CN113627370A - Electric bicycle, method for detecting side car placing posture of electric bicycle and storage medium - Google Patents
Electric bicycle, method for detecting side car placing posture of electric bicycle and storage medium Download PDFInfo
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Abstract
The invention provides an electric bicycle, a method for detecting a side-car placing posture of the electric bicycle and a storage medium, wherein a first image captured by a vehicle-mounted camera is acquired when the vehicle-mounted camera meets a preset starting condition by acquiring the running state of the current electric bicycle, and then first body image information of a tested electric bicycle parked on a roadside is extracted, so that whether the parking posture of the tested electric bicycle is a preset disordered parking and disorderly placing posture or not is determined. In addition, an included angle theta of the body axial direction of the tested electric bicycle relative to the axial lead of the vehicle-mounted camera is calculated3An included angle theta between the axis of the vehicle-mounted camera and the edge of the road when the first image is captured2Difference between theta4The situation that the head of the electric bicycle continuously swings, adjusts and turns in the riding process is simulated, and the difference value theta is utilized4The mode can avoid the angle change influence that current electric bicycle brought because of the automobile body swing effectively to guarantee the accuracy and the reliability of surveying, thereby improve the intellectuality of fortune dimension.
Description
Technical Field
The invention relates to the technical field of electric bicycles, in particular to an electric bicycle, a method for detecting the placing posture of a side bicycle and a storage medium thereof.
Background
Along with the progress of society, people's green trip consciousness strengthens gradually, and the sharing electric bicycle takes place for transport, and the electric bicycle trip has characteristics such as light and handy, convenient, swift, cheap, has become the important component of people's trip.
With the popularization and rapid increase of the number of the shared electric bicycles, the phenomenon of disorderly parking and disorderly placing the shared electric bicycles is visible everywhere, such as randomly placing the electric bicycles beside the road or not placing the electric bicycles in a parking spot range according to a posture meeting the standard requirement, thereby obstructing road traffic to a certain extent, influencing city appearance and bringing great trouble to city management. At present, aiming at the problem of random parking and random release of electric bicycles, the operation and maintenance personnel generally perform itinerant operation and maintenance in an uninterrupted and indefinite-place mode, and the problems of poor operation and maintenance pertinence, lag, low efficiency, high operation and maintenance cost and the like exist.
Therefore, it is desirable to provide an electric bicycle, a method for detecting a sidecar parking posture thereof, and a storage medium thereof to solve or at least alleviate the above-mentioned drawbacks.
Disclosure of Invention
The invention mainly aims to provide an electric bicycle, a method for detecting the placing posture of a side car of the electric bicycle and a storage medium, and aims to solve the problems that at present, the disordered parking and the disordered placing of the electric bicycle are generally realized by carrying out itinerant operation and maintenance in an uninterrupted and indefinite manner, and the problems of poor operation and maintenance pertinence, lag, low efficiency, high operation and maintenance cost and the like exist.
In order to achieve the above object, the present invention provides a method for detecting the position of a sidecar by an electric bicycle, comprising the steps of:
s1, acquiring the running state of the current electric bicycle, and judging whether the current electric bicycle is in a riding state;
s2, when the current electric bicycle is in a riding state, judging whether the vehicle-mounted camera meets a preset first starting condition; the first starting condition comprises one or more of automatic starting according to a first preset time interval, acquisition of a Bluetooth signal of the current electric bicycle sensing the electric bicycle of the same brand or the same system platform and acquisition of a parking position signal; the vehicle-mounted camera is arranged on the right side of the body of the current electric bicycle, and a preset included angle theta 1 is formed between the axial lead of the vehicle-mounted camera and the axial direction of the body of the current electric bicycle;
s3, when the vehicle-mounted camera meets preset starting conditions, acquiring a first image captured by the vehicle-mounted camera, and extracting first vehicle body image information of the tested electric bicycle parked on the roadside from the first image;
and S4, determining whether the parking posture of the tested electric bicycle is a preset disorderly parking and disorderly releasing posture or not according to the first vehicle body image information and the preset included angle theta 1.
Preferably, the step S4 includes:
s41, determining an included angle theta 2 between the axis of the vehicle-mounted camera and the road edge when the first image is captured according to the first image;
s42, calculating an included angle theta 3 of the vehicle body axial direction of the tested electric bicycle relative to the axial lead of the vehicle-mounted camera according to the first vehicle body image information;
s43, calculating a difference theta 4 between theta 2 and theta 3;
and S44, when the theta 4 exceeds a first preset range, judging that the parking posture of the tested electric bicycle is a preset disorderly parking and disorderly releasing posture.
Preferably, after the step S4, the method further includes the steps of:
s5, extracting the body feature information of the tested electric bicycle according to the first body image information, and acquiring the brand of the tested electric bicycle; the vehicle body characteristic information comprises one or more of vehicle body shape, vehicle body color and vehicle body LOGO;
s61, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are the same brand electric bicycles, sending a first operation and maintenance instruction to a first background control center;
s62, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are not the same brand electric bicycle, sending a second operation and maintenance instruction to a second background control center;
s63, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are not of the same brand, acquiring a corresponding operator according to the brand of the tested electric bicycle, and sending a third operation and maintenance instruction to a third background control center corresponding to the operator.
Preferably, the step S1 is followed by the step of:
s11, when the current electric bicycle is in a parking state, judging whether the vehicle-mounted camera meets a preset second starting condition; the second starting condition comprises one or more of automatic starting according to a second preset time interval and acquisition of Bluetooth signals of the electric bicycle inducted by the current electric bicycle to the electric bicycle of the same brand or the same system platform;
s12, when the vehicle-mounted camera meets a preset second starting condition, acquiring a second image captured by the vehicle-mounted camera within a preset time length, and extracting second vehicle body image information of the tested bicycle parked on the roadside according to the second image;
s13, determining whether the parking posture of the tested electric bicycle is a preset disorderly parking and disorderly releasing posture or not according to the second vehicle body image information and the preset included angle theta 1;
s14, when the parking posture of the tested electric bicycle is a preset random parking and random placing posture, the step S5 is carried out;
and S15, when the parking posture of the tested electric bicycle is a non-preset disordered parking and disorderly discharging posture, judging that the parking posture of the tested electric bicycle is a normal parking posture.
Preferably, the step S4 is preceded by the step of:
s301, judging whether the tested electric bicycle is in a parking spot range or not according to the first image;
s302, when the tested electric bicycle is located in the parking point range, judging that the tested electric bicycle is located in a compliant parking area, and entering the step S4;
s303, when the tested electric bicycle is not in the range of the parking point, judging that the tested electric bicycle is in an illegal parking area, and entering the step S5.
Preferably, the first preset time interval is set to 0.1 s/time, θ1The angle is set to 90 degrees, and the first preset range is set to 60-120 degrees.
Preferably, the second preset time interval is set to be 1 s/time, and the preset time duration is 10 s.
Preferably, the operation state includes one or more of a vehicle speed, a power supply current value, and a GPS navigation data variation value.
The invention also provides an electric bicycle which comprises a bicycle body, the vehicle-mounted camera arranged on the bicycle body and a control system arranged in the bicycle body; the control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method for detecting the sidecar pose of the electric bicycle.
The present invention also provides a storage medium storing a computer program, which when executed by a processor implements the steps of the method for detecting the sidecar parking posture as described above.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an electric bicycle and a method and a storage medium for detecting a side bicycle placing posture thereof, which are characterized in that a running state of the current electric bicycle is obtained, whether the current electric bicycle is in a riding state or not is judged, when the current electric bicycle is in the riding state and a vehicle-mounted camera meets a preset starting condition, a first image captured by the vehicle-mounted camera is obtained, first bicycle body image information of a tested electric bicycle parked on a roadside is extracted from the first image, and the first bicycle body image information and the preset included angle theta are obtained according to the first bicycle body image information1And determining whether the parking posture of the tested electric bicycle is a preset disordered parking and disorderly releasing posture, and informing a background control center in time to operate and maintain in a targeted and timely manner.
At the same time, by determining from the first image when the first image was snap-shotIncluded angle theta between shaft axis of vehicle-mounted camera and road edge2According to the first vehicle body image information, calculating an included angle theta between the vehicle body axial direction of the tested electric bicycle and the axial lead of the vehicle-mounted camera3Calculating theta2-θ3Difference of (a) theta4At said theta4And when the parking posture of the tested electric bicycle exceeds a first preset range, judging that the parking posture of the tested electric bicycle is a preset disordered parking and disorderly placing posture. The situations that the head of the electric bicycle continuously swings, adjusts and turns in the riding process can be simulated through the flow steps, and the difference value theta is utilized4The method can effectively avoid the influence of angle change caused by the current electric bicycle in the state, thereby ensuring the accuracy and reliability of detection and further improving the intellectualization, timeliness and high efficiency of operation and maintenance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a diagram of an application scenario in one embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the step S4 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps included after step S4 in one embodiment of the present invention;
FIG. 5 is a flowchart illustrating steps included after step S1 according to an embodiment of the present invention;
FIG. 6 is a block diagram of a control system according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The electric bicycle, the method for detecting the placing posture of the side car thereof and the storage medium can be applied to the application environment shown in fig. 1. The application environment comprises a terminal 11, a server 12, an electric bicycle 13 and a vehicle-mounted camera (not shown); the terminal 11 and the server 12 communicate with each other via a network, and the server 12 communicates with the electric bicycle 13 and the onboard camera. The terminal 11 may be, but not limited to, various smart phones, desktop computers, tablet computers and portable wearable devices, and the server 12 may be implemented by a computer with data processing function, an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 2-6, in an embodiment of the present invention, a method for detecting a position of a sidecar by an electric bicycle includes:
and S1, acquiring the running state of the current electric bicycle, and judging whether the current electric bicycle is in a riding state. The technical personnel should understand that the electric bicycle in the riding state or the electric bicycle in the parking state is used for detecting the parking postures of other electric bicycles parked beside the road, so that the parking postures of other electric bicycles are detected by the current electric bicycle, and a background control center is informed in time to carry out operation and maintenance in a targeted and timely manner. Therefore, to acquire the running state of the current electric bicycle, different running states of the current electric bicycle are firstly confirmed, and different modes of judgment are carried out by acquiring the different running states of the current electric bicycle, so that other electric bicycles beside the electric bicycle can be detected by using different states of the current electric bicycle.
S2, when the current electric bicycle is in a riding state, whether the vehicle-mounted camera meets a preset first starting condition is judged. As will be appreciated by those skilled in the art, the first start condition includes, but is not limited to, one or more of automatic start at a first preset time interval, acquisition of a bluetooth signal that the current electric bicycle senses an electric bicycle of the same brand or the same system platform, and acquisition of a parking spot position signal; for example, according to actual road conditions, automatic starting according to a region preset time interval can be set, the snapshot mode of the vehicle-mounted camera is used for snapshot, the vehicle-mounted camera can be automatically started to enter the snapshot mode through a Bluetooth signal of an electric bicycle sensing multiple brands of the same brand or the same system platform, or the vehicle-mounted camera is started to enter the snapshot mode when the electric bicycle senses the position of a parking point, and the like, and the electric bicycle parked beside a road can be maximally snapshot and detected through the starting conditions of multiple different modes. The vehicleCarry the camera set up in the right side of the automobile body of current electric bicycle, the axial lead of on-vehicle camera with it presets contained angle theta to have between the automobile body axial of current electric bicycle1。
S3, when the vehicle-mounted camera meets preset starting conditions, acquiring a first image captured by the vehicle-mounted camera, and extracting first vehicle body image information of the tested electric bicycle parked at the roadside from the first image. In other words, when the vehicle-mounted camera meets one or more of the multiple starting conditions, the vehicle-mounted camera is started to enter a snapshot mode and acquire the first image, and the first vehicle body image information of the tested electric bicycle parked on the roadside is extracted from the first image. For example, the first vehicle body image information may be an angle between the vehicle-mounted camera and a vehicle body of the vehicle body, a vehicle body color, a vehicle body LOGO, and the like, and further, for example, a vehicle body axial fitting line formed by a vehicle head and a vehicle tail of the tested electric bicycle is calculated and analyzed, so that an included angle formed between the vehicle body and the vehicle-mounted camera is calculated conveniently, and whether the tested electric bicycle is in a preset random parking and random placing posture is further judged.
It should be noted that in this embodiment, the detection determination is performed by using a mode of capturing an image of the electric bicycle by using the vehicle-mounted camera, and it can be understood that, in other embodiments, the current electric bicycle may also be detected and determined by using other modes, for example, the detection determination may also be performed by using a mode such as thermal imaging.
In addition, the first preset time interval and the preset included angle θ1The first preset time interval may be adaptively set according to actual conditions, and may be appropriately increased, for example, in a case where there are many parking spots, a vehicle peak, a congested road section, or the like. And the vehicle-mounted camera can be arranged at the head of the vehicle, the middle of the vehicle body or the tail of the vehicle, so long as the vehicle-mounted camera can capture the first image of the tested bicycle parked on the roadside. The vehicle-mounted camera is arranged on the right side of the vehicle body, namely the photographing direction of the vehicle-mounted camera faces to the roadside on the right side,so as to detect the parking posture of other electric bicycles by snapshot.
S4, according to the first vehicle body image information and the preset included angle theta1And determining whether the parking posture of the tested electric bicycle is a preset random parking and random placing posture. Specifically, an included angle between the axial direction of the vehicle body and the vehicle-mounted camera may be obtained according to the first vehicle body image, for example, as a preferred embodiment of the present invention, the step S4 includes:
s41, determining an included angle theta between the axis line of the vehicle-mounted camera and the road edge when the first image is captured according to the first image2. It should be noted that, in order to facilitate the calculation of the angle, it may be actually necessary to calculate an angle vector by angle processing in the actual calculation process, for example, the included angle θ in the present embodiment2An angle vector theta formed by the axial line of the vehicle-mounted camera along the shooting direction and the forward extending direction of the edge line of the road2. It will be appreciated that in other embodiments, the angle vector θ2The specific defining direction can also be set according to actual needs, and the calculation principle behind the same is consistent, which is not described herein.
S42, calculating an included angle theta between the axial direction of the body of the tested electric bicycle and the axial line of the vehicle-mounted camera according to the first vehicle body image information3. Specifically, the axial direction of the vehicle body in this embodiment is the direction from the vehicle head to the vehicle tail, and this direction can also reflect the parking posture of the tested electric bicycle to the maximum extent, and similarly, in order to facilitate angle calculation, the included angle θ in this embodiment is3Also calculated using angle vectors, where the included angle θ3An angle vector theta formed between the axial line of the vehicle-mounted camera along the shooting direction and the axial direction of the vehicle body3. It will be appreciated that in other embodiments, the angle vector θ3The specific defining direction can also be set according to actual needs, and the calculation principle behind the same is consistent, which is not described herein.
S43, calculating theta2-θ3Difference of (a) theta4(ii) a By calculating theta2-θ3The obtained difference value theta4It can be understood that θ4Also an angle vector, which in turn can be determined by the equation θ4And judging whether the parking posture of the tested electric bicycle is a preset random parking and random placing posture.
S44, at the theta4And when the parking posture of the tested electric bicycle exceeds a first preset range, judging that the parking posture of the tested electric bicycle is a preset disordered parking and disorderly placing posture. Specifically, the first predetermined range may be set according to actual needs, for example, in a specific embodiment, the first predetermined range may be set to 60 to 120 degrees, that is, when θ is4When the angle of the tested electric bicycle is 60-120 degrees, the tested electric bicycle is judged to be in a normal parking posture, and when theta is measured4When the angle of (a) is between 60 and 120 degrees, e.g. theta4And judging that the tested electric bicycle is in a preset disorderly parking and disorderly placing posture at 150 degrees. The situations that the head of the electric bicycle continuously swings, adjusts and turns in the riding process can be simulated through the flow steps, and the difference value theta is utilized4The method can effectively avoid the influence of angle change caused by the current electric bicycle in the state, thereby ensuring the accuracy and reliability of detection and further improving the intellectualization, timeliness and high efficiency of operation and maintenance.
It can be understood that, according to the first vehicle body image information and the preset included angle θ1The method for determining whether the parking posture of the tested electric bicycle is the preset disordered parking and disorderly releasing posture is not limited to the above calculation method, and a person skilled in the art should know that the method can also directly obtain the angle between the tested electric bicycle and a fixed reference object through other reference objects, for example, the angle relationship between the tested electric bicycle and a parking space direction line and/or a parking space line can be obtained for judgment, or the relative position relationship between adjacent/or multiple tested electric bicycles can be obtained for judgment, or the angle relationship between the direction of the head of the tested electric bicycle and the vehicle-mounted camera can be calculated for judgment, and the specific calculation method can be set according to the actual situation.
As a preferred embodiment of the present invention, after the step S4, the method further includes the steps of:
s5, extracting the body feature information of the tested electric bicycle according to the first body image information, and obtaining the brand of the tested electric bicycle. Since the brand of the current shared electric bicycle is various, the embodiment further provides the analysis and judgment of electric bicycles of different brand types. Specifically, whether the vehicle body characteristics of the tested electric bicycle are consistent with the current electric bicycle or not is acquired through first vehicle body image information, and for example, the judgment can be performed by identifying the obvious distinguishing characteristics of the vehicle body size, the vehicle body color, the vehicle body LOGO and the like in the first vehicle body image.
And S61, when the parking posture of the tested electric bicycle is a preset disordered parking and disordered discharging posture, and when the tested electric bicycle and the current electric bicycle are the same-brand electric bicycle, sending a first operation and maintenance instruction to a first background control center. In other words, when the tested electric bicycle and the current electric bicycle are the same brand electric bicycle and the parking posture is the preset random parking and random release posture, the first operation and maintenance instruction is sent to the first background control center, wherein the first background control center is the background control center of the operator of the brand, for example, when the number of the tested electric bicycles in the random parking and random release posture exceeds a certain preset value or the random parking and random release postures of some electric bicycles are too large, the operation and maintenance personnel can be timely notified to perform operation and maintenance management, so that the operation and maintenance of the electric bicycles can be timely and specifically performed, and the intelligence and the high efficiency of the operation and maintenance of the electric bicycles are greatly improved.
And S62, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture, and when the tested electric bicycle and the current electric bicycle are not the same brand, sending a second operation and maintenance instruction to a second background control center. Specifically, when the tested electric bicycle and the current electric bicycle are electric bicycles of different brands, the information can be sent to a second background control center, for example, the second background control center can be the same as the first background control center, or can be a universal and public background control center, for example, the excellent degree of the random parking and random playing performance of different vehicle models can be analyzed and judged in this way, so that the basis of management, reward and punishment can be provided for relevant associations and departments.
S63, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are not of the same brand, acquiring a corresponding operator according to the brand of the tested electric bicycle, and sending a third operation and maintenance instruction to a third background control center corresponding to the operator. Specifically, a corresponding operator can be obtained by obtaining the brand of the tested electric bicycle, and the disorderly parking and disorderly placing posture information of the tested electric bicycle can be timely transmitted to the operator, so that corresponding operation and maintenance measures can be timely taken.
As a preferred embodiment of the present invention, the step S1 is followed by the step of:
s11, when the current electric bicycle is in a parking state, judging whether the vehicle-mounted camera meets a preset second starting condition; as will be understood by those skilled in the art, the second starting condition includes, but is not limited to, one or more of automatic starting at a second preset time interval, obtaining a bluetooth signal that the current electric bicycle senses an electric bicycle of the same brand or the same system platform; for example, the actual position according to electric bicycle parking can set up and start according to the second preset time interval the candid photograph mode of vehicle-mounted camera is taken a candid photograph, can also respond to the bluetooth signal automatic start of same brand electric bicycle through electric bicycle the vehicle-mounted camera gets into candid photograph mode etc. through the condition of the start-up of multiple difference, can take a candid photograph to the at utmost and listen to stop in the electric bicycle next door at present.
And S12, when the vehicle-mounted camera meets a preset second starting condition, acquiring a second image captured by the vehicle-mounted camera within a preset time length, and extracting second vehicle body image information of the tested single vehicle parked on the roadside according to the second image. The implementation includes that whether the tested electric bicycle is in a preset disorderly parking and disorderly placing posture is judged when the electric bicycle is in a parking state, specifically, when the vehicle-mounted camera meets one or more of the multiple starting conditions, the vehicle-mounted camera is started to enter a snapshot mode and obtain the second image, and second vehicle body image information of the tested electric bicycle parked on the roadside is extracted according to the second image. The second vehicle body image information includes, but is not limited to, one or more of a vehicle body axial direction, an angle of the vehicle body axial direction relative to a parking space direction line, a vehicle body color, and a vehicle body LOGO.
S13, according to the second vehicle body image information and the preset included angle theta1And determining whether the parking posture of the tested electric bicycle is a preset random parking and random placing posture. For example, whether the parking posture of the tested electric bicycle is a preset disorderly parking and disorderly releasing posture can be judged by acquiring an included angle formed between the axial direction of the body of the selected electric bicycle and a parking space wire frame, or whether the parking posture of the selected electric bicycle is the preset disorderly parking and disorderly releasing posture can be judged by acquiring an included angle between the axial line of the vehicle-mounted camera of the current electric bicycle and the axial direction of the body of the tested electric bicycle.
And S14, when the parking posture of the tested electric bicycle is a preset random parking and random releasing posture, the step S4 is entered, that is, when the detected parking posture of the tested electric bicycle is the random parking and random releasing posture, the brand type of the tested electric bicycle can be judged and analyzed, and therefore different operation and maintenance instructions are sent to different background control centers.
And S15, when the parking posture of the tested electric bicycle is a non-preset disordered parking and disorderly discharging posture, judging that the parking posture of the tested electric bicycle is a normal parking posture.
As a preferred embodiment of the present invention, the step S4 further includes the steps of:
s301, judging whether the tested electric bicycle is in the parking spot range or not according to the first image. The embodiment further analyzes and judges whether the tested electric bicycle is in the range of the parking spot. Specifically, whether the electric bicycle is located in a parking space line of a parking spot, or outside an obvious parking spot, or in a road edge or other areas can be acquired through the first image.
S302, when the tested electric bicycle is located in the parking point range, the tested electric bicycle is judged to be in a compliant parking area, and the step S4 is entered.
S303, when the tested electric bicycle is not in the range of the parking point, judging that the tested electric bicycle is in an illegal parking area, and entering the step S5. That is to say, when the tested electric bicycle is within the parking spot range, the analysis step is continued, if the tested electric bicycle is not within the parking spot range, the fact that the tested electric bicycle is parked illegally is indicated, the brand type of the tested electric bicycle is further judged, and then different operators are informed to carry out targeted operation and maintenance.
Further, the first preset time interval is set to 0.1 s/time, θ1The angle is set to 90 degrees, and the first preset range is set to 60-120 degrees. The second preset time interval is set to be 1 s/time, and the preset time duration is 10 s. In other embodiments, the first predetermined time interval, the θ1The first preset range, the second preset time interval and the preset duration can be flexibly set according to actual needs.
Further, the operation state includes, but is not limited to, one or more of a vehicle speed, a power supply current value, and a GPS navigation data variation value. For example, by obtaining both the driving speed value and the power supply current value, for example, when the driving speed is zero and the power supply current value is zero, it may also be determined that the current electric bicycle is in the parking state, and at this time, the step S11 may be entered into the subsequent determination. For example, the current running state of the electric bicycle can be determined to be in a riding state or a parking state by acquiring a GPS navigation data change value and fitting and analyzing a plurality of GPS navigation data change values.
The invention also provides an electric bicycle 13, which comprises a bicycle body (not shown), the vehicle-mounted camera arranged on the bicycle body and a control system arranged in the bicycle body; the control system includes a memory 52, a processor 51, and a computer program 53 stored in the memory 52 and executable on the processor, wherein the processor 51 implements the steps of the method for detecting the sidecar pose of the electric bicycle when executing the computer program 53.
The present invention further provides a storage medium storing a computer program 53, wherein the computer program 53 is implemented by the processor 51, and the steps of the method for detecting the sidecar parking posture by the electric bicycle are implemented. It is understood that the method for detecting the sidecar parking posture by the electric bicycle is implemented by the processor 51, so that all the embodiments of the method are applicable to the storage medium and can achieve the same or similar advantages.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for detecting the placing posture of a side car by an electric bicycle is characterized by comprising the following steps:
s1, acquiring the running state of the current electric bicycle, and judging whether the current electric bicycle is in a riding state;
s2, when the current electric bicycle is in a riding state, judging whether the vehicle-mounted camera meets a preset first starting condition; the first starting condition comprises one or more of automatic starting according to a first preset time interval, acquisition of a Bluetooth signal of the current electric bicycle sensing the electric bicycle of the same brand or the same system platform and acquisition of a parking position signal; the vehicle-mounted camera is arranged on the right side of the vehicle body of the current electric bicycle, and a preset included angle theta is formed between the axial lead of the vehicle-mounted camera and the axial direction of the vehicle body of the current electric bicycle1；
S3, when the vehicle-mounted camera meets preset starting conditions, acquiring a first image captured by the vehicle-mounted camera, and extracting first vehicle body image information of the tested electric bicycle parked on the roadside from the first image;
s4, according to the first vehicle body image information and the preset included angle theta1And determining whether the parking posture of the tested electric bicycle is a preset random parking and random placing posture.
2. The method of claim 1, wherein the step S4 includes:
s41, determining an included angle theta between the axis line of the vehicle-mounted camera and the road edge when the first image is captured according to the first image2；
S42, calculating an included angle theta between the axial direction of the body of the tested electric bicycle and the axial line of the vehicle-mounted camera according to the first vehicle body image information3；
S43, calculating theta2-θ3Difference of (a) theta4；
S44, at the theta4And when the parking posture of the tested electric bicycle exceeds a first preset range, judging that the parking posture of the tested electric bicycle is a preset disordered parking and disorderly placing posture.
3. The method for detecting the sidecar parking posture of the electric bicycle according to claim 1 or 2, wherein after the step S4, the method further comprises the steps of:
s5, extracting the body feature information of the tested electric bicycle according to the first body image information, and acquiring the brand of the tested electric bicycle; the vehicle body characteristic information comprises one or more of vehicle body shape, vehicle body color and vehicle body LOGO;
s61, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are the same brand electric bicycles, sending a first operation and maintenance instruction to a first background control center;
s62, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are not the same brand electric bicycle, sending a second operation and maintenance instruction to a second background control center;
s63, when the parking posture of the tested electric bicycle is a preset random parking and random discharging posture and the tested electric bicycle and the current electric bicycle are not of the same brand, acquiring a corresponding operator according to the brand of the tested electric bicycle, and sending a third operation and maintenance instruction to a third background control center corresponding to the operator.
4. The method as claimed in claim 3, wherein the step S1 is followed by the step of:
s11, when the current electric bicycle is in a parking state, judging whether the vehicle-mounted camera meets a preset second starting condition; the second starting condition comprises one or more of automatic starting according to a second preset time interval and acquisition of Bluetooth signals of the electric bicycle inducted by the current electric bicycle to the electric bicycle of the same brand or the same system platform;
s12, when the vehicle-mounted camera meets a preset second starting condition, acquiring a second image captured by the vehicle-mounted camera within a preset time length, and extracting second vehicle body image information of the tested bicycle parked on the roadside according to the second image;
s13, according to the second vehicle body image information and the preset included angle theta1Determining whether the parking posture of the tested electric bicycle is a preset random parking and random placing posture;
s14, when the parking posture of the tested electric bicycle is a preset random parking and random placing posture, the step S5 is carried out;
and S15, when the parking posture of the tested electric bicycle is a non-preset disordered parking and disorderly discharging posture, judging that the parking posture of the tested electric bicycle is a normal parking posture.
5. The method of claim 3, wherein the step S4 is preceded by the steps of:
s301, judging whether the tested electric bicycle is in a parking spot range or not according to the first image;
s302, when the tested electric bicycle is located in the parking point range, judging that the tested electric bicycle is located in a compliant parking area, and entering the step S4;
s303, when the tested electric bicycle is not in the range of the parking point, judging that the tested electric bicycle is in an illegal parking area, and entering the step S5.
6. The method as claimed in claim 2, wherein the first predetermined time interval is set to 0.1 s/time, θ1The angle is set to 90 degrees, and the first preset range is set to 60-120 degrees.
7. The method as claimed in claim 4, wherein the second predetermined time interval is set to 1 s/time, and the predetermined time period is 10 s.
8. The method as claimed in any one of claims 1 to 7, wherein the operation status includes one or more of a vehicle speed, a power supply current value, and a GPS navigation data variation value.
9. An electric bicycle comprises a bicycle body, a vehicle-mounted camera arranged on the bicycle body and a control system arranged in the bicycle body; wherein the control system comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for detecting a wayside parking pose of an electric bicycle according to any one of claims 1 to 8 when executing the computer program.
10. A storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for detecting a wayside pose of an electric bicycle according to any one of claims 1 to 8.
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| CN202110942222.5A CN113627370A (en) | 2021-08-17 | 2021-08-17 | Electric bicycle, method for detecting side car placing posture of electric bicycle and storage medium |
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| CN202110942222.5A CN113627370A (en) | 2021-08-17 | 2021-08-17 | Electric bicycle, method for detecting side car placing posture of electric bicycle and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114639202A (en) * | 2022-03-16 | 2022-06-17 | 无锡易百客科技有限公司 | Campus shared electric bicycle management system and method based on Internet |
| CN116757803A (en) * | 2023-08-10 | 2023-09-15 | 浙江小遛信息科技有限公司 | Vehicle returning control method and server for shared vehicle |
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2021
- 2021-08-17 CN CN202110942222.5A patent/CN113627370A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114639202A (en) * | 2022-03-16 | 2022-06-17 | 无锡易百客科技有限公司 | Campus shared electric bicycle management system and method based on Internet |
| CN116757803A (en) * | 2023-08-10 | 2023-09-15 | 浙江小遛信息科技有限公司 | Vehicle returning control method and server for shared vehicle |
| CN116757803B (en) * | 2023-08-10 | 2024-01-19 | 浙江小遛信息科技有限公司 | Vehicle returning control method and server for shared vehicle |
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