomous equipment operates automatically, it performs operations according to the path automatically planned according to the preset conditions, and triggers preset behaviors according to the sensors set on the autonomous equipment, which can meet the safety requirements. When manually controlling autonomous equipment such as lawn mowers to mow the lawn, if the user can wirelessly and manually control the lawn mower through an independent dedicated remote control, the lawn mower will execute the user's remote control instructions to turn on the blade. However, if the user's remote control distance of the lawn mower is greater than the distance required by the safety regulations, there may be certain safety risks when turning on the blade of the lawn mower. Summary of the invention

[0003] In view of the problem in the prior art that the user's unrestricted remote control of autonomous operation equipment may cause safety risks, the present invention proposes an autonomous operation equipment, a terminal device, a control method and an autonomous operation system.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is: a control method of an autonomous operation device, applied to the autonomous operation device, the autonomous operation device at least includes a first main body mechanism, a moving mechanism, a working mechanism, an energy module, an interaction module, and a first control module; wherein the interaction module includes a first wireless communication module arranged on the autonomous operation device, and the autonomous operation device communicates with a terminal device via the first wireless communication module; The method comprises: Detecting a received power of a signal received via the first wireless communication module, and performing mean filtering on the received power; Determine whether the mean filtering result meets the first judgment condition. If so, issue a security control prompt to the terminal device. When the first interaction information from the terminal device is not received within a predetermined time period, trigger the control restriction of the first wireless communication module. Otherwise, determine whether the mean filtering result meets the second judgment condition. If so, issue a security control prompt to the terminal device. When the second interaction information from the terminal device is not received within a predetermined time period, trigger the control restriction of the first wireless communication module. Otherwise, execute the control instruction corresponding to the second interaction information. The standard of the first judgment condition is higher than that of the second judgment condition.

[0005] Furthermore, the first judgment condition is that two consecutive mean filtering results are both smaller than a first preset power threshold, and the second judgment condition is that three consecutive mean filtering results are both smaller than the first preset power threshold.

[0006] Furthermore, the first judgment condition is that two consecutive mean filtering results are both less than a first preset power threshold, and the second judgment condition is that two consecutive mean filtering results are both less than a second preset power threshold; wherein, the first preset power threshold is greater than the second preset power threshold.

[0007] Furthermore, the first preset power threshold is set based on the relationship between the receiving power of the received signal and the transmitting and receiving distance between the terminal device; wherein the relationship is that the receiving power is inversely proportional to the square of the transmitting and receiving distance.

[0008] Furthermore, the determining whether the mean filtering result satisfies the first determination condition further includes: When the mean filtering result does not meet the first judgment condition, the control instruction sent by the terminal device through the second wireless communication module is executed.

[0009] Furthermore, the determining whether the mean filtering result satisfies the second determination condition further includes: When the mean filtering result does not meet the second judgment condition, the control instruction sent by the terminal device through the second wireless communication module is executed.

[0010] Further, the detecting the received power of the signal received via the first wireless communication module and performing mean filtering on the received power includes the following steps: Respectively detecting received powers P1, P2, ..., Pn of signals received at times T1, T2, ..., Tn; The received power of the received signal is subjected to mean filtering within a preset filtering window.

[0011] Furthermore, the autonomous operating device communicates with the terminal device via the first wireless communication module, further comprising: the terminal device as a master device sends a signal to the autonomous operating device as a slave device, and the autonomous operating device receives the signal through the first wireless communication module thereon.

[0012] A specific embodiment of the present invention further provides a control method of a terminal device, which is applied to a terminal device, wherein the terminal device at least includes a second main body mechanism, a second control module, and a second wireless communication module; the terminal device communicates with the autonomous operation device via the second wireless communication module; The method comprises: The control instruction is sent to the autonomous operation device through the second wireless communication module. When the power of the sent signal meets the judgment condition, a safety control prompt is received, and it is judged whether a user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the interaction information corresponding to the user interaction action is forwarded to the autonomous operation device; otherwise, when it receives the control distance exceeding prompt information sent by the autonomous operation device, it starts to stop sending control instructions to the autonomous operation device; The judgment condition is set based on a mean filtering result of the transmitted signal power and a preset power threshold.

[0013] A specific embodiment of the present invention further provides a control method of a terminal device, which is applied to a terminal device, wherein the terminal device at least includes a second main body mechanism, a second control module, and a Bluetooth communication module; the terminal device as a master device communicates with an autonomous operating device as a slave device via the Bluetooth communication module; The method comprises: Control instructions are sent to the autonomous operating equipment through the Bluetooth communication module. Only when the mean filtering result of the power of the transmitted signal is lower than the preset power threshold, the control distance exceeding prompt information sent by the autonomous operating equipment will be received; when the filtering result of the power of the transmitted signal is higher than the preset power threshold, the command control of the autonomous operating equipment will continue.

[0014] A specific embodiment of the present invention further provides an autonomous operating device for executing the above-mentioned control method of the autonomous operating device.

[0015] A specific embodiment of the present invention further provides a terminal device for executing the above-mentioned terminal device control method.

[0016] A specific embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which processor-executable instructions are stored, and the executable instructions are configured to enable a processor of an autonomous operating device to execute the above-mentioned control method.

[0017] A specific embodiment of the present invention further provides a computer program product, including a computer program or instructions, wherein the computer program or instructions are executed by a processor to execute the above control method.

[0018] A specific embodiment of the present invention further provides an autonomous operation system, including: the above-mentioned autonomous operation device and terminal device, or including the above-mentioned non-transitory computer-readable storage medium. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a control method for an autonomous operation device according to a first embodiment of the present invention; Figure 2 is a flow chart of another control method of the autonomous working equipment in the first embodiment of the present invention; Figure 3 is a schematic structural diagram of an autonomous operation system according to a third embodiment of the present invention; Figure 4 is a schematic structural diagram of an autonomous operating device according to a third embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention, so as to more clearly understand the purposes, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solutions of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0021] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0022] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0023] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0024] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0025] The implementation details of the embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following content is only provided for easy understanding of the implementation details and is not necessary for implementing the present solution.

[0026] Example 1

[0027] Autonomous operation equipment is a robot that can autonomously move within a preset work area and perform specific operations, such as a smart sweeper / vacuum cleaner that performs cleaning operations, or a smart lawn mower that performs mowing operations. Taking a smart lawn mower as an example, the application can send manual operation instructions to the lawn mower to remotely control the lawn mower to mow. When the lawn mower is manually controlled to mow, if an independent dedicated remote control is used to manually control the lawn mower, there is a remote control button for "turning on the blade disc". When the machine is in wireless manual control mode, the blade disc of the remote control lawn mower is turned on. Due to the distance required by the safety regulations, the lawn mower needs to be within 6 meters of the remote control to turn on the blade disc. If the distance of the remote control to turn on the blade disc of the autonomous operation equipment is not limited, it may increase the blindness of the user to control the autonomous operation equipment, thereby causing safety risks when the blade disc of the autonomous operation equipment is manually controlled to turn on.

[0028] The first embodiment of the present invention relates to a control method for an autonomous operation device, which is applied to the autonomous operation device. Figure 1 As shown, it is a specific flow chart of the control method of the autonomous operation equipment of this embodiment. In this embodiment, in view of the problem that when the user controls the autonomous operation equipment to open the cutter disc by remote control, the remote control distance is greater than the safety regulations, which may cause safety risks, a control method and autonomous operation equipment are proposed. Through the receiving power of the wireless communication module, the distance at which the user controls the operation of the autonomous operation equipment is limited, thereby reducing the blindness of the user controlling the autonomous operation equipment to open the cutter disc, thereby reducing the safety risks of manual control of the autonomous operation equipment.

[0029] The autonomous operation equipment detects the signal receiving power received via the wireless communication module, and performs filtering on the received power to determine whether there are two consecutive filtering results below a preset threshold, and if so, triggers the wireless communication module control limit. After the wireless communication module control limit is triggered, a prompt of exceeding the control distance is fed back to the terminal device.

[0030] Exemplarily, Bluetooth is used as the wireless communication module, the remote control is used as the terminal device, and 6 meters is used as the distance limit for the user to remotely control the autonomous operating equipment. Specifically, the remote control can be used as the master device and the autonomous operating equipment as the slave device. The remote control establishes a connection with the autonomous operating equipment through the Bluetooth protocol for communication. The autonomous operating equipment receives the signal sent from the remote control through the wireless communication module thereon, and determines whether to execute the control command sent by the remote control based on the power of the received signal, and then decides whether to feedback the distance limit to the remote control. In the above-mentioned Bluetooth communication process, frequency hopping technology can be used to enhance the anti-interference ability of communication, and reduce communication interference and improve security by continuously changing the transmission frequency. In addition, the remote control as the master device can continuously monitor the RSSI (Received Signal Strength Indicator) value. When the signal strength is detected to be lower than a certain critical value (such as -85dBm, a typical Bluetooth critical value), disconnection protection can be triggered immediately, which reduces the delay of about 200ms-300ms compared to the time required for the slave device to passively detect that the signal strength is lower than a certain critical value, avoiding continued communication in the case of poor signal quality, thereby reducing interference and errors; and the remote control consumes more power when trying to maintain a low-quality connection, and triggering disconnection protection can allow the device to enter a low-power state and extend the battery life. At the same time, through dynamic power consumption optimization, the autonomous operation device as a slave device only needs to maintain basic monitoring power consumption, further reducing the possibility of power consumption and interference, and ensuring stable operation in complex environments. The terminal device may include at least a main body, a control module, and a wireless communication module. The wireless communication module of the present invention includes but is not limited to Bluetooth, and the terminal device includes but is not limited to a remote control. The terminal device can also be a mobile phone, which is only a preferred solution. The communication distance of Bluetooth is generally about 10 meters, and when the user remotely controls the autonomous operation device with a limited distance of 6 meters, the Bluetooth communication distance is inconsistent with the limited distance of the remote control autonomous operation device. In other examples, the communication distance of the wireless communication module may also be inconsistent with the limited distance of the remote control autonomous operation device.

[0031] As those skilled in the art will appreciate, the Friis Free Space Formula is one of the most important equations in antenna theory. It is used to calculate the power transfer between two antennas in free space. The formula relates the transmission power, antenna gain, distance, wavelength, and received power. The specific form is: ‌Pr =( Pt * Gt * Gr * λ ²) / (4 πd )²‌, where Pt is the transmission power, Gt is the transmit antenna gain, Gr is the receiving antenna gain, λ is the wavelength, d is the distance between the two antennas.

[0032] According to the Friis transmission formula, the signal receiving power of the receiver is roughly proportional to the distance d is inversely proportional to the square of. Based on the relationship between the receiving power and the transmitting and receiving distance, the receiving power threshold is set, so that the distance threshold can be indirectly limited, and then the distance at which the user is allowed to control the autonomous operating equipment through Bluetooth can be limited. Specifically, when the receiving power is lower than the preset power threshold, it means that the distance between the user and the autonomous operating equipment is large at this time, and the autonomous operating equipment refuses to execute the control instructions sent by the user through the wireless communication module, and at the same time, feedback to the remote control through the application APP indicates that the control distance has exceeded the prompt information; when the receiving power is higher than the preset power threshold, it means that the distance between the user and the autonomous operating equipment meets the distance range of safety control, then the control instructions sent by the user through the wireless communication module are executed, and no prompt information is fed back to the remote control.

[0033] In some embodiments, since the wireless channel is susceptible to interference, the received signal power is prone to fluctuations, resulting in abnormally low received power values. If the user is restricted from sending control information and prompted through the APP every time the received power is detected to be lower than the preset power threshold, it may cause the user to mistakenly trigger the Bluetooth control restriction or receive a distance-too-large prompt when the user is in a safe range.

[0034] In other embodiments, in view of the problem that the received signal power is prone to fluctuation due to channel interference, a mean filtering process is performed on the detected received power to avoid accidental received power fluctuations triggering the Bluetooth control limit and distance prompt settings. T 1. T 2....... Tn At these different times, the signals are received through the wireless communication module respectively, and the corresponding received power of the received signal is P 1. P 2....... Pn , the received power of the received signal is processed by mean filtering within the preset filtering window. It can be understood that there are arrays within the preset filtering window, each of which is the received power. d is the filter window length. Here dThe larger the value of , the stronger the noise reduction effect of the filter window, but it will introduce greater delay.

[0035] In order to better understand the process of the control method of the present invention, the following will be based on the filter window d When the value is 4, the process of performing mean filtering on the received power of the received signal is described in detail in combination with Table 1, as follows: For example, as shown in Table 1, the table 1 shows T 1- T 8 The received power of the signal at time T 3 moment appears abnormally low value 1. When setting the filter window d =4, in T 4. T There is a mean filtering result at each time point. R 1=( P 1+ P 2+ P 3+ P 4) / d =(5+5+1+5) / 4=4, R 2=( P 2+ P 3+ P 4+ P 5) / d =(5+1+5+5) / 4=4, it can be seen that after mean filtering, the T The influence of the abnormally low value of 1 received power at time 3 on the filtering result shows that the influence of abnormally high or low values ​​can be eliminated by mean filtering.

[0036] Table 1: Time (T) 1 2 3 4 5 6 7 8 Receive power (P) 5 5 1 5 5 3 2（5） 2（5） Filter window (i) 4 4 4 4 4 4 4 4 Filter result (R) 4 4 3.5 3.75（4.5） 3（4.5） However, since mean filtering is a summary average of all arrays (i.e., received power) within the filter window, historical outliers may have a significant impact on the mean filtering result, especially when there are multiple outliers in the filter window, the filtering result may be biased towards the outliers.

[0037] In view of the above problems existing in mean filtering, the present invention further sets a mean filtering result judgment condition to weaken the influence of historical abnormal values ​​on the mean filtering result.

[0038] Specifically, the judgment condition can be set to that 2 consecutive (such as R1 and R2 as mentioned above) or 3 mean filtering results are all lower than the preset power threshold, which triggers the Bluetooth control restriction and distance prompt. Since the filter window is fixed and sliding (that is, the length of the filter window is fixed, and its filtering operation will slide with the advancement of time or sequence. This is like using a moving lens to observe a long scroll painting. The size of the lens remains unchanged, but as the lens moves, you can see different parts of the painting), the mean filtering process will discard the earliest data each time a new data is added. Therefore, triggering restrictions based on multiple consecutive abnormal results can reduce the impact of historical outliers and reflect the current state and continuity of the data. For example: In Table 1, T A smaller value of 3 appears at time 6, because T 3. There are abnormally low values ​​at historical moments. T 3. T The value at time 6 results in a smaller value of 3.5. T At time 7, the smaller value 2 still appears, because T 6. T The value at time 7 is also filtered to a smaller value of 3.75, which can be considered to be due to the increase in distance resulting in a continuous decrease in received power. T 7 is restored to the larger value of 5 (instructions T The smaller value 3 at time 6 is also an outlier). T 3 moments outlier value 1, and added T The normal value at time 7 is 5, and the filtering result is restored to a higher value of 4.5 to avoid T 3. T 6. Abnormal value at moment 6 causes false triggering.

[0039] Through the above settings, in the case of small probability, accidental channel interference and receiving power fluctuations, after mean filtering, the abnormal value is pulled back to a value close to the mean to avoid false triggering of Bluetooth restrictions. This setting can reduce the problem of false triggering of Bluetooth restrictions due to abnormal receiving power values ​​caused by unstable wireless channels. After the user is away from the autonomous operating equipment, the receiving power is low at each moment, and the filtering result is also low after mean filtering, generally lower than the preset power threshold, and can still trigger the control restriction. Or in a more complex communication environment, continuous abnormal receiving power values ​​may cause false triggering of Bluetooth control, reducing the user experience.

[0040] In the above method, the main judgment conditions include whether the preset power threshold for triggering Bluetooth restriction is met, whether the number of filtering results below the preset power threshold is met, whether the filter window selection is appropriate, etc. Different judgment conditions can set the distance for limiting Bluetooth control and the sensitivity of Bluetooth restriction triggering.

[0041] In response to the above problem, further, a first judgment condition and a second judgment condition are set, wherein the first judgment condition is a sensitive or more restrictive Bluetooth restriction judgment condition, and the second judgment condition is a more fault-tolerant or less restrictive Bluetooth restriction judgment condition; and, in response to user interaction information, the above judgment condition is switched from the first judgment condition to the second judgment condition.

[0042] Specifically, if Figure 2 As shown, the autonomous operation equipment detects the signal receiving power received via the wireless communication module, and performs mean filtering on the received power to determine whether the mean filtering process meets the first judgment condition. If so, a safety control prompt is sent to the terminal device, and then it is monitored whether the interactive information fed back by the terminal device is received within a predetermined time period. If not, the Bluetooth control restriction is triggered. If so, it triggers the judgment of whether the mean filtering result meets the second judgment condition. For example, when sending a safety control prompt to the user, buttons labeled "Confirm Operation Safety" and "End Bluetooth Control" are also provided to the user through the APP interface. The user interaction information is the instruction that the user clicks the "Confirm Operation Safety" button displayed on the APP interface. For the terminal device, the terminal device sends a control instruction to the autonomous operation device through the wireless communication module thereon. When the power of the sent signal meets the first judgment condition, the terminal device will receive a safety control prompt, and judge whether a user interaction action is received within a predetermined time period after receiving the safety control prompt. If not, when it receives the prompt information of exceeding the control distance sent by the autonomous operation device, it starts to stop sending control instructions to the autonomous operation device; otherwise, the interaction information corresponding to the user interaction action is forwarded to the autonomous operation device, and when the power of the sent signal meets the second judgment condition, the terminal device will receive a safety control prompt, and judge whether a user interaction action is received within a predetermined time period after receiving the safety control prompt. If yes, the interaction information corresponding to the user interaction action is forwarded to the autonomous operation device; otherwise, when it receives the prompt information of exceeding the control distance sent by the autonomous operation device, it starts to stop sending control instructions to the autonomous operation device.

[0043] Exemplarily, the first judgment condition may be that two consecutive mean filtering results are both less than a first preset power threshold, and the second judgment condition may be that three consecutive mean filtering results are both less than the first preset power threshold. The second judgment condition measures more detection data. Although the sensitivity of the detection of the reduction of received power due to the increase in distance decreases, it has better fault tolerance and improves the user experience.

[0044] Exemplarily, the first judgment condition may be that two consecutive mean filtering results are both less than a first preset power threshold, and the second judgment condition may be that two consecutive mean filtering results are both less than a second preset power threshold; wherein the first preset power threshold is greater than the second preset power threshold. Since the second preset power threshold is lower than the first preset power threshold, when the distance between the autonomous operating equipment and the terminal equipment is far and the received power value is low, the triggering of the control limit of the wireless communication module can be reduced. Specifically, the received power of the wireless communication module signal is acquired in real time and stored in array A; when the data in array A meets a preset number (the preset number here is the value of the preset filtering window, this embodiment d =4), calculate the average value of the data in array A and store the average value in array B; when the number of array B meets a preset number, determine whether the data in array B meets the first judgment condition, and if so, prompt the user; if the user does not process this, the autonomous operation device triggers to determine whether the data in array B meets the second judgment condition; according to the above steps, repeat the judgment, and when the condition is not met, trigger the Bluetooth control restriction. Preferably, the application obtains the Bluetooth signal value of the machine in real time and stores it in an array A; when there are 4 data in array A, calculate the average value of the 4 data and put the average value into array B; when the number of array B meets 2, determine whether there are 2 consecutive data in the data of array B that are both less than -59dB (the first preset power threshold set in this example), and if so, prompt the user; if the user ignores this prompt, set the threshold to -70dB (the second preset power threshold set in this example), and still follow the above steps, when it is determined again that the Bluetooth signal value does not meet the condition, perform a second interception.

[0045] In this embodiment, the distance at which the user controls the operation of the autonomous operation equipment is limited based on whether the mean filtering result of the receiving power of the wireless communication module meets the judgment conditions, thereby reducing the safety risks of the user's long-distance control of the autonomous operation equipment.

[0046] Example 2

[0047] This embodiment relates to an autonomous operation device, which is used to execute the control method of the autonomous operation device in Embodiment 1. Since Embodiment 2 corresponds to Embodiment 1, Embodiment 2 can be implemented in conjunction with Embodiment 1. The relevant technical details mentioned in Embodiment 1 are still valid in this embodiment, and the technical effects that can be achieved in Embodiment 1 can also be achieved in this embodiment. In order to reduce repetition, they will not be repeated here.

[0048] Example 3

[0049] like Figure 3As shown, this embodiment provides an autonomous operation system, including an autonomous operation device 100, a docking station 900 and a boundary 800.

[0050] The autonomous operation equipment 100 is especially a robot that can autonomously move in a preset area and perform specific operations, such as a typical intelligent sweeper / vacuum cleaner that performs cleaning operations, or an intelligent lawn mower that performs mowing operations. Among them, the specific operation especially refers to the operation of processing the working surface and changing the state of the working surface. The present invention is described in detail using an intelligent lawn mower as an example. The autonomous operation equipment 100 can autonomously walk on the surface of the working area 400, and in particular, as an intelligent lawn mower, it can autonomously perform mowing operations on the ground. The autonomous operation equipment 100 includes at least a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and the like.

[0051] like Figure 4 As shown, the main mechanism generally includes a chassis 20, and the chassis 20 is used to install and accommodate functional mechanisms and functional modules such as a mobile mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. Generally, the chassis 20 includes a chassis upper cover and a chassis lower cover, and the chassis upper cover and the chassis lower cover are buckled to form a sealed cavity, which is used to accommodate functional mechanisms and functional modules with waterproof and / or dustproof requirements. In some embodiments, the main mechanism also includes a shell 10, and the shell 10 is generally configured to at least partially cover the chassis 20, mainly to enhance the beauty and recognition of the autonomous operating equipment 100. In this embodiment, the shell 10 is configured to be repositionable relative to the chassis 20 under the action of an external force. The shell 10 can be further used to sense collisions, lifts, and other events in conjunction with an appropriate detection module, such as a Hall sensor for example. In this embodiment, the chassis upper cover and the shell 10 are the same structural member.

[0052] The mobile mechanism is configured to support the main mechanism on the ground and drive the main mechanism to move on the ground, and generally includes a wheeled mobile mechanism, a crawler or semi-crawler mobile mechanism, and a walking mobile mechanism. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, including at least one driving wheel 2001 and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In this embodiment, a left driving wheel 2001, a left walking prime mover that drives the left driving wheel, a right driving wheel 2001, and a right walking prime mover that drives the right driving wheel are preferably provided. In this embodiment, the straight-line travel of the autonomous operating equipment 100 is achieved by the same-direction and uniform-speed rotation of the left and right driving wheels 2001, and the steering travel is achieved by the same-direction differential speed or opposite rotation of the left and right driving wheels 2001. In other embodiments, the mobile mechanism may also include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel 2002 , and the driven wheel 2002 is typically configured as a universal wheel. The driving wheel 2001 and the driven wheel 2002 are respectively located at the front and rear ends of the autonomous working device 100 .

[0053] The working mechanism is constructed to perform specific work tasks, including a working piece and a working prime mover that drives the working piece to operate. Exemplarily, for an intelligent sweeper / vacuum cleaner, the working piece includes a roller brush, a dust suction tube, a dust collection chamber, etc.; for an intelligent lawn mower, the working piece includes a cutting blade or a cutting disc, and further includes a height adjustment mechanism for adjusting the mowing height and other components for optimizing or adjusting the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments it may also be an internal combustion engine or a machine that uses other types of energy to generate power. In some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0054] The energy module is configured to provide energy for various operations of the autonomous working device 100. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous working device 100.

[0055] The detection module is constructed as at least one sensor that senses the environmental parameters of the autonomous operating equipment 100 or its own working parameters. Typically, the detection module may include sensors related to the definition of the working area 400, such as magnetic induction, collision, ultrasonic, infrared, radio and other types, and the sensor type is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, acceleration sensors, odometers, angle sensors, geomagnetic sensors, etc. The detection module may also include sensors related to its own working safety, such as obstacle sensors, lifting sensors, battery pack temperature sensors, etc. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, light sensors, rain sensors, etc.

[0056] The interaction module is constructed to at least receive control command information input by the user, send information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device arranged on the autonomous operation equipment 100, which is used to receive control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer arranged on the autonomous operation equipment 100, which allows the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module arranged on the autonomous operation equipment 100 and a terminal device independent of the autonomous operation equipment 100, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operation equipment 100 via a wired or wireless communication module.

[0057] The control module generally includes at least one processor and at least one non-volatile memory, wherein the memory stores a pre-written computer program or instruction set, and the processor controls the execution of the movement, work and other actions of the autonomous working device 100 according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous working device 100, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0058] The boundary 800 is used to define the working area 400 of the robot system, and generally includes an outer boundary. In some embodiments, the boundary 800 also includes an inner boundary. The autonomous working device 100 is limited to move and work within the outer boundary, outside the inner boundary, or between the outer boundary and the inner boundary. The boundary 800 can be physical, typically such as a wall, a fence, a railing, etc.; the boundary 800 can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, the virtual boundary signal is generally an electromagnetic signal or a light signal, or for the autonomous working device 100 provided with a positioning device (such as a satellite positioning device, a visual positioning device, a laser radar positioning device, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In some embodiments, the boundary 800 is constructed as a closed energized wire electrically connected to the boundary signal generating device, and the boundary signal generating device is generally arranged in the docking station 900. In some embodiments, the autonomous working device 100 is provided with a device that can distinguish between the boundary between grass and non-grass (such as Figure 3 The visual module of the house 200 and the tree 300 shown in the figure determines the boundary 800 of the working area 400 through the visual module.

[0059] The docking station 900 is usually constructed on or within the boundary 800 for the autonomous working device 100 to dock, and in particular can supply energy to the autonomous working device 100 docked at the docking station 900 .

[0060] Optionally, the processor uses various interfaces and lines to connect various parts of the entire autonomous operation equipment, and executes various functions of the autonomous operation equipment and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a neural network processor (NPU). Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content that needs to be displayed on the touch display; and the NPU is used to implement artificial intelligence (AI) functions.

[0061] The memory may include a random access memory (RAM) or a read only memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory may be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function, instructions for implementing each of the above method embodiments, etc.; the data storage area may store data created according to the use of the autonomous operating device, etc.

[0062] The present invention also provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is used to be executed by a processor to implement the control method of the autonomous operating equipment as described in the above embodiment.

[0063] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention or any person skilled in the art who is familiar with the present invention may easily think of changes or substitutions within the technical scope disclosed by the present invention, and shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A control method for autonomous operation equipment, characterized in that: Applied to autonomous operation equipment, the autonomous operation equipment at least includes a first main body mechanism, a moving mechanism, a working mechanism, an energy module, an interaction module, and a first control module; wherein the interaction module includes a first wireless communication module arranged on the autonomous operation equipment, and the autonomous operation equipment communicates with the terminal device via the first wireless communication module; The method comprises: Detecting the received power of the signal received via the first wireless communication module, and performing mean filtering on the received power; Determine whether the mean filtering result meets the first judgment condition. If so, issue a security control prompt to the terminal device. When the first interaction information from the terminal device is not received within a predetermined time period, trigger the control restriction of the first wireless communication module. Otherwise, determine whether the mean filtering result meets the second judgment condition. If so, issue a security control prompt to the terminal device. When the second interaction information from the terminal device is not received within a predetermined time period, trigger the control restriction of the first wireless communication module. Otherwise, execute the control instruction corresponding to the second interaction information. The standard of the first judgment condition is higher than that of the second judgment condition.

2. The method according to claim 1, characterized in that The first judgment condition is that two consecutive mean filtering results are both smaller than the first preset power threshold, and the second judgment condition is that three consecutive mean filtering results are both smaller than the first preset power threshold.

3. The method according to claim 1, characterized in that The first judgment condition is that two consecutive mean filtering results are both less than a first preset power threshold, and the second judgment condition is that two consecutive mean filtering results are both less than a second preset power threshold; wherein, the first preset power threshold is greater than the second preset power threshold.

4. The method according to claim 2 or 3, characterized in that: The first preset power threshold is set based on the relationship between the receiving power of the received signal and the transceiver distance between the terminal device; wherein the relationship is that the receiving power is inversely proportional to the square of the transceiver distance.

5. The method according to claim 2 or 3, characterized in that: The determining whether the mean filtering result satisfies the first determination condition further includes: When the mean filtering result does not meet the first judgment condition, the control instruction sent by the terminal device through the second wireless communication module is executed.

6. The method according to claim 2 or 3, characterized in that: The determining whether the mean filtering result satisfies the second determining condition further includes: When the mean filtering result does not meet the second judgment condition, the control instruction sent by the terminal device through the second wireless communication module is executed.

7. The method according to claim 1, characterized in that The detecting the received power of the signal received via the first wireless communication module and performing mean filtering on the received power comprises the following steps: Detected separately in T 1. T 2....... Tn The received power of the signal received at any moment P 1. P 2....... Pn ; The received power of the received signal is subjected to mean filtering within a preset filtering window.

8. The method according to claim 1, characterized in that: The autonomous operation device communicates with the terminal device via the first wireless communication module further including: the terminal device as a master device sends a signal to the autonomous operation device as a slave device, and the autonomous operation device receives the signal through the first wireless communication module thereon.

9. A method for controlling a terminal device, characterized in that: Applied to a terminal device, the terminal device at least comprises a second main body mechanism, a second control module, and a second wireless communication module; the terminal device communicates with the autonomous operation device via the second wireless communication module; The method comprises: The control instruction is sent to the autonomous operation device through the second wireless communication module. When the power of the sent signal meets the judgment condition, a safety control prompt is received, and it is judged whether a user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the interaction information corresponding to the user interaction action is forwarded to the autonomous operation device; otherwise, when it receives the control distance exceeding prompt information sent by the autonomous operation device, it starts to stop sending control instructions to the autonomous operation device; The judgment condition is set based on a mean filtering result of the transmitted signal power and a preset power threshold.

10. A method for controlling a terminal device, characterized in that: Applied to a terminal device, the terminal device at least comprises a second main body mechanism, a second control module, and a Bluetooth communication module; The terminal device as a master device communicates with the autonomous operation device as a slave device via the Bluetooth communication module; The method comprises: Control instructions are sent to the autonomous operating equipment through the Bluetooth communication module. Only when the mean filtering result of the power of the transmitted signal is lower than the preset power threshold, the control distance exceeding prompt information sent by the autonomous operating equipment will be received; when the filtering result of the power of the transmitted signal is higher than the preset power threshold, the command control of the autonomous operating equipment will continue.

11. An autonomous operation device, characterized in that: A control method for executing the autonomous working equipment according to any one of claims 1 to 8.

12. A terminal device, characterized in that: Used to execute the control method of the terminal device described in claim 9 or 10.

13. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores processor-executable instructions, and the executable instructions are configured to enable a processor of the autonomous working device to execute the control method as described in any one of claims 1 to 8.

14. A computer program product comprising a computer program or instructions, characterized in that The computer program or instructions are executed by a processor to implement the control method according to any one of claims 1 to 8.

15. An autonomous operation system, characterized in that: include: The autonomous operation device as claimed in claim 11 and the terminal device as claimed in claim 12, or including the non-transitory computer-readable storage medium as claimed in claim 13.

Images