Integrated intelligent scheduling method and system for shared bicycles

Abstract

The invention relates to the technical field of data management scheduling, in particular to an integrated intelligent scheduling method and system for shared bicycles. The method comprises the following steps that the shared bicycles are grabbed through a carrying cantilever, and the shared bicycles are transferred to a charging and storing frame through an annular main track; monitoring a charging loop of the shared bicycle in the charging bicycle storage frame, and receiving an instruction of the charging loop to charge in turn in different periods; detecting the contact resistance of the charging loop, and adjusting the charging connection state when the contact resistance exceeds a preset resistance threshold value; and monitoring the power generation state of the solar battery pack of the shared bicycle, and storing the solar power generation amount according to the power generation state to obtain solar power generation and storage energy. Through a data processing technology, a feature detection technology and a scheduling technology, improvement of the charging efficiency of the shared bicycles, efficient utilization of energy, rapid identification of fault bicycles and dynamic balance deployment of station bicycles are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of data management and scheduling, and particularly to an integrated intelligent scheduling method and system for shared bicycles. Background Art

[0002] In terms of vehicle scheduling, shared electric bicycles show a situation where there is a shortage of supply in some areas during peak periods, and users "find it difficult to get a vehicle", while a large number of vehicles are idle during off-peak periods, resulting in significant waste of resources; at the operation and maintenance level, due to the natural wear and tear of parts and the improper use or even malicious damage by some users, the vehicle failure rate remains high. Manual handling and maintenance not only consume a large amount of manpower and material resources, but also lead to low operation and maintenance efficiency; for shared electric bicycles, charging and related operation and maintenance work mainly rely on manual operation at present, resulting in high charging operation and maintenance costs; specifically, the traditional charging method for shared bicycles is mostly manual operation, with low charging efficiency and unable to reasonably allocate according to the power demand of the bicycles; there is a lack of real-time monitoring of the contact resistance of the charging circuit, which is prone to safety hazards due to problems such as poor contact; relying solely on the AC power grid for charging fails to make full use of renewable energy such as solar energy; and the scheduling of shared bicycles is mostly based on experience and manual judgment, unable to accurately match the site demand. Summary of the Invention

[0003] Based on this, it is necessary to provide an integrated intelligent scheduling method and system for shared bicycles to solve at least one of the above technical problems.

[0004] To achieve the above object, an integrated intelligent scheduling method for shared bicycles, the method includes the following steps:

[0005] Step S1: Grasp the shared bicycle through the handling cantilever, and transfer the shared bicycle to the charging storage rack through the annular main track; monitor the charging circuit of the shared bicycle in the charging storage rack, and receive the instruction of the charging circuit to perform charging in a time-sharing and rotating manner; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds the preset resistance threshold;

[0006] Step S2: Monitor the power generation status of the solar battery pack of the shared bicycle, and store the solar power generation according to the power generation status to obtain the solar power generation storage amount; charge the solar power generation storage amount into the shared bicycle, and detect the required charging amount of the shared bicycle; when the solar power generation storage amount is less than the required charging amount, charge the shared bicycle through the AC power grid;

[0007] Step S3: Detect the faults of the shared bicycles in the charging state, generate bicycle fault data; locate the faulty bicycles according to the bicycle fault data and move the faulty bicycles to the repair channel, and record the number of shared bicycles to be repaired;

[0008] Step S4: Monitor the demand for shared bicycles at the station in real time; determine the current remaining quantity of shared bicycles at the station based on the quantity of shared bicycles to be repaired; and automatically allocate the shared bicycles at the station based on the current remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station.

[0009] The present invention realizes the automatic return and charging preparation of shared bicycles by the handling cantilever grasping the shared bicycles and transferring them to the charging storage rack. At the same time, monitoring the charging circuit of the shared bicycles in the charging storage rack and receiving the instructions of the charging circuit to carry out charging in turns at different time periods can effectively avoid the overload phenomenon during the charging process, improve the charging efficiency, and extend the service life of the charging equipment. In addition, detecting the contact resistance of the charging circuit and adjusting the charging connection state when the contact resistance exceeds the preset resistance threshold ensure the safety and stability of the charging process and avoid charging failures or safety hazards caused by poor contact. Monitoring the power generation state of the solar battery pack of the shared bicycle and storing the solar power generation according to the power generation state to obtain the stored solar power generation. Charging the stored solar power generation into the shared bicycle and detecting the required charging quantity of the shared bicycle realize the effective utilization of solar energy, reduce the dependence on the AC power grid, and save the energy cost. When the stored solar power generation is less than the required charging quantity, charging the shared bicycle through the AC power grid. This complementary charging method can ensure the normal charging demand of the shared bicycle, maximize the utilization of renewable energy at the same time, and conform to the development trend of environmental protection and energy conservation. Detecting the faults of the shared bicycles in the charging state and generating bicycle fault data can timely detect the fault conditions of the shared bicycles. Locating the faulty bicycles according to the bicycle fault data and moving the faulty bicycles to the repair channel to be repaired, and recording the quantity of shared bicycles to be repaired realize the rapid screening and centralized management of the faulty bicycles, facilitate the maintenance personnel to carry out maintenance in time, improve the fault handling efficiency, and reduce the impact of the faulty bicycles on the users. Monitoring the demand for shared bicycles at the station in real time, determining the current remaining quantity of shared bicycles at the station based on the quantity of shared bicycles to be repaired, and automatically allocating the shared bicycles at the station based on the current remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station. This automatic allocation method based on real-time data can accurately meet the demand for shared bicycles at different stations, avoid the situation of vehicle surplus or shortage at the station, and improve the use efficiency of shared bicycles and the user experience. Therefore, the present invention realizes the improvement of the charging efficiency of shared bicycles, the efficient utilization of energy, the rapid identification of faulty bicycles, and the dynamic balanced allocation of station bicycles through data processing technology, feature detection technology, and scheduling technology.

[0010] Preferably, the monitoring of the charging circuit of the shared bicycles in the charging storage rack in step S1 and receiving the instructions of the charging circuit to carry out charging in turns at different time periods includes:

[0011] Respectively arranging a current sensor and a voltage sensor at each charging position of the charging storage rack;

[0012] For each charging position, at the 1st minute, 5th minute, and 10th minute respectively after the start of charging, the current value and voltage value in the charging circuit are collected through a current sensor and a voltage sensor;

[0013] According to the current value and voltage value collected each time, the charging circuit power is calculated;

[0014] If at any collection, when the charging circuit power exceeds 90% of the rated power of the charging circuit, the charging operation of this charging position is suspended, and an over - limit alarm signal is issued;

[0015] If at any collection, when the charging circuit power is lower than 10% of the rated power of the charging circuit, the charging operation of this charging position is suspended, and a low - limit alarm signal is issued;

[0016] If at any collection, when the charging circuit power is between 10% and 90% of the rated power of the charging circuit, the charging operation continues;

[0017] After charging is completed, through the communication module set on the charging storage rack, the charging completion signal is sent to the central control system to arrange for the next shared bicycle to enter the charging position for charging.

[0018] The present invention can accurately monitor the charging status of each charging position by respectively setting a current sensor and a voltage sensor on each charging position of the charging storage rack, and collecting the current value and voltage value in the charging circuit at the 1st minute, 5th minute, and 10th minute after the start of charging. Based on the collected current value and voltage value, the charging circuit power is calculated, realizing real - time power monitoring of the charging process. When the charging circuit power exceeds 90% of the rated power of the charging circuit, the charging operation of this charging position is suspended and an over - limit alarm signal is issued, effectively avoiding overloading, damage of charging equipment caused by too high power and potential safety hazards, and ensuring the stable operation of the charging system and the service life of the equipment. At the same time, when the charging circuit power is lower than 10% of the rated power of the charging circuit, the charging operation is suspended and a low - limit alarm signal is issued, which can timely detect abnormal situations in the charging circuit, such as poor contact, line failure, etc., avoiding ineffective charging or insufficient charging, and ensuring the efficiency and reliability of the charging process. In addition, when the charging circuit power is between 10% and 90% of the rated power of the charging circuit, the charging operation continues, ensuring the normal progress of the charging process, making full use of the power capacity of the charging equipment, and improving the charging efficiency. After charging is completed, the charging completion signal is sent to the central control system through the communication module set on the charging storage rack to arrange for the next shared bicycle to enter the charging position for charging, realizing the automatic management and scheduling of the charging process, and improving the utilization rate of the charging storage rack and the overall operation efficiency of the system.

[0019] Preferably, detecting the contact resistance of the charging circuit in step S1 and adjusting the charging connection state when the contact resistance exceeds a preset resistance threshold includes:

[0020] On each charging position of the charging storage frame, apply a test current to the charging connection point through the charging circuit, and measure the voltage drop across the charging connection point with a voltmeter;

[0021] Divide the voltage drop by the applied test current to obtain the value of the contact resistance;

[0022] If the calculated contact resistance exceeds 0.5 milliohms, trigger the charging connection state adjustment mechanism;

[0023] Wherein the charging connection state adjustment mechanism includes:

[0024] Pause the charging operation at the current charging position, and send an alarm signal to the system through the communication module to indicate that the contact resistance is abnormal;

[0025] After the system receives the alarm signal, adjust the angle and position of the charging connection point;

[0026] Re-detect the contact resistance. If the contact resistance still exceeds 0.5 milliohms after re-detection, the system records the state of this charging position and disconnects the circuit; if the contact resistance is within 0.5 milliohms after re-detection, continue the charging operation and send a normal signal to the system through the communication module.

[0027] The present invention calculates the value of the contact resistance by applying a test current to the charging connection point and measuring the voltage drop across both ends, and uses Ohm's law. This detection method can accurately quantify the contact resistance of the charging connection point, ensuring the objectivity and reliability of the detection results. When the calculated contact resistance exceeds 0.5 milliohms, the charging connection state adjustment mechanism is triggered, the charging operation at the current charging position is paused, and an alarm signal is sent to the system through the communication module to indicate an abnormal contact resistance. This mechanism can promptly detect abnormal conditions at the charging connection point, avoid reduced charging efficiency, heat generation hazards, and potential equipment damage caused by too high contact resistance, and significantly improve the safety and reliability of the charging process. After receiving the alarm signal, the system automatically adjusts the angle and position of the charging connection point. This automatic adjustment mechanism can quickly respond to abnormal contact resistance conditions, optimize the charging connection state, reduce manual intervention, and improve the operation efficiency and intelligent level of the system. After re-detecting the contact resistance, if the contact resistance drops below 0.5 milliohms, the charging operation continues, and a normal signal is sent to the system to ensure the continuity of the charging process. If the contact resistance still exceeds 0.5 milliohms after re-detection, the system records the state of this charging position and disconnects the circuit. This measure can effectively prevent the charging equipment from continuing to operate in an abnormal state, avoid equipment damage and safety hazards caused by too high contact resistance, and at the same time, by recording the abnormal state, it is convenient for subsequent maintenance and repair work to ensure the long-term stable operation of the system.

[0028] Preferably, the step of charging the solar power generation storage energy into the shared bicycle and detecting the required charging amount of the shared bicycle in step S2 includes:

[0029] At each charging position of the charging storage frame, a charging interface and a power detection module are provided. The charging interface is used to connect to the battery of the shared bicycle, and the power detection module is used to detect the current power of the battery of the shared bicycle.

[0030] When the shared bicycle is placed at the charging position, the charging interface is automatically connected to the battery of the shared bicycle, and the power detection device is started.

[0031] The power detection device calculates the current power percentage by detecting the voltage and current of the battery of the shared bicycle.

[0032] According to the solar power generation storage energy, the required charging amount of the shared bicycle is determined based on the current power percentage. If the current power is lower than 30%, the required charging amount is 70%. If the current power is between 30% and 70%, the required charging amount is 100% minus the current power percentage. If the current power is higher than 70%, no charging is performed.

[0033] The charging interface of the present invention can automatically connect to the battery of the shared bicycle and simultaneously activate the power detection module. The power detection module calculates the current power percentage by detecting the voltage and current of the battery of the shared bicycle. This power detection method based on voltage and current can accurately reflect the actual power state of the battery; determine the required charging amount of the shared bicycle according to the solar power generation storage capacity and the current power percentage, realizing an intelligent decision-making for the charging process. When the current power is lower than 30%, the required charging amount is 70%, ensuring that bicycles with low power can quickly recover to a higher power level to meet the basic usage needs of users; when the current power is between 30% - 70%, the required charging amount is 100% minus the current power percentage. This on-demand charging method can make full use of the solar power generation storage capacity, avoid overcharging, and improve energy utilization efficiency; when the current power is higher than 70%, no charging is performed, avoiding unnecessary charging operations and extending the service life of the battery; by reasonably determining the required charging amount according to the current power percentage and combining with the solar power generation storage capacity for charging, the solar power generation resources can be maximally utilized. When the solar power generation storage capacity is sufficient, priority is given to charging bicycles with lower power, ensuring the effective allocation and utilization of energy and reducing the dependence on the AC power grid; the on-demand charging method avoids overcharging and frequent charging, reduces the number of charge-discharge cycles and charging time of the battery, and helps to extend the service life of the battery. This intelligent charging strategy not only improves the reliability and durability of the bicycle; by accurately detecting the power and reasonably arranging the charging, it ensures that the shared bicycle has sufficient power available when needed by users, reducing the situation where users cannot use the bicycle due to insufficient power.

[0034] Preferably, when the solar power generation storage capacity is less than the required charging amount in step S2, charging the shared bicycle through the AC power grid includes:

[0035] On each charging position of the charging storage rack, a grid charging interface is set, where the grid charging interface is used to connect to the AC power grid;

[0036] The solar power generation storage capacity and the current power of the shared bicycle are monitored in real time through a power detection device, and the required charging amount is calculated;

[0037] If the solar power generation storage capacity is less than the required charging amount, a charging request signal is sent to the grid charging management system through the communication module;

[0038] After receiving the charging request signal, the grid charging management system charges the battery of the shared bicycle through the grid charging interface;

[0039] The solar power generation storage capacity is charged into the battery of the shared bicycle through the charging interface. During the charging process, the power detection device monitors the charging status of the battery in real time;

[0040] During the charging process, the voltage and current of the battery are collected every 5 - 10 minutes, and the voltage and current collected in the previous and subsequent times are compared. If there are abnormal fluctuations in the voltage and current collected in the previous and subsequent times, the charging is paused, and an alarm signal is sent to the central control system through the communication module to indicate abnormal charging.

[0041] After charging is completed, the battery power is detected again by the power detection device to check whether the charging reaches the required charging amount. If the power does not reach the required charging amount after charging is completed, the information of the shared bicycle is recorded, and a supplementary charging operation is performed. If the power reaches the required charging amount after charging is completed, a charging completion signal is sent to the central control system through the communication module.

[0042] The present invention uses a power detection device to monitor the solar power generation energy storage and the current power of the shared bicycle in real time, and calculates the required charging amount. When the solar power generation energy storage is less than the required charging amount, the system sends a charging request signal to the grid charging management system through the communication module, and the battery of the shared bicycle is charged by the grid charging interface. This design realizes the flexible switching between solar power generation and AC grid charging, ensures that energy can be supplemented in time when solar power generation is insufficient, guarantees the charging demand of the shared bicycle, and improves the reliability of the system; during the charging process, the power detection device collects the voltage and current of the battery every 5 - 10 minutes, and compares the voltage and current collected in the previous and subsequent times. If there are abnormal fluctuations, the charging is paused and an alarm signal is sent to the central control system. This real-time monitoring mechanism can promptly detect abnormal situations during the charging process, such as battery failure, charging circuit short circuit or poor contact, etc.; after charging is completed, the power detection device detects the battery power again to verify whether the charging reaches the required charging amount. If the power does not reach the required charging amount, the information of the shared bicycle is recorded and a supplementary charging operation is performed; if the power reaches the required charging amount, a charging completion signal is sent to the central control system. This verification mechanism ensures that each shared bicycle has sufficient power before being put into use; by preferentially using the solar power generation energy storage to charge the shared bicycle and switching to AC grid charging when necessary, the organic combination of renewable energy and traditional energy is realized. This energy management method maximizes the use of solar power generation while meeting the charging demand, reducing the dependence on the AC grid; through the communication module, information interaction and collaborative work between modules are realized, and the timely transmission of the charging request signal, alarm signal and charging completion signal ensures the automated and intelligent management of the charging process. This efficient information interaction mechanism improves the operation efficiency of the system, reduces manual intervention, and enhances the overall performance and reliability of the system.

[0043] Preferably, step S3 includes the following steps:

[0044] Step S31: Set battery fault detection devices at each charging position of the charging bike rack. The battery fault detection devices include voltage sensors, current sensors, and temperature sensors;

[0045] Step S32: Respectively collect the voltage, current, and battery temperature of the shared bike battery in the charging state through the voltage sensor, current sensor, and temperature sensor to obtain the battery voltage in the charging state, the battery current in the charging state, and the battery temperature in the charging state;

[0046] Step S33: If the battery voltage in the charging state collected three times in a row is lower than 80% of the rated battery voltage, it is determined as a voltage abnormal fault; if the battery current in the charging state collected three times in a row exceeds 120% of the rated battery current, it is determined as a current abnormal fault; if the battery temperature in the charging state collected three times in a row exceeds 110% of the rated battery temperature, it is determined as a battery overheat fault;

[0047] Step S34: Combine the voltage abnormal fault, current abnormal fault, and battery overheat fault into bike fault data;

[0048] Step S35: Locate the faulty bike according to the bike fault data through the central control system, generate a bike moving instruction, and send the bike moving instruction to the handling robot;

[0049] Step S36: After the handling robot moves the faulty bike to the maintenance channel, send a bike moving completion signal to the central control system through the communication module;

[0050] Step S37: After the central control system receives the bike moving completion signal, record the number of shared bikes to be repaired.

[0051] The present invention provides battery fault detection devices including voltage sensors, current sensors, and temperature sensors at each charging position of a charging storage rack for shared bicycles, capable of simultaneously collecting voltage, current, and temperature data of the batteries of shared bicycles during charging. By collecting data three times continuously and making comparison judgments, the accuracy and reliability of fault detection are ensured. The judgment criteria for voltage abnormal faults, current abnormal faults, and battery overheat faults are clear and strict, avoiding misjudgment and missed detection, and ensuring the comprehensiveness and accuracy of fault detection; the detected voltage abnormal faults, current abnormal faults, and battery overheat faults are combined into bicycle fault data, and the central control system locates the faulty shared bicycle according to the bicycle fault data, generates a vehicle transfer instruction, and sends it to the handling robot. The handling robot moves the faulty shared bicycle to the maintenance channel according to the instruction, and sends a vehicle transfer completion signal to the central control system through the communication module, realizing the rapid screening and centralized management of faulty shared bicycles. The whole process has a high degree of automation, reduces manual intervention, improves the fault handling efficiency, ensures that the faulty shared bicycles can be repaired in time, reduces the impact of faulty shared bicycles on user use; by accurately detecting and quickly handling faulty shared bicycles, potential safety hazards that may be caused by faulty batteries during charging, such as battery short circuits and fires, are avoided, ensuring the stable operation of the charging system. At the same time, the recording and management of faulty shared bicycles by the central control system provide accurate data support for subsequent repair and maintenance, helping to optimize the operation and management of the system and improve the overall reliability of the system; after the faulty shared bicycles are timely moved to the maintenance channel, the vacated charging positions can be used for charging other shared bicycles, improving the utilization rate of the charging storage rack. At the same time, by accurately positioning and quickly handling faulty shared bicycles, the resource waste caused by faulty shared bicycles occupying charging positions is reduced, optimizing the resource utilization efficiency of the system; the timely handling of faulty shared bicycles reduces the problems that users may encounter due to using faulty shared bicycles, improving the trust and satisfaction of users with the shared bicycle service. Through the automated and intelligent fault handling mechanism, the availability and reliability of shared bicycles are ensured.

[0052] Preferably, step S4 includes the following steps:

[0053] Step S41: Real-time receive the shared bicycle use request initiated by the user through the mobile application, and record the user request data; count the number of requests within every 15 minutes according to the user request data as the real-time demand for shared bicycles at the station;

[0054] Step S42: The central control system subtracts the number of shared bicycles to be repaired from the total number of shared bicycles at the station according to the number of shared bicycles to be repaired to obtain the remaining number of shared bicycles at the station currently;

[0055] Step S43: Compare the remaining quantity of shared bikes at the current station with the real-time demand. If the remaining quantity is less than 50% of the demand, trigger the automatic allocation mechanism; the automatic allocation mechanism allocates shared bikes from neighboring stations to the current station according to the preset allocation rules, and the allocation quantity is twice the difference between the demand and the remaining quantity.

[0056] Step S44: During the allocation process, the central control system monitors the allocation progress in real time and dynamically adjusts the allocation quantity according to the change of the real-time demand.

[0057] Step S45: During the allocation process, if the remaining quantity of shared bikes at the neighboring station is insufficient, the central control system automatically expands the allocation scope to more distant stations and preferentially allocates bikes with sufficient power and no faults.

[0058] Step S46: After the allocation is completed, the central control system updates the remaining quantity of shared bikes at the station and pushes a notification of the completion of the allocation to the users through the user mobile application.

[0059] The present invention can, by receiving in real time a shared bicycle usage request initiated by a user through a mobile application and recording the user request data, count the number of requests every 15 minutes as a time window, which is used as the real-time demand for shared bicycles at the station. This high-frequency and real-time demand monitoring method can accurately reflect the dynamic demand of users for shared bicycles. The central control system subtracts the number of shared bicycles to be repaired from the total number of shared bicycles at the station according to the number of shared bicycles to be repaired, so as to obtain the remaining quantity of shared bicycles at the station. This accounting method takes into account the impact of faulty bicycles on available resources, ensures the accuracy of the remaining quantity data at the station, and avoids deployment errors caused by the occupation of resources by faulty bicycles. When the remaining quantity of shared bicycles at the station is less than 50% of the real-time demand, an automatic deployment mechanism is triggered automatically. According to the preset deployment rules, shared bicycles are deployed from adjacent stations to the current station, and the deployment quantity is twice the difference between the demand and the remaining quantity. This double deployment strategy based on the demand gap can quickly replenish the station resources, meet the user demand, and avoid the situation of insufficient or excessive deployment. During the deployment process, the central control system monitors the deployment progress in real time and dynamically adjusts the deployment quantity according to the change of the real-time demand. This dynamic adjustment mechanism can flexibly respond to the real-time change of demand, ensure the efficiency and adaptability of the deployment process, and avoid resource waste or insufficient deployment caused by demand fluctuations. When the remaining quantity of shared bicycles at adjacent stations is insufficient, the central control system automatically expands the deployment range to farther stations and preferentially deploys bicycles with sufficient power and no faults. This intelligent expansion strategy can maximize the use of available resources in the system in the case of resource tension, ensure that the deployed bicycles are in good use condition, and improve the user experience. After the deployment is completed, the central control system updates the remaining quantity of shared bicycles at the station and pushes a deployment completion notice to the user through the user mobile application. This timely feedback mechanism can enable the user to understand the deployment progress and results in real time, and enhance the user's trust and satisfaction with the shared bicycle service.

[0060] This specification also provides a shared bicycle integrated intelligent scheduling system for executing the above-mentioned shared bicycle integrated intelligent scheduling method. The shared bicycle integrated intelligent scheduling system includes:

[0061] A three-dimensional storage frame module, which is used to grab shared bicycles through a handling cantilever and transfer the shared bicycles to a charging storage frame through a circular main track; monitor the charging circuit of the shared bicycles in the charging storage frame and receive the instructions of the charging circuit to perform charging in a time-sharing and rotating manner; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds a preset resistance threshold;

[0062] A solar energy storage and charging module is used to monitor the power generation status of the solar battery pack of a shared bicycle, store the solar power generation according to the power generation status to obtain the stored solar power generation amount, charge the stored solar power generation amount into the shared bicycle, and detect the required charging amount of the shared bicycle. When the stored solar power generation amount is less than the required charging amount, the shared bicycle is charged through the AC power grid.

[0063] A bicycle fault detection module is used to detect faults in the shared bicycle in the charging state, generate bicycle fault data, locate the faulty bicycle according to the bicycle fault data and move the faulty bicycle to the maintenance channel, and record the quantity of shared bicycles to be maintained.

[0064] A bicycle demand scheduling module is used to monitor the demand for shared bicycles at the station in real time, determine the remaining quantity of shared bicycles at the station according to the quantity of shared bicycles to be maintained, and automatically allocate the shared bicycles at the station based on the remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station.

[0065] Through the automated grasping and charging management of the three-dimensional storage rack module, the optimized utilization of energy by the solar energy storage and charging module, the intelligent fault handling of the bicycle fault detection module, and the precise allocation of the bicycle demand scheduling module, the present invention realizes the efficient management of the entire process of shared bicycles from storage, charging, fault handling to scheduling. Through the collaborative work of each module, the system not only improves the charging efficiency, reduces the operation cost, ensures the charging safety, but also maximizes the utilization of renewable energy such as solar energy. At the same time, it realizes the rapid screening and centralized management of faulty bicycles, as well as the precise allocation of vehicles at the station, significantly improving the operation management efficiency and user experience of shared bicycles. Description of the Drawings

[0066] Figure 1 It is a schematic diagram of the step flow of a method for integrated intelligent scheduling of shared bicycles.

[0067] Figure 2 For Figure 1 The detailed implementation step flow diagram of step S4 in

[0068] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0069] The technical method of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work belong to the scope of protection of the present invention.

[0070] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor methods and / or microcontroller methods.

[0071] It should be understood that although terms such as "first" and "second" may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed related items.

[0072] To achieve the above object, please refer to Figures 1 to 2 , a method for integrated intelligent scheduling of shared bicycles, the method comprising the following steps:

[0073] Step S1: Grasp the shared bicycle by the handling cantilever and transfer the shared bicycle to the charging storage rack through the annular main track; monitor the charging circuit of the shared bicycle in the charging storage rack and receive the instruction of the charging circuit to perform charging in a time-sharing rotation; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds the preset resistance threshold;

[0074] Step S2: Monitor the power generation state of the solar battery pack of the shared bicycle, store the solar power generation according to the power generation state to obtain the solar power generation storage amount; charge the solar power generation storage amount into the shared bicycle, and detect the required charging amount of the shared bicycle; when the solar power generation storage amount is less than the required charging amount, charge the shared bicycle through the AC power grid;

[0075] Step S3: Detect the faults of the shared bicycles in the charging state, generate bicycle fault data; locate the faulty bicycles according to the bicycle fault data and move the faulty bicycles to the maintenance channel, and record the quantity of shared bicycles to be repaired;

[0076] Step S4: Monitor the demand for shared bicycles at the station in real time; determine the current remaining quantity of shared bicycles at the station according to the quantity of shared bicycles to be repaired; perform automatic allocation of shared bicycles at the station based on the current remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station.

[0077] In the embodiment of the present invention, refer to Figure 1As shown in the figure, it is a schematic diagram of the step flow of an integrated intelligent scheduling method for shared bicycles according to the present invention. In this embodiment, the integrated intelligent scheduling method for shared bicycles includes the following steps:

[0078] Step S1: Grab the shared bicycle through the handling cantilever, and transfer the shared bicycle to the charging storage rack through the annular main track; monitor the charging circuit of the shared bicycle in the charging storage rack, and receive the instructions of the charging circuit to perform charging in a time-sharing and rotating manner; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds the preset resistance threshold;

[0079] In the embodiment of the present invention, first, the mechanical grasping device of the handling cantilever is used to grab the shared bicycle. The grasping device of the handling cantilever detects the specific position information of the shared bicycle through its built-in sensor, such as the position coordinates (X1, Y1, Z1) of the grasping point of the frame, and adjusts the grasping posture and strength of the grasping device according to the position information. The clamping force of the grasping device is controlled within a preset threshold range, for example, between 100N and 150N, to ensure that the bicycle is not damaged during the grasping process and the grasping stability is guaranteed. Subsequently, the handling cantilever moves along the annular main track to transfer the grabbed shared bicycle to the charging storage rack. The track parameters of the annular main track include the track radius R, the track height H, and the inclination angle θ of the track, etc. The moving speed V1 of the handling cantilever on the track is set between 0.5m / s and 1m / s to ensure the transmission efficiency and stability. In the charging storage rack, the charging circuit of the shared bicycle is monitored in real time through the charging circuit monitoring system. The charging circuit monitoring system includes a current sensor, a voltage sensor, and a contact resistance detection module. The current sensor and the voltage sensor respectively collect the current I and voltage U data in the charging circuit at a sampling period of 10ms for calculating the charging power P = UI. The contact resistance detection module detects the contact resistance Rc of the charging connection point through a low-frequency pulse signal, and its detection accuracy reaches 0.01Ω. When the charging circuit monitoring system receives the time-sharing charging instruction, according to the time parameters T1, T2... Tn in the instruction, the shared bicycles are charged in a rotating manner according to the preset charging order. For example, in the time period T1, the shared bicycles numbered 1 to 10 are charged, and in the time period T2, the charging is switched to the shared bicycles numbered 11 to 20. At the same time, the charging circuit monitoring system continuously detects the contact resistance Rc. When Rc exceeds the preset resistance threshold Rth (for example, 0.1Ω), the charging connection state adjustment module is activated. This module finely adjusts the charging connection point through a mechanical adjustment device, and the adjustment angle range is ±5° to improve the contact state and make the contact resistance Rc return to the normal range again.

[0080] Step S2: Monitor the power generation status of the solar battery pack of the shared bicycle, store the solar power generation according to the power generation status to obtain the solar power generation storage amount; charge the shared bicycle with the solar power generation storage amount, and detect the required charging amount of the shared bicycle; when the solar power generation storage amount is less than the required charging amount, charge the shared bicycle through the AC power grid;

[0081] In the embodiments of the present invention, first, the power generation status of the solar battery pack of the shared bicycle is monitored. By connecting a high-precision current transformer in parallel at the output end of the solar battery pack, the output current of the solar battery pack is collected in real time, with an accuracy of 0.01 amperes. At the same time, a voltage sensor is connected in series at the output end of the solar battery pack to measure the output voltage of the solar battery pack at a sampling frequency of milliseconds (for example, sampling once every 10 milliseconds), with an accuracy of 0.01 volts. By calculating the output power at each moment (power = voltage × current), the instantaneous power generation power of the solar battery pack is obtained, and the power generation power data is stored in the local memory. Next, the electric energy generated by the solar battery pack is stored. The output of the solar battery pack passes through a boost circuit to boost the voltage to the charging voltage range suitable for the energy storage battery. The energy storage battery uses a lithium iron phosphate battery, and its charging voltage range is 3.2 volts to 3.6 volts. The conversion efficiency of the boost circuit is pre-calibrated to ensure a high efficiency (for example, not less than 85%) under different input voltages. The charging current of the energy storage battery is precisely controlled by a current controller, and the charging current is set to 0.2C of the rated capacity of the energy storage battery (for example, if the capacity of the energy storage battery is 10 ampere-hours, the charging current is 2 amperes) to ensure the stability and safety of the charging process. During the charging process, the temperature of the energy storage battery is monitored in real time by a temperature sensor. When the temperature exceeds 40 degrees Celsius, the charging current is automatically reduced to 1 ampere to prevent the battery from being damaged due to overheating. When the output power of the solar battery pack is less than the charging power demand of the energy storage battery, the charging current of the energy storage battery is dynamically adjusted according to the actual power generation power to ensure the maximum utilization of solar electric energy. During the energy storage process, the change in the battery charge of the energy storage battery is calculated in real time. By integrating the product of the power generation power of the solar battery pack and the charging time, the solar power generation energy storage is obtained. For example, if the solar battery pack continuously outputs a power of 50 watts for a certain period of time and the charging time is 2 hours, the solar power generation energy storage during this period is 100 watt-hours (50 watts × 2 hours). At the same time, the required charging amount of the shared bicycle is detected. By connecting a voltage measurement circuit in parallel between the positive and negative poles of the shared bicycle battery, the battery voltage is measured at a frequency of once per second, with an accuracy of 0.01 volts. By connecting a current sensor in series in the charging circuit of the battery, the discharge current of the battery is measured in real time, with an accuracy of 0.01 amperes. According to the discharge curve and the current voltage of the battery, combined with the rated capacity of the battery, the remaining battery percentage is calculated. For example, if the rated capacity of the battery is 10 ampere-hours and the remaining battery percentage corresponding to the current voltage is 30%, the remaining battery is 3 ampere-hours. According to the remaining battery and the rated voltage of the battery (for example, 36 volts), the required charging amount of the bicycle is calculated, that is, the required charging amount = (1 - remaining battery percentage) × battery rated capacity × battery rated voltage, in watt-hours. When the calculated solar power generation energy storage is less than the required charging amount of the bicycle, AC grid charging is started.An AC power grid is connected to the charging circuit through an AC contactor. The pull-in current of the AC contactor is precisely set to ensure reliable pull-in when the grid voltage is normal (e.g., 220 volts ± 10%) and the current does not exceed the rated value (e.g., 10 amperes). The alternating current is converted to direct current through a rectifier bridge, and the output voltage of the rectifier bridge is smoothed by a filter capacitor to ensure that the ripple factor of the output DC voltage is less than 5%. The rectified DC voltage passes through a buck circuit to adjust the voltage to the voltage range suitable for charging the bicycle battery (e.g., 36 volts ± 2 volts). The output current of the buck circuit is precisely controlled by a current controller, and the charging current is set to 0.3C of the rated capacity of the bicycle battery (e.g., if the capacity of the bicycle battery is 10 ampere-hours, the charging current is 3 amperes). During the charging process, the temperature of the bicycle battery is monitored in real time through a temperature sensor. When the temperature exceeds 45 degrees Celsius, the charging current is automatically reduced to 1.5 amperes to prevent the battery from overheating and being damaged. At the same time, the voltage change of the bicycle battery is monitored in real time through a voltage monitoring circuit. When the battery voltage reaches the rated charging termination voltage (e.g., 42 volts), the charging is automatically stopped to ensure the safety and efficiency of the charging process.

[0082] Step S3: Detect faults in the shared bicycles in the charging state, generate bicycle fault data; locate the faulty bicycles according to the bicycle fault data and move the faulty bicycles to the maintenance channel, and record the quantity of shared bicycles to be maintained;

[0083] In the embodiments of the present invention, fault detection is performed on shared bicycles in the charging state. By installing a voltage monitoring device at the charging interface of the bicycle, the charging voltage value is collected in real time at a frequency of 10 times per second. When the voltage value is lower than the set lower threshold of the charging voltage (for example, 34 volts) or higher than the upper threshold (for example, 42 volts), it is recorded as a voltage anomaly fault. At the same time, current sensors are connected in series in the circuits of key components such as the motor and headlight of the bicycle, and the current value is monitored at a frequency of 5 times per second. When the current value exceeds the normal operating range (for example, the normal operating current of the motor is 5 amperes, and if the detected current exceeds 8 amperes, it is regarded as abnormal), it is recorded as a current anomaly fault. In addition, a temperature sensor installed on the bicycle is used to monitor the temperatures of the bicycle battery and motor in real time. The measurement accuracy of the temperature sensor is ±0.5 degrees Celsius. When the battery temperature exceeds 50 degrees Celsius or the motor temperature exceeds 70 degrees Celsius, it is recorded as an overheating fault. After the fault detection is completed, bicycle fault data is generated. The fault data includes information such as the bicycle number, fault type (such as voltage anomaly, current anomaly, overheating, etc.), and fault occurrence time. These data are stored in the local memory and uploaded to the cloud server through a wireless communication module (such as a Wi-Fi or 4G module) at a frequency of once every 10 minutes to ensure the timeliness and integrity of the data. Based on the bicycle fault data, the faulty bicycle is located. By installing an RFID reader on the bicycle charging rack, the RFID tag information on each bicycle is read to determine the specific position coordinates of the bicycle on the charging rack (for example, represented by the row and column numbers of the charging rack). When the fault data is received, the system looks up the corresponding bicycle position coordinates in the records of the RFID reader according to the bicycle number. Subsequently, the faulty bicycle is moved to the maintenance channel. Through the positioning system of the handling robotic arm, the grasping position of the robotic arm is adjusted according to the position coordinates of the faulty bicycle. The grasping accuracy of the handling robotic arm is ±1 centimeter to ensure that the faulty bicycle can be accurately grasped. The robotic arm grasps the faulty bicycle from the charging rack and moves it to the designated position in the maintenance channel at a speed of 0.3 meters per second. During the movement, the position of the robotic arm is monitored in real time through a position sensor to ensure the accuracy and stability of the movement path. Finally, the quantity of shared bicycles to be repaired is recorded. A counting sensor is installed at the entrance of the maintenance channel. Whenever a bicycle is moved to the maintenance channel, the counting sensor automatically counts and updates the quantity of shared bicycles to be repaired.

[0084] Step S4: Monitor the demand for shared bicycles at the station in real time; determine the current remaining quantity of shared bicycles at the station according to the quantity of shared bicycles to be repaired; perform automatic allocation of shared bicycles at the station based on the current remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station.

[0085] In the embodiments of the present invention, by installing multiple infrared sensors around the shared bicycle station, these sensors detect the personnel flow around the station at a frequency of 10 times per second. When a person is detected to enter a certain range (such as 5 meters) around the station, the sensor is triggered and records the time and direction of the person's entry. At the same time, by using the Bluetooth beacon device installed in the station, which broadcasts Bluetooth signals at a frequency of 1 time per second, the number of smart phone devices entering the station range is detected, and this is used as a reference for the potential demand for shared bicycles. By combining the personnel flow data detected by the infrared sensors and the number of devices detected by the Bluetooth beacons, the demand for shared bicycles at the station per minute is calculated. The calculation formula for the demand is: Demand = (the number of people detected by the infrared sensors + the number of devices detected by the Bluetooth beacons) × demand coefficient (the demand coefficient is obtained based on historical data analysis, such as 0.5). Secondly, the remaining quantity of shared bicycles at the station is determined according to the quantity of shared bicycles to be repaired. Through the counting sensors in the station, the total number of shared bicycles in the station is counted in real time. At the same time, data on the quantity of shared bicycles to be repaired is obtained from the cloud server, and this data includes the number of shared bicycles that have been moved to the repair channel. The calculation formula for the remaining quantity of shared bicycles at the station is: Remaining quantity = total number of shared bicycles in the station - quantity of shared bicycles to be repaired. Finally, based on the remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station, automatic allocation of shared bicycles at the station is performed. Through the handling robotic arm in the station, the allocation operation is executed according to the preset allocation strategy. When the remaining quantity of shared bicycles at the station is less than a certain proportion (such as 80%) of the demand, the handling robotic arm grabs a shared bicycle from the nearby storage area and places it on the parking rack of the station. The grasping and placing actions of the handling robotic arm are accurately positioned through its built-in visual recognition system, and the positioning accuracy reaches ±2 cm. The moving speed of the handling robotic arm is set at 0.5 meters per second to ensure the efficiency of the allocation process. At the same time, the information on the allocation operation is uploaded to the cloud server in real time through the communication module in the station for global scheduling monitoring and management.

[0086] Preferably, in step S1, the grasping of the shared bicycle by the handling cantilever and the transfer of the shared bicycle to the charging storage rack through the annular main track include:

[0087] Start the handling cantilever gripper, and collect the frame contour information of the shared bicycle at the front, middle, and rear ends of the gripper through sensors;

[0088] The handling cantilever determines the placement position of the gripper according to the frame contour information and aligns the gripper with the shared bicycle;

[0089] When the gripper contacts the shared bicycle, grasp and clamp the frame of the shared bicycle;

[0090] Detect the curvature of the annular main track and the track moving speed, and adjust the grasping angle of the handling cantilever gripper according to the curvature;

[0091] Transfer the shared bicycle to the charging storage rack based on the grasping angle and the track moving speed.

[0092] In the embodiment of the present invention, first, start the handling cantilever gripper. The motor drive system of the gripper starts to operate according to the preset starting current (for example, 10 A) and starting speed (for example, 500 rpm), so that the gripper enters the working state. At the same time, the laser profile sensors installed at the front, middle, and rear ends of the gripper start to work. These sensors emit laser beams at a frequency of 50 times per second and receive the reflected signals to collect the profile information of the shared bicycle frame. The measurement accuracy of the laser profile sensor is 0.1 mm, which can accurately detect the shape and size of the frame. The profile information collected by the sensor includes the width and height of the frame and the position coordinates of the key feature points on the frame. The handling cantilever calculates the optimal placement position of the gripper through the built-in image processing algorithm according to the collected frame profile information. The algorithm first identifies the center line of the frame, and then determines the placement position of the gripper according to the width and height of the frame, so that it is aligned with the center line of the frame, and the clamping position of the gripper is located in the middle position of the frame to ensure the stability of grasping. The horizontal position adjustment accuracy of the gripper is ±1 mm, and the vertical position adjustment accuracy is ±2 mm. When the gripper moves to the predetermined position and contacts the shared bicycle, the clamping mechanism of the gripper starts to work. The cylinder or electric push rod of the clamping mechanism grabs the frame according to the preset clamping force (for example, 200 N), and the clamping force is monitored in real time through the pressure sensor to ensure that the clamping force is within the safe range, neither damaging the frame nor ensuring the firmness of grasping. After the clamping action is completed, the gripper clamps the shared bicycle tightly and is ready for the subsequent handling operation. During the handling process, the track curvature sensor and speed sensor on the handling cantilever start to work. The track curvature sensor determines the curvature of the track by measuring the radius of curvature of the track, and the measurement accuracy is ±0.5 degrees. The speed sensor measures the moving speed of the handling cantilever on the track, and the accuracy is ±0.01 m / s. According to the curvature of the track, the control system of the handling cantilever adjusts the grasping angle of the gripper through the fine-tuning function of the motor to ensure that the gripper always remains perpendicular to the track on the curved track. The adjustment range of the grasping angle is ±10 degrees, and the adjustment accuracy is ±0.1 degrees. Finally, the handling cantilever transfers the shared bicycle to the charging storage rack smoothly according to the track moving speed and the adjusted grasping angle. During the transfer process, the motor control system of the handling cantilever dynamically adjusts the speed and torque of the motor according to the curvature and speed changes of the track to ensure the smoothness and safety of the handling process. When the handling cantilever reaches the designated position of the charging storage rack, the gripper releases the shared bicycle and completes the transfer operation.

[0093] Preferably, the monitoring of the charging circuit of the shared bicycles in the charging storage frame in step S1 and receiving the instructions of the charging circuit for charging in a time-sharing and rotating manner includes:

[0094] Current sensors and voltage sensors are respectively arranged on each charging position of the charging storage frame;

[0095] For each charging position, at the 1st minute, the 5th minute, and the 10th minute after the start of charging respectively, the current value and voltage value in the charging circuit are collected through the current sensor and the voltage sensor;

[0096] According to the current value and voltage value collected each time, the charging circuit power is calculated;

[0097] If at any collection, when the charging circuit power exceeds 90% of the rated power of the charging circuit, the charging operation of this charging position is suspended, and an over-limit alarm signal is sent;

[0098] If at any collection, when the charging circuit power is lower than 10% of the rated power of the charging circuit, the charging operation of this charging position is suspended, and a low-limit alarm signal is sent;

[0099] If at any collection, when the charging circuit power is between 10% and 90% of the rated power of the charging circuit, the charging operation continues;

[0100] After charging is completed, through the communication module arranged on the charging storage frame, the charging completion signal is sent to the central control system to arrange the next shared bicycle to enter the charging position for charging.

[0101] In the embodiments of the present invention, a current sensor and a voltage sensor are respectively installed at each charging position of the charging storage frame. The measurement range of the current sensor is from 0 to 10 amperes, and the accuracy is ±0.01 amperes; the measurement range of the voltage sensor is from 0 to 50 volts, and the accuracy is ±0.01 volts. The rated power of the charging circuit is 250 watts. When the shared bicycle starts charging, the charging control system starts a timer, and at the 1st minute, the 5th minute, and the 10th minute after the start of charging respectively, triggers the current sensor and the voltage sensor to collect the current value and voltage value in the charging circuit. At the 1st minute, the current value collected by the current sensor is I1, and the voltage value collected by the voltage sensor is U1; at the 5th minute, the current value collected by the current sensor is I2, and the voltage value collected by the voltage sensor is U2; at the 10th minute, the current value collected by the current sensor is I3, and the voltage value collected by the voltage sensor is U3. According to the current value and voltage value collected each time, calculate the power of the charging circuit. The power calculation formula is P = U×I. At the 1st minute, the calculated power is P1 = U1×I1; at the 5th minute, the calculated power is P2 = U2×I2; at the 10th minute, the calculated power is P3 = U3×I3. If at any time of collection, the calculated power of the charging circuit exceeds 90% of the rated power of the charging circuit, that is, P > 250 watts × 90% = 225 watts, the charging control system immediately suspends the charging operation of this charging position and sends an over-limit alarm signal through the alarm module. The alarm signal includes audible and visual alarms and wireless signal transmission. The audible and visual alarm module emits an alarm sound with a frequency of 1000 Hz and simultaneously lights up a red warning light; the wireless signal transmission module sends the alarm information to the central control system in the form of a data packet. The data packet contains the charging position number, the alarm type (over-limit alarm), and the alarm occurrence time. If at any time of collection, the calculated power of the charging circuit is lower than 10% of the rated power of the charging circuit, that is, P < 250 watts × 10% = 25 watts, the charging control system immediately suspends the charging operation of this charging position and sends a low-limit alarm signal through the alarm module. The alarm signal also includes audible and visual alarms and wireless signal transmission. The audible and visual alarm module emits an alarm sound with a frequency of 500 Hz and simultaneously lights up a yellow warning light; the wireless signal transmission module sends the alarm information to the central control system in the form of a data packet. The data packet contains the charging position number, the alarm type (low-limit alarm), and the alarm occurrence time. If at any time of collection, the calculated power of the charging circuit is between 10% and 90% of the rated power of the charging circuit, that is, 25 watts ≤ P ≤ 225 watts, the charging control system continues the charging operation of this charging position and maintains a stable output of the charging current and voltage. After the charging is completed, the charging control system sends a charging completion signal to the central control system through the communication module set on the charging storage frame.The communication module uses wireless communication technologies such as Wi-Fi or 4G modules to send a charging completion signal in the form of a data frame. The data frame contains information such as the charging position number, the charging completion time, and the total charging duration. After receiving the charging completion signal, the central control system arranges the next shared bicycle to enter this charging position for charging according to the scheduling algorithm.

[0102] Preferably, detecting the contact resistance of the charging circuit in step S1 and adjusting the charging connection state when the contact resistance exceeds the preset resistance threshold includes:

[0103] On each charging position of the charging storage rack, apply a test current to the charging connection point through the charging circuit, and measure the voltage drop across the charging connection point with a voltmeter;

[0104] Divide the voltage drop by the applied test current to obtain the value of the contact resistance;

[0105] If the calculated contact resistance exceeds 0.5 milliohms, trigger the charging connection state adjustment mechanism;

[0106] Wherein the charging connection state adjustment mechanism includes:

[0107] Pause the charging operation of the current charging position, and send an alarm signal to the system through the communication module to indicate that the contact resistance is abnormal;

[0108] After the system receives the alarm signal, adjust the angle of the charging connection point and the position of the charging connection point;

[0109] Redo the contact resistance detection. If the contact resistance still exceeds 0.5 milliohms after the re-detection, the system records the state of this charging position and disconnects the circuit; if the contact resistance is within 0.5 milliohms after the re-detection, continue the charging operation and send a normal signal to the system through the communication module.

[0110] In an embodiment of the present invention, at each charging position of the charging storage rack, a constant test current is first applied to the charging connection point through a charging circuit. The magnitude of the test current is set to 10 amperes, and the accuracy is ±0.1 amperes. At the same time, a high-precision voltmeter is used to measure the voltage drop across the charging connection point. The measurement range of the voltmeter is 0 to 100 millivolts, and the accuracy is ±0.01 millivolts. After applying the test current, the voltmeter collects the voltage drop value across the charging connection point, denoted as U. Subsequently, the value of the contact resistance is calculated. According to Ohm's law, the calculation formula for the contact resistance R is R = U / I, where U is the voltage drop and I is the test current. Divide the collected voltage drop value by the applied test current to obtain the value of the contact resistance, with the unit of milliohms. If the calculated contact resistance exceeds 0.5 milliohms, the charging connection state adjustment mechanism is triggered. First, suspend the charging operation of the current charging position, and cut off the charging current through the control circuit of the charging circuit. At the same time, use the communication module set on the charging storage rack to send an alarm signal to the system, indicating that the contact resistance is abnormal. The communication module uses wireless communication technology, such as a 4G module, to send the alarm signal in the form of a data frame. The data frame contains the charging position number, the contact resistance value, and the alarm type. After the system receives the alarm signal, it starts the charging connection state adjustment program. Adjust the angle and position of the charging connection point through the micro motor and position sensor installed near the charging connection point. The adjustment accuracy of the micro motor is ±0.1 degrees, and the measurement accuracy of the position sensor is ±0.1 millimeters. The angle adjustment range of the charging connection point is ±10 degrees, and the position adjustment range is ±5 millimeters. After the adjustment is completed, apply the same test current to the charging connection point again, and use the voltmeter to re-measure the voltage drop across the charging connection point. After re-detecting the contact resistance, if the contact resistance still exceeds 0.5 milliohms, the system records the state of this charging position as "abnormal contact resistance", and sends a status record signal to the system through the communication module. At the same time, the control circuit disconnects the charging circuit to ensure charging safety. If the contact resistance is within 0.5 milliohms after re-detection, resume the charging operation, and send a normal signal to the system through the communication module, indicating that the charging connection state has returned to normal. The data frame contains the charging position number and the timestamp of returning to normal.

[0111] Preferably, the step of monitoring the power generation state of the solar battery pack of the shared bicycle and storing the solar power generation according to the power generation state includes:

[0112] Collect the output voltage and output current of the solar battery pack every 5 - 15 minutes, and continuously collect 3 - 5 times;

[0113] Calculate the average value of each output voltage and output current respectively to obtain the average output voltage and average output current;

[0114] Based on the average output voltage and average output current, judge the power generation status of the solar battery pack. If the average output voltage is lower than 10 - 15 volts or the average output current is lower than 0.3 - 0.8 amperes, it is judged that the power generation status is abnormal;

[0115] If the power generation status is abnormal, suspend the energy storage operation of the solar battery pack, send an alarm signal to the system through the communication module, and prompt that the power generation status is abnormal;

[0116] If the power generation status is normal, store the power generated by the solar battery pack in the energy storage system through the bidirectional inverter;

[0117] After the energy storage is completed, the energy storage device sends an energy storage completion signal to the central control system through the communication module to obtain the solar power generation energy storage amount.

[0118] In the embodiments of the present invention, every 5 - 15 minutes, the output voltage and output current of the solar cell array are respectively collected by a voltage sensor and a current sensor, and the collection is carried out continuously for 3 - 5 times. The measurement range of the voltage sensor is from 0 to 30 volts, and the accuracy is ±0.05 volts; the measurement range of the current sensor is from 0 to 2 amperes, and the accuracy is ±0.01 amperes. The output voltage and current obtained from the first collection are respectively denoted as V1 and I1, the output voltage and current obtained from the second collection are respectively denoted as V2 and I2, and the output voltage and current obtained from the third collection are respectively denoted as V3 and I3. The average values of the 3 - time collected output voltage and current are calculated respectively. The calculation formulas are: average output voltage V_avg = (V1 + V2 + V3) / 3, average output current I_avg = (I1 + I2 + I3) / 3. The calculated average output voltage and average output current are used to judge the power generation state of the solar cell array. According to the preset threshold range, if the average output voltage is lower than 12 volts or the average output current is lower than 0.5 amperes, it is judged that the power generation state is abnormal. At this time, the energy storage operation of the solar cell array is paused, and an alarm signal is sent to the system through wireless communication technology (such as 4G). The signal contains the timestamp of the abnormal power generation state, and the specific values of the average output voltage and average output current. If the average output voltage is not lower than 12 volts and the average output current is not lower than 0.5 amperes, the generated electricity of the solar cell array is stored in the energy storage system through a bi - directional inverter. The conversion efficiency of the bi - directional inverter is 90%. Its input terminal is connected to the solar cell array, and its output terminal is connected to the energy storage system. During the energy storage process, the bi - directional inverter converts the direct current of the solar cell array into the direct current suitable for storage in the energy storage system according to the charging demand of the energy storage system, and simultaneously monitors the charging state of the energy storage system in real - time to ensure the stability and safety of the charging process. After the energy storage is completed, a signal indicating the completion of energy storage is sent to the central control system through wireless communication technology (such as 4G). The signal contains the timestamp of the completion of energy storage and the specific value of the solar power generation energy storage. The solar power generation energy storage is obtained by integral calculation. The calculation formula is: solar power generation energy storage E_solar = V_avg×I_avg×T×η, where T is the energy storage time (in hours), and η is the conversion efficiency of the bi - directional inverter. After receiving the signal indicating the completion of energy storage, the central control system records the solar power generation energy storage for subsequent scheduling and management operations.

[0119] Preferably, the step of charging the solar power generation energy storage into the shared bicycle and detecting the required charging amount of the shared bicycle in step S2 includes:

[0120] On each charging position of the charging storage rack, a charging interface and a power detection module are set. The charging interface is used to connect to the battery of the shared bicycle, and the power detection module is used to detect the current power of the battery of the shared bicycle;

[0121] When the shared bicycle is placed on the charging position, the charging interface is automatically connected to the battery of the shared bicycle, and the power detection device is activated;

[0122] The power detection device calculates the current power percentage by detecting the voltage and current of the battery of the shared bicycle;

[0123] According to the solar power generation storage capacity, the charging amount required for the shared bicycle is determined based on the current power percentage. If the current power is less than 30%, the required charging amount is 70%; if the current power is between 30% and 70%, the required charging amount is 100% minus the current power percentage; if the current power is higher than 70%, no charging is performed.

[0124] In an embodiment of the present invention, a charging interface and a power detection module are provided at each charging position of the charging storage frame. The charging interface adopts a magnetic adsorption type automatic docking device. When a shared bicycle is placed at the charging position, the charging interface is automatically adsorbed by magnetic force and tightly connected to the charging port of the bicycle battery. The power detection module is composed of a voltage sensor and a current sensor. The measurement range of the voltage sensor is from 0 to 50 volts, and the accuracy is ±0.05 volts; the measurement range of the current sensor is from 0 to 10 amperes, and the accuracy is ±0.02 amperes. When the charging interface is connected to the charging port of the shared bicycle battery, the power detection module starts to work. The voltage sensor collects the voltage value of the battery at a frequency of 10 times per second, and the current sensor collects the current value of the battery at a frequency of 5 times per second. The collected voltage value and current value are respectively denoted as U_battery and I_battery. The power detection module calculates the current power percentage of the shared bicycle battery according to the collected voltage value and current value, combined with the rated capacity and rated voltage of the battery. The calculation formula is: current power percentage = (U_battery × I_battery × T) / (C_nominal × U_nominal) × 100%, where C_nominal is the rated capacity of the battery (for example, 10 ampere-hours), U_nominal is the rated voltage of the battery (for example, 36 volts), and T is the sampling time interval (for example, 1 second). According to the calculated current power percentage, the charging amount required for the shared bicycle is determined. If the current power percentage is less than 30%, the required charging amount is 70% of the battery capacity, that is, the required charging amount = 0.7 × C_nominal. If the current power percentage is between 30% and 70%, the required charging amount is the power corresponding to 100% minus the current power percentage, that is, the required charging amount = (1 - current power percentage / 100) × C_nominal. If the current power percentage is higher than 70%, it is determined that the shared bicycle does not need to be charged. After determining the required charging amount, a charging decision is made in combination with the solar power generation storage amount. The solar power generation storage amount is recorded by the energy storage system, and the unit is watt-hour. If the solar power generation storage amount can meet the charging amount required for the shared bicycle, a charging current and voltage are provided to the shared bicycle battery through the charging interface. The charging current is set to 0.5C to 1C (for example, 5 amperes to 10 amperes) according to the charging characteristics of the battery, and the charging voltage is set to the charging voltage range of the battery (for example, 36 volts to 42 volts). During the charging process, the power detection module continuously monitors the voltage and current changes of the battery to ensure the safety and effectiveness of the charging process.

[0125] Preferably, when the solar power generation storage amount is less than the required charging amount in step S2, charging the shared bicycle through the AC power grid includes:

[0126] On each charging position of the charging storage frame for bicycles, a grid charging interface is set up, where the grid charging interface is used to connect to the AC grid;

[0127] The power detection device monitors the real-time stored energy of solar power generation and the current battery level of the shared bicycles, and calculates the required charging amount;

[0128] If the stored energy of solar power generation is less than the required charging amount, a charging request signal is sent to the grid charging management system through the communication module;

[0129] After receiving the charging request signal, the grid charging management system charges the battery of the shared bicycle through the grid charging interface;

[0130] The stored energy of solar power generation is charged into the battery of the shared bicycle through the charging interface. During the charging process, the power detection device monitors the charging status of the battery in real time;

[0131] During the charging process, the voltage and current of the battery are collected every 5 - 10 minutes, and the voltage and current collected in the previous and subsequent times are compared. If there are abnormal fluctuations in the voltage and current collected in the previous and subsequent times, the charging is paused, and an alarm signal is sent to the central control system through the communication module to indicate abnormal charging;

[0132] After charging is completed, the battery level is detected again by the power detection device to check whether the charging has reached the required charging amount. If the battery level has not reached the required charging amount after charging is completed, the information of the shared bicycle is recorded, and a supplementary charging operation is performed. If the battery level has reached the required charging amount after charging is completed, a charging completion signal is sent to the central control system through the communication module.

[0133] In the embodiments of the present invention, on each charging position of the charging storage rack, a grid charging interface is provided. This interface is connected to the AC grid through a dedicated AC cable to ensure stable power supply. The grid charging interface is equipped with an automatic connection device, which can automatically dock with the charging port of the bicycle battery when the shared bicycle is placed in place. The power detection device monitors the solar power generation storage capacity and the current power of the shared bicycle in real time. The power detection device includes a high-precision voltage sensor and a current sensor. The measurement range of the voltage sensor is 0 to 50 volts, and the accuracy is ±0.05 volts; the measurement range of the current sensor is 0 to 10 amperes, and the accuracy is ±0.02 amperes. Through these sensors, the solar power generation storage capacity and the voltage and current values of the shared bicycle battery are collected once every 1 minute. According to the collected data, the current power percentage and the required charging amount of the shared bicycle are calculated. The formula for calculating the required charging amount is: required charging amount = (1 - current power percentage / 100) × battery rated capacity × battery rated voltage. If the calculation result shows that the solar power generation storage capacity is less than the required charging amount, a charging request signal is sent to the grid charging management system through the communication device. The communication device uses wireless communication technology, such as a 4G module, to send the charging request signal in the form of a data frame. The data frame contains the charging position number, the required charging amount, and the current power percentage. After receiving the charging request signal, the grid charging management system charges the battery of the shared bicycle through the grid charging interface. During the charging process, the power detection device continuously monitors the charging status of the battery. Every 8 minutes (select a fixed time interval within the range of 5 to 10 minutes), the power detection device collects the voltage and current values of the battery and compares them with the data collected last time. If the voltage or current fluctuation between the two consecutive collections exceeds the preset threshold (for example, the voltage fluctuation exceeds ±0.5 volts, and the current fluctuation exceeds ±0.2 amperes), it is determined as an abnormal fluctuation, and the charging operation is immediately paused, and an alarm signal is sent to the central control system through the communication device to indicate charging abnormality. The alarm signal contains the charging position number, the time of abnormality occurrence, and the voltage and current values at the time of abnormality. After charging is completed, the power detection device detects the battery power again to confirm whether the charging reaches the required charging amount. If the battery power does not reach the required charging amount after charging is completed, the number, the current power percentage, and the uncharged amount of the shared bicycle are recorded, and a supplementary charging operation is performed. If the battery power reaches the required charging amount after charging is completed, a charging completion signal is sent to the central control system through the communication device. The signal contains the charging position number, the charging completion time, and the final power percentage.

[0134] Preferably, step S3 includes the following steps:

[0135] Step S31: On each charging position of the charging storage rack, a battery fault detection device is provided. The battery fault detection device includes a voltage sensor, a current sensor, and a temperature sensor;

[0136] Step S32: Collect the voltage, current, and battery temperature of the shared bicycle battery in the charging state through a voltage sensor, a current sensor, and a temperature sensor respectively, so as to obtain the battery voltage in the charging state, the battery current in the charging state, and the battery temperature in the charging state;

[0137] Step S33: If the battery voltage in the charging state collected three times in a row is lower than 80% of the rated battery voltage, it is determined as a voltage abnormal fault; if the battery current in the charging state collected three times in a row exceeds 120% of the rated battery current, it is determined as a current abnormal fault; if the battery temperature in the charging state collected three times in a row exceeds 110% of the rated battery temperature, it is determined as a battery overheat fault;

[0138] Step S34: Combine the voltage abnormal fault, the current abnormal fault, and the battery overheat fault into the bicycle fault data;

[0139] Step S35: Locate the faulty bicycle according to the bicycle fault data through the central control system, generate a vehicle moving instruction, and send the vehicle moving instruction to the handling robot;

[0140] Step S36: After the handling robot moves the faulty bicycle to the maintenance channel, send a vehicle moving completion signal to the central control system through the communication module;

[0141] Step S37: After the central control system receives the vehicle moving completion signal, record the number of shared bicycles to be repaired.

[0142] In an embodiment of the present invention, a battery fault detection device is installed at each charging position of the charging storage frame. The device includes a voltage sensor, a current sensor, and a temperature sensor. The measurement range of the voltage sensor is from 0 to 50 volts, and the accuracy is ±0.05 volts; the measurement range of the current sensor is from 0 to 10 amperes, and the accuracy is ±0.02 amperes; the measurement range of the temperature sensor is from -20 to 80 degrees Celsius, and the accuracy is ±0.5 degrees Celsius. The voltage sensor, the current sensor, and the temperature sensor respectively collect the voltage, current, and battery temperature of the shared bicycle battery in the charging state at a frequency of once per second. The collected data are respectively recorded as the charging state battery voltage U_charge, the charging state battery current I_charge, and the charging state battery temperature T_charge. The data collected each time are stored in the local memory and subjected to continuous three-time comparative analysis. If the charging state battery voltage U_charge collected three times in a row is lower than 80% of the battery rated voltage U_nominal (for example, 36 volts), that is, U_charge < 0.8×U_nominal, it is determined as a voltage abnormal fault; if the charging state battery current I_charge collected three times in a row exceeds 120% of the battery rated current I_nominal (for example, 5 amperes), that is, I_charge > 1.2×I_nominal, it is determined as a current abnormal fault; if the charging state battery temperature T_charge collected three times in a row exceeds 110% of the battery rated temperature T_nominal (for example, 45 degrees Celsius), that is, T_charge > 1.1×T_nominal, it is determined as a battery overheat fault. When a voltage abnormal fault, a current abnormal fault, or a battery overheat fault is detected, these fault information are combined into bicycle fault data. The bicycle fault data includes the bicycle number, the fault type (voltage abnormal, current abnormal, or battery overheat), the fault occurrence time, and the corresponding charging position number. The central control system receives the bicycle fault data through the network and locates the faulty bicycle according to the charging position number and the bicycle number in the fault data. The central control system generates a vehicle moving instruction according to the position information of the faulty bicycle. The vehicle moving instruction includes the charging position number of the faulty bicycle, the position information of the target maintenance channel, and the detailed parameters of the vehicle moving action (such as moving speed, moving path, etc.). The vehicle moving instruction is sent to the handling robot through wireless communication technology (such as 4G or Wi-Fi). After receiving the vehicle moving instruction, the handling robot moves the faulty bicycle from the charging position to the maintenance channel according to the position information and action parameters in the instruction. The handling robot monitors the surrounding environment in real time through its own sensors (such as lidar and vision sensors) during the moving process to ensure the safety and accuracy of the vehicle moving process. After the handling robot completes the vehicle moving operation, it sends a vehicle moving completion signal to the central control system through the communication device. The signal includes the number of the faulty bicycle, the vehicle moving completion time, and the status information of the handling robot.After the central control system receives the signal indicating that the bike relocation is completed, it records the number of shared bikes to be repaired. The central control system updates the number of bikes in the repair channel and stores the relevant information of the faulty bikes in the database for subsequent repair scheduling and management operations.

[0143] As an example of the present invention, refer to Figure 2 As shown, in this example, step S4 includes:

[0144] Step S41: Receive in real time the shared bike usage request initiated by the user through the mobile application, and record the user request data; count the number of requests within every 15 minutes based on the user request data as the real-time demand for shared bikes at the station.

[0145] Step S42: The central control system subtracts the number of shared bikes to be repaired from the total number of shared bikes at the station according to the number of shared bikes to be repaired, to obtain the remaining number of shared bikes at the station currently.

[0146] Step S43: Compare the remaining number of shared bikes at the station currently with the real-time demand. If the remaining amount is less than 50% of the demand, trigger the automatic allocation mechanism; wherein the automatic allocation mechanism allocates shared bikes from neighboring stations to the current station according to the preset allocation rules, and the allocation quantity is twice the difference between the demand and the remaining amount.

[0147] Step S44: During the allocation process, the central control system monitors the allocation progress in real time and dynamically adjusts the allocation quantity according to the change of the real-time demand.

[0148] Step S45: During the allocation process, if the remaining amount of shared bikes at the neighboring stations is insufficient, the central control system automatically expands the allocation scope to farther stations and preferentially allocates bikes with sufficient power and no faults.

[0149] Step S46: After the allocation is completed, the central control system updates the remaining number of shared bikes at the station and pushes a notice of the completion of the allocation to the user through the user's mobile application.

[0150] In the embodiments of the present invention, the server of the mobile application receives in real time the shared bicycle usage requests initiated by users, and stores each request data in the database. The request data includes information such as user location, request time, and estimated usage duration. The system takes 15 minutes as a statistical period to count the number of requests for each station, and the statistical result is the real-time demand for shared bicycles at that station. For example, within 15 minutes, the number of requests received by Station A is 50 times, then the real-time demand for Station A is 50. The central control system obtains the quantity of shared bicycles to be repaired from the database, and this data includes the number of bicycles to be repaired at each station. The central control system calculates the remaining quantity of shared bicycles at the station by subtracting the quantity of shared bicycles to be repaired from the total quantity of shared bicycles at the station. For example, the total quantity of shared bicycles at Station A is 200, and the quantity of shared bicycles to be repaired is 20, then the current remaining quantity of shared bicycles at Station A is 180. The central control system compares the current remaining quantity of shared bicycles at the station with the real-time demand. If the remaining quantity is less than 50% of the demand, that is, 180 < 50 × 2, the automatic allocation mechanism is triggered. The automatic allocation mechanism calculates the allocation quantity according to the preset allocation rules, and the allocation quantity is twice the difference between the demand and the remaining quantity. For example, the demand is 50 and the remaining quantity is 180, then the allocation quantity is (50 - 180) × 2 = -260. Since the allocation quantity cannot be negative, the actual allocation quantity is 0. At this time, it is necessary to re-evaluate the calculation method of the demand and the remaining quantity or adjust the allocation rules. During the allocation process, the central control system monitors the allocation progress in real time through the network. The monitored content includes information such as the number of allocated bicycles and the estimated completion time of the allocation. At the same time, the central control system dynamically adjusts the allocation quantity according to the change of the real-time demand. For example, during the allocation process, if the real-time demand for Station A increases to 60 and the current remaining quantity is still 180, then the re-calculated allocation quantity is (60 - 180) × 2 = -240, and the actual allocation quantity is still 0. At this time, it is necessary to further optimize the allocation strategy. If the remaining quantity of shared bicycles at neighboring stations is insufficient, the central control system automatically expands the allocation range to more distant stations. When expanding the allocation range, bicycles with sufficient power and no faults are preferentially selected for allocation. The central control system queries the bicycle status information of neighboring stations through the database, filters out the eligible bicycles, and plans the optimal allocation path according to the location and status information of the bicycles. After the allocation is completed, the central control system updates the remaining quantity of shared bicycles at the station and pushes a notification of the completion of the allocation to the users through the mobile application. The notification content includes information such as the completion time of the allocation, the allocation quantity, and the station location. For example, after the allocation is completed, the remaining quantity of shared bicycles at Station A is updated to 200, and the system pushes a notification to the users: "The allocation has been completed. There are 200 shared bicycles available at Station A. You can go there to use them."

[0151] This specification also provides an integrated intelligent scheduling system for shared bicycles, which is used to execute the integrated intelligent scheduling method for shared bicycles as described above. The integrated intelligent scheduling system for shared bicycles includes:

[0152] A three-dimensional storage rack module, which is used to grab shared bicycles through a handling cantilever and transfer the shared bicycles to a charging storage rack through a circular main track; monitor the charging circuit of the shared bicycles in the charging storage rack and receive the instructions of the charging circuit to perform charging in a time-sharing rotation manner; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds a preset resistance threshold;

[0153] A solar energy storage and charging module, which is used to monitor the power generation status of the solar battery pack of the shared bicycle, store the solar power generation according to the power generation status to obtain the stored solar power generation amount; charge the stored solar power generation amount into the shared bicycle and detect the required charging amount of the shared bicycle; when the stored solar power generation amount is less than the required charging amount, charge the shared bicycle through the AC power grid;

[0154] A bicycle fault detection module, which is used to detect faults of the shared bicycles in the charging state, generate bicycle fault data; locate the faulty bicycles according to the bicycle fault data and move the faulty bicycles to the maintenance channel, and record the quantity of shared bicycles to be maintained;

[0155] A bicycle demand scheduling module, which is used to monitor the demand for shared bicycles at the station in real time; determine the current remaining quantity of shared bicycles at the station according to the quantity of shared bicycles to be maintained; perform automatic allocation of shared bicycles at the station based on the current remaining quantity of shared bicycles at the station and the demand for shared bicycles at the station.

[0156] In the embodiment of the present invention,

[0157] The specific design of the charging module is as follows:

[0158] A fast switch control module: uses a DC relay with a response time less than 30 milliseconds. This module can accurately receive the host instructions and perform charging operations on the bicycles in a time-sharing rotation manner. A Hall current sensor is integrated in the module. When the current exceeds the 65A threshold, the power supply can be quickly cut off within 0.5 milliseconds, effectively reducing the total current of the main cable.

[0159] A contact resistance monitoring module: after the storage cantilever grabs the bicycle, apply a 1A current to the charging circuit, and accurately calculate the contact resistance by measuring the voltage drop across a 0.3mΩ precision resistor. If the contact resistance exceeds 0.5mΩ, the host will automatically adjust the angles of the handling cantilever and the storage cantilever. After the contact resistance is qualified, the host starts the self-locking mechanism of the storage cantilever and moves the handling cantilever away.

[0160] Constant current and constant voltage control module: Using a DC-DC converter, the charging current is controlled to not exceed 2A in the initial stage in the CV constant voltage mode. After the battery status is determined, it switches to the CC constant current mode to gradually increase the charging current to 60A. When the current is less than 0.1C and the voltage is stable for 10 minutes, the charging process is completed.

[0161] Bus monitoring module: Each charging station is connected to the host through the CAN bus. The host can monitor the status of each charging station in real time and comprehensively, thereby performing centralized and unified management.

[0162] The specific design of the solar energy storage module is as follows:

[0163] Lithium battery pack: Equipped with 220V50Ah lithium battery pack, its total energy is 11000Wh. Considering the safe use of lithium batteries, it is generally operated at 80% discharge depth, and the available energy is about 8800Wh. The lithium battery pack only supplies power to the bicycle during the peak and flat sections of the power grid when the bicycle is in urgent need of charging. When the battery pack is low on power, it is charged using solar energy and power during the off-peak period of the power grid.

[0164] Solar cell group: 8 270W solar panels are selected. If the effective illumination time is 5 hours per day, the total daily power generation can reach 10,000Wh. The power generated by the solar panels is first used to charge the battery pack of the bicycle, and then the lithium battery pack is used to determine whether to enable auxiliary charging according to the SOC of the lithium battery pack. The remaining excess power is connected to the grid through the inverter.

[0165] Inverter: A bidirectional inverter is selected, which can realize the solar energy grid-connected function. At the same time, when the lithium battery pack is insufficient and solar energy cannot be supplied, the grid can charge the lithium battery pack through the inverter during the grid valley period, effectively balancing the energy flow between solar energy, batteries and the grid, taking into account both economy and reliability.

[0166] DC-DC converter: Its function is to convert the 220V DC power on the busbar of the solar cell group and the lithium battery group into 48V DC power to meet the charging needs of the bicycle battery pack.

[0167] Access control module: DC contactors are used as switching devices to achieve precise control of the connection and disconnection between the bicycle and the charging system. At the same time, the module can coordinate the charging of solar panels, lithium battery packs and bicycles according to the power priority.

[0168] The specific design of the three-dimensional storage rack module is as follows:

[0169] Circular main track: Composed of 24 handling cantilevers and a 32-meter chain track. Fixed brackets are provided on the outer side of the circular main track, and it is firmly and rigidly connected to the charging and storage frame on the inner side. A 2×3-meter hollow space is reserved on each side of the track as a bicycle access and storage space. The chain track is equipped with a main drive motor and a slave drive motor, which are backup to each other to ensure the stability of operation.

[0170] Handling cantilever: 24 handling cantilevers are evenly distributed on the chain track. Two bicycle grippers are installed at the end of each cantilever, and it has the functions of telescoping and one-way rotation. After picking up a bicycle at the access and storage space, the circular chain track starts to run. When the handling cantilever moves to the empty position above the charging and storage frame, the cantilever rotates to transfer the bicycle to the receiving cantilever on the charging and storage frame. After the contact resistance detection is completed and the self-locking switch is closed, the handling cantilever moves away and retracts.

[0171] Charging and storage frame: Rigidly connected to the circular main track, and its outer side is firmly fixed to the bus stop. 20 receiving cantilevers are evenly arranged up and down on the storage frame. Above the 5th receiving cantilever from the top of the storage frame, an automatically opening and closing upper door device is installed, which serves as a dedicated channel for transporting faulty bicycles.

[0172] Receiving cantilever: Two bicycle grippers and a self-locking switch are installed at the end of the cantilever, and it also has the functions of telescoping a short distance and one-way swinging. After the receiving cantilever receives the bicycle transferred by the handling cantilever, it extends under the guidance of the position sensor, and after the contact resistance detection is completed, the self-locking switch is closed.

[0173] Bicycle fault judgment device: A total of four bicycle fault judgment devices are installed at the upper and lower positions at the entrances on both sides of the circular track. By rotating the wheels and monitoring the wheel torque, the integrity of the transmission device is judged; at the same time, a photoelectric scanning device is set up to comprehensively detect the hardware state of the bicycle; the battery state is judged in real time during the charging process.

[0174] Intelligent handling device for faulty bicycles: An open-air frame is set above the platform top, and the frame is divided into two layers. The bottom layer frame is fixed on the top of the station, and two parallel tracks for one-way movement are laid on it. Two backup motors are arranged in the middle of the two tracks, and the motors can drive the rotating wheels of the upper layer frame to realize the one-way reciprocating movement of the upper layer frame. The upper layer frame is provided with 8 bicycle parking spaces and can move in one direction. The faulty bicycle is placed on the parking space through the 5th receiving cantilever from the top of the charging and storage frame. After being fixed by the self-locking device, the entire upper layer frame is carried by a professional transport vehicle, minimizing manual intervention during the transportation process to the greatest extent.

[0175] Therefore, from any perspective, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the application documents are intended to be encompassed within the present invention.

[0176] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features invented herein.

Claims

1. An integrated intelligent dispatching method for shared bicycles, characterized in that: The following steps are involved: Step S1: grab the shared bicycle by the handling cantilever and transfer the shared bicycle to the charging storage rack through the circular main track; monitor the charging circuit of the shared bicycle in the charging storage rack, and receive the instruction of the charging circuit to charge in turn in different time periods; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds the preset resistance threshold; Step S2: monitoring the power generation status of the solar cell group of the shared bicycle, and storing the solar power generation according to the power generation status to obtain the solar power generation storage capacity; charging the solar power generation storage capacity into the shared bicycle, and detecting the required charging capacity of the shared bicycle; when the solar power generation storage capacity is less than the required charging capacity, charging the shared bicycle through the AC power grid; Step S3: Perform fault detection on the shared bicycles in the charging state and generate bicycle fault data; locate the faulty bicycle according to the bicycle fault data and move the faulty bicycle to the maintenance channel, and record the number of shared bicycles to be repaired; Step S4: monitor the demand for shared bicycles at the station in real time; determine the remaining number of shared bicycles at the station according to the number of shared bicycles to be repaired; Automatically allocate shared bicycles at the site based on the current remaining number of shared bicycles at the site and the shared bicycle demand at the site.

2. The integrated intelligent dispatching method for shared bicycles according to claim 1 is characterized in that: The process of grabbing the shared bicycle by the transport cantilever and transferring the shared bicycle to the charging storage rack by the circular main track in step S1 includes: Start the cantilever gripper and use sensors to collect the frame profile information of the shared bicycle at the front, middle and rear ends of the gripper; The handling cantilever determines the gripper placement position based on the frame profile information and aligns the gripper with the shared bicycle; When the gripper contacts the shared bicycle, the frame of the shared bicycle is grabbed and clamped; Detect the curvature of the circular main track and the moving speed of the track, and adjust the gripping angle of the handling cantilever gripper according to the curvature; The shared bicycles are transferred to the charging storage rack based on the grab angle and track movement speed.

3. The integrated intelligent dispatching method for shared bicycles according to claim 1 is characterized in that: The step S1 of monitoring the charging circuit of the shared bicycle in the charging storage rack and receiving the instruction of the charging circuit to perform charging in turn in different time periods includes: A current sensor and a voltage sensor are respectively arranged on each charging position of the charging storage rack; For each charging position, the current value and voltage value in the charging circuit are collected by the current sensor and the voltage sensor at the 1st minute, the 5th minute and the 10th minute after the start of charging. Calculate the charging circuit power based on the current and voltage values ​​collected each time; If the charging circuit power exceeds 90% of the rated power of the charging circuit during any collection, the charging operation of the charging position will be suspended and an over-power alarm signal will be issued; If the charging circuit power is lower than 10% of the rated power of the charging circuit during any collection, the charging operation of the charging position will be suspended and a low-rate alarm signal will be issued; If at any time of collection, when the charging circuit power is between 10% and 90% of the rated power of the charging circuit, the charging operation continues; After charging is completed, a charging completion signal is sent to the central control system through the communication module installed on the charging storage rack to arrange for the next shared bicycle to enter the charging position for charging.

4. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: The step of detecting the contact resistance of the charging circuit in step S1 and adjusting the charging connection state when the contact resistance exceeds a preset resistance threshold comprises: At each charging position of the charging storage rack, a test current is applied to the charging connection point through the charging circuit, and the voltage drop across the charging connection point is measured by a voltmeter; Divide the voltage drop by the applied test current to obtain the value of the contact resistance; If the calculated contact resistance exceeds 0.5 milliohms, the charging connection state adjustment mechanism is triggered; The charging connection status adjustment mechanism includes: The charging operation of the current charging position is suspended, and an alarm signal is sent to the system through the communication module to indicate that the contact resistance is abnormal; After receiving the alarm signal, the system adjusts the angle and position of the charging connection point; Re-test the contact resistance. If the contact resistance still exceeds 0.5 milliohms after re-testing, the system records the status of the charging position and disconnects the circuit. If the contact resistance is within 0.5 milliohms after re-testing, the charging operation continues and a normal signal is sent to the system through the communication module.

5. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: The step S2 of monitoring the power generation status of the solar cell group of the shared bicycle and storing the solar power generation according to the power generation status includes: The output voltage and output current of the solar cell group are collected every 5-15 minutes, and the collection is repeated 3-5 times; Calculate the average value of each output voltage and output current respectively to obtain the average output voltage and average output current; The power generation status of the solar cell group is determined based on the average output voltage and the average output current. If the average output voltage is lower than 10-15 volts or the average output current is lower than 0.3-0.8 amperes, the power generation status is determined to be abnormal. If the power generation status is abnormal, the energy storage operation of the solar cell array is suspended, and an alarm signal is sent to the system through the communication module, indicating that the power generation status is abnormal; If the power generation status is normal, the power generated by the solar cell array is stored in the energy storage system through the bidirectional inverter; After the energy storage is completed, the energy storage device sends and receives an energy storage completion signal to the central control system through the communication module to obtain the solar power generation storage energy.

6. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: The step S2 of charging the shared bicycle with the solar-generated energy storage and detecting the required charging amount of the shared bicycle includes: A charging interface and a power detection module are provided at each charging position of the charging storage rack. The charging interface is used to connect the battery of the shared bicycle, and the power detection module is used to detect the current power of the shared bicycle battery. When a shared bicycle is placed on the charging station, the charging port automatically connects to the battery of the shared bicycle and starts the power detection device; The power detection device detects the voltage and current of the shared bicycle battery and calculates the current power percentage; The required charging amount of the shared bicycle is determined based on the percentage of solar power generation storage energy to the current power percentage. If the current power is less than 30%, the required charging amount is 70%; if the current power is between 30%-70%, the required charging amount is 100% minus the current power percentage; if the current power is higher than 70%, no charging is performed.

7. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: When the solar power generation storage energy is less than the required charging amount in step S2, charging the shared bicycle through the AC power grid includes: A power grid charging interface is provided on each charging position of the charging storage rack, wherein the power grid charging interface is used to connect to the AC power grid; The power detection equipment monitors the current power of solar power generation and shared bicycles in real time, and calculates the required charging amount; If the solar power generation storage energy is less than the required charging amount, a charging request signal is sent to the power grid charging management system through the communication module; After receiving the charging request signal, the grid charging management system charges the battery of the shared bicycle through the grid charging interface; The solar power generation storage energy is charged into the battery of the shared bicycle through the charging interface. During the charging process, the power detection device monitors the battery charging status in real time; During the charging process, the battery voltage and current are collected every 5-10 minutes, and the voltage and current collected twice are compared; if there is an abnormal fluctuation in the voltage and current collected twice, charging is suspended, and an alarm signal is sent to the central control system through the communication module to indicate abnormal charging; After charging is completed, the battery power is tested again through the power detection device to check whether the charging has reached the required charging amount; if the power does not reach the required charging amount after charging is completed, the information of the shared bicycle is recorded and supplementary charging is performed; if the power reaches the required charging amount after charging is completed, a charging completion signal is sent to the central control system through the communication module.

8. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: Step S3 includes the following steps: Step S31: a battery fault detection device is provided at each charging position of the charging storage rack, wherein the battery fault detection device includes a voltage sensor, a current sensor and a temperature sensor; Step S32: respectively collecting the voltage, current and battery temperature of the shared bicycle battery in the charging state through the voltage sensor, the current sensor and the temperature sensor to obtain the battery voltage, the battery current and the battery temperature in the charging state; Step S33: if the battery voltage in the state of charge collected three times in a row is lower than 80% of the rated battery voltage, it is determined to be a voltage abnormality fault; if the battery current in the state of charge collected three times in a row exceeds 120% of the rated battery current, it is determined to be a current abnormality fault; if the battery temperature in the state of charge collected three times in a row exceeds 110% of the rated battery temperature, it is determined to be a battery overheating fault; Step S34: combining the voltage abnormality fault, current abnormality fault and battery overheating fault into single vehicle fault data; Step S35: The central control system locates the faulty single vehicle according to the single vehicle fault data, generates a vehicle moving instruction, and sends the vehicle moving instruction to the transport robot; Step S36: After the transport robot moves the faulty bicycle to the maintenance channel, it sends a vehicle moving completion signal to the central control system through the communication module; Step S37: After receiving the signal that the bicycle moving is completed, the central control system records the number of shared bicycles to be repaired.

9. The integrated intelligent dispatching method for shared bicycles according to claim 1, characterized in that: Step S4 includes the following steps: Step S41: receiving in real time a shared bicycle use request initiated by a user through a mobile application, and recording the user request data; counting the number of requests within every 15 minutes according to the user request data as the real-time demand for shared bicycles at the site; Step S42: the central control system subtracts the number of shared bicycles to be repaired from the total number of shared bicycles at the station according to the number of shared bicycles to be repaired, to obtain the current remaining number of shared bicycles at the station; Step S43: Compare the current remaining number of shared bicycles at the station with the real-time demand. If the remaining number is less than 50% of the demand, the automatic allocation mechanism is triggered; wherein the automatic allocation mechanism allocates shared bicycles from neighboring stations to the current station according to the preset allocation rules, and the allocation quantity is twice the difference between the demand and the remaining number; Step S44: During the allocation process, the central control system monitors the allocation progress in real time and dynamically adjusts the allocation quantity according to the change in real-time demand; Step S45: During the dispatching process, if there are insufficient shared bicycles remaining at nearby stations, the central control system automatically expands the dispatching range to stations further away, and gives priority to dispatching bicycles with sufficient power and no faults; Step S46: After the allocation is completed, the central control system updates the remaining number of shared bicycles at the site and pushes an allocation completion notification to the user through the user's mobile application.

10. An integrated intelligent dispatching system for shared bicycles, characterized in that: Used to execute the integrated intelligent dispatching method for shared bicycles as claimed in claim 1, the integrated intelligent dispatching system for shared bicycles comprises: The three-dimensional bicycle storage rack module is used to grab the shared bicycles through the handling cantilever and transfer the shared bicycles to the charging storage rack through the circular main track; monitor the charging circuit of the shared bicycles in the charging storage rack, and receive instructions from the charging circuit to charge in turn in different time periods; detect the contact resistance of the charging circuit, and adjust the charging connection state when the contact resistance exceeds the preset resistance threshold; The solar energy storage and charging module is used to monitor the power generation status of the solar cell group of the shared bicycle, and store the solar power generation according to the power generation status to obtain the solar power generation storage capacity; charge the solar power generation storage capacity into the shared bicycle, and detect the required charging capacity of the shared bicycle; when the solar power generation storage capacity is less than the required charging capacity, charge the shared bicycle through the AC power grid; The bicycle fault detection module is used to perform fault detection on the shared bicycles in the charging state and generate bicycle fault data; locate the faulty bicycle according to the bicycle fault data and move the faulty bicycle to the maintenance channel, and record the number of shared bicycles to be repaired; The bicycle demand scheduling module is used to monitor the demand for shared bicycles at the site in real time; determine the current remaining number of shared bicycles at the site based on the number of shared bicycles to be repaired; and automatically allocate shared bicycles at the site based on the current remaining number of shared bicycles at the site and the demand for shared bicycles at the site.

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