Foldable anti-theft pedal control method and system

Abstract

The invention provides a foldable anti-theft pedal control method and system, and the method comprises the steps: driving a folding execution mechanism to fold a pedal from a normal treading position to a crank arm to a folding position parallel to the crank arm when a vehicle locking instruction is received, and controlling an electromagnetic lock control unit to lock the pedal; when an unlocking instruction is received, identity information of a user is verified, if verification succeeds, the electromagnetic lock control unit is closed, the folding execution mechanism is controlled to drive the pedal to be unfolded from the folding position to the normal treading position, and if identity verification fails, the locking state is maintained, and a prompt is triggered; when the pedal detects external force impact exceeding a preset threshold value, the alarm device is triggered to give an alarm. The folding executing mechanism, the electromagnetic lock control unit and the trigger alarm are jointly controlled through the vehicle-mounted control system, the pedal is prevented from being unfolded or disassembled under the unauthorized condition, and the problem that in the prior art, position anti-disassembly and use limitation for key components are lacked is solved.

Description

Technical Field

[0001] This application relates to the field of control devices, and in particular to a foldable, anti-theft foot pedal control method and system. Background Technology

[0002] With the widespread adoption of shared bicycles, e-bikes for commuting, and personal recreational bikes, bicycles have become an important mode of transportation for short-distance travel. To address the frequent theft issues in urban transportation, the market is increasingly demanding higher standards for bicycle security and convenience. Especially with the growing prevalence of intelligent transportation and IoT platforms, users not only require bicycles to have basic riding performance but also enhanced protection and ease of use during parking and use.

[0003] Existing anti-theft measures mainly focus on frame locking, wheel locking, and GPS location tracking. These methods can prevent the illegal movement or resale of the entire bicycle to a certain extent. By locking the frame or tracking the vehicle's location, they can delay theft and assist in its recovery, and are widely used in shared bicycle platforms.

[0004] While frame locking and GPS positioning can improve the overall anti-theft capabilities of a vehicle, there are still some shortcomings in actual use. For example, existing anti-theft methods mainly focus on the control of the entire vehicle and lack location-based anti-tampering and usage restrictions for key components (such as pedals). Summary of the Invention

[0005] The technical problem to be solved by the present invention is the lack of anti-tampering and usage restrictions for key components (such as foot pedals) in the prior art, thereby providing a foldable anti-theft foot pedal control method and system.

[0006] In view of this, a first aspect of the present invention provides a foldable anti-theft pedal control method, applied to a foldable pedal mounted on the crank arm of a bicycle. The crank arm is provided with an electromagnetic lock control unit and a folding actuator electrically connected to an onboard control system. The method includes: when a locking command is received, the onboard control system drives the folding actuator to fold the pedal from the normal pedaling position toward the crank arm to a folded position parallel to the crank arm, and controls the electromagnetic lock control unit to lock the pedal; when an unlocking command is received, the onboard control system verifies the user's identity information. If the identity verification is successful, the electromagnetic lock control unit is deactivated, and the folding actuator is controlled to unfold the pedal from the folded position to the normal pedaling position. If the identity verification fails, the locked state is maintained and a prompt is triggered; when the pedal detects an external force impact exceeding a preset threshold, an alarm device is triggered to sound an alarm.

[0007] Preferably, the folding actuator includes a drive motor disposed within the crank arm, a reduction gear set connected to the output end of the drive motor, and a bevel gear shaft meshing with the reduction gear set and arranged perpendicularly to the crank shaft of the crank arm. The foot pedal is fixedly connected to the bevel gear shaft via a connecting arm, wherein a locking hole is provided on the bevel gear shaft. The electromagnetic lock control unit includes an electromagnet disposed below the bevel gear shaft and a locking pin cooperating with the electromagnet, wherein the locking pin can be inserted into the locking hole under magnetic force to lock the foot pedal in the folded position.

[0008] Preferably, the step of using the vehicle control system to drive the folding actuator to retract the pedal from the normal pedaling position toward the crank arm to a folded position parallel to the crank arm when a locking command is received, and controlling the electromagnetic lock control unit to lock the pedal, includes: when a locking command is received, controlling the output end of the drive motor to rotate counterclockwise through the vehicle control system, driving the reduction gear set and the bevel gear shaft to rotate, so as to drive the pedal to retract toward the crank arm to a folded position parallel to the crank arm, and supplying power to the electromagnet so that the locking pin is inserted into the locking hole under the action of magnetic force to lock the pedal.

[0009] Preferably, the vehicle control system includes an authentication module and a wireless communication module, wherein: the authentication module includes at least one of an NFC reader, a Bluetooth receiver, and a mobile application interface; the wireless communication module is used to receive unlocking commands and authentication information sent by the user terminal, and compare the authentication results with pre-stored authorized user information.

[0010] Preferably, the step of verifying the user's identity information through the vehicle control system when an unlocking command is received, and if the identity verification is successful, deactivating the electromagnetic lock control unit and controlling the folding actuator to drive the pedal from the folded position to the normal pedaling position; and if the identity verification fails, maintaining the locked state and triggering a prompt, includes: when an unlocking command is received, receiving the identity verification information sent by the user terminal using the wireless communication module, and comparing the received identity verification information with pre-stored authorized user information through the identity verification module; if the identity verification is successful, the vehicle control system de-energizes the electromagnet to cause the lock pin to retract from the lock hole, and controls the output end of the drive motor to rotate clockwise, causing the pedal to rotate from the folded position to the normal pedaling position; if the identity verification fails, maintaining the pedal in the locked state and issuing an identity verification failure prompt through a preset prompt device.

[0011] Preferably, the foot pedal is equipped with a vibration sensor, and the alarm device includes a buzzer, an LED warning light, and a GPS positioning module.

[0012] Preferably, the step of triggering the alarm device to sound an alarm when the foot pedal detects an external force impact exceeding a preset threshold includes: when the vibration sensor detects an impact signal exceeding a preset amplitude and frequency range, activating the buzzer to issue an audible alarm and illuminating the LED warning light for a visual alarm through the vehicle control system, and obtaining the current location information through the GPS positioning module and uploading it to the remote monitoring platform via the vehicle communication module.

[0013] A second aspect of this invention provides a foldable anti-theft pedal control system, comprising an electromagnetic lock control unit and a folding actuator electrically connected to an onboard control system on the crank arm of a bicycle, including: a locking module, used to, upon receiving a locking command, use the onboard control system to drive the folding actuator to fold the pedal from the normal pedaling position toward the crank arm to a folded position parallel to the crank arm, and control the electromagnetic lock control unit to lock the pedal; an unlocking module, used to, upon receiving an unlocking command, verify the user's identity information through the onboard control system; if the identity verification is successful, deactivate the electromagnetic lock control unit and control the folding actuator to drive the pedal from the folded position to the normal pedaling position; if the identity verification fails, maintain the locked state and trigger a prompt; and an alarm module, used to trigger an alarm device when the pedal detects an external force impact exceeding a preset threshold.

[0014] The technical solution of this invention has the following advantages: strong anti-theft capability and high security. Through the joint control of the folding actuator and the electromagnetic lock control unit by the vehicle control system, the pedals are automatically folded and rigidly locked when the vehicle is parked, preventing them from being unfolded or disassembled without authorization. User identity verification ensures that only authorized users can restore the pedals from the folded position to the normal pedal position, effectively improving anti-theft and usage security. Furthermore, the real-time detection of external impacts by the folding actuator and the triggering of an alarm device provide immediate alerts and remote notifications in abnormal situations, enhancing the overall vehicle security and addressing the lack of anti-tampering and usage restrictions for key components (such as the pedals) in existing technologies. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the foldable anti-theft foot pedal provided in an embodiment of the present invention; Figure 2 A schematic diagram of the overall structure of the foldable anti-theft foot pedal provided in an embodiment of the present invention after folding; Figure 3 This is an exploded view of the overall structure of the foldable anti-theft foot pedal provided in an embodiment of the present invention; Figure 4 for Figure 3 A magnified view of a portion of the letter "A" in the diagram; Figure 5 This is a flowchart illustrating the foldable anti-theft foot pedal control method and system provided in an embodiment of the present invention. Figure 6 This is a schematic block diagram of the structure of the foldable anti-theft foot pedal control system provided in an embodiment of the present invention.

[0017] Figure label: 1. Crank arm; 2. Foot pedal; 21. Vibration sensor; 3. Electromagnetic lock control unit; 31. Electromagnet; 32. Locking pin; 4. Folding actuator; 41. Drive motor; 42. Reduction gear set; 43. Bevel gear shaft; 431. Locking hole; 5. Foldable anti-theft foot pedal control system; 51. Locking module; 52. Unlocking module; 53. Alarm module. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] like Figures 1 to 5 As shown in the example of this application, a control method for a foldable anti-theft pedal 2 is provided, applied to a foldable pedal 2 mounted on a crank arm 1 of a bicycle. The crank arm 1 is equipped with an electromagnetic lock control unit 3 and a folding actuator 4 electrically connected to the vehicle control system, enabling automatic folding, unfolding, and anti-theft control of the pedal 2. The control method includes: When a vehicle lock command is received, the vehicle control system drives the folding actuator 4 to fold the pedal 2 from the normal pedal position toward the crank arm 1 to a folded position parallel to the crank arm 1, and controls the electromagnetic lock control unit 3 to lock the pedal 2.

[0022] The folding actuator 4 includes a drive motor 41 installed in the crank arm 1, a reduction gear set 42 connected to the output end of the drive motor 41, and a bevel gear shaft 43 that meshes with the reduction gear set 42 and is arranged perpendicularly to the crank shaft of the crank arm 1. The foot pedal 2 is fixedly connected to the bevel gear shaft 43 through a connecting arm. The bevel gear shaft 43 is provided with a locking hole 431.

[0023] The vehicle control system uses a dedicated motor driver (H-bridge or motor drive module) to provide PWM control signals to the drive motor 41 to achieve speed and steering control. The drive motor 41 and the reduction gear set 42 employ a planetary gear or spur gear reduction mechanism to obtain the required torque amplification ratio, and the bevel gear shaft 43 is supported by roller bearings or thrust bearings to withstand radial and axial loads. For precise positioning, angle feedback elements, such as incremental photoelectric encoders or absolute magnetic encoders (not shown), are arranged on the bevel gear shaft 43 or the output shaft of the drive motor 41. The vehicle control system uses the encoder output as the input for closed-loop position control, employing a PID position loop (not shown) to rotate the pedal 2 to the target folding angle. Simultaneously, to prevent backlash, the reduction gear set 42 is pre-loaded during assembly to eliminate clearance, and a pin-shaft fit or clamping structure is used between the connecting arm and the bevel gear shaft 43 to ensure a rigid connection. A positioning pin or guide groove (not shown) is provided at the fit between the bevel gear shaft 43 and the connecting arm to ensure that the locking hole 431 is coaxially aligned with the locking pin 32 when in the folded position. The vehicle control system also monitors the motor current (via a Hall current sensor or shunt and sampled by an ADC) to detect jamming and abnormal loads, and executes safety shutdown or reverse yield logic when the current exceeds a preset threshold.

[0024] The drive motor 41 can be a rated 12V DC motor with a no-load torque of approximately 0.5 N·m. When the reduction gear set 42 uses a reduction ratio of 30:1, the output shaft torque is approximately 15 N·m (calculation: 0.5 N·m × 30 = 15 N·m). Furthermore, to rotate the foot pedal 2 from its normal position to a 90° folding angle parallel to the crank arm 1, the motor needs to rotate approximately 7.5 revolutions (calculation: target angle 90° × gear ratio 30 ÷ 360° = 7.5 revolutions). The vehicle control system confirms that the angle has reached the target value by reading the absolute magnetic encoder mounted on the side of the bevel gear shaft 43, such as a resolution of 4096 pulses / revolution (not shown in the figure). The angle tolerance is set to ±2°, and the encoder locks in place after reaching the target position. The reduction gear set 42 uses a preloaded planetary gear or worm gear structure to ensure low backlash. The connecting arm and the bevel gear shaft 43 are fixed using M6 high-strength bolts with locating pins and thread-locking adhesive to ensure long-term reliability.

[0025] like Figures 1 to 5 As shown, the electromagnetic lock control unit 3 includes an electromagnet 31 located below the bevel gear shaft 43 and a locking pin 32 that cooperates with the electromagnet 31. The locking pin 32 can be inserted into the locking hole 431 under the action of magnetic force to lock the foot pedal 2 in the folded position.

[0026] The vehicle control system controls the on / off state of electromagnet 31 via a power drive circuit (a drive channel composed of MOSFETs or power transistors). When the coil of electromagnet 31 is energized with a specified voltage, such as 12V, it generates an upward magnetic attraction force, causing the locking pin 32 to be electromagnetically pushed upward along the guide sleeve and inserted into the locking hole 431 on the bevel gear shaft 43. A position detection element, such as a microswitch or Hall sensor (not shown in the figure), is set near the coil of electromagnet 31. Its signal is collected by the vehicle control system to confirm that the locking pin 32 has been fully inserted into the locking hole 431 and is in a locked state. A reverse connection protection diode and a temperature sensor are connected in parallel between the coil of electromagnet 31 and the drive circuit for current loop protection and thermal management. After issuing a locking command, the vehicle control system first sends the locking command to the electromagnetic lock control unit 3 and writes the status into the system status register (not shown in the figure) after the position detection signal is confirmed. At the same time, the "locked" status is reported to the user terminal or the background via the wireless communication module. The axial fit between the locking pin 32 and the locking hole 431 uses a guide sleeve and a buffer pad (such as a rubber or nylon pad) to buffer the insertion impact and reduce wear.

[0027] The electromagnet 31 coil has a current of approximately 0.8A under 12V power supply, generating a pull-in force exceeding 120N. The locking pin 32 has a diameter of 4mm and an embedding depth of 6mm to ensure that the foot pedal 2 does not undergo relative displacement under common pulling or impact loads. Position detection uses a micro switch with spring contacts. When the locking pin 32 is fully inserted, the micro switch closes and sends a high level to the vehicle control system. The drive circuit uses a low-voltage saturated MOSFET driver. The current on the drive MOSFET is sampled by a shunt resistor and read by the ADC of the vehicle control system to monitor the coil current. If the current exceeds 2.5A, the vehicle control system will cut off the drive and report a fault.

[0028] When the electromagnet 31 is de-energized, the locking pin 32 is disengaged from the locking hole 431 by a preset spring reset mechanism (not shown in the figure) to release the lock.

[0029] A compression spring or tension spring is installed inside the housing of the locking pin 32 as a reset mechanism, allowing the locking pin 32 to be pushed back to the unlocked position by the spring force when the electromagnet 31 is de-energized. To control the retraction speed and prevent impact and rebound during the retraction of the locking pin 32, damping elements, such as silicone buffer rings or viscoelastic pads (not shown in the figure), are arranged inside the structure of the locking pin 32, along with a guide sleeve, to ensure the smoothness of the retraction process. After issuing a power-off command, the vehicle control system reads the position detection element to confirm that the locking pin 32 has retracted, and only allows the folding actuator 4 to be energized for unfolding after the locking pin 32 has retracted. The spring reset design considers temperature and fatigue life, and the spring material is made of stainless steel or alloy spring steel, with preventive maintenance reminders calculated based on the cycle life. If there are concerns that a power outage may cause unexpected unlocking, the instruction manual can indicate that the design operates as "electromagnetic energization locking, power-off spring reset," and provide an extension scheme of backup power supply or mechanical locking in the embodiments.

[0030] The locking pin 32 return spring is configured to provide a rebound force of approximately 12N when compressed by 6mm, and the return stroke is controlled within 6mm; a rubber buffer ring is provided on the return path of the locking pin 32 to reduce the return impact to an impact torque of less than 2N·m, thereby avoiding noise or mechanical damage during rapid power-off; within 50ms after power-off and exiting the locking hole 431, the vehicle control system reads the position sensor and allows the drive motor 41 to start clockwise unfolding action after confirming exit.

[0031] Specifically, when a vehicle locking command is received, the output of the drive motor 41 is controlled to rotate counterclockwise through the vehicle control system, which drives the reduction gear set 42 and the bevel gear shaft 43 to rotate, thereby driving the foot pedal 2 to fold towards the crank arm 1 to a folded position parallel to the crank arm 1, and supplying power to the electromagnet 31, so that the locking pin 32 is inserted into the locking hole 431 under the action of magnetic force, thereby locking the foot pedal 2.

[0032] The vehicle control system includes an authentication module and a wireless communication module, wherein the authentication module includes at least one of an NFC reader, a Bluetooth receiver, and a mobile application interface.

[0033] The vehicle control system connects the authentication module to the internal secure storage unit (SecureElement or encrypted flash memory). Upon receiving the original credential data from the authentication module, it executes a challenge-response authentication process to verify the validity of the credential. When using an NFC reader, the vehicle control system reads the unique identifier of the terminal (such as a mobile phone or card) according to the ISO / IEC 14443 standard and compares it with the authorized identifier stored in the secure storage unit or performs key-based MAC verification. When using a Bluetooth receiver, the vehicle control system performs Bluetooth Low Energy (BLE) pairing and establishes an encrypted channel, negotiates a session key based on a preset key or public key using ECDH, and then verifies the unlock request signature using HMAC-SHA256. When using a mobile application interface, the mobile application sends a data structure containing a timestamp, a nonce, and a signature to the vehicle control system via HTTPS or BLEGATT. Upon receiving the data, the vehicle control system verifies the consistency of the signature, timestamp, and nonce and determines whether it is within the allowed timeframe. The system has a protection mechanism for multiple failed authentication attempts; for example, after three consecutive failures, it enters a short-term lock and reports the issue. All keys used in the authentication process are stored in an encrypted storage area, and the vehicle control system's write and read operations on these keys are restricted by security boot and access control.

[0034] For example, when using NFC, the user's mobile phone outputs an NDEF record containing the user ID and a one-time challenge code via an NFC application. The vehicle control system reads the NDEF record and searches for the corresponding symmetric key for the user ID in secure storage. Then, it calculates the HMAC-SHA256 and compares it with the signature in the NDEF. If the comparison matches and the timestamp is within the allowable range (±30 seconds), the verification is considered successful. When using Bluetooth, the vehicle control system and the user's mobile phone first complete BLE pairing and exchange ECDH public keys to generate a session key. Then, the user's mobile phone writes a signed unlock request (fields include device_id, user_id, timestamp, nonce, and signature) using encrypted GATT features. The vehicle control system verifies the signature with the session key and temporarily locks the user_id for 5 minutes after 3 consecutive failures.

[0035] The wireless communication module is used to receive unlocking commands and authentication information sent by the user terminal, and compare the authentication results with the pre-stored authorized user information.

[0036] Implement a compliant communication protocol stack through a wireless communication module, such as Bluetooth Low Energy GATT service or HTTPS API based on cellular / LoRa / Wi-Fi, receive a structured unlocking request message from a user terminal, and parse the message fields within the vehicle control system. The unlocking request message must contain a device identifier, user identifier, timestamp, nonce, and signature field. The vehicle control system verifies the signature by reading the pre-stored authorized user information (including keys or public keys) from secure storage and validates the timestamp and nonce to prevent replay attacks. After passing the comparison, the vehicle control system returns an authorization confirmation and triggers the local unlocking process; when the comparison fails, the vehicle control system records the number of failures and drives a prompting device or enters a locking strategy, such as denying service for 5 minutes after 3 consecutive failures, and reports the failure event to the user terminal or the back-end management platform through the wireless communication module for auditing. The wireless communication module is also responsible for status feedback, such as "locking successful" and "unlocking failed", and caches events when the network is unavailable and retransmits them after the network is restored. The encryption algorithms used during the communication process include AES-CCM built into BLE and HMAC-SHA256 or ECDSA signature verification at the application layer to ensure data integrity and trusted sources.

[0037] The user terminal writes the following unlocking request in JSON format (written through GATT characteristics) to the vehicle control system via BLE: {"device_id":"CRK00123","user_id":"U10001","timestamp":1690000000,"nonce":"a1b2c3d4","signature":"<HMAC-SHA256 32 bytes>"}; After the vehicle control system reads this structure, it obtains the symmetric key corresponding to the user_id from secure storage, calculates HMAC-SHA256(device_id|user_id|timestamp|nonce), and compares the calculation result with the signature. If the comparison is consistent and the difference between the timestamp and the current system time is less than 30 seconds, it determines that the verification is successful and returns {"status":"ok","action":"unlock_accepted"}, and then powers off the electromagnet 31 and rotates the drive motor 41 clockwise according to the previously described unlocking process to complete the unfolding of the pedal 2; if the verification fails 3 times consecutively, the vehicle control system sets the status to "verification failed and locked", which will be automatically解除 after 5 minutes, and notifies the user terminal of the failure reason code and the next suggestion through BLE.

[0038] It should be noted that there is an unclear word "解除" in the original Chinese text. I have translated it as "解除" as best as possible, but it may need to be adjusted according to the actual context.Specifically, when an unlocking command is received, the wireless communication module receives the authentication information sent by the user terminal, and the authentication module compares and verifies the received authentication information with the pre-stored authorized user information.

[0039] The vehicle control system's wireless communication module receives structured unlocking request messages from the user terminal. These messages include fields such as device_id, user_id, timestamp, nonce, and signature. After verifying message integrity, the wireless communication module forwards the message to the authentication module. The authentication module reads pre-stored authorized user information (including a symmetric key or user public key) from the secure storage area and performs challenge-response or signature verification according to a preset authentication scheme: if it is a symmetric key-based scheme, it uses HMAC-SHA256 to calculate the received device_id|user_id|timestamp|nonce and compares it with the signature; if it is an asymmetric key-based scheme, it uses ECDSA or RSA to verify the signature. The authentication module also verifies the difference between the timestamp and the real-time clock of the vehicle control system (allowing a deviation of no more than ±30 seconds), and checks whether the nonce already exists in the most recent N records to prevent replay attacks. During the comparison process, the authentication module maintains a failure counter (consecutive failure count). When the number of consecutive failures reaches a preset threshold, such as 3 times, a short-term locking strategy, such as locking for 300 seconds, is triggered, and the event is reported to the vehicle control system. After authentication, the authentication module returns the verification result (success / failure) and reason code to the vehicle control system for subsequent action decisions.

[0040] The user terminal writes JSON to the wireless communication module via BLEGATT: {"device_id":"CRK00123","user_id":"U10001","timestamp":1700000000,"nonce":"a1b2c3d4","signature":"<HMAC-SHA256 32 bytes>"}; After receiving, the wireless communication module verifies the data integrity and forwards the message to the authentication module; The authentication module reads the symmetric key K_user corresponding to the user_id from the secure storage area, calculates HMAC-SHA256(K_user,concat(device_id,user_id,timestamp,nonce)), and compares it with the signature. If they are consistent, the timestamp and the system time difference is less than 30 seconds, and the nonce is not repeated, it returns "Verification successful"; If the verification fails and it is the third consecutive failure, the authentication module will return the result of "Verification failed - Enter lockout for 300 seconds", and the vehicle control system will send a notification of {"status":"fail","code":"lockout","duration":300} to the user terminal via the wireless communication module.

[0041] If the authentication is successful, the vehicle control system cuts off the power supply to the electromagnet 31, uses the spring return mechanism to make the locking pin 32 withdraw from the locking hole 431, and controls the output end of the drive motor 41 to rotate clockwise, so that the footrest 2 rotates from the folded position to the normal stepping position.

[0042] After the authentication is successful, the vehicle control system first judges that the value returned by the vehicle speed sensor is 0 km / h, reads the battery voltage as 12.6V, and then sends a power-off command to the electromagnetic lock control unit 3. After the electromagnet 31 is powered off, the micro switch becomes the "withdrawal" state within 50 ms; The vehicle control system then drives the drive motor 41 with an acceleration curve of 0→300 RPM (transition 200 ms), reads the rotation count about 7.5 turns through the encoder and confirms that the angle is in place (90°±2°). If the current detection module detects an instantaneous current > 2.2A at any time, it will immediately stop and retract 0.5 turns and retry once. If it is still abnormal after the retry, an error prompt of "Deployment failed - Please check for mechanical jamming" will be displayed on the user terminal and the log will be recorded. After the deployment is completed, the vehicle control system sends {"status":"ok","action":"unfolded","angle":90,"timestamp":1700000001} to the user terminal via the wireless communication module.

[0043] If the authentication fails, the footrest 2 will remain in the locked state, and an authentication failure prompt will be issued through a preset prompt device.

[0044] Upon receiving an authentication failure result, the vehicle control system maintains power to the electromagnet 31 to keep the locking pin 32 inserted into the locking hole 431, increments and records the consecutive failure count; simultaneously, it triggers the prompting device to operate according to a preset prompting strategy, records the event, and reports the authentication failure log to the user terminal or remote monitoring platform via the wireless communication module. The prompting device's actions should include audible and visual prompts and UI notifications: the vehicle control system drives a buzzer to emit short prompt sounds, such as three short beeps at a frequency of 2kHz, each lasting 150ms with a 200ms interval, and drives an LED warning light to flash at a frequency of 2Hz for 10 seconds; if the number of consecutive failures reaches the locking threshold, such as three times, it enters a short-term lock and drives a more obvious prompt, such as five consecutive short beeps and flashing LEDs for 5 seconds, while simultaneously reporting the failure event via the wireless communication module. The vehicle control system also writes the failure event to the local log and stores it for auditing; if the wireless communication module is temporarily unavailable, the event is cached and retransmitted after the network is restored.

[0045] When a user enters the wrong unlocking credential three times consecutively, the vehicle control system maintains power to electromagnet 31 and immediately drives the buzzer to emit three short 150ms beeps, while the LED warning light flashes at 2Hz for 10 seconds. The vehicle control system locally increments the failure count to 3 and sets the status to "temporarily locked for 300 seconds." Simultaneously, it sends {"event":"auth_fail","user_id":"U10001","count":3,"timestamp":1700000020} to the backend via the wireless communication module. If the wireless communication module is unavailable, the event will be written to the local non-volatile buffer and retransmitted every 60 seconds, up to a maximum of 5 times.

[0046] A vibration sensor 21 is installed on the foot pedal 2, and the alarm device (not shown in the figure) includes a buzzer, an LED warning light and a GPS positioning module.

[0047] A vibration sensor 21 is installed on the foot pedal 2. The raw data from the vibration sensor 21 is sent to the signal acquisition unit of the vehicle control system through an analog front-end or digital interface. The vehicle control system performs digital filtering on the acquired data, such as first using a second-order IIR high-pass filter to remove slow dynamics below 5Hz, and then using a band-pass filter to retain the impact frequency band of 10–300Hz. The instantaneous peak value and root mean square (RMS) value are calculated within a sliding window. The system sets two types of trigger conditions: impact trigger condition (instantaneous peak value ≥ 5g and peak duration ≤ 50ms) and continuous vibration trigger condition (RMS ≥ 1.5g within a 200ms window and the main spectral energy is concentrated in the 10–200Hz frequency band). When either condition is met and the system determines that the current vehicle status allows for an alarm, such as when the vehicle speed is 0 and the foot pedal 2 is in a locked state, the vehicle control system triggers the alarm device.

[0048] It should be noted that the buzzer, LED warning light, and GPS positioning module can be installed anywhere on the bicycle.

[0049] When foot pedal 2 detects an external impact exceeding a preset threshold, it triggers an alarm device to sound an alarm.

[0050] Specifically, when the vibration sensor 21 detects an impact signal that exceeds the preset amplitude and frequency range, the vehicle control system activates a buzzer to issue an audible alarm, illuminates an LED warning light for visual alarm, and obtains the current location information through the GPS positioning module and uploads it to the remote monitoring platform via the vehicle communication module.

[0051] In this embodiment, upon receiving a locking command, the vehicle control system first drives the folding actuator 4 to fold the pedal 2 from its normal pedaling position toward the crank arm 1, folding it to a position parallel to the crank arm 1. Simultaneously, the electromagnetic lock control unit 3 locks the pedal 2, thus completing the anti-theft folding and securing of the pedal 2. Upon receiving an unlocking command, the vehicle control system verifies the user's identity information. If the authentication is successful, the electromagnetic lock control unit 3 is deactivated, and the folding actuator 4 is driven to unfold the pedal 2 from its folded position to its normal pedaling position. If the authentication fails, the pedal 2 remains locked, and a warning device is triggered to send a warning signal to the user. Furthermore, when the folding actuator 4 detects an external impact exceeding a preset threshold, the system triggers an alarm device to sound an alarm, further enhancing the anti-theft effect. This achieves automatic folding and locking of the pedal 2 while the vehicle is parked, preventing unauthorized use or disassembly of the pedal 2, improving the overall vehicle's anti-theft capability, and addressing the lack of location-based anti-disassembly and usage restrictions for key components (such as the pedal 2) in existing technologies. Meanwhile, by combining the onboard control system with user identity verification, it ensures that only authorized users can unfold and use the pedals, thereby improving vehicle safety. In the event of external impact, the alarm trigger device provides real-time protection and alerts, forming a multi-layered security mechanism. The overall solution not only enhances the anti-theft performance of key bicycle components but also addresses storage and intelligent management needs, making it suitable for various application scenarios such as shared bicycles and commuter e-bikes.

[0052] like Figure 6 As shown in the example of this application, a foldable anti-theft pedal 2 control system is also provided. This system is applied to a foldable pedal 2 mounted on a crank arm 1 of a bicycle. The crank arm 1 is equipped with an electromagnetic lock control unit 3 and a folding actuator 4 electrically connected to the vehicle control system. Specifically, the foldable anti-theft pedal 2 control system includes: The locking module 51 is mainly used to drive the folding actuator 4 from the normal pedal position toward the crank arm 1 to a folded position parallel to the crank arm 1 when a locking command is received, and to control the electromagnetic lock control unit 3 to lock the pedal 2.

[0053] Specifically, upon receiving a locking command, the locking module 51 controls the drive motor 41 within the folding actuator 4 to rotate counterclockwise via the vehicle control system. This rotation drives the reduction gear set 42 and the bevel gear shaft 43 to rotate, thereby driving the pedal 2 to fold up along the crank arm 1 to a folded position parallel to the crank arm 1. Simultaneously, the vehicle control system supplies power to the electromagnet 31 of the electromagnetic lock control unit 3, causing the locking pin 32 to insert into the locking hole 431 on the bevel gear shaft 43 under magnetic force, thus locking the pedal 2. In this way, the locking module 51 ensures that the pedal 2 maintains its anti-theft function while remaining folded, while also preventing accidental unfolding and potential injury.

[0054] The unlocking module 52 is mainly used to verify the user's identity information through the vehicle control system when an unlocking command is received. If the identity verification is successful, the electromagnetic lock control unit 3 is turned off, and the folding actuator 4 is controlled to drive the pedal 2 from the folded position to the normal pedaling position. If the identity verification fails, the locked state is maintained and a prompt is triggered.

[0055] Specifically, upon receiving an unlocking command, the unlocking module 52 receives authentication information sent by the user terminal through the vehicle control system's wireless communication module. It then compares the received information with pre-stored authorized user information using an authentication module (including an NFC reader, Bluetooth receiver, or mobile application interface). If authentication is successful, the vehicle control system cuts off power to the electromagnetic lock control unit 3. Simultaneously, a preset spring reset mechanism causes the lock stop pin 32 to disengage from the lock hole 431, and the drive motor 41 of the folding actuator 4 rotates clockwise, unfolding the pedal 2 from its folded position to its normal pedaling position. If authentication fails, the pedal 2 remains locked, and a warning signal is emitted via a preset indicator (such as a buzzer or LED warning light). In this way, the unlocking module 52 not only ensures anti-theft security but also guarantees that the user can safely and smoothly use the pedal 2 after successful authentication.

[0056] Alarm module 53 is mainly used to trigger the alarm device to sound an alarm when the foot pedal 2 detects an external force impact exceeding a preset threshold.

[0057] Specifically, when the folding actuator 4 detects an external impact exceeding a preset threshold, the alarm module 53 activates the alarm device via the vehicle control system. This includes an audible alarm from a buzzer, a visual alert from LED warning lights, and the acquisition of current location data via the GPS positioning module. This data is then uploaded to a remote monitoring platform via the vehicle communication module, enabling remote anti-theft and vehicle status monitoring. In this way, the alarm module 53 can provide immediate feedback on abnormal operations or destructive behavior, improving the overall vehicle safety and protection level.

[0058] In this embodiment, through the coordinated operation of the locking module 51, unlocking module 52, and alarm module 53, a complete control system for the foldable anti-theft pedal 2 is constructed. This system enables the pedal 2 to automatically fold and unfold during daily use, ensuring user convenience, while also providing an immediate anti-theft alarm in case of unauthorized operation or external damage. Combined with vehicle communication and positioning functions, it achieves intelligent protection and remote monitoring. This system can be specifically applied to shared bicycles, electric-assisted bicycles, and other urban short-distance transportation vehicles, offering advantages such as high security, convenient operation, timely response, and strong scalability.

[0059] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device and each module described above can be referred to the corresponding process in the aforementioned Embodiment 1, and will not be repeated here.

[0060] The above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A foldable anti-theft pedal control method, applied to a foldable pedal mounted on the crank arm of a bicycle, wherein the crank arm is equipped with an electromagnetic lock control unit and a folding actuator electrically connected to an onboard control system, characterized in that... include: When a vehicle lock command is received, the vehicle control system drives the folding actuator to fold the pedal from the normal pedal position toward the crank arm to a folded position parallel to the crank arm, and controls the electromagnetic lock control unit to lock the pedal. When an unlocking command is received, the user's identity information is verified through the vehicle control system. If the identity verification is successful, the electromagnetic lock control unit is deactivated, and the folding actuator is controlled to drive the pedal from the folded position to the normal pedaling position. If the identity verification fails, the locked state is maintained and a prompt is triggered. When the foot pedal detects an external force impact exceeding a preset threshold, the alarm device is triggered to sound an alarm.

2. The foldable anti-theft foot pedal control method according to claim 1, characterized in that, The folding actuator includes a drive motor disposed in the crank arm, a reduction gear set connected to the output end of the drive motor, and a bevel gear shaft meshing with the reduction gear set and arranged perpendicularly to the crank shaft of the crank arm. The foot pedal is fixedly connected to the bevel gear shaft through a connecting arm, wherein the bevel gear shaft is provided with a locking hole. The electromagnetic lock control unit includes an electromagnet disposed below the bevel gear shaft and a locking pin that cooperates with the electromagnet. The locking pin can be inserted into the locking hole under the action of magnetic force to lock the foot pedal in the folded position.

3. The foldable anti-theft foot pedal control method according to claim 2, characterized in that, The step of using the vehicle control system to drive the folding actuator to fold the pedal from the normal pedaling position toward the crank arm to a folded position parallel to the crank arm when a locking command is received includes: When a vehicle lock command is received, the on-board control system controls the output of the drive motor to rotate counterclockwise, driving the reduction gear set and the bevel gear shaft to rotate, thereby driving the pedal to fold towards the crank arm to a folded position parallel to the crank arm, and supplying power to the electromagnet so that the locking pin is inserted into the locking hole under the action of magnetic force, locking the pedal.

4. The foldable anti-theft foot pedal control method according to claim 2, characterized in that, The vehicle control system includes an authentication module and a wireless communication module, wherein: The authentication module includes at least one of an NFC reader, a Bluetooth receiver, and a mobile application interface; The wireless communication module is used to receive unlocking commands and authentication information sent by the user terminal, and compare the authentication results with the pre-stored authorized user information.

5. The foldable anti-theft foot pedal control method according to claim 4, characterized in that, The steps of verifying the user's identity information through the vehicle control system when an unlocking command is received, and if the identity verification is successful, deactivating the electromagnetic lock control unit and controlling the folding actuator to unfold the pedal from the folded position to the normal pedaling position, and maintaining the locked state and triggering a prompt when the identity verification fails, include: When an unlocking command is received, the wireless communication module receives the authentication information sent by the user terminal, and the authentication module compares and verifies the received authentication information with the pre-stored authorized user information. If the authentication is successful, the vehicle control system cuts off the power to the electromagnet so that the locking pin retracts from the locking hole and controls the output of the drive motor to rotate clockwise so that the pedal rotates from the folded position to the normal pedaling position. If authentication fails, the foot pedal remains locked, and an authentication failure notification is issued via a preset notification device.

6. The foldable anti-theft foot pedal control method according to claim 1, characterized in that, The foot pedal is equipped with a vibration sensor, and the alarm device includes a buzzer, an LED warning light, and a GPS positioning module.

7. The foldable anti-theft foot pedal control method according to claim 6, characterized in that, The step of triggering an alarm device when the foot pedal detects an external force impact exceeding a preset threshold includes: When the vibration sensor detects an impact signal that exceeds the preset amplitude and frequency range, the vehicle control system activates the buzzer to issue an audible alarm, illuminates the LED warning light for a visual alarm, and obtains the current location information through the GPS positioning module and uploads it to the remote monitoring platform via the vehicle communication module.

8. A foldable anti-theft pedal control system, comprising an electromagnetic lock control unit and a folding actuator electrically connected to an onboard control system, mounted on the crank arm of a bicycle, characterized in that, include: The locking module is used to drive the folding actuator to fold the pedal from the normal pedal position toward the crank arm to a folded position parallel to the crank arm when a locking command is received, using the vehicle control system; and to control the electromagnetic lock control unit to lock the pedal. The unlocking module is used to verify the user's identity information through the vehicle control system when an unlocking command is received. If the identity verification is successful, the electromagnetic lock control unit is turned off, and the folding actuator is controlled to drive the pedal from the folded position to the normal pedaling position. If the identity verification fails, the locked state is maintained and a prompt is triggered. The alarm module is used to trigger the alarm device to sound an alarm when the foot pedal detects an external force impact exceeding a preset threshold.

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