Implementation method of shared bicycle real-time tracking and positioning system

Abstract

The invention provides an implementation method of a shared bicycle real-time tracking and positioning system. The system comprises a controller, a plurality of tracking devices, a plurality of shared bicycles and a plurality of operation devices. And the operation equipment monitors and positions the shared bicycles in real time through the controller and the tracking equipment. Through the system, an operator can obtain accurate position information of the monitored shared bicycle in real time, and all-weather and high-precision bicycle tracking and positioning are realized. The system remarkably improves the operation and maintenance management efficiency of the shared bicycles, reduces the operation cost, and has a wide application prospect in the fields of smart transportation, urban shared travel and the like.

Description

Technical Field

[0001] This invention relates to an implementation method, and more particularly to an implementation method for a real-time tracking and positioning system for shared bicycles. Background Technology

[0002] Current shared bicycle tracking and positioning systems mainly rely on manual patrols. Each staff member can only handle a limited number of bicycles per day, making it difficult to monitor a large number of bicycles in real time. Secondly, the accuracy of bicycle positioning information obtained through manual patrols is low, making real-time tracking and positioning impossible. Finally, manual recording of bicycle locations is prone to omissions or misjudgments.

[0003] This invention aims to overcome the shortcomings of existing shared bicycle tracking and positioning systems, track the real-time location information of shared bicycles, and achieve real-time tracking management. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for implementing an intelligent livestock health management system, which addresses the shortcomings of the existing technology.

[0005] Technical Solution: This invention discloses a method for implementing a real-time tracking and positioning system for shared bicycles. The system includes a controller, multiple tracking devices, multiple shared bicycles, and multiple operating devices. The operating devices monitor and locate the shared bicycles in real time through the controller and tracking devices. The tracking devices establish a tracking table through tracking messages. The shared bicycles or operating devices establish a device table through device messages. The shared bicycles or operating devices establish a management table and a positioning table through relocation messages and refresh messages. The operating equipment sends tracking messages to monitor the status information of the target shared bicycle; the tracking device that receives the tracking message from the wireless interface creates a waiting table entry and forwards the tracking message from the upstream interface; the controller that receives the tracking message forwards the tracking message; the tracking device that receives the tracking message from the upstream interface forwards the tracking message from the wireless interface. If the device ID of the shared bicycle that receives the tracking message is equal to the final device ID in the tracking message, then a status message is sent. Upon receiving a status message from the wired interface, the tracking device performs the following operations for each waiting entry where the destination device ID equals the source device ID of the status message: selects a management entry whose device ID equals the source device ID of the waiting entry; selects the device entry whose coordinates are closest to the coordinates of the management entry; sets the coordinates of the status message to the coordinates of the management entry; sets the destination device ID to the device ID of the device entry; sets the final device ID to the device ID of the management entry; and sends the status message from the wireless interface. For each movement entry where the destination device ID equals the source device ID of the status message, the tracking device forwards the status message from the interface identified by the interface ID of the movement entry. If the device ID of the operating device that receives the status message is equal to the final device ID in the status message, then the status information set in the status message is saved.

[0006] The method further includes: The tracking device maintains a movement table, where each entry contains a destination device ID, an interface ID, and a lifespan. After an operating device sends a tracking message, if movement occurs before receiving a status message, it sends a movement message. The tracking device receiving the movement message from the radio interface creates a waiting entry where the destination device ID is equal to the final device ID of the movement message, the source device ID is equal to the source device ID in the movement message, and the lifespan is set to the maximum value. If the tracking device has only one waiting entry where the destination device ID is equal to the final device ID of the movement message, it sets the destination coordinates of the movement message to the source coordinates, selects a tracking entry with coordinates equal to the destination coordinates, and forwards the movement message from the interface identified by the interface ID of that tracking entry. If the tracking device receiving the movement message from a downstream interface does not have a movement entry where the interface ID is equal to the interface ID of the downstream interface and the destination device ID is equal to the final device ID of the movement message, it creates a movement entry, selects a tracking entry with coordinates equal to the destination coordinates, and forwards the movement message from the interface identified by the interface ID of that tracking entry.

[0007] The method further includes: The tracking device maintains a wait table, and each wait table entry contains the destination device ID, the source device ID, and the lifespan. In the wait table entry created by the tracking device after receiving a tracking message from the radio interface, the destination device ID is equal to the final device ID in the tracking message, the source device ID is equal to the source device ID in the tracking message, and the lifespan is set to the maximum value. Upon receiving the tracking message, the controller selects a location table entry containing the final device ID of the tracking message from the device ID set, and forwards the tracking message from the interface identified by the interface ID of the location table entry. The tracking device receiving the tracking message from the upstream interface selects a management table entry whose device ID is equal to the final device ID of the tracking message, and selects a device table entry whose coordinates are distanced from the coordinates of the management table entry. In the tracking message forwarded by the tracking device, the destination device ID is equal to the device ID of the device table entry, and the coordinates are equal to the coordinates of the management table entry. The tracking device receiving a status message from the wireless interface forwards the status message from the upstream interface. After receiving the status message, the controller selects a location table entry containing the final device ID of the status message from the device ID set, and forwards the status message from the interface identified by the interface ID of the location table entry.

[0008] The method further includes: The tracking message contains a message ID, source device ID, destination device ID, final device ID, and coordinates; the status message contains a message ID, a set of status information, source device ID, destination device ID, final device ID, and coordinates; the operating device sending the tracking message selects a device entry whose coordinates are closest to the coordinates of the nearest tracking device. In the tracking message sent, the message ID is 5, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry in the device table, the final device ID is equal to the device ID of the target shared bicycle, and the coordinates are equal to the coordinates of the nearest tracking device.

[0009] The method further includes: When a shared bicycle sends a status message, it selects a device entry in the device table. The coordinates of this device entry are closest to the coordinates of the nearest tracking device. In the status message sent, the message ID is equal to 6, the status information set is equal to the current status information set, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of this device entry, the final device ID is equal to the source device ID of the tracking message received by the shared bicycle, and the coordinates are equal to the coordinates of the nearest tracking device.

[0010] The method further includes: The mobile message includes a message ID, source device ID, destination device ID, final device ID, source coordinates, and destination coordinates. The operating device sending the mobile message selects a device entry whose coordinates are closest to the coordinates of the nearest tracking device. In the sent mobile message, the message ID is 7, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry in the device table, the final device ID is equal to the final device ID in the tracking message sent by the operating device, the source coordinates are equal to the coordinates of the nearest tracking device when the tracking message is sent, and the destination coordinates are equal to the coordinates of the nearest tracking device when the mobile message is sent.

[0011] The method further includes: In the mobility entry created by the tracking device that receives the mobility message from the downstream interface, the interface ID is equal to the interface ID of the downstream interface, the destination device ID is equal to the final device ID of the mobility message, and the lifecycle is set to the maximum value. If the coordinates of the tracking device that receives the mobility message from the downstream interface are not equal to the destination coordinates of the mobility message, then the tracking entry with coordinates equal to the destination coordinates of the mobility message is selected, and the mobility message is forwarded from the interface identified by the interface ID of the tracking entry.

[0012] The method further includes: The controller maintains a positioning table, where each entry contains an interface ID, coordinates, and a set of device IDs. Each tracking device maintains a management table, where each entry contains a device ID, coordinates, and lifecycle. Relocation messages contain a message ID, source device ID, coordinates, and destination device ID. Refresh messages contain a message ID, a set of device IDs, and coordinates. Shared bicycles or operational devices select a device table where the coordinates of that entry are closest to the coordinates of the nearest tracking device. In the relocation message sent, the message ID is 3, the source device ID is equal to the device's own device ID, the coordinates are equal to the device's current coordinates, and the destination device ID is the device ID in that device table entry. Upon receiving a relocation message, the tracking device creates a management entry. The device ID of this management entry is equal to the source device ID in the relocation message, and the coordinates are equal to the coordinates in the relocation message. The lifecycle is set to the maximum value. A refresh message is sent from the upstream interface. The message ID of this refresh message is 4, and the device ID set consists of the device IDs in each management entry of the tracking device. The coordinates are equal to the coordinates of the tracking device. Upon receiving a refresh message, the controller creates a positioning entry. The coordinates of this positioning entry are equal to the coordinates in the refresh message, the interface ID is equal to the interface ID of the interface that received the refresh message, and the device ID set is equal to the device ID set in the refresh message.

[0013] The method further includes: Each shared bicycle, operational device, and tracking device maintains a separate device table. Each device table entry contains a device ID, coordinates, and lifespan. Device messages contain a message ID, device ID, and coordinates. In device messages sent by shared bicycles or operational devices, the message ID is 2, and the device ID and coordinates are equal to the device's own device ID and coordinates, respectively. When a shared bicycle, operational device, or tracking device receives a device message, it creates a device table entry. The device ID of this entry is equal to the device ID in the device message, the coordinates are equal to the coordinates in the device message, and the lifespan is equal to the maximum value.

[0014] The method further includes: The tracking device is configured with multiple wired interfaces and one wireless interface. The wired interface connected to the controller is called the upstream interface, and the wired interface connected to other tracking devices is called the downstream interface. The wireless interface is used to connect to shared bicycles or operational equipment. Each message is uniquely identified by a message ID. Each tracking device maintains a tracking table, and each tracking table entry contains coordinates, interface ID, and lifecycle. The tracking message contains a message ID and coordinates. In the tracking message sent by the tracking device from each downstream interface, the message ID is 1 and the coordinates are equal to its own coordinates. Other tracking devices that receive the tracking message create a tracking entry with coordinates equal to those in the tracking message, interface ID equal to the interface ID of the interface that received the tracking message, and lifespan set to the maximum value. The tracking message is then forwarded from every downstream interface except the one that received the tracking message.

[0015] Beneficial Effects: This invention provides a method for implementing a real-time tracking and positioning system for shared bicycles. Through this system, operators can obtain accurate location information of monitored shared bicycles in real time, achieving all-weather, high-precision bicycle tracking and positioning. This system significantly improves the efficiency of shared bicycle operation and maintenance management, reduces operating costs, and has broad application prospects in fields such as smart transportation and urban shared mobility. Attached Figure Description

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0017] Figure 1 This is a schematic diagram of the real-time tracking and positioning system for shared bicycles described in this invention.

[0018] Figure 2 This is a schematic diagram of the process for establishing a tracking table as described in this invention.

[0019] Figure 3 This is a schematic diagram of the process for creating a device table according to the present invention.

[0020] Figure 4 This is a schematic diagram of the real-time positioning process described in this invention.

[0021] Figure 5 This is a schematic diagram of the real-time tracking process described in this invention.

[0022] Figure 6 This is a schematic diagram of the operation equipment management process described in this invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] Figure 1This is a schematic diagram of the real-time tracking and positioning system for shared bicycles described in this invention. Figure 2 This is a schematic diagram of the process for establishing a tracking table according to the present invention. The system includes a controller, multiple tracking devices, multiple shared bicycles, and multiple operating devices; Shared bicycles can obtain their own coordinates in real time, for example, through GPS or electronic devices (mobile phones); operating equipment can obtain its own coordinates in real time, for example, through the mobile phones used by the operators. The controller is equipped with multiple wired interfaces, each of which is connected to a tracking device; The tracking device is equipped with multiple wired interfaces and one wireless interface. The wired interface connected to the controller is called the upstream interface, and the wired interface connected to other tracking devices is called the downstream interface. The wireless interface is used to connect to shared bicycles or operating equipment. Each shared bicycle or operating device is equipped with a wireless interface for connecting to tracking devices, other shared bicycles, or operating devices. Each shared bicycle or operating device is identified by a unique device ID, such as a MAC address; each interface is uniquely identified by an interface ID, and the interface with interface ID x is called interface x; each tracking device has unique coordinates; each message is uniquely identified by a message ID. Each tracking device maintains a tracking table, and each tracking table entry contains coordinates, interface ID, and lifecycle. The tracking message includes the message ID and coordinates; Tracking device TD1 periodically performs the following operations: Step 101: Begin; Step 102: Tracking device TD1 sends a tracking message from each downstream interface. The message ID of this tracking message is 1, and the coordinates are equal to its own coordinates. Step 103: Other tracking devices that receive tracking messages from interface f1 determine whether there is a tracking entry whose coordinates are equal to the coordinates in the tracking message and whose lifespan is greater than the threshold TH0. The threshold TH0 ranges from 95% to 100% of the maximum lifespan. If it exists, proceed to step 106; otherwise, proceed to step 104. Step 104: If other tracking devices that receive tracking messages from interface f1 have a tracking entry with coordinates equal to those in the tracking message, then set the interface ID of the tracking entry to f1 and the lifecycle to the maximum value. Otherwise, create a tracking entry with coordinates equal to those in the tracking message, an interface ID equal to f1, and a lifecycle set to the maximum value. Step 105: The tracking device that receives the tracking message from interface f1 forwards the tracking message to every downstream interface other than interface f1, and executes step 103; Step 106: End.

[0025] The tracking device sends tracking messages to other tracking devices through the above process to establish a tracking table. In this way, each tracking device can interact with other tracking devices through the tracking table, and the validity and real-time performance of the tracking table are ensured by utilizing the life cycle of the tracking table.

[0026] Figure 3 This is a schematic diagram of the device table creation process described in this invention. The coordinates of each tracking device are pre-configured for each shared bicycle or operating device; each shared bicycle, operating device, and tracking device maintains a separate device table, with each device table entry containing the device ID, coordinates, and lifecycle. The device message includes a message ID, a device ID, and coordinates; Shared bicycles or operating equipment shall periodically perform the following operations: Step 201: Begin; Step 202: The shared bicycle or operating equipment sends a device message with a message ID of 2, and the device ID and coordinates are equal to its own device ID and current coordinates, respectively; Step 203: If a neighboring device that received the device message, including a shared bicycle, an operating device, or a tracking device, has a device entry whose device ID is equal to the device ID in the device message, then set the coordinates of the device entry to the coordinates in the device message and set the lifespan to the maximum value; otherwise, create a device entry whose device ID is equal to the device ID in the device message, set the coordinates of the device entry to the coordinates in the device message, and set the lifespan to the maximum value. Step 204: End.

[0027] Through the above process, shared bicycles or operating devices establish device tables on neighboring shared bicycles, neighboring operating devices, or neighboring tracking devices. In this way, each shared bicycle, operating device, or tracking device can obtain the device ID and coordinates of neighboring shared bicycles or operating devices through the device table. The device table ensures its real-time performance and validity through its lifecycle.

[0028] Figure 4 This is a schematic diagram of the real-time positioning process described in this invention. The controller stores a positioning table, and each entry in the positioning table contains an interface ID, coordinates, and a set of device IDs. Each tracking device maintains a management table, and each management table entry contains the device ID, coordinates, and lifecycle. The relocation message includes a message ID, source device ID, coordinates, and destination device ID; The refresh message includes a message ID, a set of device IDs, and coordinates; Shared bicycles or operating equipment shall periodically perform the following operations: Step 301: Begin; Step 302: The shared bicycle or operating device selects a device table where the distance between the coordinates of the device table entry and the coordinates of the tracking device TD1 is the smallest. Among all the tracking devices, the shared bicycle or operating device is closest to the tracking device TD1. It then sends a relocation message with a message ID of 3, a source device ID equal to its own device ID, coordinates equal to its current coordinates, and a destination device ID equal to the device ID in the device table entry. Step 303: If the tracking device TD1 receives the relocation message from the wireless interface, proceed to step 306; otherwise, proceed to step 304. Step 304: The shared bicycle or operating equipment that receives the relocation message determines whether its own device ID is equal to the destination device ID in the relocation message. If it is equal, proceed to step 305; otherwise, proceed to step 311. Step 305: The shared bicycle or operating equipment that receives the relocation message selects a tracking device. Among all tracking devices, the tracking device has the smallest distance to the coordinates in the relocation message. It selects a device table entry whose coordinates are the smallest distance to the coordinates of the tracking device. It sets the destination device ID in the relocation message to the device ID in the device table entry, forwards the relocation message, and executes step 303. Step 306: Tracking device TD1 determines whether there is a management entry whose device ID is equal to the source device ID in the relocation message. If it exists, proceed to step 307; otherwise, proceed to step 308. Step 307: The tracking device TD1 that received the relocation message selects a management entry whose device ID is equal to the source device ID in the relocation message, sets the coordinates of the management entry to the coordinates in the relocation message, sets the lifecycle to the maximum value, and executes step 311. Step 308: The tracking device TD1 that receives the relocation message creates a management entry. The device ID of the management entry is equal to the source device ID in the relocation message. The coordinates of the management entry are set to the coordinates in the relocation message, and the lifecycle is set to the maximum value. Step 309: Tracking device TD1 sends a refresh message from the upstream interface. The message ID of the refresh message is 4. The device ID set consists of the device ID in each management table entry of tracking device TD1, and the coordinates are equal to the coordinates of tracking device TD1. Step 310: After receiving the refresh message from interface x1, if there is a location table entry whose coordinates are equal to the coordinates in the refresh message, then the interface ID in the location table entry is set to x1, and the device ID set is set to the device ID set in the refresh message. Otherwise, the controller creates a location table entry whose coordinates are equal to the coordinates in the refresh message, sets the interface ID in the location table entry to x1, and sets the device ID set to the device ID set in the refresh message. Step 311: End.

[0029] The shared bicycle establishes a location table and a management table through the above process. The above process has the following innovative points: (1) The shared bicycle sends the real-time coordinates to the nearest tracking device through the relocation message, so that the tracking device can obtain the real-time coordinates of the shared bicycle and realize real-time tracking and positioning; (2) The tracking device uses the refresh message to establish a location table in the controller, so that the controller can obtain the coordinates and information of any shared bicycle managed by the tracking device, and realize effective management and real-time positioning and tracking.

[0030] Figure 5 This is a schematic diagram of the real-time tracking process described in this invention. All shared bicycles and operating equipment have the same communication radius. The tracking device maintains a wait table, where each wait table entry contains the destination device ID, the source device ID, and the lifecycle. The tracking device maintains a movement table, where each movement table entry contains the destination device ID, interface ID, and lifecycle. Each operating device is pre-configured with the device IDs of all the shared bicycles it manages; The tracking message includes a message ID, source device ID, destination device ID, final device ID, and coordinates; The status message includes a message ID, a set of status information, a source device ID, a destination device ID, a final device ID, and coordinates. The status information set of shared bicycles includes various types of information data, such as the geographical location of the shared bicycle, real-time coordinates, tire wear, whether the brakes are malfunctioning, whether the tires are leaking air, and whether the locks are faulty. Given that the operating device MD2 is closest to the tracking device TD2 among all tracking devices, the operating device MD2 obtains the set of status information for the shared bicycle BK2 it manages through the following process: Step 401: Begin; Step 402: The operating device MD2 selects a device entry with the smallest distance between the coordinates of the device entry and the coordinates of the tracking device TD2, and sends a tracking message with a message ID of 5. The source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry, the final device ID is equal to the device ID of the shared bicycle BK2, and the coordinates are equal to the coordinates of the tracking device TD2. Step 403: If the tracking device receives the tracking message, proceed to step 404; otherwise, proceed to step 409. Step 404: If the tracking device receives the tracking message from the wireless interface, proceed to step 405; otherwise, proceed to step 408. Step 405: The tracking device that receives the tracking message from the wireless interface determines whether there is a waiting entry, the destination device ID of which is equal to the final device ID in the tracking message and the source device ID is equal to the source device ID in the tracking message. If it exists, proceed to step 413; otherwise, proceed to step 406. Step 406: The tracking device that receives the tracking message from the wireless interface creates a wait entry. The destination device ID of the wait entry is equal to the final device ID in the tracking message, the source device ID is equal to the source device ID in the tracking message, and the lifetime is set to the maximum value. It is determined whether there are at least two wait entries where the destination device ID of the wait entry is equal to the final device ID in the tracking message. If so, step 413 is executed; otherwise, step 407 is executed. Step 407: The tracking device that receives the tracking message from the wireless interface forwards the tracking message from the upstream interface. After receiving the tracking message, the controller selects the location table entry containing the final device ID of the tracking message from the device ID set and forwards the tracking message from the interface identified by the interface ID of the location table entry. Step 408: The tracking device that receives the tracking message from the upstream interface selects a management entry whose device ID is equal to the final device ID in the tracking message. It selects a device entry whose coordinates are closest to the coordinates of the management entry. It sets the destination device ID of the tracking message to the device ID of the device entry, sets the coordinates of the tracking message to the coordinates of the management entry, and forwards the tracking message from the wireless interface. Step 409: If the device ID of the shared bicycle that received the tracking message is equal to the final device ID in the tracking message, then proceed to step 410; otherwise, proceed to step 411. Step 410: The shared bicycle that receives the tracking message creates a current status information set, selects a tracking device, and selects a device table entry whose coordinates are closest to the selected tracking device. It then sends a status message with a message ID of 6, a status information set equal to the created status information set, a source device ID equal to its own device ID, a destination device ID equal to the device ID of the device table entry, a final device ID equal to the source device ID of the tracking message, and coordinates equal to the coordinates of the selected tracking device. Then, proceed to step 413. Step 411: If the device ID of the shared bicycle or operating equipment that receives the tracking message is equal to the destination device ID in the tracking message, then proceed to step 412; otherwise, proceed to step 422. Step 412: The shared bicycle or operating equipment that receives the tracking message selects a device entry whose coordinates are closest to the coordinates in the tracking message, sets the destination device ID of the tracking message to the device ID in the device entry, forwards the tracking message, and executes step 403. Step 413: If the tracking device receives the status message, proceed to step 414; otherwise, proceed to step 418. Step 414: If the tracking device receives the status message from the wireless interface, proceed to step 415; otherwise, proceed to step 416. Step 415: The tracking device that receives the status message from the wireless interface forwards the status message from the upstream interface. After receiving the status message, the controller selects the location table entry containing the final device ID of the status message from the device ID set and forwards the status message from the interface identified by the interface ID of the location table entry. Step 416: The tracking device that receives the status message from the upstream or downstream interface selects all waiting entries whose destination device ID is equal to the source device ID in the status message, and performs the following operations for each selected waiting entry: selects a management entry whose device ID is equal to the source device ID of the waiting entry; selects a device entry whose coordinates are closest to the coordinates of the management entry; sets the coordinates of the status message to the coordinates of the management entry; sets the destination device ID to the device ID of the device entry; sets the final device ID to the device ID of the management entry; and sends the status message from the wireless interface. The tracking device selects all movement entries whose destination device ID is equal to the source device ID in the status message, and performs the following operations for each movement entry: forwards the status message from the interface identified by the interface ID of the movement entry. Step 417: The tracking device that receives the status message from the upstream or downstream interface selects all waiting entries whose destination device ID is equal to the source device ID in the status message, deletes all selected waiting entries, selects all movement entries whose destination device ID is equal to the source device ID in the status message, deletes these movement entries, and executes step 413. Step 418: If the device ID of the operating device that received the status message is equal to the final device ID in the status message, then proceed to step 421; otherwise, proceed to step 419. Step 419: If the device ID of the shared bicycle or operating equipment that receives the status message is equal to the destination device ID in the status message, then proceed to step 420; otherwise, proceed to step 422. Step 420: The shared bicycle or operating equipment that receives the status message selects a device entry whose coordinates are closest to the coordinates in the status message, sets the destination device ID of the status message to the device ID in the device entry, forwards the status message, and executes step 413. Step 421: The operating equipment that receives the status message saves the set of status information in the status message; Step 422: End.

[0031] The operating equipment obtains a set of shared bicycle status information through the above process. The above process has the following innovative points: (1) Multiple operating equipment can monitor the status of the same bicycle at the same time to achieve collaborative maintenance; (2) The operating equipment can obtain the bicycle coordinates in real time through the above process to achieve timely repair; (3) One operating equipment can monitor the status of multiple bicycles anytime and anywhere, without being restricted by time and location; (4) The above process monitors the status information of shared bicycles through waiting table, positioning table, tracking table and movement table to ensure that the operating equipment can successfully obtain the real-time status information of shared bicycles and locate and track the real-time status of bicycles in a timely manner.

[0032] Figure 6 This is a schematic diagram of the operation equipment management process described in this invention. A mobile message includes a message ID, source device ID, destination device ID, final device ID, source coordinates, and destination coordinates. When the operating device MD2 is closest to the tracking device TD2 among all tracking devices, a tracking message is sent. If the operating device MD2 moves before receiving the status message, and the operating device MD2 is closest to the tracking device TD3 among all tracking devices, then the operating device MD2 performs the following operation: Step 501: Begin; Step 502: The operating device MD2 selects a device entry whose coordinates are the smallest distance from the coordinates of the tracking device TD3, and sends a movement message with a message ID of 7. The source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry, the final device ID is equal to the final device ID in the sent tracking message, the source coordinates are equal to the coordinates of the tracking device TD2, and the destination coordinates are equal to the coordinates of the tracking device TD3. Step 503: If the tracking device TD3 receives the movement message from the radio interface, proceed to step 506; otherwise, proceed to step 504. Step 504: If the device ID of the shared bicycle or operating equipment that receives the mobile message is equal to the destination device ID in the mobile message, then proceed to step 505; otherwise, proceed to step 512. Step 505: The shared bicycle or operating equipment that receives the mobile message selects a device entry with the smallest distance between the coordinates of the device entry and the destination coordinates in the mobile message, sets the destination device ID of the mobile message to the device ID of the device entry, forwards the mobile message, and executes step 503. Step 506: Tracking device TD3 creates a wait entry. The destination device ID of the wait entry is equal to the final device ID of the mobile message, the source device ID is equal to the source device ID in the mobile message, and the lifecycle is set to the maximum value. Determine whether there are at least two wait entries whose destination device IDs are equal to the final device ID in the mobile message. If so, proceed to step 512; otherwise, proceed to step 507. Step 507: The tracking device TD3 sets the destination coordinates of the mobile message to the source coordinates of the mobile message, sets the source coordinates of the mobile message to its own coordinates, selects a tracking entry whose coordinates are equal to the destination coordinates of the mobile message, and forwards the mobile message from the interface identified by the interface ID of the tracking entry. Step 508: The tracking device that receives the movement message from the downstream interface y1 determines whether there is a movement entry with the interface ID of the movement entry equal to y1 and the destination device ID equal to the final device ID in the movement message. If it exists, proceed to step 512; otherwise, proceed to step 509. Step 509: The tracking device that receives the motion message from the downstream interface y1 creates a motion entry. The interface ID of the motion entry is equal to y1, the destination device ID is equal to the final device ID in the motion message, and the lifecycle is set to the maximum value. The tracking device determines whether its own coordinates are equal to the destination coordinates of the motion message. If they are, proceed to step 511; otherwise, proceed to step 510. Step 510: The tracking device that receives the mobile message from the downstream interface y1 selects a tracking entry whose coordinates are equal to the destination coordinates of the mobile message, forwards the mobile message from the interface identified by the interface ID of the tracking entry, and executes step 508. Step 511: The tracking device that receives the mobile message from the downstream interface y1 selects a waiting entry. The destination device ID of the waiting entry is equal to the final device ID of the mobile message, and the source device ID is equal to the source device ID in the mobile message. Then, the waiting entry is deleted. Step 512: End.

[0033] The operating equipment obtains the monitored shared bicycle information through the above process. The above process uses mobile messaging to enable the operating equipment to switch between different tracking devices, ensuring that the operating equipment can still correctly receive shared bicycle information when it is in motion, locate and track the real-time status of bicycles in a timely manner, and repair damaged bicycles in a timely manner.

[0034] Example 1 Based on the following simulation parameters, this embodiment simulates the implementation method of a real-time tracking and positioning system for shared bicycles according to the present invention: the MAC protocol is IEEE 802.11p, the moving speed range is 15-20 km / h, the transmission radius is 100 meters, and the simulation time is 10 hours. Performance analysis is as follows: when the shared bicycle moves at a relatively high speed, the success rate of monitoring by the operating equipment decreases; when the shared bicycle moves at a relatively low speed, the success rate of monitoring by the operating equipment increases; the average success rate of monitoring by the operating equipment is 98.95%.

[0035] This invention provides a method for implementing a real-time tracking and positioning system for shared bicycles. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A method for implementing a real-time tracking and positioning system for shared bicycles, characterized in that, The system includes a controller, multiple tracking devices, multiple shared bicycles, and multiple operating devices; the operating devices monitor and locate the shared bicycles in real time through the controller and tracking devices; the tracking devices establish tracking tables through tracking messages; Shared bicycles or operating equipment establish a device table through device messages; shared bicycles or operating equipment establish a management table and a location table through relocation messages and refresh messages; The operating equipment sends tracking messages to monitor the status information of the target shared bicycle; the tracking device that receives the tracking message from the wireless interface creates a waiting table entry and forwards the tracking message from the upstream interface; the controller that receives the tracking message forwards the tracking message. The tracking device that receives the tracking message from the upstream interface forwards the tracking message from the wireless interface; if the device ID of the shared bicycle that receives the tracking message is equal to the final device ID in the tracking message, it sends a status message. Upon receiving a status message from the wired interface, the tracking device performs the following operations for each waiting entry where the destination device ID equals the source device ID of the status message: selects a management entry whose device ID equals the source device ID of the waiting entry; selects the device entry whose coordinates are closest to the coordinates of the management entry; sets the coordinates of the status message to the coordinates of the management entry; sets the destination device ID to the device ID of the device entry; sets the final device ID to the device ID of the management entry; and sends the status message from the wireless interface. For each movement entry where the destination device ID equals the source device ID of the status message, the tracking device forwards the status message from the interface identified by the interface ID of the movement entry. If the device ID of the operating device that receives the status message is equal to the final device ID in the status message, then the status information set in the status message is saved.

2. The method for implementing a real-time tracking and positioning system for shared bicycles according to claim 1, characterized in that, The method further includes: The tracking device maintains a movement table, where each entry contains a destination device ID, an interface ID, and a lifespan. After an operating device sends a tracking message, if movement occurs before receiving a status message, it sends a movement message. The tracking device receiving the movement message from the radio interface creates a waiting entry where the destination device ID is equal to the final device ID of the movement message, the source device ID is equal to the source device ID in the movement message, and the lifespan is set to the maximum value. If the tracking device has only one waiting entry where the destination device ID is equal to the final device ID of the movement message, it sets the destination coordinates of the movement message to the source coordinates, selects a tracking entry with coordinates equal to the destination coordinates, and forwards the movement message from the interface identified by the interface ID of that tracking entry. If the tracking device receiving the movement message from a downstream interface does not have a movement entry where the interface ID is equal to the interface ID of the downstream interface and the destination device ID is equal to the final device ID of the movement message, it creates a movement entry, selects a tracking entry with coordinates equal to the destination coordinates, and forwards the movement message from the interface identified by the interface ID of that tracking entry.

3. The method for implementing a real-time tracking and positioning system for shared bicycles according to claim 1, characterized in that, The method further includes: The tracking device maintains a wait table, and each wait table entry contains the destination device ID, the source device ID, and the lifespan. In the wait table entry created by the tracking device after receiving a tracking message from the radio interface, the destination device ID is equal to the final device ID in the tracking message, the source device ID is equal to the source device ID in the tracking message, and the lifespan is set to the maximum value. Upon receiving the tracking message, the controller selects a location table entry containing the final device ID of the tracking message from the set of device IDs, and forwards the tracking message from the interface identified by the interface ID of the location table entry. The tracking device that receives the tracking message from the upstream interface selects a management table entry whose device ID is equal to the final device ID of the tracking message, and selects a device table entry whose coordinates are distanced from the coordinates of the management table entry. In the tracking message forwarded by the tracking device, the destination device ID is equal to the device ID of the device table entry, and the coordinates are equal to the coordinates of the management table entry. The tracking device that receives the status message from the wireless interface forwards the status message from the upstream interface; after receiving the status message, the controller selects the location table entry containing the final device ID of the status message from the device ID set, and forwards the status message from the interface identified by the interface ID of the location table entry.

4. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: The tracking message includes a message ID, source device ID, destination device ID, final device ID, and coordinates; The status message includes a message ID, a set of status information, a source device ID, a destination device ID, a final device ID, and coordinates. The operating device sending the tracking message selects a device entry whose coordinates are the closest to the coordinates of the nearest tracking device. In the tracking message, the message ID is 5, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry, the final device ID is equal to the device ID of the target shared bicycle, and the coordinates are equal to the coordinates of the nearest tracking device.

5. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: When a shared bicycle sends a status message, it selects a device entry in the device table. The coordinates of this device entry are closest to the coordinates of the nearest tracking device. In the status message sent, the message ID is equal to 6, the status information set is equal to the current status information set, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of this device entry, the final device ID is equal to the source device ID of the tracking message received by the shared bicycle, and the coordinates are equal to the coordinates of the nearest tracking device.

6. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: The mobile message includes a message ID, source device ID, destination device ID, final device ID, source coordinates, and destination coordinates. The operating device sending the mobile message selects a device entry whose coordinates are closest to the coordinates of the nearest tracking device. In the sent mobile message, the message ID is 7, the source device ID is equal to its own device ID, the destination device ID is equal to the device ID of the device entry in the device table, the final device ID is equal to the final device ID in the tracking message sent by the operating device, the source coordinates are equal to the coordinates of the nearest tracking device when the tracking message is sent, and the destination coordinates are equal to the coordinates of the nearest tracking device when the mobile message is sent.

7. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: In the mobility entry created by the tracking device that receives the mobility message from the downstream interface, the interface ID is equal to the interface ID of the downstream interface, the destination device ID is equal to the final device ID of the mobility message, and the lifecycle is set to the maximum value. If the coordinates of the tracking device that receives the mobility message from the downstream interface are not equal to the destination coordinates of the mobility message, then the tracking entry with coordinates equal to the destination coordinates of the mobility message is selected, and the mobility message is forwarded from the interface identified by the interface ID of the tracking entry.

8. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: The controller maintains a positioning table, where each entry contains an interface ID, coordinates, and a set of device IDs. Each tracking device maintains a management table, where each entry contains a device ID, coordinates, and lifecycle. Relocation messages contain a message ID, source device ID, coordinates, and destination device ID. Refresh messages contain a message ID, a set of device IDs, and coordinates. Shared bicycles or operational devices select a device table where the coordinates of that entry are closest to the coordinates of the nearest tracking device. In the relocation message sent, the message ID is 3, the source device ID is equal to the device's own device ID, the coordinates are equal to the device's current coordinates, and the destination device ID is the device ID in that device table entry. Upon receiving a relocation message, the tracking device creates a management entry. The device ID of this management entry is equal to the source device ID in the relocation message, and the coordinates are equal to the coordinates in the relocation message. The lifecycle is set to the maximum value. A refresh message is sent from the upstream interface. The message ID of this refresh message is 4, and the device ID set consists of the device IDs in each management entry of the tracking device. The coordinates are equal to the coordinates of the tracking device. Upon receiving a refresh message, the controller creates a positioning entry. The coordinates of this positioning entry are equal to the coordinates in the refresh message, the interface ID is equal to the interface ID of the interface that received the refresh message, and the device ID set is equal to the device ID set in the refresh message.

9. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: Shared bicycles, operational equipment, and tracking equipment each maintain a separate device table. Each device table entry contains the device ID, coordinates, and lifecycle. Device messages contain the message ID, device ID, and coordinates. In the device message sent by the shared bicycle or operating equipment, the message ID is 2, and the device ID and coordinates are equal to its own device ID and coordinates, respectively. The shared bicycle, operating equipment or tracking equipment that receives the device message creates a device table entry. The device ID of the device table entry is equal to the device ID in the device message, the coordinates are equal to the coordinates in the device message, and the lifespan is equal to the maximum value.

10. A method for implementing a real-time tracking and positioning system for shared bicycles according to any one of claims 1 to 3, characterized in that, The method further includes: The tracking device is configured with multiple wired interfaces and one wireless interface. The wired interface connected to the controller is called the upstream interface, and the wired interface connected to other tracking devices is called the downstream interface. The wireless interface is used to connect to shared bicycles or operational equipment. Each message is uniquely identified by a message ID. Each tracking device maintains a tracking table, and each tracking table entry contains coordinates, interface ID, and lifecycle. The tracking message contains a message ID and coordinates. In the tracking message sent by the tracking device from each downstream interface, the message ID is 1 and the coordinates are equal to its own coordinates. Other tracking devices that receive the tracking message create a tracking entry with coordinates equal to those in the tracking message, interface ID equal to the interface ID of the interface that received the tracking message, and lifespan set to the maximum value. The tracking message is then forwarded from every downstream interface except the one that received the tracking message.

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