Recovery route planning method for intelligent shared electric bicycle

Abstract

The invention relates to the technical field of route planning, and particularly discloses a route finding planning method for intelligent shared electric bicycles, and the method comprises the following steps: S1, screening to-be-recycled bicycles, obtaining the number of routes and the distance of a single route, calculating the mean value of the distances, and calculating the ideal time; calculating actual time according to the current traffic flow, and calculating a time coefficient; s2, calculating the total weight of the recycled bicycle, and calculating a loss value and energy consumption; and S3, calculating a comprehensive consumption coefficient of the recycled bicycle, calculating a dominance coefficient, and screening an optimal recovery route. According to the method for planning the finding route of the shared electric bicycle, the time cost and the energy cost consumed in the finding process of the shared electric bicycle are reduced by reasonably planning the finding route, and the operation efficiency in the finding process of the bicycle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of route planning, and particularly relates to a method for planning a retrieval route for an intelligent shared electric bicycle. Background Art

[0002] Shared electric bicycles are a new type of transportation tool, which not only provides a convenient way of traveling, but also promotes the optimization of the urban traffic structure. Retrieving shared electric bicycles usually refers to collecting scattered or illegally parked shared electric bicycles through a series of technical means and management measures. Currently, for scattered or illegally parked shared electric bicycles, the retrieval personnel need to use the positioning system of the shared bicycles to determine the vehicle position information, and then the retrieval personnel carry out the retrieval.

[0003] In the prior art, the efficiency problem of shared electric vehicle recycling has become crucial. If only judged according to the distance, the best solution cannot be reasonably selected. For example, a certain route has the shortest distance, but the traffic flow on this route is large. Therefore, it may take a longer time during actual driving. If a route with a longer distance is selected, the cost will increase. As the number of electric bicycles loaded on the vehicle increases, the driving cost of the vehicle will increase, including fuel consumption, vehicle depreciation, etc. Therefore, a method for planning a retrieval route for shared electric bicycles is needed to reduce the time and cost of shared electric bicycle recycling, thereby improving the overall operation efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for planning a retrieval route for an intelligent shared electric bicycle to solve the above technical problems.

[0005] The purpose of the present invention can be achieved through the following technical solutions: S1: Mark the shared electric bicycles located outside the parking points as bicycles to be recycled, obtain the number of routes for the bicycle recycling vehicle to go to the location of the bicycles to be recycled and the distance L of a single route, and calculate the average value L of the distances ave ; Calculate the ideal time t = L / v max , where v max represents the average value of the speed limits of each section of the route, obtain the traffic flow C of the route at the current moment, and calculate the actual time , where C s represents the traffic capacity of the route; Calculate the time coefficient , where γ represents a preset adjustment coefficient; S2: Calculate the total weight W of the bicycle recycling vehicle at the current moment = W s +W all , where W sRepresents the weight of the bicycle recycling vehicle when it is unloaded, W all Represents the total weight of the bicycles to be recycled that have been loaded onto the bicycle recycling vehicle; Calculate the loss value S of the bicycle recycling vehicle: S = η * (W all / W max ) 2 , where η represents a preset loss coefficient, and W max represents the load threshold of the bicycle recycling vehicle; Calculate the friction force f between the tires of the bicycle recycling vehicle and the ground: f = μWg, where μ represents the friction coefficient between the tires of the bicycle recycling vehicle and the ground, and g represents the acceleration due to gravity. Calculate the energy consumption E of the bicycle recycling vehicle: E = f * L; S3: Calculate the comprehensive consumption coefficient R of the bicycle recycling vehicle through a formula. The specific formula is: ; where λ 1 represents a preset first adjustment coefficient, and λ 2 represents a preset second adjustment coefficient; Calculate the advantage coefficient Y = TS - R, and select the route corresponding to the maximum value of the advantage coefficient Y max as the best retrieval route.

[0006] As a further solution of the present invention: It further includes: Calculate the maximum value Y1 of the advantage coefficient between the bicycle recycling vehicle and the parking point, and the maximum value Y2 of the advantage coefficient between the parking point and the bicycles to be recycled. If Y1 + Y2 ≥ Y max , then prompt the driver of the bicycle recycling vehicle to first transport the loaded bicycles to be recycled back to the parking point, and then go to the coordinate point where the bicycles to be recycled are located for recycling.

[0007] As a further solution of the present invention: In the step S1, another method for calculating the ideal time t includes: Obtain the speed limit values v of each section of the route, and calculate the comprehensive speed through the formula , where J represents the number of sections with speed limit values in the route, and L j represents the distance of the j-th section with a speed limit value in the route, and v j represents the speed limit value of the j-th section of the route. Calculate the ideal time t = L / v s .

[0008] As a further solution of the present invention: In the step S1, if the traffic flow C of the route at the current moment ≥ C s , mark the route as a congested route, and the congested route is not used as the best retrieval route.

[0009] As a further solution of the present invention: in the step S2, calculate the cumulative loss value of the bicycle recycling vehicle , where S i represents the loss value corresponding to the i-th bicycle to be recycled by the bicycle recycling vehicle. If the cumulative loss value LS is greater than the preset judgment threshold LS max , remind the driver of the bicycle recycling vehicle to stop recycling.

[0010] As a further solution of the present invention: in the step S2, when W s +W all ≥W max , stop recycling, and the bicycle recycling vehicle transports the loaded bicycles to be recycled back to the parking point.

[0011] As a further solution of the present invention: in the step S3, eliminate the routes with the dominance coefficient Y≤0 and do not use them as the best retrieval routes.

[0012] As a further solution of the present invention: in the step S3, if there are the same dominance coefficients R, at this time, select the route corresponding to the smaller actual time value as the best retrieval route.

[0013] Beneficial effects of the present invention: In the present invention, during the recycling process of shared bicycles, it is first necessary to screen the bicycles to be recycled. This process is based on the locations where the shared bicycles are parked to ensure that the bicycles to be recycled are selected. Once the bicycles to be recycled are determined, the next task is to determine the number of routes between the bicycle recycling vehicle and these bicycles to be recycled and the length of a single route. By calculating these distances, an average value can be obtained, and this average value can help us roughly judge the distance between the recycling vehicle and the bicycles to be recycled.

[0014] Calculating the ideal time is a very important step. The so-called ideal time refers to the minimum time required for the recycling vehicle to travel along a specific route without any external interference. However, this is only a theoretical value. In actual situations, due to the influence of various factors, the actual time required is often greater than this ideal time. Especially when considering the different speed limit values of each section of the road, we need to find the minimum value among these speed limit values for calculation so as to obtain a more reasonable ideal time.

[0015] However, simply calculating the ideal time is not enough. We also need to consider the impact of the actual road conditions on the time. This requires correcting the ideal time according to the traffic flow of the route at the current moment. The greater the traffic flow, the more serious the congestion on the road may be, resulting in an increase in the actual driving time. Therefore, we need to calculate the actual time based on the traffic flow. At the same time, the traffic capacities of different routes are also different, which means that the same traffic flow may have different effects on different roads. Therefore, when analyzing specific problems, we must analyze them specifically and cannot generalize.

[0016] The time coefficient TS calculated by the formula is a very important indicator. As can be seen from the formula, the smaller the actual time T, the larger the time coefficient TS; while the longer the distance of a single route, the smaller the time coefficient TS. Therefore, the time coefficient is actually a quantitative indicator used to reflect the impact of route planning at the time level. It helps us evaluate the time efficiency of different routes, thus providing a basis for choosing the best recycling route.

[0017] When calculating the total weight of the bicycle recycling vehicle, we need to consider two main parts: one is the weight of the bicycle recycling vehicle when it is empty, which includes the vehicle's own structure, materials, and any fixed additional equipment, etc.; the other is the total weight of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle. The sum of these two parts constitutes the total weight of the bicycle recycling vehicle.

[0018] However, when calculating the loss coefficient S, we need to adopt a more precise method to reflect the influence of the total weight W of the bicycles to be recycled on the loss value. all Specifically, we divide the total weight Wall of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle by the load threshold W of the bicycle recycling vehicle max , and get a ratio. Then, square this ratio, and the result is the loss coefficient S. It should be noted that under normal circumstances, the situation where the value of W all is equal to W max is very rare. This is because, even if the weight of each shared electric bicycle is the same when leaving the factory, various damages will inevitably occur during the later use process, resulting in the actual weight of the bicycles to be recycled may be greater than or less than the standard weight at the time of leaving the factory. Therefore, in order to more accurately express the influence of the loss value on the total weight W of the bicycles to be recycled all , we do not use the number of bicycles to be recycled as a parameter, but use the total weight W of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle all as a parameter.

[0019] Next, we calculate the friction force f between the tires of the bicycle recycling vehicle and the ground. The value of this friction force f is an important parameter for calculating energy consumption. In actual situations, due to the influence of various factors such as road conditions, tire materials, and air pressure, the magnitude of the friction force f will vary. However, to simplify the calculation process, we assume that the friction force f is a constant value and is proportional to the distance L. Therefore, we can use the product of the friction force f and the distance L as the energy consumption E of the bicycle recycling vehicle. In this way, we can estimate the energy consumed by the bicycle recycling vehicle during transportation by measuring the distance L and the known value of the friction force f.

[0020] Then, we further accurately calculate the comprehensive consumption coefficient R of the bicycle recycling vehicle through a formula. This consumption coefficient is a key indicator for measuring the overall consumption of the bicycle recycling vehicle during the execution of tasks. It comprehensively considers various factors at the energy level and vehicle damage level. To more comprehensively reflect the actual situation, we use a weighted formula for calculation. Specifically, we will assign corresponding weights to different factors according to their influence degrees on the overall consumption, and then add these weighted factors to obtain the comprehensive consumption coefficient R. This value is crucial because it directly represents the comprehensive performance of the bicycle recycling vehicle in terms of energy and vehicle damage. The smaller the value, the smaller the loss of the bicycle recycling vehicle on this route and the lower the operating cost.

[0021] After calculating the comprehensive consumption coefficient R, we also need to further calculate the advantage coefficient Y. The advantage coefficient Y is calculated through a specific formula, which is to subtract the consumption coefficient R from the time coefficient TS. The time coefficient TS reflects the time cost required for the bicycle recycling vehicle to complete the recycling task, while the consumption coefficient R represents the cost of the vehicle in terms of energy and damage. Combining these two coefficients, the obtained advantage coefficient Y can more accurately evaluate the advantages and disadvantages of each route.

[0022] Finally, to select the best retrieval route, we need to compare the advantage coefficients Y of different routes and find the maximum value Y max . This maximum value Y max The corresponding route is the best retrieval route we need to select. In this way, we can retrieve the bicycles to be recycled efficiently at a lower cost, thereby optimizing the entire recycling process, reducing the operating cost, and improving the recycling efficiency.

[0023] In summary, the present invention provides a method for planning the retrieval route of shared electric bicycles. By reasonably planning the retrieval route, the time cost and energy cost consumed during the retrieval process of shared electric bicycles are reduced, and the operating efficiency during the bicycle retrieval process is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 It is a schematic flow chart of a method for planning a retrieval route for an intelligent shared electric bicycle according to the present invention. Specific embodiments

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0027] Please refer to Figure 1 As shown, the present invention is a method for planning a retrieval route for an intelligent shared electric bicycle, including the following steps: S1: Mark the shared electric bicycle located outside the parking point as a bicycle to be recycled, obtain the number of routes for the bicycle recycling vehicle to travel to the location of the bicycle to be recycled and the distance L of a single route, and calculate the average value L of the distances ave ; Calculate the ideal time t = L / v max , where v max represents the average value of the speed limits of each section of the route, obtain the traffic flow C of the route at the current moment, and calculate the actual time , where C s represents the traffic capacity of the route; Calculate the time coefficient , where γ represents a preset adjustment coefficient; S2: Calculate the total weight W of the bicycle recycling vehicle at the current moment = W s + W all , where W s represents the weight of the bicycle recycling vehicle when it is unloaded, and W all represents the total weight of the bicycles to be recycled loaded on the bicycle recycling vehicle; Calculate the loss value S of the bicycle recycling vehicle = η * (W all / W max ), where η represents a preset loss coefficient, and W 2 represents the load threshold of the bicycle recycling vehicle; max Calculate the friction force f between the tires of the bicycle recycling vehicle and the ground = μWg, where μ represents the friction coefficient between the tires of the bicycle recycling vehicle and the ground, g represents the acceleration due to gravity, and calculate the energy consumption E of the bicycle recycling vehicle = f * L; Calculate the friction force f between the tires of the bicycle recycling vehicle and the ground = μWg, where μ represents the friction coefficient between the tires of the bicycle recycling vehicle and the ground, g represents the acceleration due to gravity, and calculate the energy consumption E of the bicycle recycling vehicle = f * L; S3: Calculate the comprehensive consumption coefficient R of the bicycle recycling vehicle through the formula, and the specific formula is: ; where λ 1 represents the preset first adjustment coefficient, and λ 2 represents the preset second adjustment coefficient; Calculate the advantage coefficient Y = TS - R, and select the route corresponding to the maximum value Y max of the advantage coefficient as the best retrieval route.

[0028] It should be noted that during the recycling process of shared bicycles, it is first necessary to screen the bicycles to be recycled. This process is based on the location where the shared bicycles are parked to ensure that the bicycles to be recycled are selected. Once the bicycles to be recycled are determined, the next task is to determine the number of routes between the bicycle recycling vehicle and these bicycles to be recycled and the length of a single route. By calculating these distances, an average value can be obtained, and this average value can help us roughly judge the distance between the recycling vehicle and the bicycles to be recycled.

[0029] Calculating the ideal time is a very important step. The so-called ideal time refers to the minimum time required for the recycling vehicle to travel along a specific route without any external interference. However, this is only a theoretical value. In actual situations, due to the influence of various factors, the actual time required is often greater than this ideal time. Especially when considering the different speed limit values of each section of the road, we need to find the minimum value among these speed limit values for calculation so as to obtain a more reasonable ideal time.

[0030] However, just calculating the ideal time is not enough. We also need to consider the impact of the actual road conditions on the time. This requires correcting the ideal time according to the traffic flow of the route at the current moment. The greater the traffic flow, the more serious the congestion on the road may be, resulting in an increase in the actual driving time. Therefore, we need to calculate the actual time according to the traffic flow. At the same time, the traffic capacity of different routes is also different, which means that the same traffic flow may have different effects on different roads. Therefore, when analyzing specific problems, specific analysis must be carried out and cannot be generalized.

[0031] In actual situations, take the distance between the speed limit sign and the corresponding speed limit cancellation sign as the distance of the section with a speed limit value.

[0032] The time coefficient TS calculated by the formula is a very important indicator. As can be seen from the formula, the smaller the actual time T, the larger the time coefficient TS; while the greater the distance of a single route, the smaller the time coefficient TS. Therefore, the time coefficient is actually a quantitative indicator used to reflect the impact of route planning at the time level. It helps us evaluate the time efficiency of different routes, thus providing a basis for selecting the best recycling route.

[0033] When calculating the total weight of the bicycle recycling vehicle, we need to consider two main parts: one is the weight of the bicycle recycling vehicle when it is unloaded, which includes the vehicle's own structure, materials, and any fixed additional equipment, etc.; the other is the total weight of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle. The sum of these two parts constitutes the total weight of the bicycle recycling vehicle.

[0034] However, when calculating the loss coefficient S, we need to adopt a more precise method to reflect the influence of the loss value on the total weight W all of the bicycles to be recycled. Specifically, we divide the total weight Wall of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle by the load threshold W max of the bicycle recycling vehicle to obtain a ratio. Then, we square this ratio, and the result is the loss coefficient S. It should be noted that under normal circumstances, the situation where the value of W all is equal to W max is very rare. This is because even if each shared electric bicycle has the same weight when leaving the factory, various damages will inevitably occur during the later use process, resulting in the actual weight of the bicycles to be recycled being greater than or less than the standard weight at the time of leaving the factory. Therefore, in order to more accurately express the influence of the loss value on the total weight W all of the bicycles to be recycled, we do not use the number of bicycles to be recycled as a parameter, but use the total weight W all of the bicycles to be recycled that have been loaded on the bicycle recycling vehicle as a parameter.

[0035] Next, we calculate the friction force f between the tires of the bicycle recycling vehicle and the ground. The value of this friction force f is an important parameter for calculating energy consumption. In actual situations, due to the influence of various factors such as road conditions, tire materials, and air pressure, the magnitude of the friction force f will vary. However, for the sake of simplifying the calculation process, we assume that the friction force f is a constant value and is proportional to the distance L. Therefore, we can use the product of the friction force f and the distance L as the energy consumption E of the bicycle recycling vehicle. In this way, we can estimate the energy consumed by the bicycle recycling vehicle during transportation by measuring the distance L and the known value of the friction force f.

[0036] Next, the comprehensive consumption coefficient R of the bicycle recycling vehicle is further accurately calculated through a formula. This consumption coefficient is a key indicator to measure the overall consumption of the bicycle recycling vehicle during the mission execution, which comprehensively considers various factors at the energy level and vehicle damage level. To more comprehensively reflect the actual situation, we use a weighted formula for calculation. Specifically, we will assign corresponding weights to different factors according to their influence degrees on the overall consumption, and then add these weighted factors to obtain the comprehensive consumption coefficient R. This value is crucial because it directly represents the comprehensive performance of the bicycle recycling vehicle in terms of energy and vehicle damage. The smaller the value, the smaller the loss of the bicycle recycling vehicle on this route and the lower the operating cost.

[0037] After calculating the comprehensive consumption coefficient R, we also need to further calculate the advantage coefficient Y. The advantage coefficient Y is calculated through a specific formula, which is to subtract the consumption coefficient R from the time coefficient TS. The time coefficient TS reflects the time cost required for the bicycle recycling vehicle to complete the recycling task, while the consumption coefficient R represents the cost of the vehicle in terms of energy and damage. Combining these two coefficients, the obtained advantage coefficient Y can more accurately evaluate the advantages and disadvantages of each route.

[0038] Finally, to select the best retrieval route, we need to compare the advantage coefficients Y of different routes and find the maximum value Y max . This maximum value Y max The corresponding route is the best retrieval route we need to select. In this way, we can retrieve the bicycles to be recycled at a lower cost and efficiently, thereby optimizing the entire recycling process, reducing the operating cost, and improving the recycling efficiency.

[0039] In another preferred embodiment of the present invention, it further includes: Calculating the maximum value Y1 of the advantage coefficient between the bicycle recycling vehicle and the parking point and the maximum value Y2 of the advantage coefficient between the parking point and the bicycle to be recycled. If Y1 + Y2 ≥ Y max , then prompt the driver of the bicycle recycling vehicle to first transport the loaded bicycle to be recycled back to the parking point, and then go to the coordinate point where the bicycle to be recycled is located for recycling.

[0040] It is worth noting that if the sum of Y1 and Y2 is greater than or equal to a preset maximum advantage coefficient Y max , this value can be set according to experience or historical data, then this means that it is a better choice to transport the loaded bicycle to be recycled back to the parking point and then go to the coordinate point where the bicycle to be recycled is located for recycling. This is because doing so can maximize the advantage coefficient of the overall path, thereby improving the recycling efficiency and reducing unnecessary driving mileage and time.

[0041] Through this precise calculation and decision-making process, it can be ensured that the driver of the bicycle recycling vehicle can always act according to the optimized path, thereby improving the efficiency and effectiveness of the entire recycling process.

[0042] In another preferred embodiment of the present invention, another method for calculating the ideal time t includes: Obtain the speed limit values v of each section in the route, and calculate the comprehensive speed through the formula , where J represents the number of sections with speed limit values in the route, and L j represents the distance of the j-th section with a speed limit value in the route, and v j represents the speed limit value of the j-th section in the route. Calculate the ideal time t = L / v s .

[0043] It is worth noting that calculating the comprehensive speed v s can be used to evaluate the driving speed on a given route and the ideal time required to complete the entire journey considering the speed limits of each section. This helps to optimize the itinerary planning, ensure that the journey is completed as efficiently as possible while complying with traffic rules, and, in actual situations, use the distance between the speed limit sign and the corresponding speed limit cancellation sign as the distance of the section with a speed limit value.

[0044] In another preferred embodiment of the present invention, if the traffic flow C of the route at the current moment ≥ C s , mark the route as a congested route, and the congested route is not used as the best retrieval route.

[0045] It can be understood that when the traffic flow C of the route exceeds a certain limit, it is marked as a congested route. The probability of traffic jams on congested routes is relatively high. If a traffic jam occurs during the recycling process, a large amount of time will be wasted. Therefore, from the perspective of time cost, the congested route is not used as the best retrieval route.

[0046] In another preferred embodiment of the present invention, calculate the cumulative loss value of the bicycle recycling vehicle , where S i represents the loss value corresponding to the i-th bicycle to be recycled by the bicycle recycling vehicle. If the cumulative loss value LS is greater than the preset judgment threshold LS max , remind the driver of the bicycle recycling vehicle to stop recycling.

[0047] It should be noted that when calculating the cumulative loss value, when the cumulative loss value reaches a certain range, it represents that the vehicle state of the bicycle recycling vehicle is poor. At this time, the bicycle recycling vehicle needs to be repaired for a period of time to ensure the vehicle state of the bicycle recycling vehicle and then carry out the recycling operation again.

[0048] In another preferred embodiment of the present invention, when W s +W all ≥W max , the recycling stops, and the bicycle recycling vehicle transports the loaded bicycles to be recycled back to the parking point.

[0049] It should be noted that during the bicycle recycling operation, when the number of bicycles to be recycled on the recycling vehicle exceeds its designed capacity or safety load limit, a more cautious and efficient approach must be taken. Specifically, at this time, the loaded bicycles to be recycled should be safely transported back to the designated parking point for proper storage and management.

[0050] If continuing the recycling operation may cause the vehicle to be overloaded, affect driving stability, or increase the risk of traffic accidents, then it should be given priority to recycle in batches or seek other suitable transportation methods to assist in completing the remaining recycling tasks. This can not only ensure the recycling efficiency but also minimize the possibility of accidents to ensure the safety and smoothness of the entire recycling process.

[0051] In another preferred embodiment of the present invention, the routes with the dominance coefficient Y ≤ 0 are excluded and not used as the best retrieval routes.

[0052] It can be understood that for the routes with the dominance coefficient Y ≤ 0, for the purpose of simplifying the process, the corresponding routes are excluded and not used as the best retrieval routes.

[0053] In another preferred embodiment of the present invention, if there are the same dominance coefficients R, at this time, the route corresponding to the smaller actual time value is selected as the best retrieval route.

[0054] It is worth noting that when multiple routes have the same dominance coefficient R, this means that from multiple dimensions such as comprehensive speed, route length, and traffic conditions, these routes have similar attractiveness and potential value for the bicycle recycling vehicle. From these routes with the same dominance coefficient R, the route corresponding to the smaller actual time value is selected as the best retrieval route. This decision-making method can not only ensure that the bicycle recycling vehicle reaches the location of the bicycles to be recycled at the fastest speed, thereby improving the overall recycling efficiency, but also reduce the risk brought by traffic uncertainty to a certain extent. At the same time, it also reflects the importance of dynamically adjusting and optimizing the recycling route in a complex environment, which helps to improve the flexibility and adaptability of the entire bicycle recycling system.

[0055] The above has described in detail an embodiment of the present invention, but the above content is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A method for intelligent shared electric bicycle retrieval route planning, characterized in that: The following steps are involved: S1: Mark the shared electric bicycles outside the parking spot as bicycles to be recycled, obtain the number of routes from the bicycle recycling vehicle to the location of the bicycles to be recycled and the distance L of each route, and calculate the average distance L ave ; Calculate the ideal time t=L / v max , where v max represents the average speed limit of each section of the route, obtains the traffic volume C of the route at the current moment, and calculates the actual time , where C s represents the capacity of the route in question; Calculation time factor , where γ represents the preset adjustment coefficient; S2: Calculate the total weight of the bicycle recycling vehicle at the current moment W = W s +W all , where W s represents the weight of the bicycle recycling vehicle when it is unloaded, W all Represents the total weight of bicycles to be recycled that have been loaded on the bicycle recycling vehicle; Calculate the loss value of bicycle recycling vehicles S=η*(W all / W max ) 2 , where η represents the preset loss coefficient, W max Represents the weight threshold of bicycle recovery vehicles; Calculate the friction between the tires of the bicycle recycling vehicle and the ground f=μWg, where μ represents the friction coefficient between the tires of the bicycle recycling vehicle and the ground, and g represents the acceleration of gravity, and calculate the energy consumption of the bicycle recycling vehicle E=f*L; S3: Calculate the comprehensive consumption coefficient R of the bicycle recycling vehicle by a formula, wherein the formula is: ； Wherein, λ1 represents a preset first adjustment coefficient, and λ2 represents a preset second adjustment coefficient; Calculate the advantage coefficient Y = TS-R, and select the maximum value of the advantage coefficient Y max The corresponding route is used as the best retrieval route.

2. A method for intelligent shared electric bicycle retrieval route planning according to claim 1, characterized in that: Also includes: Calculate the maximum value of the advantage coefficient between the bicycle recycling vehicle and the parking point Y1 and the maximum value of the advantage coefficient between the parking point and the bicycle to be recycled Y2. If Y1+Y2≥Y max , the driver of the bicycle recycling vehicle is prompted to first transport the loaded bicycles to be recycled back to the parking point, and then go to the coordinate point where the bicycles to be recycled are located for recycling.

3. A method for retrieving a route for an intelligent shared electric bicycle according to claim 1, characterized in that: In the step S1, another method for calculating the ideal time t includes: Get the speed limit value v of each section in the route and calculate the comprehensive speed by the formula , where J represents the number of sections with speed limits in the route, and L j represents the distance of the jth road section with a speed limit in the route, v j represents the speed limit of the jth section of the route, and calculates the ideal time t=L / v s .

4. A method for retrieving a route for an intelligent shared electric bicycle according to claim 1, characterized in that: In step S1, if the current traffic volume of the route C≥C s , marking the route as a congested route, and the congested route is not used as the best retrieval route.

5. A method for retrieving a route for an intelligent shared electric bicycle according to claim 1, characterized in that: In step S2, the accumulated loss value of the bicycle recycling vehicle is calculated. , where S i Represents the loss value corresponding to the bicycle recycling vehicle recycling the i-th bicycle to be recycled. If the cumulative loss value LS is greater than the preset judgment threshold LS max , reminding the drivers of bicycle recycling vehicles to stop recycling.

6. A method for retrieving a route for an intelligent shared electric bicycle according to claim 1, characterized in that: In step S2, when W s +W all ≥W max When the recycling is stopped, the bicycle recycling vehicle will transport the loaded bicycles to be recycled back to the parking spot.

7. A method for retrieving a route for an intelligent shared electric bicycle according to claim 1, characterized in that: In the step S3, the route corresponding to the advantage coefficient Y≤0 is eliminated and is not used as the best retrieval route.

8. A method for intelligent shared electric bicycle retrieval route planning according to claim 1, characterized in that: In the step S3, if there are the same advantage coefficients R, the route corresponding to the smaller actual time value is selected as the best retrieval route.

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