Electric bicycle positioning method and device, electronic equipment and storage medium

Abstract

The invention provides an electric bicycle positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: determining an auxiliary bicycle, wherein the distance between the auxiliary bicycle and a to-be-positioned bicycle is smaller than a distance threshold; determining a space connecting line and a horizontal connecting line between the to-be-positioned bicycle and the auxiliary bicycle, taking the space connecting line as a hypotenuse of a right triangle, taking the horizontal connecting line as a bottom edge of the right triangle, and calculating to obtain a to-be-evaluated included angle; and determining a three-dimensional space position based on the included angle to be evaluated. According to the method provided by the invention, the to-be-evaluated included angle is calculated by determining that the space connecting line between the to-be-positioned bicycle and the auxiliary bicycle is the hypotenuse of the right triangle and the horizontal connecting line is the bottom edge of the right triangle; the three-dimensional space position is determined based on the to-be-evaluated included angle, whether vertical positioning abnormity exists in the electric bicycle or not is accurately judged, the abnormal parking situation that the electric bicycle is parked on a viaduct and the like is rapidly recognized, the operation and maintenance efficiency and searching difficulty of the electric bicycle are greatly improved, and road traffic safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electric motorcycles, and in particular to a positioning method, device, electronic equipment and storage medium for an electric motorcycle. Background Art

[0002] As the scale of shared electric vehicles continues to expand, the number of users of this means of transportation continues to grow. The workload of operation and maintenance personnel for the operation and maintenance of motorcycles is becoming increasingly heavy. In particular, there are some irregular parking behaviors, such as parking motorcycles on viaducts, which greatly increases the difficulty for operation and maintenance personnel to search and move vehicles.

[0003] Therefore, there is an urgent need for a vehicle positioning method to accurately position the motorcycle when it is parked on an elevated bridge. Summary of the invention

[0004] The present invention provides a positioning method, device, electronic equipment and storage medium for an electric motorcycle, which are used to solve the defect in the prior art that it is difficult to identify the vertical positioning abnormality of the vehicle, resulting in the inability to accurately locate the actual position of the vehicle.

[0005] The present invention provides a method for positioning an electric motorcycle, comprising: Determine an auxiliary bicycle whose distance from the bicycle to be located is less than a distance threshold; Determine a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, take the spatial connection line as the hypotenuse of a right triangle, take the horizontal connection line as the base of the right triangle, and calculate the angle to be evaluated between the spatial connection line and the horizontal connection line; Based on the angle to be evaluated, the three-dimensional spatial position of the bicycle to be positioned is determined.

[0006] According to a method for positioning an electric motorcycle provided by the present invention, the step of determining a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle comprises: Determine the spatial connection based on the distance sensing devices corresponding to the bicycle to be located and the auxiliary bicycle; the distance sensing devices are respectively integrated in the central control devices of the bicycle to be located and the auxiliary bicycle; The horizontal connection line is determined based on the latitude and longitude coordinates of the bicycle to be located and the auxiliary bicycle on the map.

[0007] According to a method for positioning an electric motorcycle provided by the present invention, the method uses the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle to calculate the angle to be evaluated between the spatial connection line and the horizontal connection line, including: Calculating the length difference between the spatial line and the horizontal line; When the length difference is greater than the length threshold, the angle to be evaluated is calculated by taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle.

[0008] According to a method for positioning an electric motorcycle provided by the present invention, the three-dimensional spatial position of the motorcycle to be positioned is determined based on the angle to be evaluated, including: Based on the length difference, determining an angle threshold; When the angle to be evaluated is greater than the angle threshold, the three-dimensional spatial position is determined based on the longitude and latitude coordinates of the bicycle to be located and the angle to be evaluated.

[0009] According to a method for positioning an electric motorcycle provided by the present invention, the angle threshold is determined based on the length difference, and then the method further includes: When the angle to be evaluated is not greater than the angle threshold, the longitude and latitude coordinates of the bicycle to be located are used as the three-dimensional space position.

[0010] According to a positioning method for an electric motorcycle provided by the present invention, the three-dimensional spatial position of the bicycle to be positioned is determined based on the angle to be evaluated, and then includes: generating a positioning alarm based on the three-dimensional spatial position and the parking position image; The parking position image is obtained by taking pictures based on a camera arranged on the bicycle to be positioned.

[0011] The present invention also provides a positioning device for an electric motorcycle, comprising: The auxiliary unit determines an auxiliary bicycle whose interval with the bicycle to be located is less than a distance threshold; An angle calculation unit is configured to determine a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, and to calculate an angle to be evaluated between the spatial connection line and the horizontal connection line by taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle; The positioning unit determines the three-dimensional spatial position of the bicycle to be positioned based on the angle to be evaluated.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for positioning an electric motorcycle as described above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for positioning an electric motorcycle as described in any one of the above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the positioning method of an electric motorcycle as described in any one of the above is implemented.

[0015] The electric motorcycle positioning method, device, electronic device and storage medium provided by the present invention determine the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, use the spatial connection line as the hypotenuse of the right triangle, and use the horizontal connection line as the base of the right triangle to calculate the angle to be evaluated between the spatial connection line and the horizontal connection line; based on the angle to be evaluated, the three-dimensional spatial position of the bicycle to be positioned is determined, and it is possible to accurately judge whether there is any vertical positioning anomaly of the electric motorcycle, thereby quickly identifying abnormal parking situations such as electric motorcycles parked on viaducts, thereby greatly improving the operation and maintenance efficiency and search difficulty of electric motorcycles, and ensuring road traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is one of the flow charts of the method for positioning an electric motorcycle provided by the present invention; Figure 2 This is the second flow chart of the method for positioning a motorcycle provided by the present invention; Figure 3 It is a structural schematic diagram of the positioning device for an electric motorcycle provided by the present invention; Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that with the popularity of shared electric motorcycles, when operators search and dispatch them, they find that shared electric motorcycles are frequently abandoned on viaducts. This behavior not only makes it extremely difficult for operators to find vehicles, but also poses a safety hazard to passing motor vehicles on the viaduct, and also damages the social service image of shared electric motorcycles.

[0020] In view of the above problems, the present invention provides a method for positioning an electric motorcycle to identify abnormal vertical positioning of the vehicle and achieve accurate positioning of the electric motorcycle. Figure 1 FIG. 1 is a flow chart of a method for positioning a motorcycle provided by the present invention. Figure 1 As shown, the method includes: Step 110, determining an auxiliary bicycle whose distance from the bicycle to be located is less than a distance threshold; Step 120, determining a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle, and calculating the angle to be evaluated between the spatial connection line and the horizontal connection line; Step 130: Determine the three-dimensional spatial position of the bicycle to be located based on the angle to be evaluated.

[0021] Here, the auxiliary bicycle refers to an electric bicycle used to assist in locating the bicycle to be located, and the auxiliary bicycle can be any electric bicycle within a preset distance from the bicycle to be located. In addition, the distance threshold here refers to the length threshold of the connection distance between the bicycle to be located and its surrounding electric bicycles.

[0022] Specifically, first, a distance sensing device can be integrated into the central control of the motorcycle. When the vehicle is parked near an elevated bridge, the distance sensing device of the motorcycle is automatically triggered, which can be at a certain interval, such as ten minutes. Thus, any motorcycle near an abnormal location of vertical positioning such as an elevated bridge can be used as a bicycle to be located. The bicycle to be located obtains the distance sensing signal of the nearby motorcycles, and selects an electric motorcycle whose distance from the located bicycle is less than the distance threshold as an auxiliary bicycle. The distance threshold here can be pre-set. It should be noted that the distance interval is generally greater than the navigation positioning drifting distance to avoid the horizontal connection distance being 0 due to the overlap of the bicycle to be located and the auxiliary bicycle on the upper and lower floors of the elevated bridge. In addition, the distance interval needs to be less than the sensing range of the distance sensing device. Therefore, the distance threshold here can be 100 meters.

[0023] Next, the spatial connection line between the bicycle to be located and the auxiliary bicycle can be determined through the distance sensing devices corresponding to the bicycle to be located and the auxiliary bicycle. The spatial connection line here is obtained by connecting the spatial positions of the central control corresponding to the bicycle to be located and the auxiliary bicycle. In addition, the horizontal connection line can be obtained by connecting the navigation positioning points of the bicycle to be located and the auxiliary bicycle on the map. Then, the spatial connection line is used as the hypotenuse of the right triangle, and the horizontal connection line is used as the base of this right triangle.

[0024] Then, based on the length of the hypotenuse and the length of the base, the Pythagorean theorem of the right triangle can be applied to calculate the distance of the vertical side of the right triangle. Then, based on the distance of the vertical side and the distance of the base, the inverse tangent function is applied to calculate the angle between the hypotenuse and the base, that is, the angle to be evaluated between the spatial connection line and the horizontal connection line is calculated.

[0025] It should be noted that if the bicycle to be positioned and the auxiliary bicycle are on the same horizontal plane, the angle between their spatial connection line and the horizontal connection line should be 0, or less than the angle threshold. Therefore, a right triangle can be constructed by connecting the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, and then the angle of the angle to be evaluated between the spatial connection line and the horizontal connection line can be obtained. The angle value of the angle to be evaluated can be used to determine whether the vehicle to be positioned has vertical positioning anomalies.

[0026] Finally, the 3D spatial position of the bicycle to be located can be determined by the angle of the angle to be evaluated. For example, when the angle of the angle to be evaluated is greater than the angle threshold, the 3D spatial position of the bicycle to be located is somewhere in the vertical space of the longitude and latitude coordinates; when the angle of the angle to be evaluated is not greater than the angle threshold, the 3D spatial position of the bicycle to be located is the longitude and latitude coordinates.

[0027] The method provided by the embodiment of the present invention determines the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, takes the spatial connection line as the hypotenuse of the right triangle, and takes the horizontal connection line as the base of the right triangle, and calculates the angle to be evaluated between the spatial connection line and the horizontal connection line; based on the angle to be evaluated, the three-dimensional spatial position of the bicycle to be positioned is determined, so as to accurately judge whether there is any vertical positioning anomaly of the electric motorcycle, thereby quickly identifying abnormal parking situations such as electric motorcycles parked on viaducts, so as to greatly improve the operation and maintenance efficiency and search difficulty of electric motorcycles, and ensure road traffic safety.

[0028] Based on any of the above embodiments, in step 120, determining the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle includes: Determine the spatial connection based on the distance sensing devices corresponding to the bicycle to be located and the auxiliary bicycle; the distance sensing devices are respectively integrated in the central control devices of the bicycle to be located and the auxiliary bicycle; The horizontal connection line is determined based on the latitude and longitude coordinates of the bicycle to be located and the auxiliary bicycle on the map.

[0029] Here, the distance sensing device is respectively integrated into the central control device of the bicycle to be positioned and the auxiliary bicycle. The distance sensing device here can be Bluetooth, Wi-Fi Direct, ultra-wideband UWB, etc.

[0030] Specifically, when the distance sensing devices of the bicycle to be located and the auxiliary bicycle are in an activated state, the distance sensing devices can be used to send and receive signals to each other, thereby calculating the straight-line distance between the bicycle to be located and the auxiliary bicycle, which is the length of the spatial connection line. In addition, the current longitude and latitude coordinates of the bicycle to be located and the auxiliary bicycle can be obtained respectively through the positioning devices of the bicycle to be located and the auxiliary bicycle, that is, the navigation positioning positions of the bicycle to be located and the auxiliary bicycle on the map. Thus, the longitude and latitude coordinates of the bicycle to be located and the auxiliary bicycle on the map can be connected to obtain a horizontal connection line.

[0031] The method provided by the embodiment of the present invention, by setting a distance sensing device on the electric motorcycle, obtains the connection line between the bicycle to be positioned and the auxiliary bicycle in the actual three-dimensional space through the distance sensing device on the electric motorcycle, that is, obtains the spatial connection line. In addition, through the positioning units in the bicycle to be positioned and the auxiliary bicycle, the connection line between the longitude and latitude coordinates of the bicycle to be positioned and the auxiliary bicycle on the map is used as a horizontal connection line, thereby realizing accurate and convenient construction of spatial connection lines and horizontal connection lines.

[0032] Based on any of the above embodiments, in step 120, taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle, calculating the angle to be evaluated between the spatial connection line and the horizontal connection line includes: Calculating the length difference between the spatial line and the horizontal line; When the length difference is greater than the length threshold, the angle to be evaluated is calculated by taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle.

[0033] Here, the length threshold can be determined based on the measurement error of the distance sensing device or the positioning drift error caused by the positioning unit. For example, if the measurement error of the distance sensing device is 10 meters and the positioning drift error caused by the positioning unit is 15 meters, 15 meters can be selected as the length threshold.

[0034] Specifically, first, the length difference between the spatial line and the horizontal line can be calculated. When the length difference is greater than the length threshold, it means that there is a difference in the actual position of the motorcycle to be located and the auxiliary motorcycle in the vertical direction, that is, there is an angle between the spatial line and the horizontal line. For example, the bicycle to be located is parked on an elevated bridge, and the auxiliary bicycle is parked on the ground under the elevated bridge. Therefore, the angle to be evaluated can be calculated by taking the spatial line as the hypotenuse of the right triangle and the horizontal line as the base of the right triangle.

[0035] In addition, when the length difference is not greater than the length threshold, it means that the difference in the length of the spatial line and the horizontal line may be due to the error of the distance sensing device or the positioning drift error caused by the positioning unit. In this case, it can be considered that the vehicle to be positioned and the auxiliary vehicle are on the same horizontal plane, and there is no need to calculate the angle between the spatial line and the horizontal line.

[0036] It should be noted that before calculating the angle to be evaluated, the length difference between the spatial line and the horizontal line is judged by the length threshold. Only when the length difference is greater than the length threshold, the angle to be evaluated is calculated, thereby achieving efficient positioning of the motorcycle and saving computing resources.

[0037] Based on any of the above embodiments, step 130 includes: Based on the length difference, determining an angle threshold; When the angle to be evaluated is greater than the angle threshold, the three-dimensional spatial position is determined based on the longitude and latitude coordinates of the bicycle to be located and the angle to be evaluated.

[0038] When the angle to be evaluated is not greater than the angle threshold, the longitude and latitude coordinates of the bicycle to be located are used as the three-dimensional space position.

[0039] Specifically, first, the angle threshold can be determined by the length difference between the spatial line and the horizontal line. It should be noted that when there is an angle between the spatial line and the horizontal line, the length of the horizontal line is not affected by the vertical positioning, and the horizontal line is relatively fixed. If the length of the spatial line is longer, that is, the length difference is larger, the angle between the spatial line and the horizontal line is smaller, and the angle threshold here should also be reduced to achieve accurate recognition of abnormal vertical positioning and obtain accurate three-dimensional spatial position.

[0040] It should also be noted that the angle threshold corresponding to the length difference can be obtained by statistics based on historical length data.

[0041] Next, when the angle to be evaluated is greater than the angle threshold, it indicates that the bicycle to be positioned has abnormal vertical positioning, and the three-dimensional spatial position of the bicycle to be positioned can be calculated through the longitude and latitude coordinates of the bicycle to be positioned and the angle to be evaluated. For example, the longitude and latitude coordinates of the bicycle to be positioned can be used as the horizontal and vertical coordinates of the bicycle to be positioned, and the coordinates of the bicycle to be positioned in the vertical direction can be obtained by using the angle to be evaluated, so as to obtain the three-dimensional spatial position of the bicycle to be positioned, thereby achieving accurate bicycle positioning, which helps to quickly identify and locate motorcycles with abnormal vertical positioning.

[0042] In addition, when the angle to be evaluated is not greater than the angle threshold, it means that the angle between the bicycle to be positioned and the auxiliary bicycle may be caused by a positioning error. It can be judged that there is no abnormal vertical positioning of the bicycle to be positioned, and the longitude and latitude coordinates of the bicycle to be positioned can be directly used as the three-dimensional space position, and the vertical coordinate at this time can be 0.

[0043] The method provided in the embodiment of the present invention determines a suitable angle threshold based on the length difference between the spatial line and the horizontal line. Through the suitable angle threshold, accurate abnormal vertical positioning identification can be achieved to obtain a precise three-dimensional spatial position, which significantly narrows the inspection scope of the operation and maintenance staff for the bicycle to be located, reduces the search time for electric bicycles, and greatly improves the efficiency of the operation and maintenance staff.

[0044] Based on any of the above embodiments, step 130 includes: generating a positioning alarm based on the three-dimensional spatial position and the parking position image; The parking position image is obtained by taking pictures based on a camera arranged on the bicycle to be positioned.

[0045] Here, the parking location image is used to provide the operation and maintenance personnel with richer and clearer positioning prompts, which can help the operation and maintenance personnel search for the bicycle to be located more quickly and improve the search efficiency of the operation and maintenance personnel.

[0046] Specifically, when the vertical coordinate of the motorcycle indicated by the three-dimensional spatial position is not 0, the camera on the bicycle to be located can be activated through the central control of the bicycle to be located to obtain multiple images of the parking environment of the motorcycle to be located, for example, 3 images can be obtained, and the images are uploaded to the operation and maintenance platform, and a positioning alarm is generated by the three-dimensional spatial position and the parking position image to prompt the operation and maintenance personnel to search for the bicycle to be located as soon as possible based on the position indicated by the three-dimensional spatial position and the parking position image. For example, the bicycle to be located is searched at a location where there is an abnormality in the vertical positioning, such as an overpass near the three-dimensional spatial position. In this way, the bicycle to be located is prevented from being parked in dangerous locations such as overpasses, which poses a hidden danger to road traffic safety.

[0047] It should be noted that the method provided by the embodiment of the present invention can monitor the abnormal vertical positioning of the electric motorcycle in real time, and when the abnormal vertical positioning is identified, promptly notify the operation and maintenance personnel to handle it, which greatly improves the processing efficiency of the operation and maintenance personnel and reduces the search difficulty of the operation and maintenance personnel.

[0048] In addition, when the vertical coordinate of the motorcycle represented by the three-dimensional space position is 0, no warning prompt may be generated.

[0049] Based on any of the above embodiments, Figure 2FIG. 2 is a flow chart of the method for positioning a motorcycle provided by the present invention. Figure 2 As shown, the method includes: First, install distance sensors on the central control of all motorcycles. Then, when the vehicle is parked near an elevated bridge, the system automatically triggers the sensor, that is, automatically triggers the distance sensor of the vehicle parked near the elevated bridge. At this time, select any of the vehicles as the bicycle to be located, and select the bicycle whose distance from the bicycle to be located is less than the distance threshold as the auxiliary bicycle. Then, read the connection distance through the central control of the bicycle to be located and the auxiliary bicycle to obtain the spatial connection, and use the GPS point reported by the central control to calculate the horizontal distance to obtain the horizontal connection.

[0050] Furthermore, the values ​​of the spatial connection line and the horizontal connection line are judged to determine whether the length difference between the two exceeds the threshold. If it does not exceed the threshold, no processing is performed. If it exceeds the threshold, the spatial connection line is used as the hypotenuse of the right triangle, and the horizontal connection line is used as the base of the right triangle, and the angle between the hypotenuse and the base is calculated, that is, the angle to be evaluated is calculated.

[0051] Then, it is judged whether the angle value exceeds the relevant threshold. If the angle value of the angle to be evaluated does not exceed the angle threshold, no processing is performed; if the angle value of the angle to be evaluated exceeds the angle threshold, an alarm is issued in time to prompt the operation and maintenance personnel to handle it as soon as possible.

[0052] The method provided in the embodiment of the present invention realizes accurate identification of abnormal parking on the viaduct through central control connection and GPS point calculation, significantly narrows the scope of operation and maintenance inspection, reduces processing time, provides timely warning, and improves public service efficiency and brand image.

[0053] Based on any of the above embodiments, Figure 3 Schematic diagram of the structure of the positioning device for an electric motorcycle provided by the present invention, Figure 3 As shown, the device comprises: The auxiliary unit 310 determines an auxiliary bicycle whose distance from the bicycle to be located is less than a distance threshold; The angle calculation unit 320 determines a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, takes the spatial connection line as the hypotenuse of a right triangle, takes the horizontal connection line as the base of the right triangle, and calculates the angle to be evaluated between the spatial connection line and the horizontal connection line; The positioning unit 330 determines the three-dimensional spatial position of the bicycle to be positioned based on the angle to be evaluated.

[0054] The device provided by the embodiment of the present invention determines the spatial line and the horizontal line between the bicycle to be positioned and the auxiliary bicycle, takes the spatial line as the hypotenuse of the right triangle, and takes the horizontal line as the base of the right triangle, and calculates the angle to be evaluated between the spatial line and the horizontal line; based on the angle to be evaluated, the three-dimensional spatial position of the bicycle to be positioned is determined, and it is possible to accurately judge whether there is any vertical positioning anomaly of the electric motorcycle, thereby quickly identifying abnormal parking situations such as electric motorcycles parked on viaducts, thereby greatly improving the operation and maintenance efficiency and search difficulty of electric motorcycles, and ensuring road traffic safety.

[0055] Based on any of the above embodiments, the angle calculation unit is specifically used for: Determine the spatial connection based on the distance sensing devices corresponding to the bicycle to be located and the auxiliary bicycle; the distance sensing devices are respectively integrated in the central control devices of the bicycle to be located and the auxiliary bicycle; The horizontal connection line is determined based on the latitude and longitude coordinates of the bicycle to be located and the auxiliary bicycle on the map.

[0056] Based on any of the above embodiments, the angle calculation unit is further specifically used for: Calculating the length difference between the spatial line and the horizontal line; When the length difference is greater than the length threshold, the angle to be evaluated is calculated by taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle.

[0057] Based on any of the above embodiments, the positioning unit is specifically used for: Based on the length difference, determining an angle threshold; When the angle to be evaluated is greater than the angle threshold, the three-dimensional spatial position is determined based on the longitude and latitude coordinates of the bicycle to be located and the angle to be evaluated.

[0058] Based on any of the above embodiments, the positioning unit is further specifically used for: When the angle to be evaluated is not greater than the angle threshold, the longitude and latitude coordinates of the bicycle to be located are used as the three-dimensional space position.

[0059] Based on any of the above embodiments, the positioning unit further includes an alarm unit, and the alarm unit is specifically used for: generating a positioning alarm based on the three-dimensional spatial position and the parking position image; The parking position image is obtained by taking pictures based on a camera arranged on the bicycle to be positioned.

[0060] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the positioning method of the electric motorcycle, the method comprising: determining an auxiliary bicycle whose interval with the bicycle to be positioned is less than a distance threshold; determining the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle, and calculating the angle to be evaluated between the spatial connection line and the horizontal connection line; based on the angle to be evaluated, determining the three-dimensional spatial position of the bicycle to be positioned.

[0061] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0062] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the electric motorcycle positioning method provided by the above-mentioned methods, which method includes: determining an auxiliary bicycle whose interval with the bicycle to be positioned is less than a distance threshold; determining the spatial connection line and the horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle, and calculating the angle to be evaluated between the spatial connection line and the horizontal connection line; based on the angle to be evaluated, determining the three-dimensional spatial position of the bicycle to be positioned.

[0063] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the electric motorcycle positioning method provided by the above-mentioned methods, the method comprising: determining an auxiliary bicycle whose interval with the bicycle to be positioned is less than a distance threshold; determining a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle, and calculating the angle to be evaluated between the spatial connection line and the horizontal connection line; based on the angle to be evaluated, determining the three-dimensional spatial position of the bicycle to be positioned.

[0064] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0065] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning an electric motorcycle, characterized in that: include: Determine an auxiliary bicycle whose distance from the bicycle to be located is less than a distance threshold; Determine a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, take the spatial connection line as the hypotenuse of a right triangle, take the horizontal connection line as the base of the right triangle, and calculate the angle to be evaluated between the spatial connection line and the horizontal connection line; Based on the angle to be evaluated, the three-dimensional spatial position of the bicycle to be positioned is determined.

2. The method for positioning a motorcycle according to claim 1, characterized in that: The determining of a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle comprises: Determine the spatial connection based on the distance sensing devices corresponding to the bicycle to be located and the auxiliary bicycle; the distance sensing devices are respectively integrated in the central control devices of the bicycle to be located and the auxiliary bicycle; The horizontal connection line is determined based on the latitude and longitude coordinates of the bicycle to be located and the auxiliary bicycle on the map.

3. The method for positioning a motorcycle according to claim 1, characterized in that: The step of taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle and calculating the angle to be evaluated between the spatial connection line and the horizontal connection line includes: Calculating the length difference between the spatial line and the horizontal line; When the length difference is greater than the length threshold, the angle to be evaluated is calculated by taking the spatial connection line as the hypotenuse of the right triangle and the horizontal connection line as the base of the right triangle.

4. The method for positioning a motorcycle according to claim 3, characterized in that: The determining the three-dimensional spatial position of the bicycle to be positioned based on the angle to be evaluated includes: Based on the length difference, determining an angle threshold; When the angle to be evaluated is greater than the angle threshold, the three-dimensional spatial position is determined based on the longitude and latitude coordinates of the bicycle to be located and the angle to be evaluated.

5. The method for positioning a motorcycle according to claim 4, characterized in that: The step of determining an angle threshold based on the length difference further comprises: When the angle to be evaluated is not greater than the angle threshold, the longitude and latitude coordinates of the bicycle to be located are used as the three-dimensional space position.

6. The method for positioning a motorcycle according to any one of claims 1 to 5, characterized in that: The step of determining the three-dimensional spatial position of the bicycle to be positioned based on the angle to be evaluated further comprises: generating a positioning alarm based on the three-dimensional spatial position and the parking position image; The parking position image is obtained by taking pictures based on a camera arranged on the bicycle to be positioned.

7. A positioning device for an electric motorcycle, characterized in that: include: The auxiliary unit determines an auxiliary bicycle whose interval with the bicycle to be located is less than a distance threshold; An angle calculation unit is configured to determine a spatial connection line and a horizontal connection line between the bicycle to be positioned and the auxiliary bicycle, and to calculate an angle to be evaluated between the spatial connection line and the horizontal connection line by taking the spatial connection line as the hypotenuse of a right triangle and the horizontal connection line as the base of the right triangle; The positioning unit determines the three-dimensional spatial position of the bicycle to be positioned based on the angle to be evaluated.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the electric motorcycle positioning method as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the electric motorcycle positioning method as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the electric motorcycle positioning method as described in any one of claims 1 to 6 is implemented.

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