Shared bicycle fixed-point parking method, device, equipment and storage medium

Abstract

The present invention belongs to the field of intelligent management technology, and discloses a method, device, equipment and storage medium for fixed-point parking of shared bicycles. The method includes: when the footrest of the shared bicycle is placed on the ground, detecting the current posture and current position of the shared bicycle; determining the target parking area corresponding to the shared bicycle according to the current position; determining the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position; when the parking condition score reaches a preset qualified threshold, allowing the shared bicycle to be locked. Through the above-mentioned method, it is realized to determine the parking condition score of the shared bicycle based on the parking posture and position of the shared bicycle. Only when the parking condition score reaches the preset qualified threshold, the shared bicycle can be allowed to be locked, so that the parking of the shared bicycle can be accurately controlled, and the user is prevented from parking when the shared bicycle is in the wrong posture or position, so that the user cannot park the shared bicycle randomly.

Description

Technical Field

[0001] The present invention relates to the field of intelligent management technology, and in particular to a method, device, equipment and storage medium for fixed-point parking of shared bicycles. Background Art

[0002] As the number of vehicles in cities increases and road resources become increasingly scarce, more and more people choose bicycles or electric vehicles for travel and commuting, and the concept of shared bicycles has also been proposed, which currently has many users. However, the parking management of shared bicycles has not been well handled. Shared bicycles can be seen everywhere on the streets being parked randomly when they are returned, which greatly affects urban traffic and the appearance of the city.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for fixed-point parking of shared bicycles, aiming to solve the technical problem that it is difficult to restrict users from randomly parking shared bicycles in the prior art.

[0005] To achieve the above object, the present invention provides a method for parking a shared bicycle at a fixed point, the method comprising the following steps:

[0006] When the footrest of the shared bicycle is placed on the ground, detecting the current posture and current position of the shared bicycle;

[0007] Determine a target parking area corresponding to the shared bicycle according to the current position;

[0008] Determine a parking condition score for the shared bicycle according to the target parking area, the current posture, and the current position;

[0009] When the parking condition score reaches a preset qualified threshold, the shared bicycle is allowed to be locked.

[0010] Optionally, determining a target parking area corresponding to the shared bicycle according to the current position includes:

[0011] Obtaining the preset parking area location information;

[0012] Determine the parking area identification point of each preset parking area according to the parking area location information;

[0013] Determine the distance information between the shared bicycle and each preset parking area according to the parking area location information and the parking area identification points of each preset parking area;

[0014] According to the distance information between the shared bicycle and each preset parking area, a target parking area with the shortest distance to the shared bicycle is selected from each preset parking area.

[0015] Optionally, determining the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position includes:

[0016] Determining a parking distance parameter of the shared bicycle according to the target parking area and the current position;

[0017] Determining a posture parameter of the shared bicycle according to the current posture;

[0018] The parking condition score of the shared bicycle is determined according to the parking distance parameter and the posture parameter.

[0019] Optionally, determining the parking distance parameter of the shared bicycle according to the target parking area and the current position includes:

[0020] determining parking area boundary information according to the target parking area;

[0021] Determine the boundary distance information of the shared bicycle from the boundary of the target parking area according to the parking area boundary information and the current position;

[0022] The parking distance parameter of the shared bicycle is determined according to the boundary distance information.

[0023] Optionally, determining the parking distance parameter of the shared bicycle according to the boundary distance information includes:

[0024] Obtaining body parameter information of the shared bicycle;

[0025] Determine the vehicle length and vehicle width of the shared bicycle according to the vehicle body parameter information;

[0026] Determine the first closest boundary point of the shared bicycle in the front direction and the second closest boundary point in the rear direction according to the boundary distance information;

[0027] Determine the third closest boundary point and the fourth closest boundary point of the shared bicycle in the lateral direction of the vehicle body according to the boundary distance information;

[0028] A parking distance parameter is determined according to the first closest boundary point, the second closest boundary point, the third closest boundary point, the fourth closest boundary point, the vehicle length, and the vehicle width.

[0029] Optionally, determining a posture parameter of the shared bicycle according to the current posture includes:

[0030] Determining a body inclination angle of the shared bicycle according to the current posture;

[0031] Acquire terrain information at the foot support through a sensor on the foot support;

[0032] The posture parameters of the shared bicycle are determined according to the terrain information and the vehicle body inclination angle.

[0033] Optionally, determining the posture parameter of the shared bicycle according to the terrain information and the body inclination angle includes:

[0034] determining the ground inclination angle at the foot support according to the terrain information;

[0035] Determine the unfolding distance between the footrest and the ground contact surface of the shared bicycle according to the ground inclination angle;

[0036] Determine the height difference between the kickstand and the wheel contact point according to the unfolding distance of the kickstand and the ground inclination angle;

[0037] The posture parameters of the shared bicycle are determined according to the height difference between the foot support and the wheel grounding point and the inclination angle of the vehicle body.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes a shared bicycle fixed-point parking device, the shared bicycle fixed-point parking device comprising:

[0039] A detection module, used to detect the current posture and current position of the shared bicycle when the footrest of the shared bicycle is placed on the ground;

[0040] A determination module, used to determine a target parking area corresponding to the shared bicycle according to the current position;

[0041] A scoring module, used to determine a parking condition score of the shared bicycle according to the target parking area, the current posture and the current position;

[0042] The locking module is used to allow the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold.

[0043] In addition, to achieve the above-mentioned purpose, the present invention also proposes a shared bicycle fixed-point parking device, which includes: a memory, a processor, and a shared bicycle fixed-point parking program stored in the memory and executable on the processor, and the shared bicycle fixed-point parking program is configured to implement the steps of the shared bicycle fixed-point parking method described above.

[0044] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a shared bicycle fixed-point parking program is stored. When the shared bicycle fixed-point parking program is executed by a processor, the steps of the shared bicycle fixed-point parking method described above are implemented.

[0045] When the shared bicycle's kickstand is placed on the ground, the present invention detects the current posture and current position of the shared bicycle; determines the target parking area corresponding to the shared bicycle according to the current position; determines the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position; and allows the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold. In this way, the parking condition score of the shared bicycle is determined based on the parking posture and position of the shared bicycle. Only when the parking condition score reaches the preset qualified threshold can the shared bicycle be allowed to be locked, so that the parking of the shared bicycle can be accurately controlled, preventing users from parking when the shared bicycle is in the wrong posture or position, thereby preventing users from randomly parking shared bicycles. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural diagram of a shared bicycle fixed-point parking device in a hardware operating environment involved in an embodiment of the present invention;

[0047] Figure 2 This is a flow chart of a first embodiment of a method for fixed-point parking of a shared bicycle according to the present invention;

[0048] Figure 3 This is a flow chart of a second embodiment of a shared bicycle fixed-point parking method of the present invention;

[0049] Figure 4 This is a perspective schematic diagram of an embodiment of a method for fixed-point parking of a shared bicycle according to the present invention;

[0050] Figure 5 This is a structural block diagram of the first embodiment of the shared bicycle fixed-point parking device of the present invention.

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a shared bicycle fixed-point parking device in the hardware operating environment involved in an embodiment of the present invention.

[0054] like Figure 1As shown, the shared bicycle fixed-point parking device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or it may be a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the fixed-point parking equipment for shared bicycles, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0056] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a shared bicycle fixed-point parking program.

[0057] exist Figure 1 In the shared bicycle fixed-point parking device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the shared bicycle fixed-point parking device of the present invention can be set in the shared bicycle fixed-point parking device, and the shared bicycle fixed-point parking device calls the shared bicycle fixed-point parking program stored in the memory 1005 through the processor 1001, and executes the shared bicycle fixed-point parking method provided by the embodiment of the present invention.

[0058] The embodiment of the present invention provides a method for parking a shared bicycle at a fixed point, referring to Figure 2 , Figure 2 This is a flow chart of a first embodiment of a method for fixed-point parking of a shared bicycle according to the present invention.

[0059] In this embodiment, the shared bicycle fixed-point parking method includes the following steps:

[0060] Step S10: When the footrest of the shared bicycle is placed on the ground, the current posture and current position of the shared bicycle are detected.

[0061] It should be noted that the executor of this embodiment is a processor or controller provided on the shared bicycle, which may be any device that controls the fixed-point parking method of the shared bicycle, and this embodiment does not impose any limitation on this.

[0062] It should be understood that, due to the current restrictions on the parking and returning of shared bicycles, only the bicycles can be parked and locked and returned at any location within the parking area designated by the operator, resulting in users often parking and leaving bicycles randomly on the road, which has great harm to the city appearance, road safety, etc. However, under the scheme of this embodiment, the parking condition score of the shared bicycle is determined based on the parking posture and position of the shared bicycle. Only when the parking condition score reaches the preset qualified threshold can the shared bicycle be allowed to be locked, so that the parking of the shared bicycle can be accurately controlled, preventing users from parking when the shared bicycle is in the wrong posture or position, thereby preventing users from parking and leaving shared bicycles randomly.

[0063] In a specific implementation, a sensor is installed at the foot support of the shared bicycle, and the sensor at the foot support can detect the current posture and current position of the shared bicycle.

[0064] It should be noted that the current posture refers to the angle between the body of the shared bicycle and the ground after the bicycle touches the ground through the footrest.

[0065] Step S20: Determine the target parking area corresponding to the shared bicycle according to the current position.

[0066] It should be understood that the target parking area refers to the preset parking area with the shortest distance from the shared bicycle.

[0067] In a specific implementation, determining the target parking area corresponding to the shared bicycle according to the current position means: calculating the distance between the shared bicycle and each preset parking area according to the current position, and then selecting the preset parking area with the shortest distance to the shared bicycle as the target parking area.

[0068] Furthermore, in order to accurately determine the target parking area, step S20 includes: obtaining preset parking area location information; determining parking area identification points of each preset parking area based on the parking area location information; determining distance information between the shared bicycle and each preset parking area based on the parking area location information and the parking area identification points of each preset parking area; and selecting the target parking area with the shortest distance to the shared bicycle from each preset parking area based on the distance information between the shared bicycle and each preset parking area.

[0069] It should be noted that the parking area location information refers to: the relevant information of the areas pre-set by the operator or management department that allow shared bicycles to be parked, returned and locked.

[0070] It should be understood that the preset parking area refers to the area pre-set by the operator or management department in the parking area location information to allow shared bicycles to be parked, returned and locked, and there can be any number, area and outline of preset parking areas, which is not limited in this embodiment.

[0071] In a specific implementation, the parking area identification point refers to a unique identification point corresponding to each preset parking area when setting the preset parking area. It can be located at the center point of the preset parking area, or other locations, and is set by the operator or management unit. This embodiment does not impose any restrictions on this.

[0072] It should be noted that determining the distance information between the shared bicycle and each preset parking area based on the parking area location information and the parking area identification points of each preset parking area means: calculating the distance from the sensor on the shared bicycle kickstand to each parking area identification point, and then using the distance from the sensor to each parking area identification point as the distance from the shared bicycle to each preset parking area, thereby summarizing the distance from each shared bicycle to each preset parking area to obtain the distance information between the shared bicycle and each preset parking area.

[0073] It should be understood that selecting the target parking area with the shortest distance to the shared bicycle from each preset parking area based on the distance information between the shared bicycle and each preset parking area means: taking the preset parking area with the shortest distance from the shared bicycle to each preset parking area in the distance information between the shared bicycle and each preset parking area as the target parking area.

[0074] In this way, the target parking area corresponding to the shared bicycle can be accurately determined through distance calculation, so that the parking conditions of the shared bicycle can be accurately evaluated and scored in combination with the current position of the shared bicycle, so that the locking behavior of the shared bicycle can be more accurately restricted.

[0075] Step S30: Determine a parking condition score for the shared bicycle based on the target parking area, the current posture, and the current position.

[0076] In specific implementations, the parking condition score refers to a unique numerical parameter corresponding to each shared bicycle. The parking condition score can be used as a reference to determine whether to allow the shared bicycle to be locked.

[0077] It should be noted that determining the parking condition score of the shared bicycle based on the target parking area, the current posture and the current position means: determining the parking distance parameter based on the target parking area and the current position, and then determining the posture parameter based on the current posture, thereby determining the parking condition score based on the parking distance parameter and the posture parameter.

[0078] Step S40: When the parking condition score reaches a preset qualified threshold, the shared bicycle is allowed to be locked.

[0079] It should be understood that the preset qualified threshold is a pre-set parameter for determining whether a shared bicycle can be locked. Specifically, the preset qualified threshold can be any positive integer threshold, and this embodiment does not limit this.

[0080] In the specific implementation, when the parking condition score of a shared bicycle is greater than or equal to the preset qualification threshold, the shared bicycle is allowed to be locked; when the parking condition score of a shared bicycle is less than the preset qualification threshold, the shared bicycle is not allowed to be locked, and a warning message is sent to the user.

[0081] This embodiment detects the current posture and current position of the shared bicycle when the footrest of the shared bicycle is placed on the ground; determines the target parking area corresponding to the shared bicycle according to the current position; determines the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position; and allows the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold. In this way, the parking condition score of the shared bicycle is determined based on the parking posture and position of the shared bicycle. Only when the parking condition score reaches the preset qualified threshold can the shared bicycle be allowed to be locked, so that the parking of the shared bicycle can be accurately controlled, preventing users from parking when the shared bicycle is in the wrong posture or position, thereby preventing users from parking the shared bicycle randomly.

[0082] refer to Figure 3 , Figure 3 This is a flow chart of a second embodiment of a method for fixed-point parking of a shared bicycle according to the present invention.

[0083] Based on the above first embodiment, the shared bicycle fixed-point parking method of this embodiment includes in step S30:

[0084] Step S301: Determine the parking distance parameter of the shared bicycle according to the target parking area and the current position.

[0085] It should be noted that determining the parking distance parameter of the shared bicycle based on the target parking area and the current position means: determining the parking distance parameter of the shared bicycle based on the parking area boundary information of the target parking area, combined with the current position of the shared bicycle and the vehicle body parameter information.

[0086] Furthermore, in order to accurately determine the parking distance parameters, step S301 includes: determining parking area boundary information based on the target parking area; determining boundary distance information of the shared bicycle from the boundary of the target parking area based on the parking area boundary information and the current position; and determining the parking distance parameters of the shared bicycle based on the boundary distance information.

[0087] It should be understood that determining the parking area boundary information according to the target parking area refers to: acquiring the position information of the contour on the area boundary of the target parking area.

[0088] In a specific implementation, determining the boundary distance information of the shared bicycle from the boundary of the target parking area according to the parking area boundary information and the current position means: calculating the distance from the shared bicycle to each boundary point of the parking area in the parking area boundary information as the boundary distance information.

[0089] It should be noted that determining the parking distance parameter of the shared bicycle based on the boundary distance information means: determining the first closest boundary point, the second closest boundary point, the third closest boundary point and the fourth closest boundary point that are closest to the boundary distance of the shared bicycle from the target parking area based on the boundary distance information, and then calculating the parking distance parameter in combination with the vehicle length and vehicle width of the shared bicycle.

[0090] In this way, the parking distance parameters can be accurately calculated, so as to accurately evaluate whether the parking location of the shared bicycle can park the vehicle.

[0091] Furthermore, in order to accurately calculate the parking distance parameters, the step of determining the parking distance parameters of the shared bicycle based on the boundary distance information includes: obtaining the body parameter information of the shared bicycle; determining the vehicle length and vehicle width of the shared bicycle based on the body parameter information; determining the first nearest boundary point in the front direction and the second nearest boundary point in the rear direction of the shared bicycle based on the boundary distance information; determining the third nearest boundary point and the fourth nearest boundary point in the lateral direction of the vehicle body of the shared bicycle based on the boundary distance information; determining the parking distance parameters based on the first nearest boundary point, the second nearest boundary point, the third nearest boundary point, the fourth nearest boundary point, the vehicle length and the vehicle width.

[0092] It should be understood that the vehicle body parameter information includes but is not limited to the size parameters of various parts of the vehicle, such as: vehicle length, vehicle width, tire diameter, etc.

[0093] In a specific implementation, the vehicle length refers to the length of the longest part of the shared bicycle body, and the vehicle width refers to the length of the widest part of the shared bicycle body.

[0094] It should be noted that determining the first nearest boundary point of the shared bicycle in the front direction and the second nearest boundary point in the rear direction based on the boundary distance information means: extending the body contour of the shared bicycle from the front in the front direction, and the intersection point with the target parking area is the first nearest boundary point; extending the body contour of the shared bicycle from the rear in the rear direction, and the intersection point with the target parking area is the second nearest boundary point.

[0095] It should be understood that determining the third nearest boundary point and the fourth nearest boundary point of the shared bicycle in the lateral direction of the vehicle body based on the boundary distance information means: at the widest part of the shared bicycle, a straight line is drawn to both sides, and the intersection of the straight line and the target parking area is the third nearest boundary point and the fourth nearest boundary point, and the third nearest boundary point and the fourth nearest boundary point are respectively the left intersection point and the right intersection point of the straight line with the target parking area.

[0096] In a specific implementation, determining the parking distance parameter based on the first closest boundary point, the second closest boundary point, the third closest boundary point, the fourth closest boundary point, the vehicle length and the vehicle width means: first determine the distance from the shared bicycle to the first closest boundary point, and the distance from the shared bicycle to the second closest boundary point, and select the point closest to the shared bicycle from the first closest boundary point and the second closest boundary point as the longitudinal target boundary point. Then determine the distance from the shared bicycle to the third closest boundary point, and the distance from the shared bicycle to the fourth closest boundary point, and select the point closest to the shared bicycle from the third closest boundary point and the fourth closest boundary point as the transverse target boundary point. Then calculate the distance from the shared bicycle to the longitudinal target boundary point as the shortest longitudinal distance, and then calculate the distance from the shared bicycle to the transverse target boundary point as the shortest transverse distance. Finally, calculate the parking distance parameter by combining the shortest longitudinal distance, the shortest transverse distance, the vehicle body length and the vehicle body width.

[0097] It should be noted that the calculation formula of the stopping distance parameter is:

[0098]

[0099] Among them, Q is the stopping distance parameter, a is the shortest longitudinal distance, A is the vehicle length, b is the shortest lateral distance, and B is the vehicle width.

[0100] In this way, the proportion of the shortest longitudinal distance to the vehicle length can be calculated, and then the proportion of the shortest lateral distance to the vehicle width can be determined, and then the average of the two proportions can be calculated. This can determine whether the current position of the shared bicycle is too close to the boundary of the target parking area, or exceeds the target parking area, thereby accurately limiting the parking distance parameters of the vehicle.

[0101] Step S302: determining the posture parameters of the shared bicycle according to the current posture.

[0102] It should be noted that determining the posture parameters of the shared bicycle according to the current posture refers to determining the body inclination angle of the shared bicycle according to the current posture, and then determining the posture parameters of the shared bicycle based on the body inclination angle combined with the terrain information at the footrest.

[0103] Furthermore, in order to accurately calculate the posture parameters of the shared bicycle, step S302 includes: determining the body inclination angle of the shared bicycle according to the current posture; obtaining the terrain information at the foot support through the sensor on the foot support; and determining the posture parameters of the shared bicycle according to the terrain information and the body inclination angle.

[0104] It should be understood that the body tilt angle refers to the angle between the plane of the body and the horizontal ground. The body plane refers to the side plane of the shared bicycle.

[0105] In a specific implementation, obtaining the terrain information at the foot support refers to: directly obtaining relevant information about the angle between the ground at the foot support and the horizontal direction, as well as relevant information about the friction coefficient of the terrain, etc. through the sensor on the foot support.

[0106] It should be noted that determining the posture parameters of the shared bicycle based on the terrain information and the vehicle body inclination angle means: determining the ground inclination of the vehicle's environment based on the terrain information, then obtaining the vehicle weight and the kickstand deployment angle, and finally determining the posture parameters of the shared bicycle based on the kickstand deployment angle, vehicle weight, vehicle body inclination angle and friction coefficient.

[0107] In this way, the posture parameters of shared bicycles can be accurately calculated, based on the parking angle and terrain of the vehicle, to prevent safety accidents such as vehicle tipping over after the vehicle is locked.

[0108] Furthermore, in order to accurately calculate the posture parameters of the shared bicycle, the step of determining the posture parameters of the shared bicycle according to the terrain information and the vehicle body inclination angle includes: determining the ground inclination angle at the footrest according to the terrain information; determining the footrest deployment distance between the footrest and the shared bicycle ground contact surface according to the ground inclination angle; determining the height difference between the footrest and the wheel ground contact point according to the footrest deployment distance and the ground inclination angle; determining the posture parameters of the shared bicycle according to the height difference between the footrest and the wheel ground contact point and the vehicle body inclination angle.

[0109] It should be understood that the ground inclination angle at the foot support refers to the angle between the ground at the foot support and the horizontal direction.

[0110] It should be noted that the unfolded distance of the kickstand refers to the distance between the ground contact point of the kickstand and the ground contact point of the rear wheel of the vehicle body after the vehicle is parked.

[0111] In the specific implementation, Figure 4 As shown in the figure, the height difference between the foot support and the wheel contact point is calculated as:

[0112] h=x·sinα

[0113] Among them, h is the height difference, x is the unfolding distance of the kickstand, α is the ground inclination angle, X is the ground contact point of the vehicle body, the XO line represents the body of the shared bicycle, Y is the ground contact point of the kickstand, and the OY line is the kickstand of the shared bicycle.

[0114] In a specific implementation, determining the posture parameters of the shared bicycle based on the height difference between the footrest and the wheel contact point and the body tilt angle means: first, calculating the height difference between the footrest and the wheel contact point and the height difference tipping threshold to obtain the height difference difference ratio, then calculating the difference ratio between the body tilt angle and the maximum tilt angle, and finally obtaining the posture parameters of the shared bicycle based on the two difference ratios. Among them, the height difference tipping threshold is the critical height difference between the footrest and the wheel contact point of the shared bicycle pre-set by the administrator. When the height difference is higher than this value, the shared bicycle will tip over. The specific height difference tipping threshold can be any positive integer, which is not limited in this embodiment. The maximum tilt angle is the critical tilt angle of the shared bicycle body pre-set by the administrator. When the body tilt angle is higher than this value, the shared bicycle will tip over. The specific maximum tilt angle can be any positive angle, which is not limited in this embodiment.

[0115] It should be noted that the calculation formula of the posture parameters is:

[0116]

[0117] Among them, P is the posture parameter, h is the height difference, H is the height difference tipping threshold, β is the vehicle body tilt angle, and θ is the maximum tilt angle.

[0118] In this way, the vehicle body inclination angle and the height difference between the footrest and the wheel contact point can be combined to accurately judge whether the vehicle is at risk of tipping over, and the posture parameters are calculated based on the vehicle posture, so that it is possible to quantify whether the vehicle posture meets the vehicle return standards, making the vehicle parking condition scoring more accurate.

[0119] Step S303: Determine a parking condition score for the shared bicycle according to the parking distance parameter and the posture parameter.

[0120] It should be noted that obtaining the parking condition score according to the parking distance parameter and the posture parameter means: adding the parking distance parameter and the posture parameter, and the result obtained is the parking condition score.

[0121] This embodiment determines the parking distance parameter of the shared bicycle according to the target parking area and the current position; determines the posture parameter of the shared bicycle according to the current posture; and determines the parking condition score of the shared bicycle according to the parking distance parameter and the posture parameter. In this way, it is achieved based on the accurate calculation of the parking distance parameter and posture parameter of the shared bicycle, and finally obtains the parking condition score, so that it can be judged whether the shared bicycle is parked in the specified area based on the posture and parking position of the shared bicycle, and whether the posture of the vehicle when parked has a risk of tipping, so as to accurately obtain the parking condition score and judge whether the shared bicycle can be locked.

[0122] In addition, an embodiment of the present invention further proposes a storage medium, on which a shared bicycle fixed-point parking program is stored. When the shared bicycle fixed-point parking program is executed by a processor, the steps of the shared bicycle fixed-point parking method described above are implemented.

[0123] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0124] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the shared bicycle fixed-point parking device of the present invention.

[0125] like Figure 5 As shown, the shared bicycle fixed-point parking device proposed in the embodiment of the present invention includes:

[0126] The detection module 10 is used to detect the current posture and current position of the shared bicycle when the footrest of the shared bicycle is placed on the ground.

[0127] The determination module 20 is used to determine the target parking area corresponding to the shared bicycle according to the current position.

[0128] The scoring module 30 is used to determine the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position.

[0129] The locking module 40 is used to allow the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold.

[0130] This embodiment detects the current posture and current position of the shared bicycle when the footrest of the shared bicycle is placed on the ground; determines the target parking area corresponding to the shared bicycle according to the current position; determines the parking condition score of the shared bicycle according to the target parking area, the current posture and the current position; and allows the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold. In this way, the parking condition score of the shared bicycle is determined based on the parking posture and position of the shared bicycle. Only when the parking condition score reaches the preset qualified threshold can the shared bicycle be allowed to be locked, so that the parking of the shared bicycle can be accurately controlled, preventing users from parking when the shared bicycle is in the wrong posture or position, thereby preventing users from parking the shared bicycle randomly.

[0131] In one embodiment, the determination module 20 is further used to obtain preset parking area location information; determine the parking area identification points of each preset parking area according to the parking area location information; determine the distance information between the shared bicycle and each preset parking area according to the parking area location information and the parking area identification points of each preset parking area; and select the target parking area with the shortest distance to the shared bicycle from each preset parking area according to the distance information between the shared bicycle and each preset parking area.

[0132] In one embodiment, the scoring module 30 is further used to determine the parking distance parameter of the shared bicycle according to the target parking area and the current position; determine the posture parameter of the shared bicycle according to the current posture; and determine the parking condition score of the shared bicycle according to the parking distance parameter and the posture parameter.

[0133] In one embodiment, the scoring module 30 is further used to determine parking area boundary information based on the target parking area; determine boundary distance information of the shared bicycle from the target parking area boundary based on the parking area boundary information and the current position; and determine the parking distance parameter of the shared bicycle based on the boundary distance information.

[0134] In one embodiment, the scoring module 30 is further used to obtain the body parameter information of the shared bicycle; determine the vehicle length and vehicle width of the shared bicycle according to the body parameter information; determine the first closest boundary point in the front direction and the second closest boundary point in the rear direction of the shared bicycle according to the boundary distance information; determine the third closest boundary point and the fourth closest boundary point in the lateral direction of the body of the shared bicycle according to the boundary distance information; determine the parking distance parameter according to the first closest boundary point, the second closest boundary point, the third closest boundary point, the fourth closest boundary point, the vehicle length and the vehicle width.

[0135] In one embodiment, the scoring module 30 is further used to determine the body inclination angle of the shared bicycle according to the current posture; obtain terrain information at the footrest through the sensor on the footrest; and determine the posture parameters of the shared bicycle according to the terrain information and the body inclination angle.

[0136] In one embodiment, the scoring module 30 is further used to determine the ground inclination angle at the footrest according to the terrain information; determine the footrest deployment distance between the footrest and the ground contact surface of the shared bicycle according to the ground inclination angle; determine the height difference between the footrest and the wheel ground contact point according to the footrest deployment distance and the ground inclination angle; determine the posture parameters of the shared bicycle according to the height difference between the footrest and the wheel ground contact point and the vehicle body inclination angle.

[0137] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0138] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0139] In addition, for technical details not fully described in this embodiment, reference can be made to the shared bicycle fixed-point parking method provided in any embodiment of the present invention, and will not be repeated here.

[0140] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0141] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0143] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for parking a shared bicycle at a fixed point, characterized in that: The shared bicycle fixed-point parking method comprises: When the footrest of the shared bicycle is placed on the ground, detecting the current posture and current position of the shared bicycle; Determine a target parking area corresponding to the shared bicycle according to the current position; Determining a parking distance parameter of the shared bicycle according to the target parking area and the current position; Determining a body tilt angle of the shared bicycle according to the current posture; Acquire terrain information at the foot support through a sensor on the foot support; The posture parameters of the shared bicycle are determined according to the terrain information and the body inclination angle, wherein the ground inclination angle of the vehicle environment is determined according to the terrain information, and then the vehicle weight and the kickstand deployment angle are obtained, and finally the posture parameters of the shared bicycle are determined by combining the kickstand deployment angle, the vehicle weight, the body inclination angle and the friction coefficient. The posture parameters are calculated as follows: Among them, P is the posture parameter, h is the height difference, H is the height difference tipping threshold, β is the vehicle body tilt angle, and θ is the maximum tilt angle; Determining a parking condition score for the shared bicycle according to the parking distance parameter and the posture parameter; When the parking condition score reaches a preset qualified threshold, the shared bicycle is allowed to be locked.

2. The method according to claim 1, characterized in that The step of determining a target parking area corresponding to the shared bicycle according to the current position includes: Obtaining the preset parking area location information; Determine the parking area identification point of each preset parking area according to the parking area location information; Determine the distance information between the shared bicycle and each preset parking area according to the parking area location information and the parking area identification points of each preset parking area; According to the distance information between the shared bicycle and each preset parking area, a target parking area with the shortest distance to the shared bicycle is selected from each preset parking area.

3. The method according to claim 1, characterized in that The determining the parking distance parameter of the shared bicycle according to the target parking area and the current position includes: determining parking area boundary information according to the target parking area; Determine the boundary distance information of the shared bicycle from the boundary of the target parking area according to the parking area boundary information and the current position; The parking distance parameter of the shared bicycle is determined according to the boundary distance information.

4. The method according to claim 3, characterized in that The determining the parking distance parameter of the shared bicycle according to the boundary distance information includes: Obtaining body parameter information of the shared bicycle; Determine the vehicle length and vehicle width of the shared bicycle according to the vehicle body parameter information; Determine the first closest boundary point of the shared bicycle in the front direction and the second closest boundary point in the rear direction according to the boundary distance information; Determine the third closest boundary point and the fourth closest boundary point of the shared bicycle in the lateral direction of the bicycle body according to the boundary distance information; A parking distance parameter is determined according to the first closest boundary point, the second closest boundary point, the third closest boundary point, the fourth closest boundary point, the vehicle length, and the vehicle width.

5. The method according to claim 1, characterized in that The determining the posture parameter of the shared bicycle according to the terrain information and the vehicle body inclination angle includes: determining the ground inclination angle at the foot support according to the terrain information; Determine the unfolding distance between the footrest and the ground contact surface of the shared bicycle according to the ground inclination angle; Determine the height difference between the kickstand and the wheel contact point according to the unfolding distance of the kickstand and the ground inclination angle; The posture parameters of the shared bicycle are determined according to the height difference between the foot support and the wheel contact point and the inclination angle of the vehicle body.

6. A shared bicycle fixed-point parking device, characterized in that: The shared bicycle fixed-point parking device comprises: A detection module, used to detect the current posture and current position of the shared bicycle when the footrest of the shared bicycle is placed on the ground; A determination module, used to determine a target parking area corresponding to the shared bicycle according to the current position; The scoring module is used to determine the parking distance parameter of the shared bicycle according to the target parking area and the current position; determine the body inclination angle of the shared bicycle according to the current posture; obtain the terrain information at the foot support through the sensor on the foot support; determine the posture parameter of the shared bicycle according to the terrain information and the body inclination angle, and the posture parameter is calculated as follows: Wherein, P is a posture parameter, h is a height difference, H is a height difference tipping threshold, β is a body tilt angle, θ is a maximum tilt angle, wherein the ground tilt angle of the vehicle environment is determined according to the terrain information, then the vehicle weight and the kickstand deployment angle are obtained, and finally the posture parameter of the shared bicycle is determined by combining the kickstand deployment angle, the vehicle weight, the body tilt angle and the friction coefficient; the parking condition score of the shared bicycle is determined according to the parking distance parameter and the posture parameter; The locking module is used to allow the shared bicycle to be locked when the parking condition score reaches a preset qualified threshold.

7. A shared bicycle fixed-point parking device, characterized in that: The device includes: a memory, a processor, and a shared bicycle fixed-point parking program stored in the memory and executable on the processor, wherein the shared bicycle fixed-point parking program is configured to implement the shared bicycle fixed-point parking method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a shared bicycle fixed-point parking program, and when the shared bicycle fixed-point parking program is executed by the processor, the shared bicycle fixed-point parking method according to any one of claims 1 to 5 is implemented.

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