CN110517392B - Campus sharing bicycle intelligent lock control system based on attitude calculation - Google Patents
Campus sharing bicycle intelligent lock control system based on attitude calculation Download PDFInfo
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- CN110517392B CN110517392B CN201910826096.XA CN201910826096A CN110517392B CN 110517392 B CN110517392 B CN 110517392B CN 201910826096 A CN201910826096 A CN 201910826096A CN 110517392 B CN110517392 B CN 110517392B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
- G07C2009/00365—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks in combination with a wake-up circuit
- G07C2009/00373—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks in combination with a wake-up circuit whereby the wake-up circuit is situated in the lock
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Abstract
A campus sharing bicycle intelligent lock control system based on attitude calculation relates to the technical field of intelligent control. The invention aims to solve the problems that the existing shared bicycle in the campus cannot be parked at a preset position, falls down randomly and cannot be effectively managed in time. The motor driving module is used for controlling the action of a motor for driving the lock bolt and controlling the opening or closing of the intelligent lock; the NFC wireless radio frequency module is used for collecting information of a campus card held by a user and transmitting the information to a remote server through a microcontroller and an NB-IoT for information comparison; the microcontroller is communicated with the remote server through the NB-IoT communication module, whether the shared bicycle is located in an electronic fence which is used for regulating the parking area of the vehicle or not is judged through the remote server, and the shared bicycle is controlled to be placed according to the specified orientation. The intelligent lock control system developed by the invention integrates innovative functions of place setting, direction setting, lodging intelligent monitoring and the like.
Description
Technical Field
The invention relates to the technical field of campus sharing bicycle intelligent control.
Background
And 4, 20 days in 2017, a shared single-vehicle management platform 'single-vehicle family' jointly developed by the general public transport company in Zhengzhou city is formally launched, and a new scheme is provided for solving the problem of disorderly parking and disorderly releasing the shared single vehicle. And a special parking place is opened up for sharing the single vehicle by using scientific and technological means such as a telescopic signal coverage technology and the like. The 'family of the bicycle' utilizes the signal control equipment to define an 'electronic fence', a virtual parking area which cannot be seen by eyes but can be clearly monitored by signals is formed, and a user can search the specific position of the nearby virtual parking area through a matched mobile phone client to standardize the borrowing and returning of the user at a fixed place. According to the system design, the user can lock the car without stopping the charging outside the virtual parking area, so that the habit of parking the car in the specified area is developed. The 'family of a single bus' supports a mobile phone code scanning mode and a bus IC card access mode, and the joint riding of the single bus, the public transportation such as the bus and the subway can be completed by using one IC card, so that great convenience is brought to citizens for going out. Meanwhile, the 'family of the single vehicle' is also a sharing platform, the compatible coexistence of the shared single vehicles of all brands is supported, the platform can carry out centralized management on the single vehicles accessed into the system, the single vehicle is uniformly allocated to be put according to the bus passenger flow data, and the utilization rate of the single vehicle is improved.
The prior art with the document number of CN107613468A and the publication date of 2018, 01, 19 discloses an operation management system and method based on a shared bicycle electronic tag fence technology, and an electronic fence based on a benchmarking positioning principle is established by controlling the communication distance between the Bluetooth of a user mobile phone and a Bluetooth position tag of a shared bicycle parking point; when the Bluetooth of the user mobile phone is used for unlocking and locking the shared bicycle, unlocking or locking information is read through the Bluetooth of the bicycle lock in a short distance, meanwhile, the ID of the position tag of the electronic fence is read, the current position of the shared bicycle is judged according to the ID, and the information is transmitted to the management platform through the user mobile phone.
The prior art with the document number of CN207752534U and the publication date of 2018, 08 and 21 discloses a shared bicycle intelligent lock and a shared bicycle intelligent lock system, wherein the shared bicycle intelligent lock comprises a positioning module, a communication module, a direction module, a space angle module, a lock module, a central processing unit and a power supply module; the positioning module, the communication module, the direction module, the space angle module and the lock module are electrically connected with the central processing unit, and the power supply module supplies power to the central processing unit and the lock module. Through position, direction and space angle information when acquireing the bicycle and parking, realize sharing bicycle compliance parking area and direction, the injecing of space angle, restraint user's parking action to realize not putting into artifical the maintenance of parking and improving current indiscriminate and stop, indiscriminate the circumstances of putting. However, the document only provides a technical assumption, and does not provide a specific technical means for improving the conditions of the random parking and the random parking of the shared bicycle.
Along with the continuous popularization of the bicycle in each college, the problem of random parking of the bicycle is increasingly serious, the campus image is seriously influenced, and due to the lack of timely and effective management, the bicycle falls down randomly and is even parked on a road randomly, so that traffic accidents are easily caused, and serious personal and property safety is brought to teachers and students in the universities. The prior art does not really solve the technical problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
the invention provides an intelligent lock control system for a campus sharing bicycle based on attitude calculation, and aims to solve the problems that the existing sharing bicycle in the campus cannot be parked at a preset position, falls randomly and cannot be effectively managed in time.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a campus sharing bicycle intelligent lock control system based on attitude calculation is installed on a sharing bicycle lock body to form a sharing bicycle intelligent lock and comprises
A microcontroller, a lock state potentiometer, a motor driving module, an attitude sensor, a Beidou positioning module, a magnetic sensor, an NFC wireless radio frequency module and a remote server,
the Beidou positioning module is used for positioning the longitude and latitude positions of the shared bicycle and transmitting the longitude and latitude information of the positions of the shared bicycle to the microcontroller;
the magnetic sensor is used for reading the placing angle information of the shared bicycle and transmitting the placing angle information to the microcontroller;
the attitude sensor is used for measuring the original data of the space attitude of the shared bicycle, the attitude sensor transmits the original data of the space attitude of the shared bicycle to the microcontroller, and the microcontroller resolves the read original data of the space attitude of the shared bicycle through attitude resolution to obtain the information of the space attitude of the shared bicycle;
the lock state potentiometer judges the opening or closing state of the lock body by acquiring the position information of the lock bolt of the lock body and sends the opening or closing state to the microcontroller;
the motor driving module is used for controlling the action of a motor for driving the lock bolt so as to control the opening or closing of the intelligent lock;
the NFC wireless radio frequency module is used for collecting information of a campus card held by a user and transmitting the information to a remote server through a microcontroller and NB-IoT for information comparison;
the microcontroller is communicated with the remote server through the NB-IoT communication module, whether the shared bicycle is located in an electronic fence which is used for regulating the parking area of the vehicle or not is judged through the remote server, and the shared bicycle is controlled to be placed according to the specified orientation.
Further, the microcontroller is of the model STM32F103c8t 6.
Further, the model of the attitude sensor is MPU 6050.
Further, the magnetic sensor is of a model HMC5983 (also called geomagnetic module).
A campus sharing bicycle intelligent lock control method based on the control system is realized by the following steps:
(a) unlocking process
A user swipes an NFC wireless radio frequency module through an RFID tag campus card, the NFC wireless radio frequency module reads user information, the user information is uploaded to a remote server through a microcontroller to identify user identity information, and after the user identification information passes the authentication of the remote server, the microcontroller controls the action of a motor on a sharing bicycle lock body through a motor driving module to enable a sharing bicycle intelligent lock to be opened;
(b) closing of the locking process
After the user rides the bicycle, the lock state potentiometer detects that the lock body is changed from an open state to a closed state through the triggering action of a manual closing lock, and the Beidou positioning module immediately reads the longitude and latitude position information of the current location of the shared bicycle and uploads the longitude and latitude position information to the remote server through the NB-IoT communication module;
the remote server judges whether the vehicle is allowed to stop according to the uploaded longitude position information, if the vehicle is judged to be forbidden, the shared bicycle cannot be locked currently if the remote server does not process the vehicle, and a user is reminded to stop the vehicle in a specified area;
if the vehicle is judged to be allowed, the remote server sends the standard placing angle information of the current place to the microcontroller, the microcontroller compares the current placing angle information acquired by the magnetic sensor with the standard to judge whether the vehicle conforms to the specified vehicle orientation of the area, if so, the vehicle is kept locked to enter a sleep mode, otherwise, the user is reminded to adjust the direction until the vehicle conforms to the specified vehicle orientation of the area (the placing angle does not have too large deviation and is generally less than ninety degrees due to the fact that people stop in a hurry through actual investigation, and therefore, the vehicle is designed to only whistle and not to be automatically unlocked again);
(c) sleep monitoring
After the vehicle is safely locked and parked in a specified area according to a placement angle, the standing horse enters a sleep mode, a sleep monitoring function is started through a timer in a microcontroller, namely, an attitude sensor is awakened at a fixed time, the current attitude of the shared bicycle is measured and calculated through the microcontroller (the fact that a program cannot be inserted when the timer is interrupted when the vehicle is in an unlocking state is emphasized), and the shared bicycle is judged to be in a lodging state or an upright state; the microcontroller resolves the read shared bicycle space attitude original data through attitude resolution to obtain shared bicycle space attitude information;
if the current vehicle is found to be in a normal upright state, the vehicle enters the sleep mode again, otherwise, the lodging state alarm is sent to the remote server through the NB-IoT communication module, and the sleep mode is carried out again after the sending is finished;
the remote server processes and judges the information transmitted by the NB-IoT communication module, and finally sends the position information of the vehicle and the lodging alarm to a corresponding region administrator, and the region administrator timely arrives at a designated region to process the vehicle timely.
Further, the microcontroller resolves the read shared bicycle space attitude original data through attitude resolution to obtain shared bicycle space attitude information, and the specific process is as follows:
assuming the shared bicycle in the space as a rigid body, the rotation condition can be decomposed into the rotation of a three-dimensional coordinate axis of the space; these three angles are then called euler angles; the posture is the conversion relation between one coordinate system and the other coordinate system; attitude calculation is carried out through the Euler angles, namely the rotation angles of the three-axis Euler angles are calculated;
in the sleep monitoring process, the posture change of the shared bicycle in the space needs to be described through the change of the Euler angle, and whether the shared bicycle falls down or not is judged through the posture change; the inclination angle of the rigid body and the angular velocity of the rigid body around a three-dimensional coordinate axis (three axes) of a space are measured by an MPU6050 attitude sensor, and the included angle between the rigid body and the geomagnetism is measured by an HMC5983 geomagnetic sensor;
utilize through STM32F103c8t6 microcontroller the angular velocity and the contained angle of earth magnetism, fuse the correction to the inclination angle of rigid body, finally obtain comparatively accurate euler angle, STM32F103c8t6 microcontroller judges through the euler angle whether the lodging condition takes place.
The invention has the beneficial effects that:
the intelligent lock control system developed by the invention based on the new technologies of electronic fence, intelligent lodging monitoring, intelligent single-vehicle placement, big data analysis and the like integrates the innovative functions of specified place placement, specified direction placement, intelligent lodging monitoring and the like.
(1) The information transmission of the intelligent lock control and monitoring system is carried out under the system of the narrow-band Internet of things, and the NB-IOT has the characteristic of low power consumption, so that the problems of high power consumption and short service life of the system in the conventional system can be solved, and the consumption of resources and energy is saved. And because its coverage is wide, can realize the target of one person's management multizone, reduce the human cost, rationally utilize manpower resources, be convenient for the operation and the maintenance of sharing the relevant enterprise of bicycle to its product.
(2) The Beidou satellite positioning system is adopted by the system in combination with the positioning of the shared bicycle. The Beidou positioning is adopted to effectively position the parking positions of the shared bicycles, and whether the shared bicycles are reasonably parked in a specified area is analyzed by adopting a certain algorithm. If the parking is reasonable, the lock can be locked. Otherwise, the user cannot close the lock and is prompted to stop at a reasonable position.
(3) For the parking direction, the system adopts a geomagnetic module to read the parking angle of the vehicle. When the user parks in the designated area, the geomagnetic module processes the read data through stm32, and outputs the angle of the parked car at that time. If the angle is reasonable, the user enters the sleep mode immediately. Otherwise, the buzzer alarms to remind the user to adjust the direction. The addition of the module can effectively prompt a user to reasonably place vehicles in a designated area, avoids traffic disorder caused by messy parking, and can correspondingly reduce the workload of a shared bicycle manager so as to enlarge the management range of the shared bicycle manager and promote reasonable utilization of human resources.
(4) For the lodging problem, the system adopts an MPU6050 module, and when an administrator reads the position information of the vehicle and the lodging information of the vehicle, the administrator can accurately go to a formulated place and timely take countermeasures aiming at the formulated target. Therefore, the shared bicycle can be effectively managed, and the user can experience safely and well.
(5) For the aspect that the user uses the shared bicycle, the system adopts the RFID technology. In the face of the vast students, the RFID technology is integrated into the campus card, so that the students can more conveniently eat and live in the campus, and the students can stop and take the vehicles at will only need to carry the meal card with the students. Facing common citizens of office workers and the like, the technology can be integrated into a full-city all-purpose card to realize seamless connection between a bus subway and a shared bicycle, and the problem of 'last mile' is better solved. Most importantly, when the user swipes the card to unlock the lock, the RFID reads the information of the user and the bicycle ridden at this time and transmits the information to the server end to be recorded, and the administrator manages the parking of the corresponding bicycle at the server end, so that the condition that the shared bicycle is lost can be effectively avoided. When a shared bicycle manager places the bicycle, the manager swipes the manager card, and the bicycle can be effectively placed, maintained and repaired. Therefore, the purpose of convenient management is achieved, the cost is reduced, and the management method is not limited by APP.
Drawings
FIG. 1 is a block flow diagram of a system lock-down process according to the present invention; fig. 2 is a block flow diagram of an unlocking process of the system according to the present invention, fig. 3 is a block flow diagram of a sleep monitoring process of the system according to the present invention, fig. 4 is a block structural diagram of the system according to the present invention, and fig. 5 is a schematic circuit diagram of the system according to the present invention. FIG. 6 is a schematic diagram of the Euler angles; in the figure, a represents roll angle, b represents pitch angle, and c represents heading angle. The rectangles in the drawing represent rigid bodies, and correspond to the shared bicycle in the present invention.
Detailed Description
The implementation of the invention is explained below with reference to fig. 1 to 5:
a campus sharing bicycle intelligent lock control system based on attitude calculation is installed on a sharing bicycle lock body to form a sharing bicycle intelligent lock and comprises
A microcontroller, a lock state potentiometer, a motor driving module, an attitude sensor, a Beidou positioning module, a magnetic sensor, an NFC wireless radio frequency module and a remote server,
the Beidou positioning module is used for positioning the longitude and latitude positions of the shared bicycle and transmitting the longitude and latitude information of the positions of the shared bicycle to the microcontroller;
the magnetic sensor is used for reading the placing angle information of the shared bicycle and transmitting the placing angle information to the microcontroller;
the attitude sensor is used for measuring the original data of the space attitude of the shared bicycle, the attitude sensor transmits the original data of the space attitude of the shared bicycle to the microcontroller, and the microcontroller resolves the read original data of the space attitude of the shared bicycle through attitude resolution to obtain the information of the space attitude of the shared bicycle;
the lock state potentiometer judges the opening or closing state of the lock body by acquiring the position information of the lock bolt of the lock body and sends the opening or closing state to the microcontroller;
the motor driving module is used for controlling the action of a motor for driving the lock bolt so as to control the opening or closing of the intelligent lock;
the NFC wireless radio frequency module is used for collecting information of a campus card held by a user and transmitting the information to a remote server through a microcontroller and an NB-IoT for information comparison;
the microcontroller is communicated with the remote server through the NB-IoT communication module, whether the shared bicycle is located in an electronic fence which is used for regulating the parking area of the vehicle or not is judged through the remote server, and the shared bicycle is controlled to be placed according to the specified orientation.
The microcontroller is of the model STM32F103c8t 6. The model of the attitude sensor is MPU 6050. The magnetic sensor is of the type HMC5983 (also called geomagnetic module).
The campus sharing single-vehicle intelligent lock control method based on the control system comprises the following implementation processes:
(a) unlocking process
The user swipes an NFC wireless radio frequency module through an RFID tag campus card, the NFC wireless radio frequency module reads user information, the user information is uploaded to a remote server through a microcontroller to identify user identity information, and after the user identity information is authenticated by the remote server, the microcontroller controls the action of a motor on a shared bicycle lock body through a motor driving module to open the shared bicycle intelligent lock;
(b) closing of the locking process
After the user rides the bicycle, the lock state potentiometer detects that the lock body is changed from an open state to a closed state through the triggering action of a manual closing lock, and the Beidou positioning module immediately reads the longitude and latitude position information of the current location of the shared bicycle and uploads the longitude and latitude position information to the remote server through the NB-IoT communication module;
the remote server judges whether the vehicle is allowed to stop according to the uploaded longitude position information, if the vehicle is judged to be forbidden, the shared bicycle cannot be locked currently if the remote server does not process the vehicle, and a user is reminded to stop the vehicle in a specified area;
if the vehicle is judged to be allowed, the remote server sends the standard placing angle information of the current place to the microcontroller, the microcontroller compares the current placing angle information acquired by the magnetic sensor with the standard to judge whether the vehicle conforms to the specified vehicle orientation of the area, if so, the vehicle is kept locked to enter a sleep mode, otherwise, the user is reminded to adjust the direction until the vehicle conforms to the specified vehicle orientation of the area (the placing angle does not have too large deviation and is generally less than ninety degrees due to the fact that people stop in a hurry through actual investigation, and therefore, the vehicle is designed to only whistle and not to be automatically unlocked again);
(c) sleep monitoring
After the vehicle is safely locked and parked in a specified area according to a placement angle, the standing horse enters a sleep mode, a sleep monitoring function is started through a timer in a microcontroller, namely, an attitude sensor is awakened at a fixed time, the current attitude of the shared bicycle is measured and calculated through the microcontroller (the fact that a program cannot be inserted when the timer is interrupted when the vehicle is in an unlocking state is emphasized), and the shared bicycle is judged to be in a lodging state or an upright state; the microcontroller resolves the read shared bicycle space attitude original data through attitude resolution to obtain shared bicycle space attitude information;
if the current vehicle is found to be in a normal upright state, the vehicle enters the sleep mode again, otherwise, the lodging state alarm is sent to the remote server through the NB-IoT communication module, and the sleep mode is carried out again after the sending is finished;
the remote server processes and judges the information transmitted by the NB-IoT communication module, and finally sends the position information of the vehicle and the lodging alarm to a corresponding region administrator, and the region administrator timely arrives at a designated region to process the vehicle timely.
The microcontroller resolves the read shared bicycle space attitude original data through attitude resolution to obtain shared bicycle space attitude information, and the specific process is as follows:
assuming the shared bicycle in the space as a rigid body, the rotation condition can be decomposed into the rotation of a three-dimensional coordinate axis of the space; these three angles are then called euler angles; the posture is the conversion relation between one coordinate system and the other coordinate system; attitude calculation is carried out through the Euler angles, namely the rotation angles of the three-axis Euler angles are calculated;
in the sleep monitoring process, the posture change of the shared bicycle in the space needs to be described through the change of the Euler angle, and whether the shared bicycle falls down or not is judged through the posture change; the inclination angle of the rigid body and the angular velocity of the rigid body around a three-dimensional coordinate axis (three axes) of a space are measured by an MPU6050 attitude sensor, and the included angle between the rigid body and the geomagnetism is measured by an HMC5983 geomagnetic sensor;
utilize through STM32F103c8t6 microcontroller the angular velocity and the contained angle of earth magnetism, fuse the correction to the inclination angle of rigid body, finally obtain comparatively accurate euler angle, STM32F103c8t6 microcontroller judges through the euler angle whether the lodging condition takes place.
The attitude solution is set forth as follows:
the motion of the rigid body in the space can be regarded as a series of combined motions of translation and rotation, and conversely, the combined motion can be reversely decomposed into rotational motion around three axes of a cartesian coordinate system and translational motion in the space, and the magnitudes of the three rotational motion amplitudes are collectively called euler angles. The angle of rotation about the X axis is commonly referred to as the Pitch angle Pitch (θ), the Roll angle Roll (φ) about the Y axis, and the heading angle Yaw (ψ) about the Z axis. The Euler angle is used for representing the physical meaning of the motion of the rigid body in the space, and the method is clear, intuitive and convenient and understandable. The euler angles are shown schematically in fig. 6.
A rotation vector R formed by rotating any vector P (X, Y, Z) in space according to the rotation sequence of Z-Y-XzyxAs shown in equation 1:
the matrix composed of euler angles in equation (1) is called a direction cosine matrix. Either the euler angle or the direction cosine can be used to represent the position of the rigid body in space. The direction cosine matrix has 9 elements expressed by trigonometric function operation, and if the direction cosine matrix is directly calculated in a program, the system overhead is very large, so the direction cosine matrix is less applied in engineering practice. The quaternion has the characteristics of small calculated amount, high precision and no singularity, so the quaternion can be obtained firstly, and then the Euler angle is obtained through the mapping relation between the quaternion and the direction cosine matrix.
Quaternions were invented in 1843 by Ireland mathematician Hamiltonian for 15 years, and people often also use quaternion differential equations to solve for attitude. Quaternion is a generic term for a set of real and three imaginary numbers and can be expressed as formula (2):
in the formula (2), q0、q1、q2、q3Are real numbers and i, j, k are imaginary numbers. As known from the literature, the quaternion expressed by the trigonometric expression is as follows:
in the formula (3), u is a rotation axis. According to the formula of multiplication of quaternions, the rotation quaternion multiplied by three quaternions is as follows:
the properties according to the vector transformation principle and quaternion are:
R′＝Q-1·R·Q＝Q*·R·Q (5)
in formula (5), Q is the conjugate of Q, Q-1The inverse of Q is:
the matrix is called a quaternion rotation matrix Mq, and the following are included:
the quaternion rotation matrix MqEquivalent to the direction cosine matrix, three euler angles can be obtained by calculating the inverse trigonometric functions according to equations (1) and (7), as follows:
as described above, the quaternion is first obtained and the euler angle is obtained from the quaternion, and only three inverse trigonometric function calculations are performed during the calculation, and the calculation amount of this method is smaller than that of the euler angle directly obtained from the direction cosine matrix.
The operation process of the invention is as follows:
unlocking lock
1, awakening the NFC module through a key, and circularly sending a card reading number command by the module to search the RFID label.
And 2, if the feedback information of the label is not received within the specified time, continuing to perform the sleep mode. Otherwise, the NB-IoT module is activated, the NB-IoT module is used for sending the card number information and the vehicle number to the remote server, and then the server waits for the control command to be transmitted back.
And 3, if the control command is not received or the prohibition command is received within the specified time, giving an alarm to remind the user of adjusting the place. And if the permission command is received, enabling the motor to drive to unlock.
Closing lock
1 if the user finishes riding, carrying out a locking command through a key.
The 2-lock mechanical device comprises a potential device for judging the state of the lock.
And 3, if the state of the lock is detected to be converted from opening to closing, the microprocessor reads the longitude and latitude information of the point by using the Beidou positioning module, and uploads the longitude and latitude information and a vehicle locking command to the remote server through the NB-IoT module.
4, the server judges whether the area allows parking according to the specified longitude and latitude of the query database,
if the vehicle is judged to be forbidden, sending a command of unlocking the lock, unlocking the lock again, and reminding a user to stop the vehicle in a specified area;
6 if the vehicle is determined to be allowable, sending a signal to the geomagnetic module to determine whether the vehicle conforms to the specified vehicle direction in the area,
and 7, if the direction meets the specified requirement, keeping locking to enter a sleep mode, otherwise, giving an alarm by the buzzer to remind the user of direction adjustment.
Monitoring
1 when the vehicle is safely locked and parked in a specified area as required, the horse enters a sleep mode, a sleep monitoring function is started, namely, an MPU6050 module is awakened at regular time, and the MPU6050 measures and calculates the current vehicle attitude (emphatically, when the vehicle is in an unlocked state, a timer is interrupted, and a program cannot be inserted).
2 if the current vehicle is in the normal state, re-entering the sleep mode
And 3, if not, sending the vehicle position information and the lodging state obtained from the Beidou module to a server designated end through the NB-IoT module, and after the sending is finished, carrying out the sleep mode again.
And 4, the server processes and judges the information transmitted by the module, and finally sends the position information and the lodging condition of the vehicle to the region manager, and the region manager can timely arrive at the designated region to process the vehicle in time.
Verification of the effects of the invention:
in order to verify the stability of the intelligent lock in practical use, three areas with large pedestrian flow in a campus of northeast agricultural university are selected as test points in the experiment, wherein the three areas are a northeast agricultural university gate, a northeast agricultural university library and a northeast agricultural university gate. According to the survey, three zones parked and unlocked vehicles more than 50 people per hour. During the test, 10 experiments were performed on each of the three functions of the 5 sets of equipment in each zone, and the results of the experiments were recorded. For practical reasons, the unlocking function is completed within 10s as a successful unlocking experiment, and the delay time is recorded. The completion of the lock-off function and the lodging warning function was taken as a successful experiment, and the results are shown in the following table.
The measurement results are shown in table data, and under the actual application condition, the device can normally realize the main function of programming. The unlocking success times of the three areas are respectively 50 times, 48 times and 49 times, and the corresponding success rates are respectively 100%, 96% and 98%. The corresponding delay times are 4354.13ms, 4189.78ms, 5241.29 ms. Average success rate 98% and average delay time 4595.06 ms. The success rate of other functions is 100 percent. Experimental data show that the function implementation process is consistent with the program design, and the occurrence probability of the condition that the waiting time is too long in practical use is extremely low. However, when the network condition of the server is not good, the database is subjected to too many simultaneous query requests at the moment, and the like, the unlocking function is realized, and unexpected situations such as overlong delay time and the like occur under a certain probability, but the occurrence probability of the situations is small. In summary, in practical application, the device has better stability, is suitable for various external environments, and meets the requirements in practical application.
Claims (1)
1. The campus sharing bicycle intelligent lock control system based on attitude calculation is arranged on a sharing bicycle lock body to form a sharing bicycle intelligent lock and is characterized in that the control system comprises
The system comprises a microcontroller, a lock state potentiometer, a motor driving module, an attitude sensor, a Beidou positioning module, a magnetic sensor, an NFC wireless radio frequency module and a remote server; the model of the microcontroller is STM32F103c8t 6; the type of the attitude sensor is MPU 6050; the model of the magnetic sensor is HMC 5983;
the Beidou positioning module is used for positioning the longitude and latitude positions of the shared bicycle and transmitting the longitude and latitude information of the positions of the shared bicycle to the microcontroller;
the magnetic sensor is used for reading the placing angle information of the shared bicycle and transmitting the placing angle information to the microcontroller;
the attitude sensor is used for measuring the original data of the space attitude of the shared bicycle, the attitude sensor transmits the original data of the space attitude of the shared bicycle to the microcontroller, and the microcontroller resolves the read original data of the space attitude of the shared bicycle through attitude resolution to obtain the information of the space attitude of the shared bicycle;
the lock state potentiometer judges the opening or closing state of the lock body by acquiring the position information of the lock bolt of the lock body and sends the opening or closing state to the microcontroller;
the motor driving module is used for controlling the action of a motor for driving the lock bolt so as to control the opening or closing of the intelligent lock;
the NFC wireless radio frequency module is used for collecting information of a campus card held by a user and transmitting the information to a remote server through a microcontroller and an NB-IoT for information comparison;
the microcontroller is communicated with the remote server through the NB-IoT communication module, judges whether the position of the sharing bicycle is in an electronic fence which performs standard limitation on a vehicle parking area or not through the remote server, and controls the sharing bicycle to be placed according to the specified orientation;
the control process of the control system is as follows:
(a) unlocking process
The user swipes an NFC wireless radio frequency module through an RFID tag campus card, the NFC wireless radio frequency module reads user information, the user information is uploaded to a remote server through a microcontroller to identify user identity information, and after the user identity information is authenticated by the remote server, the microcontroller controls the action of a motor on a shared bicycle lock body through a motor driving module to open the shared bicycle intelligent lock;
(b) closing of the locking process
After the user rides the bicycle, the lock state potentiometer detects that the lock body is changed from an open state to a closed state through the triggering action of a manual closing lock, and the Beidou positioning module immediately reads longitude and latitude position information of the current location of the shared bicycle and uploads the longitude and latitude position information to the remote server through the NB-IoT communication module;
the remote server judges whether parking is allowed according to the uploaded longitude and latitude position information, if the parking is forbidden, the shared bicycle cannot be locked currently if the parking is not allowed to be locked, and a user is reminded to park the bicycle in a specified area;
if the current position is judged to be allowable, the remote server sends the standard placing angle information of the current position to the microcontroller, the microcontroller compares the current placing angle information acquired by the magnetic sensor with the standard to judge whether the vehicle conforms to the specified vehicle orientation of the area, if so, the vehicle is kept locked to enter a sleep mode, otherwise, the user is reminded to adjust the direction until the vehicle conforms to the specified vehicle orientation of the area;
(c) sleep monitoring
After the vehicle is safely locked and parked in a specified area according to the placement angle, the standing horse enters a sleep mode, a sleep monitoring function is started through a timer in the microcontroller, namely, the attitude sensor is awakened at regular time, the current attitude of the sharing bicycle is measured and calculated through the microcontroller, and the sharing bicycle is judged to be in a lodging state or an upright state; the microcontroller resolves the read original data of the shared bicycle space attitude through attitude resolution to obtain shared bicycle space attitude information; the specific process is as follows:
assuming the shared bicycle in the space as a rigid body, the rotation condition can be decomposed into the rotation of a three-dimensional coordinate axis of the space; these three angles are then called euler angles; the posture is the conversion relation between one coordinate system and the other coordinate system; the attitude calculation is carried out through the Euler angles, namely the rotation angles of the three-axis Euler angles are calculated;
in the sleep monitoring process, the posture change of the shared bicycle in the space needs to be described through the change of the Euler angle, and whether the shared bicycle falls down or not is judged through the posture change; the inclination angle of the rigid body and the angular velocity of the rigid body around a three-dimensional coordinate axis of a space are measured by using an MPU6050 attitude sensor, and the included angle between the rigid body and the geomagnetic field is measured by using an HMC5983 magnetic sensor;
the STM32F103c8t6 microcontroller performs fusion correction on the inclination angle of the rigid body by using the angular velocity and the included angle of the geomagnetism to finally obtain a more accurate Euler angle, and the STM32F103c8t6 microcontroller judges whether the lodging condition occurs or not according to the Euler angle; if the current vehicle is found to be in a normal upright state, the vehicle enters the sleep mode again, otherwise, the lodging state alarm is sent to the remote server through the NB-IoT communication module, and the sleep mode is carried out again after the sending is finished;
the remote server processes and judges the information transmitted by the NB-IoT communication module, and finally sends the position information of the vehicle and the lodging alarm to a corresponding region administrator, and the region administrator timely arrives at a designated region to process the vehicle timely.
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