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

Abstract

The present invention provides an autonomous operation device, a terminal device, a control method and an autonomous operation system, and relates to the technical field of autonomous operation devices. The control method of the autonomous operation device includes: detecting the receiving power of the signal received via the wireless communication module, and performing mean filtering on the receiving power; judging whether the mean filtering result meets the first judgment condition, and if so, first issuing a safety control prompt to the user; then, judging whether the user's first interactive information is received within a predetermined time, and if not, triggering the wireless communication module control restriction, and conversely, triggering the judgment of whether the mean filtering result meets the second judgment condition, and again carrying out the judgment process of the mean filtering result. The present invention limits the distance at which the user controls the operation of the autonomous operation device through the size of the receiving power of the wireless communication module, thereby reducing the safety risks of manual control of the autonomous operation device.

Description

Technical Field

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

[0002] For autonomous mobile equipment such as lawn mowers and sweepers, to ensure they can complete tasks within the entire work map, apps can send automatic control commands to the autonomous equipment via the network. They can also send manual commands to the autonomous equipment via wireless communication modules such as Bluetooth, allowing remote control of the autonomous equipment. When operating autonomously, autonomous equipment executes tasks based on a path automatically planned according to preset conditions and triggers preset actions based on sensors installed on the autonomous equipment, meeting safety requirements. When mowing manually, autonomous equipment such as a lawn mower can be manually controlled wirelessly using a dedicated remote control. The mower executes the user's remote control commands to activate the blade. However, if the user's remote control distance for the mower exceeds the distance required by safety regulations, there may be safety risks when activating the blade. Summary of the Invention

[0003] In response to the problem in the prior art that unrestricted remote control of autonomous operating equipment by users may cause safety risks, the present invention proposes an autonomous operating device, a terminal device, a control method and an autonomous operating system.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a control method for autonomous operating equipment, applied to the autonomous operating equipment, wherein the autonomous operating equipment comprises at least 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 comprises a first wireless communication module provided on the autonomous operating equipment, and the autonomous operating equipment communicates with a terminal device via the first wireless communication module;

[0005] The method comprises:

[0006] detecting a received power of a signal received via the first wireless communication module, and performing mean filtering on the received power;

[0007] 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 the standard of the second judgment condition.

[0008] 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.

[0009] 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.

[0010] Furthermore, the first preset power threshold is set based on the relationship between the receiving power of the received signal and the receiving and transmitting distance between the terminal device; wherein, the relationship is that the receiving power is inversely proportional to the square of the receiving and transmitting distance.

[0011] Furthermore, the determining whether the mean filtering result satisfies the first determination condition further includes:

[0012] 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.

[0013] Furthermore, the determining whether the mean filtering result satisfies the second determination condition further includes:

[0014] 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.

[0015] Furthermore, 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:

[0016] detecting received powers P1, P2, ..., Pn of signals received at times T1, T2, ..., Tn, respectively;

[0017] The received power of the received signal is subjected to mean filtering within a preset filtering window.

[0018] Furthermore, the autonomous operation 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 operation device as a slave device, and the autonomous operation device receives the signal through the first wireless communication module thereon.

[0019] A specific embodiment of the present invention further provides a terminal device control method, which is applied to the terminal device, wherein the terminal device at least includes a second main body, 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;

[0020] The method comprises:

[0021] Sending control instructions to the autonomous operating device via the second wireless communication module; when the power of the transmitted signal meets the judgment condition, a safety control prompt will be received; and it will be determined whether a user interaction action has been received within a predetermined time period after receiving the safety control prompt. If so, the interaction information corresponding to the user interaction action will be forwarded to the autonomous operating device; otherwise, upon receiving a prompt message from the autonomous operating device indicating that the control distance has been exceeded, the control instruction will be stopped from being sent to the autonomous operating device;

[0022] The judgment condition is set based on a mean filtering result of the transmitted signal power and a preset power threshold.

[0023] A specific embodiment of the present invention further provides a control method for a terminal device, which is applied to a terminal device, wherein the terminal device comprises at least a second main body, 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;

[0024] The method comprises:

[0025] 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 will the control distance exceeding prompt information sent by the autonomous operating equipment be received; when the filtering result of the power of the transmitted signal is higher than the preset power threshold, the instruction control of the autonomous operating equipment will continue.

[0026] 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.

[0027] A specific embodiment of the present invention further provides a terminal device for executing the above-mentioned terminal device control method.

[0028] A specific embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which processor-executable instructions are stored. The executable instructions are configured to enable a processor of an autonomous operating device to execute the above-mentioned control method.

[0029] 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.

[0030] 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

[0031] Figure 1 is a flow chart of a control method for an autonomous operating device according to a first embodiment of the present invention;

[0032] Figure 2 is a flow chart of another control method for the autonomous operating device according to the first embodiment of the present invention;

[0033] Figure 3 is a schematic structural diagram of an autonomous operation system according to a third embodiment of the present invention;

[0034] Figure 4 2 is a schematic structural diagram of an autonomous operation device according to a third embodiment of the present invention. DETAILED DESCRIPTION

[0035] 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 embodiments described are only some of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work should fall within the scope of protection of the present invention.

[0036] 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, that is, should be interpreted to mean "including, but not limited to."

[0037] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0038] 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.

[0039] 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 words such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as restrictive terms.

[0040] The following describes the implementation details of the embodiments of the present invention in detail with reference to the accompanying drawings. The following content is only provided to facilitate understanding of the implementation details and is not necessary for implementing this solution.

[0041] Example 1

[0042] Autonomous equipment is a robot that can autonomously move within a predefined work area and perform specific tasks. Typical examples include a smart sweeper / vacuum cleaner for cleaning or a smart lawn mower for mowing. For example, an application can send manual operation commands to the mower, allowing it to remotely control the mowing process. Manual mowing involves using a dedicated remote control with a "cutter start" button. When the mower is in wireless manual control mode, the remote control activates the cutting deck. Safety regulations require that the mower be within six meters of the remote control to activate the cutting deck. Failure to implement a distance limit for remote control to activate the cutting deck of autonomous equipment could increase user indiscriminate control, potentially creating safety risks when manually activating the cutting deck.

[0043] 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 1The figure shows a specific flow chart of the control method for the autonomous operating device according to this embodiment. In this embodiment, to address the potential safety risks posed by the remote control distance exceeding safety regulations when a user remotely controls the autonomous operating device to activate the cutterhead, a control method and autonomous operating device are proposed. By using the received power of the wireless communication module, the distance at which the user can control the autonomous operating device is limited, thereby reducing the risk of users blindly controlling the autonomous operating device to activate the cutterhead and thereby minimizing the safety risks associated with manual control of the autonomous operating device.

[0044] The autonomous device detects the received power of the signal received via the wireless communication module and filters the received power to determine whether two consecutive filtering results are below a preset threshold. If so, the device triggers a control limit on the wireless communication module. Upon triggering the control limit, the device sends a notification indicating that the control distance has been exceeded to the terminal device.

[0045] For example, 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 device. Specifically, the remote control can be used as the master device and the autonomous operating device as the slave device. The remote control establishes a connection with the autonomous operating device through the Bluetooth protocol for communication. The autonomous operating device receives the signal sent from the remote control through the wireless communication module thereon, and determines whether to execute the control instruction 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 below a certain threshold (e.g., -85dBm, a typical Bluetooth threshold), disconnect protection can be immediately triggered. This reduces the delay by approximately 200ms-300ms compared to when the slave device passively detects that the signal strength has fallen below the threshold. This prevents continued communication during poor signal quality conditions, thereby reducing interference and errors. Furthermore, the remote control consumes more power when attempting to maintain a low-quality connection. Triggering disconnect protection allows the device to enter a low-power state, extending battery life. Furthermore, through dynamic power optimization, the autonomous device, acting as a slave, only needs to maintain basic monitoring power consumption, further reducing power consumption and the potential for interference, ensuring stable operation even 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 may also be a mobile phone, which is only a preferred option. The Bluetooth communication range is generally around 10 meters. When the user's remote control distance limit for the autonomous device is 6 meters, the Bluetooth communication range is inconsistent with the remote control distance limit for the autonomous device. In other examples, the communication range of the wireless communication module may also be inconsistent with the remote control distance limit for the autonomous device.

[0046] Those skilled in the art will understand that 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. This 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 transmit power, Gt is the transmitting antenna gain,Gr is the receiving antenna gain, λ is the wavelength, d is the distance between the two antennas.

[0047] 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 the power. Based on the relationship between the receiving power and the transmitting and receiving distance, a receiving power threshold is set, which can indirectly limit the distance threshold, and further limit the distance at which the user is allowed to control the autonomous operating equipment via Bluetooth. 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 is given to the remote control through the application APP to indicate that the control distance has been exceeded. 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 safety control distance range, 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.

[0048] In some embodiments, because wireless channels are susceptible to interference, received signal power can fluctuate, leading to abnormally low received power values. If the user is restricted from sending control messages and prompted via the app every time the received power is detected to be below a preset power threshold, this could result in the user mistakenly triggering Bluetooth control restrictions or receiving excessive distance notifications even when they are within a safe range.

[0049] In other embodiments, in order to solve 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 Bluetooth control restrictions and distance prompts. T 1. T 2....... Tn At these different moments, the signals are received through the wireless communication module, and the corresponding received signal power 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 array is the received power, d is the filter window length. Here d The larger the value of , the stronger the noise reduction effect of the filter window, but it will introduce greater delay.

[0050] In order to better understand the process of the control method of the present invention, the following will be 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 conjunction with Table 1, as follows:

[0051] For example, as shown in Table 1, the table 1 shows T 1- T 8 The received power of the signal at time t, where T 3 moments show an abnormally low value of 1. When setting the filter window d =4, in T 4. T There is a mean filtering result at each moment: 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 the mean filter, 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.

[0052] Table 1:

[0053] Time (T) 1 2 3 4 5 6 7 8 Received 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） ;

[0054] However, since mean filtering aggregates and averages all arrays (i.e., received power) within the filter window, historical outliers may have a significant impact on the mean filtering result. In particular, when there are multiple outliers within the filter window, the filtering result may be biased towards the outliers.

[0055] In response to the above-mentioned problems existing in mean filtering, the present invention further sets a mean filtering result judgment condition to weaken the influence of historical outliers on the mean filtering result.

[0056] 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 lower than the preset power threshold, which triggers the Bluetooth control limit 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 as time or sequence progresses, which 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 as the filtering result. 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 moments restore to the maximum value 5 (instructions T The smaller value 3 at time 6 is also an abnormal value). 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 values ​​at moment 6 cause false triggering.

[0057] Through the above settings, in the case of small probability, accidental channel interference and receiving power fluctuations, after mean filtering, the outliers are pulled back to a value close to the mean, avoiding 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 after mean filtering is also low, generally lower than the preset power threshold, which can still trigger the control limit. Or in a more complex communication environment, it may cause continuous abnormal receiving power values, which may still cause false triggering of Bluetooth control, reducing the user experience.

[0058] 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, and whether the filter window selection is appropriate. Different judgment conditions can set the distance for limiting Bluetooth control and the sensitivity of Bluetooth restriction triggering.

[0059] 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 more 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.

[0060] 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 any user interaction action is received within the 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 any user interaction action is received within the 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.

[0061] 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 decrease in received power due to the increase in distance decreases, it has better fault tolerance and improves the user experience.

[0062] 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 device and the terminal device 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 obtained 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 filter window, this embodiment d =4), calculate the average value of the data in array A and store it in array B; when the number of array B reaches 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 take action, the autonomous operation device triggers to determine whether the data in array B meets the second judgment condition; repeat the judgment according to the above steps, and when the conditions are not met, trigger 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 these 4 data and store the average value in array B; when the number of array B reaches 2, determine whether there are two consecutive data in 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, the threshold is set to -70dB (the second preset power threshold set in this example), and the above steps are repeated. When it is again determined that the Bluetooth signal value does not meet the conditions, a second interception is performed.

[0063] In this embodiment, the distance at which the user can control 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 operating the autonomous operation equipment from a distance.

[0064] Example 2

[0065] This embodiment relates to an autonomous operating device, which is used to implement the control method for the autonomous operating device described in Example 1. Since Example 2 corresponds to Example 1, Example 2 can be implemented in conjunction with Example 1. The relevant technical details mentioned in Example 1 remain valid in this embodiment, and the technical effects achieved in Example 1 can also be achieved in this embodiment. To reduce repetition, they will not be detailed here.

[0066] Example 3

[0067] like Figure 3As shown, this embodiment provides an autonomous operation system, including autonomous operation equipment 100, a docking station 900 and a boundary 800.

[0068] The autonomous operating equipment 100 is, in particular, a robot that can autonomously move within 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 particularly refers to an operation that processes the working surface and changes the state of the working surface. The present invention is described in detail using an intelligent lawn mower as an example. The autonomous operating 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 operating 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.

[0069] like Figure 4 As shown, the main body mechanism generally includes a chassis 20, which 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 together to form a sealed cavity for accommodating functional mechanisms and functional modules with waterproof and / or dustproof requirements. In some embodiments, the main body mechanism also includes a shell 10, which is generally constructed to at least partially cover the chassis 20, mainly serving to enhance the aesthetics and recognition of the autonomous operating equipment 100. In this embodiment, the shell 10 is constructed to be able to translate and / or rotate relative to the chassis 20 in a resettable manner under the action of an external force, and in conjunction with an appropriate detection module, such as a Hall sensor, it can further serve to sense events such as collisions and lifting. In this embodiment, the chassis upper cover and the shell 10 are the same structural member.

[0070] The mobile mechanism is configured to support the main body on the ground and drive it for movement. It typically includes wheeled, tracked or semi-tracked, and pedestrian-type mobile mechanisms. In this embodiment, the mobile mechanism is a wheeled mechanism, comprising at least one drive wheel 2001 and at least one travel motor. The travel motor is preferably an electric motor; in other embodiments, it may be an internal combustion engine or a machine that uses other energy sources to generate power. In this embodiment, a left drive wheel 2001, a left travel motor driving the left drive wheel, a right drive wheel 2001, and a right travel motor driving the right drive wheel are preferably provided. In this embodiment, straight-line travel of the autonomous working device 100 is achieved by the left and right drive wheels 2001 rotating in the same direction and at the same speed. Turning is achieved by the left and right drive wheels 2001 rotating in the same direction and at the same speed, or by rotating in opposite directions. In other embodiments, the mobile mechanism may further include a steering mechanism independent of the drive wheels and a steering motor independent of the travel motor. In this embodiment, the moving mechanism further includes at least one driven wheel 2002 , which 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 operating device 100 .

[0071] The working mechanism is constructed to perform specific work tasks, including a working part and a working prime mover that drives the working part. For example, for an intelligent sweeper / vacuum cleaner, the working part includes a roller brush, a suction pipe, a dust collection chamber, etc.; for an intelligent lawn mower, the working part includes a cutting blade or a cutting disc, and further includes other components for optimizing or adjusting the mowing effect, such as a height adjustment mechanism for adjusting the mowing height. The working 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 some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0072] 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.

[0073] 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 number 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.

[0074] 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 provided on the autonomous operating 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, indicator lights and / or buzzers provided on the autonomous operating equipment 100, which enable the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module provided on the autonomous operating equipment 100 and a terminal device independent of the autonomous operating 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 operating equipment 100 via a wired or wireless communication module.

[0075] The control module typically includes at least one processor and at least one non-volatile memory. The memory stores a pre-written computer program or instruction set. The processor controls the movement, operation, and other actions of the autonomous operating device 100 according to the computer program or instruction set. Furthermore, the control module can control and adjust the corresponding behavior of the autonomous operating device 100 and modify parameters in the memory based on signals from the detection module and / or user control instructions.

[0076] 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 equipment 100 is confined 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, fence, 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 equipment 100 provided with a positioning device (such as a satellite positioning device, a visual positioning device, a lidar 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 provided in the docking station 900. In some embodiments, the autonomous working equipment 100 is provided with a device that can distinguish between the boundary between grass and non-grass (such as a satellite positioning device, a visual positioning device, a lidar positioning device, etc.). Figure 3 The visual module of the house 200 and the tree 300 shown in the figure is used to determine the boundary 800 of the working area 400.

[0077] 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 .

[0078] Optionally, the processor utilizes various interfaces and circuits to connect various components within the autonomous operating device. It executes instructions, programs, code sets, or instruction sets stored in memory, as well as accesses data stored in memory, to perform various functions and process data within the autonomous operating device. Optionally, the processor can be implemented in at least one hardware form factor selected from the group consisting of a digital signal processing (DSP), a field programmable gate array (FPGA), and a 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 processing unit (NPU). The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the touchscreen display; and the NPU is used to implement artificial intelligence (AI) capabilities.

[0079] The memory may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory includes non-transitory computer-readable storage medium. The memory may be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area. 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 generated by the use of the autonomous operating device, etc.

[0080] The present invention also provides a non-transitory computer-readable storage medium storing a computer program, wherein 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.

[0081] Although the present invention has been described in detail with reference to the accompanying drawings and in conjunction with 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 such modifications or substitutions shall be within the scope of the present invention or any person skilled in the art who can easily conceive of changes or substitutions within the technical scope disclosed in the present invention shall be included 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 operating equipment, characterized in that: Applicable to autonomous operating equipment, the autonomous operating 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 provided on the autonomous operating equipment, and the autonomous operating equipment 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. When the first interaction information from the terminal device is received within a predetermined time period, trigger the judgment 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. When the second interaction information from the terminal device is received within a predetermined time period, execute the control instruction corresponding to the second interaction information. Wherein, the standard of the first judgment condition is higher than the standard 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 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.

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 receiving and transmitting distance between the terminal device; wherein, the relationship is that the receiving power is inversely proportional to the square of the receiving and transmitting 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 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.

7. The method according to claim 1, characterized in that The detecting of the receiving power of the signal received via the first wireless communication module and performing mean filtering on the receiving power includes the following steps: respectively detecting the receiving powers P1, P2, ..., Pn of the signals received at time T1, T2, ..., Tn; and performing mean filtering on the receiving power of the received signal 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 includes a second main body, 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: Sending a control instruction to the autonomous operation device through the second wireless communication module, when the power of the sent signal meets the first judgment condition, the safety control prompt sent by the autonomous operation device will be received, and it will be judged whether a first user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the first interaction information corresponding to the first user interaction action is forwarded to the autonomous operation device; continuing to send control instructions to the autonomous operation device, when the power of the sent signal meets the second judgment condition, the safety control prompt will be received, and it will be judged whether a second user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the second interaction information corresponding to the second user interaction action is forwarded to the autonomous operation device; if no second user interaction action is received, then 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 first judgment condition and the second judgment condition are set based on the mean filtering result of the transmitted signal power and a preset power threshold, and the standard of the first judgment condition is higher than that of the second judgment condition.

10. A method for controlling a terminal device, characterized in that: Applicable to a terminal device, the terminal device at least includes a second main body, a second control module, and a Bluetooth communication module; The terminal device acts as a master device and communicates with the autonomous operation device as a slave device via the Bluetooth communication module; The method comprises: Sending a control instruction to the autonomous operation device through the Bluetooth communication module, when the mean filtering result of the power of the sent signal is lower than the first preset power threshold, the safety control prompt sent by the autonomous operation device will be received, and it will be determined whether a first user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the first interaction information corresponding to the first user interaction action is forwarded to the autonomous operation device; continuing to send control instructions to the autonomous operation device, when the mean filtering result of the power of the sent signal is lower than the second preset power threshold, the safety control prompt will be received, and it will be determined whether a second user interaction action is received within a predetermined time period after the safety control prompt is received. If so, the second interaction information corresponding to the second user interaction action is forwarded to the autonomous operation device; if no second user interaction action is received, when the autonomous operation device 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; when the mean filtering result of the power of the sent signal is higher than the second preset power threshold, the command control of the autonomous operation device is continued; The first preset power threshold is greater than the second preset power threshold.

11. An autonomous operating 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 according to 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 according to 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 according to claim 11 and the terminal device according to claim 12, or including the non-transitory computer-readable storage medium according to claim 13.

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