CN112150721A

CN112150721A - Detection method, lockset, vehicle and storage medium

Info

Publication number: CN112150721A
Application number: CN202011025843.9A
Authority: CN
Inventors: 罗霄; 张学斌
Original assignee: Beijing Qisheng Technology Co Ltd
Current assignee: Beijing Qisheng Technology Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2020-12-29
Also published as: CN113643481A; CN113643481B

Abstract

A detection method, a lock, a vehicle, and a storage medium are disclosed. By receiving wheel detection signals acquired by a plurality of detection units, the detection units are arranged in the lockset according to a preset sequence, and the rotation direction of the wheel is determined according to the wheel detection signals. Therefore, the running state of the vehicle can be accurately acquired, and the vehicle using safety of a user is improved.

Description

Detection method, lockset, vehicle and storage medium

Technical Field

The invention relates to the technical field of vehicles, in particular to a detection method, a lockset, a vehicle and a storage medium.

Background

In recent years, based on the development of internet technology and intelligent mobile terminals, shared economy provides more and more convenience in various fields of national life. Shared vehicles (such as shared single vehicles, shared electric vehicles and the like) appear in large and medium-sized cities in China successively, so that traveling is more and more convenient. Consumers often choose a shared bicycle as a transportation tool when traveling on short trips.

In order to facilitate the user to use the vehicle, an electronic lock capable of automatically controlling the lock to be opened and closed is usually used, the user does not need to toggle a vehicle lock bolt with a hand, the lock can be closed only through terminal operation, and the convenience of the user is improved. Meanwhile, in order to avoid safety accidents caused by mistaken locking of the vehicle in the driving process, a sensor is usually arranged in the electronic lock to detect the running state of the vehicle, and the lock can be closed only in the static state of the vehicle.

However, in the conventional technology, the vehicle is detected to be in a stationary state or a traveling state only by a sensor, and the traveling direction of the vehicle cannot be detected.

Disclosure of Invention

In view of this, an object of the embodiments of the present invention is to provide a detection method, a lock, a vehicle, and a storage medium, which can more accurately obtain a running state of the vehicle, and improve the vehicle safety of a user.

In a first aspect, an embodiment of the present invention provides a detection method, which is applied to a vehicle, and the method includes:

receiving wheel detection signals acquired by a plurality of detection units, wherein the detection units are arranged in a lockset according to a preset sequence; and

and determining the rotation direction of the wheel according to the wheel detection signal.

In a second aspect, an embodiment of the present invention provides a lock, including:

the detection units are arranged in the lockset according to a preset sequence and used for acquiring wheel detection signals; and

and the control unit is used for determining the rotation direction of the wheel according to the wheel detection signal.

In a third aspect, an embodiment of the present invention provides a vehicle, including:

a wheel;

the vehicle locking disc is fixed relative to the wheel; and

the lock of the second aspect.

In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium on which computer program instructions are stored, which when executed by a processor implement the method according to the first aspect.

According to the technical scheme of the embodiment of the invention, the wheel detection signals acquired by a plurality of detection units are received, the detection units are arranged in the lockset according to the preset sequence, and the rotation direction of the wheel is determined according to the wheel detection signals. Therefore, the running state of the vehicle can be accurately acquired, and the vehicle using safety of a user is improved.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic illustration of a vehicle system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a lock body according to an embodiment of the invention;

FIG. 4 is a schematic structural diagram of a back magnetic Hall sensor according to an embodiment of the invention;

fig. 5 is a schematic diagram of wheel detection signals of the detection unit in a running state of the vehicle according to the embodiment of the invention;

fig. 6 is a schematic diagram of wheel detection signals of the detection unit in a stopped state of the vehicle according to the embodiment of the invention;

FIG. 7 is a schematic representation of wheel detection signals when the wheel of an embodiment of the present invention is rotating in a first direction;

FIG. 8 is a schematic illustration of wheel detection signals when the wheel of an embodiment of the present invention is rotating in a second direction;

FIG. 9 is a schematic illustration of a wheel sense signal of an embodiment of the present invention;

FIG. 10 is a flow chart of a detection method of an embodiment of the present invention;

fig. 11 is a schematic diagram of an electronic device of an embodiment of the invention.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Further, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Meanwhile, it should be understood that, in the following description, a "circuit" refers to a conductive loop constituted by at least one element or sub-circuit through electrical or electromagnetic connection. When an element or circuit is referred to as being "connected to" another element or element/circuit is referred to as being "connected between" two nodes, it may be directly coupled or connected to the other element or intervening elements may be present, and the connection between the elements may be physical, logical, or a combination thereof. In contrast, when an element is referred to as being "directly coupled" or "directly connected" to another element, it is intended that there are no intervening elements present.

Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

FIG. 1 is a schematic diagram of a vehicle system according to an embodiment of the present invention. As shown in fig. 1, the vehicle system of the embodiment of the present invention includes at least one server 1, at least one vehicle, and at least one user terminal. The embodiment of the present invention is explained by taking an example in which the control system includes one server 1, three vehicles 2a to 2c, and three user terminals 3a to 3 c.

In this embodiment, the server 1 may be an independent server or a server cluster.

Further, the server 1 is a shared vehicle platform.

In the present embodiment, the vehicle is a shared vehicle, and can communicate with the server 1 in a wireless manner.

Further, the vehicle may be a bicycle, an electric bicycle, a tricycle, a motorcycle, or the like.

In the present embodiment, the user terminal is a terminal device of a vehicle user.

Further, the user terminal may be a mobile phone, a tablet computer or other special-purpose device.

Optionally, when the user needs to use the vehicle, the user scans the two-dimensional code on the vehicle through a scanning function in the application program, or the user terminal with the NFC function approaches a predetermined area of the vehicle, generates an unlocking request, and sends the unlocking request to the server. And after receiving the unlocking request sent by the user terminal, the server generates an unlocking instruction and sends the unlocking instruction to the vehicle. After the vehicle receives the unlocking instruction, the lockset is unlocked, so that a user can use the vehicle. And when the user reaches the destination, the user needs to finish using the vehicle, and the application program of the user terminal selects and clicks the vehicle returning control to generate a vehicle returning instruction and send the vehicle returning instruction to the vehicle. After the vehicle receives the vehicle returning instruction, whether the vehicle is in a stop state or not is detected through the sensor, if the vehicle is in the stop state, the lockset is controlled to be closed, a vehicle returning success signal is generated and sent to the server, and the server is informed that the vehicle is successfully returned. And after the server acquires the message that the vehicle is successfully returned, generating a bill used this time and sending the bill to the user terminal. And after the user terminal receives the bill, the user pays the fee through the user terminal. Therefore, the whole process of vehicle borrowing, vehicle returning and payment can be realized through the method.

Fig. 2 is a schematic structural diagram of a vehicle according to an embodiment of the present invention. As shown in fig. 2, the vehicle of the embodiment of the present invention includes a wheel 21, a lock chassis 22, and a lock. Wherein the lock comprises a lock body 23 and a control part 24.

In this embodiment, the locking plate 22 is fixed to the wheel 21, a plurality of locking grooves 221 are formed in the outer periphery of the locking plate 22, the locking rod 231 can be inserted into the locking grooves 221 when extending out of the lock case, and the locking rod 231 can escape from the locking grooves 221 when retracting back into the lock case. The locking or unlocking of the vehicle is realized by the cooperation of the locking plate 22 and the locking rod 231.

Further, the cross-sectional shape of the locking groove 221 is adapted to the cross-sectional shape of the locking bar 231, such as a circular shape, an oval shape, a rectangular shape, a U-shape, or the like.

Preferably, the lock chassis 22 is provided to the rear wheels of the vehicle. The lock body 23 can be fixedly connected (e.g., riveted) to the rear band-type brake of the vehicle or formed as a unitary structure, and/or the lock body 23 can be disposed within the interior of the bicycle.

In this embodiment, the lock includes a lock body 23 and a control portion 24. Wherein the control part 24 and the lock body 23 are respectively provided at different positions of the vehicle. For example, the control portion 24 is provided under a seat of the vehicle. The lock body 23 remains relatively fixed to the frame of the vehicle, for example, the lock body 23 is disposed at a rear band-type brake position of the rear wheel. The lock body 23 is used for locking the wheel of the vehicle, the control part 24 is electrically and/or communicatively connected with the lock body 23, the control part 24 can supply power to the lock body 23 and/or send out a control signal, and/or the control part 24 can receive a feedback signal of the lock body 23. The control portion 24 is connected to the lock body 23 either wirelessly or by a cable.

Fig. 3 is a schematic structural diagram of a lock body according to an embodiment of the invention. As shown in fig. 3, a lock body according to an embodiment of the present invention includes a locking bar 231, a locking piece 232, an elastic member 233, and a lock case 234.

In this embodiment, the locking rod 231 can be movably disposed through the lock casing 234, and the locking rod 231 can extend out of the lock casing 234 or retract into the lock casing 234 when being moved.

In this embodiment, the locking block 232 can be movably disposed on the lock housing 234, and the locking block 232 and the locking rod 231 are connected by an elastic component 233.

Further, when the lock block 232 moves along the direction that the lock rod 231 extends out of the lock case 234 under the driving of an external force, the lock block 232 drives the lock rod 231 through the elastic component 233 in the direction that the lock rod 231 extends out of the lock case 234, and then the lock rod 231 extends out of the lock case 234 or the lock rod 231 has a tendency to extend out of the lock case 234.

Further, when the locking block 232 moves along the direction that the locking rod 231 retracts into the lock housing 234 under the driving of an external force, the locking block 232 drives the locking rod 231 through the elastic component 233 in the direction that the locking rod 231 retracts into the lock housing 234, and then the locking rod 231 retracts into the lock housing 234 or the locking rod 231 tends to retract into the lock housing 234.

Further, the lock body 23 further comprises a switch mechanism, and the switch mechanism is controlled by the control portion 23 to drive the lock block 232 to move so as to realize unlocking or locking.

Further, the lock body 23 further includes a micro switch for detecting the position of the lock block or the lock rod to realize detection of the state of unlocking or locking.

Further, the lock body 23 further includes a plurality of detection units. The detection units are arranged in the lockset according to a preset sequence and used for acquiring wheel detection signals

Further, the end of the lock shell allowing the lock rod to extend out is an arc-shaped end matched with the wheel and/or the lock chassis.

Further, the plurality of detection units are arranged in the lock shell close to the arc-shaped end according to a preset sequence.

Further, the wheel detection signal is a pulse signal.

Further, the embodiment of the present invention is described by taking an example that the lock body includes three detecting units, such as 235a, 235b, and 235c in fig. 3.

Further, the lock of the embodiment of the present invention further includes a control unit, configured to obtain a driving state of the vehicle according to the wheel detection signals output by the

detection units

235a, 235b, and 235 c.

In an alternative implementation, the control unit may be implemented by a control main board inside the lock body.

In another alternative implementation, the control unit may be implemented by a control module in the control section 24.

Further, the control section 24 further includes one or more of a positioning module, a long-distance communication module, a short-distance communication module, and an NFC module.

Further, the close range communication module is used for communicating with a user terminal. Preferably, the near field communication module is a bluetooth module, and is configured to communicate with the user terminal in a bluetooth manner. In particular, bluetooth is a small-range wireless connection technology, and can realize convenient, fast, flexible, safe, low-cost and low-power-consumption data communication among devices.

Further, the positioning module is used for acquiring the position information of the vehicle. Specifically, the method for acquiring the position information of the vehicle may adopt one or more combinations of various existing technologies, such as GPS (Global Positioning System) Positioning, WIFI (wireless internet access) Positioning, base station Positioning, satellite Positioning, and the like.

Further, the long-distance communication module is used for long-distance wireless communication with the server. Specifically, the remote communication module may be a GSM (Global System for Mobile Communications) module, a GPRS (General packet radio service) module, an eMTC (enhanced machine communication) module, an NB-IoT (Narrow Band Internet of Things) module, or the like.

Further, the NFC module is configured to perform near field communication with a user terminal. Specifically, NFC is developed by combining a Radio Frequency Identification (RFID) technology with a wireless interconnection technology, and is a short-range high-Frequency Radio technology. The NFC operation mode is divided into a passive mode and an active mode. In the passive mode, the NFC initiator (also referred to as a master) requires a power supply device, and the master provides a radio frequency field using the power of the power supply device and transmits data to the NFC target (also referred to as a slave). The slave device does not generate a radio frequency field, so that a power supply device is not needed, the radio frequency field generated by the master device is converted into electric energy, the circuits of the slave device are powered, data sent by the master device are received, and the data of the slave device are transmitted back to the master device at the same speed by using a load modulation technology. The slave device in this operating mode is called passive mode because it does not generate a radio frequency field, but passively receives a radio frequency field generated by the master device, in which mode the NFC master device can detect a contactless card or an NFC target device and establish a connection therewith. In the active mode, both the initiator device and the target device must actively generate the radio frequency field when transmitting data to each other, so they are called active modes, which require the power supply device to provide the energy for generating the radio frequency field. This communication mode is a standard mode of peer-to-peer network communication, and a very fast connection rate can be obtained.

Further, the control Unit may be implemented by an MCU (micro Controller Unit), a PLC (Programmable Logic Controller), an FPGA (Field-Programmable Gate Array), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit).

Further, when the wheel rotates, the magnet rotates to a position close to the hall sensor, the hall sensor detects the change of the magnetic flux density and outputs a high-level signal, and when the magnet rotates to a position far away from the hall sensor, the hall sensor outputs a low-level signal.

In an alternative implementation, the detection unit is a hall sensor, correspondingly a magnet provided on the wheel 21 and/or the lock plate 22. Specifically,

hall sensors

235a, 235b and 235c are mounted in the lock case 234, a plurality of magnets are mounted at intervals on the wheel 21 and/or the lock chassis 22, and the hall sensors can sense the magnets on the wheel 21 and/or the lock chassis 22 and output wheel detection signals according to the sensed magnetic field changes. Alternatively, the magnets are disposed in spaced locking slots 221. Therefore, when the wheel rotates, the magnet rotates to a position close to the Hall sensor, the Hall sensor detects the change of magnetic flux density and outputs a high-level signal, and when the magnet rotates to a position far away from the Hall sensor, the Hall sensor outputs a low-level signal.

In another alternative implementation, the detection unit may also be a back magnetic hall sensor, as shown in fig. 4. The magnetic flux density of the back magnetic hall sensor can change with the rotation or stop of the wheel and/or the locking plate. Specifically, the back magnetic hall sensor comprises a hall chip 2351 and a magnet 2352, wherein the S pole of the magnet 2352 faces the back side of the chip, and the front side of the hall chip 2351 faces the wheel and/or the locking disc 22. When the wheel rotates, the magnet 2352 can output a pulse signal switched between a high level and a low level by inducing the magnetic field change generated by the magnetic lines of force of the back magnetic magnet when the metal object moves.

Fig. 5 and 6 show wheel detection signals of one detection unit in different states, respectively. In fig. 5, the magnet rotates to the vicinity of the detecting unit along with the wheel in the time period t1-t2, and the magnet rotates to the distance away from the detecting unit along with the wheel in the time period t2-t 3. Fig. 6 is a wheel detection signal in a stopped state of the vehicle.

Therefore, the control unit can determine whether the vehicle is in a running state or a stopped state according to the wheel detection signal of the detection unit, and the vehicle can be locked only in the stopped state, so that serious traffic accidents caused by locking of the vehicle in the running state are avoided.

Further, the control unit of the embodiment of the present invention is further configured to determine the rotation direction of the wheel according to the wheel detection signals of the plurality of detection units.

Further, the control unit is used for determining the rotating direction of the vehicle according to the arrangement sequence of the detection units and the pulse signals of the detection units.

Specifically, fig. 7 is a schematic diagram of a wheel detection signal of an embodiment of the present invention. As shown in fig. 7, which shows the wheel detection signals of the detecting

units

235a, 235b and 235c, respectively, as can be seen from fig. 3, the rotation direction of the wheel includes a first direction D1 and a second direction D2, and the detecting

units

235a, 235b and 235c are arranged in the order of 235c, 235b and 235a from left to right. Further, as can be seen from the wheel detection signals of the

detection units

235a, 235b, and 235c in fig. 7, the detection unit 235a outputs a high level first, then the detection unit 235b outputs a high level, and finally the detection unit 235c outputs a high level. From this, the rotation direction of the wheel is D1.

Further, fig. 8 is a schematic diagram of a wheel detection signal according to an embodiment of the present invention. As shown in fig. 8, which shows the wheel detection signals of the detecting

units

detection units

235a, 235b, and 235c in fig. 7, the detection unit 235c outputs a high level first, then the detection unit 235b outputs a high level, and finally the detection unit 235a outputs a high level. From this, the rotation direction of the wheel is D2.

Therefore, the control unit can determine the rotation direction of the wheel according to the wheel detection signal.

According to the embodiment of the invention, the wheel detection signals acquired by a plurality of detection units are received, the detection units are arranged in the lockset according to the preset sequence, and the rotation direction of the wheel is determined according to the wheel detection signals. Therefore, the running state of the vehicle can be accurately acquired, and the vehicle using safety of a user is improved.

Further, the control unit according to the embodiment of the present invention is further configured to determine state information of each of the detection units according to the pulse signal, where the state information includes a normal state and a failure state.

Further, the control unit is used for determining the state information of each detection unit according to the arrangement sequence of the detection units and the pulse signals of each detection unit.

Specifically, fig. 9 is a schematic diagram of a wheel detection signal of an embodiment of the present invention. As shown in fig. 9, the control unit may determine that the vehicle is in a running state based on the wheel detection signals of the detection unit 235a and the detection unit 235c, but may determine that the vehicle is in a stopped state based on the wheel detection signal of the detection unit 235b, and thus it may be known that the vehicle detection signal of the detection unit 235b is erroneous and in a failed state, and the detection unit 235a and the detection unit 235c are in a normal state.

Further, the control unit is also used for generating an error signal and sending the error signal to the server.

Further, the error signal includes a vehicle identification and a detection unit identification. Therefore, operation and maintenance personnel can find the fault vehicle and quickly locate the fault part according to the error reporting signal, and operation and maintenance efficiency is improved.

It should be understood that, in the embodiment of the present invention, 3 detection units are used as an example for the wheel rotation direction detection and the state detection of the detection unit, but the embodiment of the present invention is not limited to this, and two or more detection units may be implemented.

It should also be understood that the embodiment of the present invention is described by taking the detecting unit as a hall sensor as an example, but the embodiment of the present invention is not limited to this, and the detecting unit may also be implemented by other sensors. Such as light-transmitting tacho sensors and reflective tacho sensors. The light-transmitting speed sensor generally comprises a disc with holes or notches, a light source, a photoelectric tube and the like. The disc is fixed on the wheel and rotates together with the wheel, and when the disc rotates, light can only irradiate on the photoelectric tube through the hole or the notch. When the photoelectric tube is irradiated, the reverse resistance of the photoelectric tube is low, and an electric pulse signal is output. When the light source is shielded by the disc, the reverse resistance of the photoelectric tube is large, and no signal is output from the output end. Thus, the wheel speed can be measured according to the number of holes or notches on the disc. The principle of the reflective speed sensor is basically the same as that of the light transmission type, the light change sensed by the photoelectric tube is converted into the electric signal change, but the pulse signal is obtained by the reflection of light, and usually, a reflecting material is adhered to a proper part of a wheel to form a reflecting surface. The commonly used reflecting material is a special speed measuring reflecting paper tape (adhesive tape), can also be replaced by reflecting materials such as aluminum foil and the like, or can also be coated with white paint as a reflecting surface at the measured part. When the measured shaft rotates, the photoelectric element receives the pulsating light and outputs a corresponding electric signal to the electronic counter, so that the rotating speed of the wheel is measured.

Further, an embodiment of the present invention further provides a detection method, which is applied to a vehicle, specifically as shown in fig. 10, and includes the following steps:

and S100, receiving wheel detection signals acquired by a plurality of detection units, wherein the detection units are arranged in a lockset according to a preset sequence.

And step S200, determining the rotation direction of the wheel according to the wheel detection signal.

Further, the detection unit is a hall sensor.

Further, the wheel detection signal is a pulse signal.

Further, the determining the rotation direction of the wheel according to the wheel detection signal specifically includes:

and determining the rotation direction of the vehicle according to the arrangement sequence of the detection units and the pulse signals of the detection units.

Further, the method further comprises:

and determining the state information of each detection unit according to the pulse signal, wherein the state information comprises a normal state and a failure state.

Further, the determining the state information of each detection unit according to the pulse signal specifically includes:

and determining the state information of each detection unit according to the arrangement sequence of the detection units and the pulse signals of each detection unit.

Fig. 11 is a schematic diagram of an electronic device of an embodiment of the invention. The electronic device shown in fig. 11 is a general-purpose data processing apparatus comprising a general-purpose computer hardware structure including at least a processor 111 and a memory 112. The processor 111 and the memory 112 are connected by a bus 113. The memory 112 is adapted to store instructions or programs executable by the processor 111. Processor 111 may be a stand-alone microprocessor or may be a collection of one or more microprocessors. Thus, processor 111 implements the processing of data and the control of other devices by executing instructions stored by memory 112 to perform the method flows of embodiments of the present invention as described above. The bus 113 connects the above components together, and also connects the above components to a display controller 114 and a display device and an input/output (I/O) device 115. Input/output (I/O) device 115 may be a mouse, keyboard, modem, network interface, touch input device, motion sensing input device, printer, and other devices known in the art. Typically, the input/output devices 115 are coupled to the system through input/output (I/O) controllers 116.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus (device) or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations of methods, apparatus (devices) and computer program products according to embodiments of the application. It will be understood that each flow in the flow diagrams can be implemented by computer program instructions.

These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows.

These computer program instructions may also be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A detection method is applied to a vehicle, and is characterized by comprising the following steps:

2. The method of claim 1, wherein the detection unit is a hall sensor or a back magnetic hall sensor.

3. The method of claim 1, wherein the wheel detection signal is a pulse signal.

4. A method according to claim 3, wherein said determining the direction of rotation of the wheel from said wheel detection signal is in particular:

5. The method of claim 3, further comprising:

6. The method according to claim 5, wherein the determining the state information of each detection unit according to the pulse signal is specifically:

7. A lock, characterized in that it comprises:

8. The lock according to claim 7, characterized in that said detection unit is a Hall sensor or a back-magnetic Hall sensor.

9. The lock according to claim 7, further comprising:

a lock case;

the lock rod can movably penetrate through the lock shell, and can extend out of the lock shell or retract into the lock shell when being moved;

the lock block can be movably arranged on the lock shell and is connected with the lock rod through an elastic component;

when the lock block moves along the direction that the lock rod extends out of the lock shell under the driving of external force, the lock block drives the lock rod through the elastic component in the direction that the lock block extends out of the lock shell, and then the lock rod extends out of the lock shell or the lock rod generates a trend of extending out of the lock shell;

when the lock block moves along the direction that the lock rod retracts into the lock shell under the driving of external force, the lock block drives the lock rod through the elastic component in the direction that the lock block retracts into the lock shell, and then the lock rod retracts into the lock shell or the lock rod generates the tendency of retracting into the lock shell.

10. The lock according to claim 9, wherein the end of the lock housing allowing the extension of the locking rod is an arc-shaped end adapted to the wheel and/or the lock chassis.

11. The lock according to claim 10, wherein said plurality of detection units are arranged in said housing in a predetermined sequence adjacent said curved end.

12. The lock according to claim 7, wherein the wheel detection signal is a pulse signal.

13. The lock according to claim 12, wherein the control unit is configured to determine the rotation direction of the vehicle based on the arrangement order of the detection units and the pulse signals of the detection units.

14. The lock according to claim 12, wherein the control unit is further configured to determine status information of each of the detection units according to the pulse signal, the status information including a normal status and a failure status.

15. The lock according to claim 14, wherein the control unit is configured to determine the status information of each of the detection units according to the arrangement order of the detection units and the pulse signals of each of the detection units.

16. A vehicle, characterized in that the vehicle comprises:

a wheel;

the vehicle locking disc is fixed relative to the wheel; and

the lock according to any one of claims 7-15.

17. A computer-readable storage medium on which computer program instructions are stored, which, when executed by a processor, implement the method of any one of claims 1-6.