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

Abstract

The application provides an implementation method of a shared bicycle real-time tracking and positioning system, the system comprising a controller, a plurality of tracking devices, a plurality of shared bicycles and a plurality of operation devices; the operation devices monitor and position the shared bicycles in real time through the controller and the tracking devices. Through the system, operation personnel can obtain accurate position information of the monitored shared bicycles in real time, and realize all-weather and high-precision bicycle tracking and positioning. The system significantly 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 intelligent traffic and urban shared travel.

Description

TECHNICAL FIELD

[0001] The present application relates to an implementation method, in particular to an implementation method of a shared bicycle real-time tracking and positioning system. BACKGROUND

[0002] The current shared bicycle tracking and positioning system mainly relies on manual patrol, and the number of bicycles handled by a single worker per day is limited, making it difficult to monitor a large number of bicycles in real time. Secondly, the positioning information of the bicycle in the manual patrol is low in accuracy, and cannot achieve real-time tracking and positioning. Finally, manual recording of bicycle position is prone to omissions or misjudgments.

[0003] The present application aims to overcome the shortcomings of the existing shared bicycle tracking and positioning system, track the real-time positioning information of the shared bicycle, and achieve real-time tracking management. SUMMARY

[0004] The present application aims to overcome the shortcomings of the existing shared bicycle tracking and positioning system, track the real-time positioning information of the shared bicycle, and achieve real-time tracking management.

[0005] Technical scheme: The present application discloses an implementation method of a shared bicycle real-time tracking and positioning system, which comprises a controller, a plurality of tracking devices, a plurality of shared bicycles and a plurality of operation devices. The operation device monitors and locates the shared bicycle in real time through the controller and the tracking device. The tracking device establishes a tracking table through tracking messages. The shared bicycle or operation device establishes a device table through device messages. The shared bicycle or operation device establishes a management table and a positioning table through repositioning messages and refresh messages.

[0006] The operation device sends a tracking message to monitor the status information of the target shared bicycle. The tracking device receiving the tracking message from the wireless interface creates a waiting table item and forwards the tracking message from the upstream interface. The controller receiving the tracking message forwards the tracking message. The tracking device receiving the tracking message from the upstream interface forwards the tracking message from the wireless interface.

[0007] If the device ID of the shared bicycle receiving the tracking message is equal to the final device ID in the tracking message, a status message is sent.

[0008] The tracking device receiving the state message from the wired interface, for each waiting table entry whose destination device ID is equal to the source device ID of the state message, performs the following operations: selecting a management table entry whose device ID is equal to the source device ID of the waiting table entry, selecting a device table entry whose coordinates are closest to the coordinates of the management table entry, setting the coordinates of the state message as the coordinates of the management table entry, setting the destination device ID as the device ID of the device table entry, setting the final device ID as the device ID of the management table entry, and sending the state message from the wireless interface; for each moving table entry whose destination device ID is equal to the source device ID of the state message, the tracking device forwards the state message from the interface identified by the interface ID of the moving table entry.

[0009] The device ID of the operation device receiving the state message is equal to the final device ID in the state message, and the state information set in the state message is saved.

[0010] The method further comprises:

[0011] The tracking device saves a moving table, and each moving table entry contains a destination device ID, an interface ID, and a life cycle; after the operation device sends a tracking message, if a movement occurs before a state message is received, a moving message is sent; the tracking device receiving the moving message from the wireless interface creates a waiting table entry, the destination device ID of the waiting table entry is equal to the final device ID of the moving message, the source device ID is equal to the source device ID in the moving message, and the life cycle is set to the maximum value; if the tracking device has only one waiting table entry whose destination device ID is equal to the final device ID of the moving message, the destination coordinates of the moving message are set as the source coordinates of the moving message, a tracking table entry whose coordinates are equal to the destination coordinates of the moving message is selected, and the moving message is forwarded from the interface identified by the interface ID of the tracking table entry; if the tracking device receiving the moving message from the downstream interface does not have a moving table entry whose interface ID is equal to the interface ID of the downstream interface and whose destination device ID is equal to the final device ID of the moving message, a moving table entry is created, a tracking table entry whose coordinates are equal to the destination coordinates of the moving message is selected, and the moving message is forwarded from the interface identified by the interface ID of the tracking table entry.

[0012] The method further comprises:

[0013] The tracking device saves a waiting table, and each waiting table entry contains a destination device ID, a source device ID, and a life cycle; the tracking device receiving a tracking message from the wireless interface creates a waiting table entry, the destination device ID of the waiting table 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 life cycle is set to the maximum value;

[0014] The controller receiving the tracking message selects a positioning table entry whose device ID set contains the final device ID of the tracking message, and forwards the tracking message from the interface identified by the interface ID of the positioning 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 close to the coordinates of the management table entry, and forwards the tracking message whose destination device ID is equal to the device ID of the device table entry and whose coordinates are equal to the coordinates of the management table entry; the tracking device receiving the status message from the wireless interface forwards the status message from the upstream interface; after receiving the status message, the controller selects a positioning table entry whose device ID set contains the final device ID of the status message, and forwards the status message from the interface identified by the interface ID of the positioning table entry.

[0015] The method further comprises:

[0016] The tracking message contains a message ID, a source device ID, a destination device ID, a final device ID and coordinates; the status message contains a message ID, a status information set, a source device ID, a destination device ID, a final device ID and coordinates; the operation device sending the tracking message selects a device table entry whose coordinates are closest to the coordinates of the closest tracking device, and sends the tracking message whose message ID is 5, whose source device ID is equal to the device ID of the operation device, whose destination device ID is equal to the device ID of the device table entry, whose final device ID is equal to the device ID of the target shared bicycle, and whose coordinates are equal to the coordinates of the closest tracking device.

[0017] The method further comprises:

[0018] The shared bicycle sending the status message selects a device table entry whose coordinates are closest to the coordinates of the closest tracking device, and sends the status message whose message ID is equal to 6, whose status information set is equal to the current status information set, whose source device ID is equal to the device ID of the shared bicycle, whose destination device ID is equal to the device ID of the device table entry, whose final device ID is equal to the source device ID of the tracking message received by the shared bicycle, and whose coordinates are equal to the coordinates of the closest tracking device.

[0019] The method further comprises:

[0020] The mobile message comprises a message ID, a source device ID, a destination device ID, a final device ID, source coordinates and destination coordinates; an operation device sending the mobile message selects a device table item, the coordinates of the device table item are the closest to the coordinates of the tracking device closest to the operation device, in the sent mobile message, the message ID is 7, the source device ID is equal to the device ID of the operation device, the destination device ID is equal to the device ID of the device table item, the final device ID is equal to the final device ID in the tracking message sent by the operation device, the source coordinates are equal to the coordinates of the tracking device closest to the operation device when the tracking message is sent, and the destination coordinates are equal to the coordinates of the tracking device closest to the operation device when the mobile message is sent.

[0021] The method further comprises:

[0022] The tracking device receiving the mobile message from the downstream interface creates a mobile table item, the interface ID of the mobile table item is equal to the interface ID of the downstream interface, the destination device ID of the mobile table item is equal to the final device ID of the mobile message, and the life cycle is set to the maximum value; if the coordinates of the tracking device receiving the mobile message from the downstream interface are not equal to the destination coordinates of the mobile message, a tracking table item with coordinates equal to the destination coordinates of the mobile message is selected, and the mobile message is forwarded from the interface identified by the interface ID of the tracking table item.

[0023] The method further comprises:

[0024] The controller saves a positioning table, and one positioning table item comprises an interface ID, coordinates and a device ID set; each tracking device saves a management table, and one management table item comprises a device ID, coordinates and a life cycle; a relocation message comprises a message ID, a source device ID, coordinates and a destination device ID; a refresh message comprises a message ID, a device ID set and coordinates; the shared bicycle or the operation device selects a device table item, the coordinates of the device table item are the closest to the coordinates of the tracking device closest to the operation device, in the sent relocation message, the message ID is 3, the source device ID is equal to the device ID of the operation device, the coordinates are equal to the current coordinates of the operation device, and the destination device ID is the device ID in the device table item;

[0025] The tracking device receiving the relocation message creates a management table item, the device ID of the management table item is equal to the source device ID in the relocation message, the coordinates of the management table item are equal to the coordinates in the relocation message, and the life cycle is set to the maximum value; the tracking device sends a refresh message from the upstream interface, the message ID of the refresh message is 4, the device ID set is composed of the device ID in each management table item of the tracking device, and the coordinates are equal to the coordinates of the tracking device; the controller receiving the refresh message creates a positioning table item, the coordinates of the positioning table item are equal to the coordinates in the refresh message, the interface ID of the positioning table item is equal to the interface ID of the interface receiving the refresh message, and the device ID set of the positioning table item is equal to the device ID set in the refresh message.

[0026] The method further comprises:

[0027] The shared bicycle, the operation device and the tracking device respectively save a device table, and one device table entry contains a device ID, coordinates and a life cycle; a device message contains a message ID, a device ID and coordinates; in the device message sent by the shared bicycle or the operation device, the message ID is 2, and the device ID and the coordinates are equal to the device ID and the coordinates of the shared bicycle or the operation device; the shared bicycle, the operation device or the tracking device receiving 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 life cycle is equal to the maximum value.

[0028] The method further comprises:

[0029] The tracking device is configured with a plurality of wired interfaces and a wireless interface, the wired interface connected with the controller is referred to as an upstream interface, the wired interface connected with other tracking devices is referred to as a downstream interface, and the wireless interface is used for connecting the shared bicycle or the operation device; each message is uniquely identified by a message ID; and each tracking device saves a tracking table, and one tracking table entry contains coordinates, an interface ID and a life cycle.

[0030] 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 the coordinates of the tracking device; other tracking devices receiving the tracking message create a tracking table entry, the coordinates of the tracking table entry are equal to the coordinates in the tracking message, the interface ID is equal to the interface ID of the interface receiving the tracking message, the life cycle is set to the maximum value, and the tracking message is forwarded from each downstream interface except the interface receiving the tracking message.

[0031] Beneficial effects: the application provides an implementation method of a shared bicycle real-time tracking and positioning system, through the system, operation personnel can obtain accurate position information of monitored shared bicycles in real time, and realize all-weather, high-precision bicycle tracking and positioning. The system significantly improves the operation and maintenance management efficiency of shared bicycles, reduces operation cost, and has wide application prospects in the fields of intelligent traffic and urban shared travel. BRIEF DESCRIPTION OF DRAWINGS

[0032] The above and / or other aspects of the application will become more apparent by describing in detail the preferred embodiments thereof with reference to the attached drawings.

[0033] Figure 1 A shared bicycle real-time tracking and positioning system flowchart according to the application.

[0034] Figure 2 A tracking table establishment flowchart according to the application.

[0035] Figure 3 The flowchart of the establishing device table process according to the present application.

[0036] Figure 4 The flowchart of the real-time positioning process according to the present application.

[0037] Figure 5 The flowchart of the real-time tracking process according to the present application.

[0038] Figure 6 The flowchart of the operation device management process according to the present application. DETAILED DESCRIPTION

[0039] In order to make the technical solution of the present application better understood by those skilled in the art, the present application will be described in further detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] Figure 1 The flowchart of the real-time tracking and positioning system of shared bicycles according to the present application. Figure 2 The flowchart of the establishing tracking table process according to the present application. The system comprises a controller, multiple tracking devices, multiple shared bicycles and multiple operation devices.

[0041] The shared bicycle can obtain its own coordinates in real time, for example, through GPS or through an electronic device (mobile phone); the operation device can obtain its own coordinates in real time, for example, through a mobile phone used by an operation personnel;

[0042] The controller is configured with multiple wired interfaces, each wired interface being connected with a tracking device;

[0043] The tracking device is configured with multiple wired interfaces and a wireless interface, the wired interface connected with the controller being referred to as an upstream interface, the wired interface connected with other tracking devices being referred to as a downstream interface, and the wireless interface being used to connect the shared bicycle or the operation device;

[0044] The shared bicycle or the operation device is assigned and configured with a wireless interface, which is used to connect the tracking device, other shared bicycles or operation devices;

[0045] Each shared bicycle or operation device is identified by a device ID with uniqueness, for example, a MAC address; each interface is uniquely identified by an interface ID, the interface with the interface ID x being referred to as interface x; each tracking device has a unique coordinate; and each message is uniquely identified by a message ID;

[0046] Each tracking device saves a tracking table, and a tracking table entry contains coordinates, interface ID and life cycle;

[0047] A tracking message contains message ID and coordinates;

[0048] The tracking device TD1 periodically performs the following operations:

[0049] Step 101: Start;

[0050] Step 102: The tracking device TD1 sends a tracking message from each downstream interface, and the message ID of the tracking message is 1, and the coordinates are equal to its own coordinates;

[0051] Step 103: The other tracking device receiving the tracking message from the interface f1 judges whether there is a tracking table entry whose coordinates are equal to the coordinates in the tracking message and whose life cycle is greater than the threshold TH0, and the threshold TH0 is in the range of 95%-100% of the maximum life cycle, if yes, step 106 is performed, otherwise, step 104 is performed;

[0052] Step 104: The other tracking device receiving the tracking message from the interface f1 sets the interface ID of the tracking table entry to f1 and sets the life cycle to the maximum value if there is a tracking table entry whose coordinates are equal to the coordinates in the tracking message, otherwise, a tracking table entry is created, whose coordinates are equal to the coordinates in the tracking message, whose interface ID is equal to f1, and whose life cycle is set to the maximum value;

[0053] Step 105: The tracking device receiving the tracking message from the interface f1 forwards the tracking message from each downstream interface except the interface f1, and step 103 is performed;

[0054] Step 106: End.

[0055] The tracking device establishes a tracking table on other tracking devices through the above process, so that each tracking device can interact with other tracking devices through the tracking table, and the life cycle of the tracking table ensures the effectiveness and real-time performance of the tracking table.

[0056] Figure 3 The flowchart for establishing a device table is shown in the present application. The shared bicycle or operating device pre-configures the coordinates of each tracking device; the shared bicycle, operating device and tracking device save a device table respectively, and a device table entry contains device ID, coordinates and life cycle;

[0057] A device message contains message ID, device ID and coordinates;

[0058] The shared bicycle or operating device periodically performs the following operations:

[0059] Step 201: Start;

[0060] Step 202: Shared bike or operation device sends a device message, the message ID of the device message is 2, and the device ID and coordinate are equal to the device ID and current coordinate of itself respectively;

[0061] Step 203: The neighbor device receiving the device message, including shared bike, operation device or tracking device, if there is a device table entry, the device ID of which is equal to the device ID in the device message, sets the coordinate of the device table entry as the coordinate in the device message, and sets the life cycle as the maximum value, otherwise, creates a device table entry, the device ID of which is equal to the device ID in the device message, sets the coordinate of the device table entry as the coordinate in the device message, and sets the life cycle as the maximum value;

[0062] Step 204: End.

[0063] The shared bike or operation device establishes the device table on the neighbor shared bike, neighbor operation device or neighbor tracking device through the above process, so that each shared bike, operation device or tracking device can obtain the device ID and coordinate of the neighbor shared bike or operation device through the device table, and the device table ensures the real-time and validity of the device table through the life cycle.

[0064] Figure 4 The real-time positioning flowchart is described in the application. The controller saves a positioning table, and one positioning table entry contains an interface ID, a coordinate and a device ID set;

[0065] Each tracking device saves a management table, and one management table entry contains a device ID, a coordinate and a life cycle;

[0066] The relocation message contains a message ID, a source device ID, a coordinate and a destination device ID;

[0067] The refresh message contains a message ID, a device ID set and a coordinate;

[0068] The shared bike or operation device periodically performs the following operation:

[0069] Step 301: Start;

[0070] Step 302: The shared bicycle or operating device selects a device table item whose coordinate has the minimum distance with the coordinate of the tracking device TD1, and the shared bicycle or operating device is closest to the tracking device TD1 among all tracking devices, and sends a relocation message whose message ID is 3, whose source device ID is equal to its own device ID, whose coordinate is equal to its current coordinate, and whose destination device ID is the device ID in the device table item;

[0071] Step 303: If the tracking device TD1 receives the relocation message from the wireless interface, step 306 is performed, otherwise step 304 is performed;

[0072] Step 304: The shared bicycle or operating device receiving the relocation message judges whether its device ID is equal to the destination device ID in the relocation message, if yes, step 305 is performed, otherwise step 311 is performed;

[0073] Step 305: The shared bicycle or operating device receiving the relocation message selects a tracking device which has the minimum distance with the coordinate in the relocation message among all tracking devices, selects a device table item whose coordinate has the minimum distance with the coordinate of the tracking device, sets the destination device ID in the relocation message as the device ID in the device table item, forwards the relocation message, and step 303 is performed;

[0074] Step 306: The tracking device TD1 judges whether there is a management table item whose device ID is equal to the source device ID in the relocation message, if yes, step 307 is performed, otherwise step 308 is performed;

[0075] Step 307: The tracking device TD1 receiving the relocation message selects a management table item whose device ID is equal to the source device ID in the relocation message, sets the coordinate of the management table item as the coordinate in the relocation message, and sets the life cycle as the maximum value, and step 311 is performed;

[0076] Step 308: The tracking device TD1 receiving the relocation message creates a management table item whose device ID is equal to the source device ID in the relocation message, sets the coordinate of the management table item as the coordinate in the relocation message, and sets the life cycle as the maximum value;

[0077] Step 309: The tracking device TD1 sends a refresh message from the upstream interface, the refresh message has a message ID of 4, a device ID set composed of the device ID in each management table item of the tracking device TD1, and a coordinate equal to the coordinate of the tracking device TD1;

[0078] Step 310: After the controller receives the refreshing message from the interface x1, if there is a positioning table entry whose coordinates are equal to the coordinates in the refreshing message, the interface ID in the positioning table entry is set to x1, and the device ID set is set to the device ID set in the refreshing message; otherwise, the controller creates a positioning table entry whose coordinates are equal to the coordinates in the refreshing message, sets the interface ID in the positioning table entry to x1, and sets the device ID set to the device ID set in the refreshing message.

[0079] Step 311: End.

[0080] The shared bicycles establish the positioning table and the management table through the above process, and the above process has the following innovations: (1) the shared bicycles send real-time coordinates to the nearest tracking device through the repositioning message, so that the tracking device obtains the real-time coordinates of the shared bicycles, and real-time tracking and positioning are realized; (2) the tracking device establishes the positioning table in the controller through the refreshing message, so that the controller can obtain the coordinates and information of the shared bicycles managed by any tracking device, and effective management and real-time tracking and positioning are realized.

[0081] Figure 5 The real-time tracking flowchart is shown in the application. The communication radii of all shared bicycles and operation devices are equal.

[0082] The tracking device saves a waiting table, and a waiting table entry contains a destination device ID, a source device ID and a life cycle.

[0083] The tracking device saves a moving table, and a moving table entry contains a destination device ID, an interface ID and a life cycle.

[0084] Each operation device is preconfigured with the device IDs of all shared bicycles managed by itself.

[0085] The tracking message contains a message ID, a source device ID, a destination device ID, a final device ID and coordinates.

[0086] The state message contains a message ID, a state information set, a source device ID, a destination device ID, a final device ID and coordinates.

[0087] The state information set of the shared bicycle contains various information data, such as the geographical position, real-time coordinates, tire wear degree, brake failure, tire leakage and lock failure of the shared bicycle.

[0088] Under the condition that the operation device MD2 is closest to the tracking device TD2 among all tracking devices, the operation device MD2 obtains the state information set of the shared bicycle BK2 managed by itself through the following process:

[0089] Step 401: Start;

[0090] Step 402: The operating device MD2 selects a device table entry whose coordinate has the minimum distance with the coordinate of the tracking device TD2, sends a tracking message whose message ID is 5, source device ID is equal to its own device ID, destination device ID is equal to the device ID of the device table entry, final device ID is equal to the device ID of the shared bicycle BK2, and coordinate is equal to the coordinate of the tracking device TD2;

[0091] Step 403: If the tracking device receives the tracking message, step 404 is executed, otherwise step 409 is executed;

[0092] Step 404: If the tracking device receives the tracking message from the wireless interface, step 405 is executed, otherwise step 408 is executed;

[0093] Step 405: The tracking device receiving the tracking message from the wireless interface judges whether there is a waiting table entry whose destination device ID is equal to the final device ID in the tracking message and source device ID is equal to the source device ID in the tracking message, if yes, step 413 is executed, otherwise step 406 is executed;

[0094] Step 406: The tracking device receiving the tracking message from the wireless interface creates a waiting table entry whose destination device ID is equal to the final device ID in the tracking message and source device ID is equal to the source device ID in the tracking message, sets the life cycle to the maximum value, judges whether there are at least two waiting table entries whose destination device ID is equal to the final device ID in the tracking message, if yes, step 413 is executed, otherwise step 407 is executed;

[0095] Step 407: The tracking device receiving the tracking message from the wireless interface forwards the tracking message from the upstream interface, and the controller receiving the tracking message selects a positioning table entry whose device ID set contains the final device ID in the tracking message, and forwards the tracking message from the interface identified by the interface ID of the positioning table entry;

[0096] Step 408: 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 in the tracking message, selects a device table entry whose coordinate is closest to the coordinate of the management table entry, sets the destination device ID of the tracking message to the device ID of the device table entry, sets the coordinate of the tracking message to the coordinate of the management table entry, and forwards the tracking message from the wireless interface;

[0097] Step 409: If the device ID of the shared bicycle receiving the tracking message is equal to the final device ID in the tracking message, step 410 is performed, otherwise step 411 is performed;

[0098] Step 410: The shared bicycle receiving the tracking message creates a current state information set, selects a tracking device which is closest to the shared bicycle among all tracking devices, selects a device table entry whose coordinate is closest to the selected tracking device, sends a state message whose message ID is equal to 6, whose state information set is equal to the created state information set, whose source device ID is equal to its own device ID, whose destination device ID is equal to the device ID of the device table entry, whose final device ID is equal to the source device ID of the tracking message, and whose coordinate is equal to the coordinate of the selected tracking device, and performs step 413;

[0099] Step 411: If the device ID of the shared bicycle or the operation device receiving the tracking message is equal to the destination device ID in the tracking message, step 412 is performed, otherwise step 422 is performed;

[0100] Step 412: The shared bicycle or the operation device receiving the tracking message selects a device table entry whose coordinate is closest to the coordinate in the tracking message, sets the destination device ID of the tracking message as the device ID in the device table entry, forwards the tracking message, and performs step 403;

[0101] Step 413: If the tracking device receives the state message, step 414 is performed, otherwise step 418 is performed;

[0102] Step 414: If the tracking device receives the state message from the wireless interface, step 415 is performed, otherwise step 416 is performed;

[0103] Step 415: The tracking device receiving the state message from the wireless interface forwards the state message from the upstream interface, and the controller receiving the state message selects a positioning table entry whose device ID set contains the final device ID of the state message, and forwards the state message from the interface identified by the interface ID of the positioning table entry;

[0104] Step 416: The tracking device receiving the state message from the upstream interface or the downstream interface selects all the waiting table entries whose destination device ID is equal to the source device ID in the state message, and for each selected waiting table entry, performs the following operations: selecting a management table entry whose device ID is equal to the source device ID of the waiting table entry, selecting a device table entry whose coordinates are closest to the coordinates of the management table entry, setting the coordinates of the state message as the coordinates of the management table entry, setting the destination device ID as the device ID of the device table entry, setting the final device ID as the device ID of the management table entry, and sending the state message from the wireless interface; the tracking device selects all the moving table entries whose destination device ID is equal to the source device ID in the state message, and for each moving table entry, performs the following operations: forwarding the state message from the interface identified by the interface ID of the moving table entry;

[0105] Step 417: The tracking device receiving the state message from the upstream interface or the downstream interface selects all the waiting table entries whose destination device ID is equal to the source device ID in the state message, deletes all the selected waiting table entries, selects all the moving table entries whose destination device ID is equal to the source device ID in the state message, deletes the moving table entries, and performs step 413;

[0106] Step 418: If the device ID of the operating device receiving the state message is equal to the final device ID in the state message, the step 421 is performed, otherwise, step 419 is performed.

[0107] Step 419: If the device ID of the shared bicycle or the operating device receiving the state message is equal to the destination device ID in the state message, step 420 is performed, otherwise, step 422 is performed.

[0108] Step 420: The shared bicycle or the operating device receiving the state message selects a device table entry whose coordinates are closest to the coordinates in the state message, sets the destination device ID in the state message as the device ID in the device table entry, forwards the state message, and performs step 413.

[0109] Step 421: The operating device receiving the state message saves the state information set in the state message.

[0110] Step 422: End.

[0111] The operation equipment obtains the monitoring shared bicycle state information set through the above process, and the above process has the following innovations: (1) multiple operation equipment can monitor the state of the same bicycle at the same time, realizing collaborative maintenance; (2) the operation equipment can obtain the coordinates of the bicycle in real time through the above process, realizing timely repair; (3) one operation equipment can monitor the state of multiple bicycles at any time and anywhere, without time and place restrictions; (4) the above process monitors the state information of the shared bicycle through the waiting table, the positioning table, the tracking table and the moving table, so as to ensure that the operation equipment can successfully obtain the real-time state information of the shared bicycle, and timely locate and track the real-time state of the bicycle.

[0112] Figure 6 The operation equipment management process diagram of the application is shown. The mobile message contains message ID, source equipment ID, destination equipment ID, final equipment ID, source coordinates and destination coordinates;

[0113] In all tracking equipment, when the operation equipment MD2 is closest to the tracking equipment TD2, a tracking message is sent. If the operation equipment MD2 receives a state message before moving, in all tracking equipment, the operation equipment MD2 is closest to the tracking equipment TD3, and the operation equipment MD2 performs the following operation:

[0114] Step 501: start;

[0115] Step 502: the operation equipment MD2 selects a device table item whose coordinates are closest to the coordinates of the tracking equipment TD3, and sends a mobile message, the message ID of the mobile message is 7, the source equipment ID is equal to its own equipment ID, the destination equipment ID is equal to the equipment ID of the device table item, the final equipment ID is equal to the final equipment ID in the sent tracking message, the source coordinates are equal to the coordinates of the tracking equipment TD2, and the destination coordinates are equal to the coordinates of the tracking equipment TD3;

[0116] Step 503: if the tracking equipment TD3 receives the mobile message from the wireless interface, step 506 is executed, otherwise step 504 is executed;

[0117] Step 504: if the device ID of the shared bicycle or the operation equipment receiving the mobile message is equal to the destination equipment ID in the mobile message, step 505 is executed, otherwise step 512 is executed;

[0118] Step 505: the shared bicycle or the operation equipment receiving the mobile message selects a device table item whose coordinates are closest to the destination coordinates in the mobile message, sets the destination equipment ID of the mobile message as the equipment ID of the device table item, forwards the mobile message, and executes step 503;

[0119] Step 506: The tracking device TD3 creates a waiting table entry, the destination device ID of which is equal to the final device ID in the mobile message, the source device ID of which is equal to the source device ID in the mobile message, and the life cycle is set to the maximum value. It is judged whether there are at least two waiting table entries whose destination device ID is equal to the final device ID in the mobile message. If yes, step 512 is executed; otherwise, step 507 is executed.

[0120] Step 507: The tracking device TD3 sets the destination coordinates of the mobile message as the source coordinates of the mobile message, sets the source coordinates of the mobile message as its own coordinates, selects a tracking table 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 table entry.

[0121] Step 508: The tracking device receiving the mobile message from the downstream interface y1 judges whether there is a mobile table entry whose interface ID is equal to y1 and whose destination device ID is equal to the final device ID in the mobile message. If yes, step 512 is executed; otherwise, step 509 is executed.

[0122] Step 509: The tracking device receiving the mobile message from the downstream interface y1 creates a mobile table entry whose interface ID is equal to y1 and whose destination device ID is equal to the final device ID in the mobile message, sets the life cycle to the maximum value, and judges whether its own coordinates are equal to the destination coordinates of the mobile message. If yes, step 511 is executed; otherwise, step 510 is executed.

[0123] Step 510: The tracking device receiving the mobile message from the downstream interface y1 selects a tracking table 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 table entry, and executes step 508.

[0124] Step 511: The tracking device receiving the mobile message from the downstream interface y1 selects a waiting table entry whose destination device ID is equal to the final device ID in the mobile message and whose source device ID is equal to the source device ID in the mobile message, and deletes the waiting table entry.

[0125] Step 512: End.

[0126] The operation device obtains the monitored shared bicycle information through the above process. The above process realizes the switching operation of the operation device between different tracking devices by using the mobile message, ensures that the operation device can correctly receive the shared bicycle information in the moving state, timely locates and tracks the real-time state of the bicycle, and timely repairs the damaged bicycle.

[0127] Embodiment 1

[0128] Based on the following simulation parameters, the implementation method of the shared bicycle real-time tracking and positioning system in the present application is simulated: the MAC protocol is IEEE 802.11p, the moving speed interval is 15-20 km / h, the transmission radius is 100 meters, and the simulation time is 10 hours. The performance analysis is as follows: when the shared bicycle moves faster, the operation equipment monitoring success rate decreases; when the shared bicycle moves slower, the operation equipment monitoring success rate increases; the average success rate of operation equipment monitoring is 98.95%.

[0129] The present application provides a kind of shared bicycle real-time tracking and positioning system implementation method, the method and approach of many specific implementation of this technical scheme, above-mentioned only is preferred embodiment of the present application, it should be pointed out, for the ordinary skilled in the art, without departing from the principles of the present application, can make a number of improvements and refinements, these improvements and refinements also should be considered as the protection scope of the present application. The components not explicitly described in the present embodiment can be implemented using existing technology.

Claims

1. An implementation method of a shared bicycle real-time tracking and positioning system, characterized in that, The system comprises 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 the tracking devices; the tracking devices establish a tracking table through tracking messages; The shared bicycles or the operating devices establish a device table through device messages; the shared bicycles or the operating devices establish a management table and a positioning table through repositioning messages and refreshing messages; The operating devices send tracking messages to monitor the state information of target shared bicycles; the tracking devices receiving the tracking messages from the wireless interface create waiting table entries and forward the tracking messages from the upstream interface; the controller receiving the tracking messages forwards the tracking messages; The tracking devices receiving the tracking messages from the upstream interface forward the tracking messages from the wireless interface; if the device ID of the shared bicycle receiving the tracking messages is equal to the final device ID in the tracking messages, the shared bicycle sends a state message; The tracking devices receiving the state messages perform the following operations for each waiting table entry whose destination device ID is equal to the source device ID of the state message: selecting a management table entry whose device ID is equal to the source device ID of the waiting table entry, selecting a device table entry closest to the coordinates of the management table entry, setting the coordinates of the state message as the coordinates of the management table entry, setting the destination device ID as the device ID of the device table entry, setting the final device ID as the device ID of the management table entry, and sending the state message from the wireless interface; for each moving table entry whose destination device ID is equal to the source device ID of the state message, the tracking devices forward the state message from the interface identified by the interface ID of the moving table entry; If the device ID of the operating device receiving the state message is equal to the final device ID in the state message, the operating device saves the state information set in the state message.

2. The method of claim 1, wherein, The method further comprises: The tracking devices save a moving table, and each moving table entry comprises a destination device ID, an interface ID and a life cycle; if a movement occurs before a state message is received after the operating device sends a tracking message, a moving message is sent; the tracking devices receiving the moving message from the wireless interface create waiting table entries, the destination device ID of each waiting table entry is equal to the final device ID of the moving message, the source device ID is equal to the source device ID in the moving message, and the life cycle is set as the maximum value; if the tracking devices have only one waiting table entry whose destination device ID is equal to the final device ID of the moving message, the destination coordinates of the moving message are set as the source coordinates of the moving message, a tracking table entry whose coordinates are equal to the destination coordinates of the moving message is selected, and the moving message is forwarded from the interface identified by the interface ID of the tracking table entry; if there is no moving table entry whose interface ID is equal to the interface ID of the downstream interface and whose destination device ID is equal to the final device ID of the moving message, a moving table entry is created, a tracking table entry whose coordinates are equal to the destination coordinates of the moving message is selected, and the moving message is forwarded from the interface identified by the interface ID of the tracking table entry.

3. The method of claim 1, wherein the method further comprises: The method further comprises: The tracking device saves a waiting table, a waiting table entry contains a destination device ID, a source device ID and a life cycle; the tracking device receiving a tracking message from a wireless interface creates a waiting table entry, the destination device ID in the waiting table entry is equal to the final device ID in the tracking message, the source device ID in the waiting table entry is equal to the source device ID in the tracking message, and the life cycle is set to the maximum value; The controller receiving the tracking message selects a positioning table entry containing the final device ID of the tracking message, and forwards the tracking message from the interface identified by the interface ID of the positioning table entry; The tracking device receiving a tracking message from an upstream interface selects a management table entry with a device ID equal to the final device ID of the tracking message, and selects a device table entry with a coordinate distance from the coordinate of the management table entry, and the tracking device forwards a tracking message with a destination device ID equal to the device ID of the device table entry and a coordinate equal to the coordinate of the management table entry; The tracking device receiving a status message from a wireless interface forwards the status message from an upstream interface; the controller receiving the status message selects a positioning table entry containing the final device ID of the status message, and forwards the status message from the interface identified by the interface ID of the positioning table entry.

4. The implementation method of a shared bicycle real-time tracking and positioning system according to any one of claims 1 to 3, characterized in that, The method further comprises: The tracking message contains a message ID, a source device ID, a destination device ID, a final device ID and a coordinate; The status message contains a message ID, a status information set, a source device ID, a destination device ID, a final device ID and a coordinate; the operation device sending a tracking message selects a device table entry with a coordinate having the smallest distance from the coordinate of the nearest tracking device, and the tracking message sent has a message ID of 5, a source device ID equal to the device ID of the operation device, a destination device ID equal to the device ID of the device table entry, a final device ID equal to the device ID of the target shared bicycle, and a coordinate equal to the coordinate of the nearest tracking device.

5. The method of claim 1 to 3, wherein, The method further comprises: The shared bicycle sending a status message selects a device table entry with a coordinate having the smallest distance from the coordinate of the nearest tracking device, and the status message sent has a message ID equal to 6, a status information set equal to the current status information set, a source device ID equal to the device ID of the shared bicycle, 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 received by the shared bicycle, and a coordinate equal to the coordinate of the nearest tracking device.

6. The method of claim 2, wherein the method further comprises: The method further comprises: The mobile message contains a message ID, a source device ID, a destination device ID, a final device ID, source coordinates and destination coordinates; an operation device sending the mobile message selects a device table entry, the coordinates of which are closest to the coordinates of the tracking device closest to itself, and the message ID in the sent mobile message is 7, the source device ID is equal to the device ID of the operation device, the destination device ID is equal to the device ID of the device table entry, the final device ID is equal to the final device ID in the tracking message sent by the operation device, the source coordinates are equal to the coordinates of the tracking device closest to the operation device when the tracking message is sent, and the destination coordinates are equal to the coordinates of the tracking device closest to the operation device when the mobile message is sent.

7. The method of claim 2, wherein the method further comprises: The method further comprises: The tracking device receiving the mobile message from the downstream interface creates a mobile table entry, the interface ID of which is equal to the interface ID of the downstream interface, the destination device ID is equal to the final device ID of the mobile message, and the life cycle is set to the maximum value; if the coordinates of the tracking device receiving the mobile message from the downstream interface are not equal to the destination coordinates of the mobile message, a tracking table entry with coordinates equal to the destination coordinates of the mobile message is selected, and the mobile message is forwarded from the interface identified by the interface ID of the tracking table entry.

8. The implementation method of a shared bicycle real-time tracking and positioning system according to any one of claims 1 to 3, characterized in that, The method further comprises: The controller saves a positioning table, and a positioning table entry contains an interface ID, coordinates and a device ID set; each tracking device saves a management table, and a management table entry contains a device ID, coordinates and a life cycle; a relocation message contains a message ID, a source device ID, coordinates and a destination device ID; a refresh message contains a message ID, a device ID set and coordinates; the shared bicycle or operation device selects a device table, the coordinates of the device table entry are closest to the coordinates of the tracking device closest to itself, and the message ID in the sent relocation message is 3, the source device ID is equal to the device ID of the operation device, the coordinates are equal to the current coordinates of the operation device, and the destination device ID is the device ID in the device table entry; The tracking device receiving the relocation message creates a management table entry, the device ID of which is equal to the source device ID in the relocation message, the coordinates are equal to the coordinates in the relocation message, and the life cycle is set to the maximum value; a refresh message is sent from the upstream interface, the message ID of the refresh message is 4, the device ID set is composed of the device ID in each management table entry of the tracking device, and the coordinates are equal to the coordinates of the tracking device; the controller receiving the refresh message creates a positioning table entry, the coordinates of which are equal to the coordinates in the refresh message, the interface ID is equal to the interface ID of the interface receiving the refresh message, and the device ID set is equal to the device ID set in the refresh message.

9. The implementation method of a shared bicycle real-time tracking and positioning system according to any one of claims 1 to 3, characterized in that, The method further comprises: The shared bicycle, operation device and tracking device respectively save a device table, and a device table entry contains a device ID, coordinates and a life cycle; a device message contains a message ID, a device ID and coordinates. The method further comprises: The shared bicycle or the operation device sends a device message, the message ID is 2, the device ID and the coordinate are equal to the device ID and the coordinate of the shared bicycle or the operation device respectively; the shared bicycle, the operation device or the tracking device receiving 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 coordinate is equal to the coordinate in the device message, and the life cycle is equal to the maximum value.

10. The implementation method of a shared bicycle real-time tracking and positioning system according to any one of claims 1 to 3, characterized in that, The method further comprises: The tracking device is configured with multiple wired interfaces and one wireless interface, the wired interface connected with the controller is referred to as an upstream interface, the wired interface connected with other tracking devices is referred to as a downstream interface, and the wireless interface is used to connect the shared bicycle or the operation device; each message is uniquely identified by a message ID; each tracking device stores a tracking table, and one tracking table entry contains a coordinate, an interface ID and a life cycle; The tracking message contains a message ID and a coordinate; the tracking device sends a tracking message from each downstream interface, the message ID is 1, and the coordinate is equal to the coordinate of the tracking device; other tracking devices receiving the tracking message create a tracking table entry, the coordinate of the tracking table entry is equal to the coordinate in the tracking message, the interface ID is equal to the interface ID of the interface receiving the tracking message, the life cycle is set to the maximum value, and the tracking message is forwarded from each downstream interface except the interface receiving the tracking message.

Images