CN113942603A

CN113942603A - Brake fault detection method and device of bicycle and bicycle

Info

Publication number: CN113942603A
Application number: CN202111178040.1A
Authority: CN
Inventors: 杨凯
Original assignee: Mobai Beijing Information Technology Co Ltd
Current assignee: Mobai Beijing Information Technology Co Ltd
Priority date: 2021-10-09
Filing date: 2021-10-09
Publication date: 2022-01-18

Abstract

The present disclosure relates to a brake fault detection method and device for a bicycle and a bicycle, wherein the bicycle comprises a brake device, the brake device comprises a brake handle for a user to perform a braking action, and the method comprises the following steps: acquiring a first signal value of a brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle; acquiring an actual value of the acceleration of the bicycle and determining a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero; and obtaining a detection result indicating whether the brake device has a fault or not according to the comparison result of the actual value and the reference value.

Description

Brake fault detection method and device of bicycle and bicycle

Technical Field

The embodiment of the disclosure relates to the technical field of vehicles, in particular to a brake fault detection method and device of a bicycle and the bicycle.

Background

At present, the shared vehicle trip becomes a emerging trip mode in a city, and the trip demand of urban people can be effectively solved. Among the shared vehicles, bicycles are the most popular shared vehicles because of their relatively low operation and maintenance costs and their convenient use.

The brake system of the bicycle adopts a mechanical brake structure and comprises a brake handle, a brake cable and a brake device, wherein the brake cable is connected between the brake handle and the brake device. When a user brakes, the user can pinch the brake handle to pull the brake cable so as to pull the brake device to act through the brake cable, and mechanical braking is realized.

For the brake system, when the brake cable has faults such as looseness or breakage, mechanical brake fails, and the detection of the bicycle brake fault needs a user to actively report the fault at present, but the user does not necessarily report the fault after finding the brake fault, so that all vehicles with brake faults cannot be found out, and if the vehicles with brake faults are not maintained in time, potential safety hazards exist, and therefore a safe and efficient fault detection scheme is needed to be provided.

Disclosure of Invention

It is an object of an embodiment of the present disclosure to provide a brake failure detection scheme for a bicycle.

According to a first aspect of the present invention, there is provided a brake failure detection method of an electric bicycle, the bicycle including a brake device including a brake lever for a user to perform a braking action, the method comprising: acquiring a first signal value of a brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle; acquiring an actual value of the acceleration of the bicycle and determining a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero; and obtaining a detection result indicating whether the brake device has a fault or not according to the comparison result of the actual value and the reference value.

Optionally, the determining a reference value of acceleration corresponding to the first signal value comprises: acquiring a set brake model; wherein the brake model reflects a correspondence between a signal value of the brake signal and a reference value of the acceleration of the bicycle; and obtaining a reference value of the acceleration corresponding to the first signal value according to the first signal value and a set brake model.

Optionally, the obtaining a detection result indicating whether the brake device has a fault according to the comparison result between the actual value and the reference value includes: obtaining a first detection result indicating that there is no fault in the brake device, in a case where the actual value is less than or equal to the reference value; calculating a difference between the actual value and the reference value in case the actual value is greater than the reference value; under the condition that the difference value is larger than a set threshold value, obtaining a second detection result which indicates that the brake device has a fault; and obtaining the first detection result when the difference is smaller than or equal to the set threshold.

Optionally, the obtaining an actual value of the acceleration of the bicycle comprises: acquiring a plurality of sampling values of the acceleration of the bicycle in a set time period; the starting time point of the set time period is greater than or equal to the time point of acquiring the first signal value, the ending time point of the set time period is less than or equal to the time point of acquiring a second signal value, and the second signal value is not equal to the first signal value; and obtaining the actual value of the acceleration according to the plurality of sampling values.

Optionally, after obtaining the detection result indicating whether the brake device has a fault, the method further includes: controlling an output device of the bicycle to output set prompt information under the condition that the detection result shows that the brake device has a fault; wherein the prompt message includes information reflecting that the brake device has a fault.

Optionally, after obtaining the detection result indicating whether the brake device has a fault, the method further includes: reporting the detection result to a server for fault processing under the condition that the detection result shows that the brake device has a fault; wherein the fault handling comprises: modifying the state of the bicycle from a healthy state to a failed state; after receiving the successful locking message reported by the bicycle, sending the setting information of the bicycle to an account number of an operation and maintenance worker; the setting information comprises fault information indicating that a brake device of the bicycle has a fault and position information of the bicycle; and after the setting information is sent to the account number of the operation and maintenance personnel, under the condition that a first notification message indicating that the bicycle is repaired is received, the state of the bicycle is modified from a fault state to a health state.

Optionally, after receiving the successful locking message reported by the bicycle, the fault handling further includes: detecting whether the bicycle is in a fault state in a case where an unlocking request for the bicycle is received; and if the bicycle is in the fault state, rejecting the unlocking request and sending a second notification message indicating that the bicycle is in the fault state to the user terminal sending the unlocking request.

In a second aspect, there is provided a brake failure detection apparatus for a bicycle, the bicycle including a brake apparatus including a brake lever for a user to perform a braking action, the apparatus comprising: the sampling module is used for acquiring a first signal value of the brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle; an analysis module for acquiring an actual value of the acceleration of the bicycle and determining a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero; and the processing module is used for obtaining a detection result indicating whether the brake device has a fault or not according to a comparison result of the actual value and the reference value.

In a third aspect, a bicycle is provided that includes a second party's device; alternatively, the bicycle comprises a memory for storing an executable computer program and a processor; the processor is adapted to perform the method according to any of the first aspects under control of the computer program.

In a third aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any one of the first aspects.

One beneficial effect of the disclosed embodiment is that the bicycle of the embodiment adopts the steps of comparing the actual value of the acceleration with the reference value of the acceleration corresponding to the first signal value to obtain the comparison result under the condition that the first signal value of the braking signal indicates that the braking stroke is greater than zero, and judging whether the braking device has a fault according to the comparison result. As long as the user has triggered brake equipment, has produced brake signal, just can judge whether brake equipment breaks down to need not the user initiative and report the trouble, discovery bicycle that can be timely is whether break down, can effectively improve the safety in utilization of bicycle.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 shows a schematic structural view of a shared vehicle system of a usage scenario of a bicycle;

FIG. 2 is a schematic flow chart diagram of a method of brake fault detection for a bicycle, according to one embodiment;

FIG. 3 is a signaling flow diagram of a bicycle in accordance with another embodiment;

FIG. 4 is a block schematic diagram of a bicycle in accordance with one embodiment;

FIG. 5 is a schematic hardware configuration of a bicycle in accordance with one embodiment;

FIG. 6a is a schematic diagram of a brake lever state detection device in one state according to one embodiment;

fig. 6b is a schematic structural diagram of a brake lever state detection device according to an embodiment in another state.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< shared vehicle System >

Fig. 1 is a system configuration diagram of a shared vehicle system to which an electric bicycle according to an embodiment is applied.

As shown in fig. 1, the shared vehicle system 100 includes a server 1000, a user terminal 2000, and a bicycle 3000.

The server 1000 and the user terminal 2000, and the server 1000 and the bicycle 3000 may be communicatively connected through a network N. The bicycle 3000 and the server 1000, and the network N over which the user terminal 2000 and the server 1000 communicate with each other may be the same or different.

The server 1000 provides a service point for processes, databases, and communications facilities. The server 1000 may be a unitary server, a distributed server across multiple computers, a computer data center, a cloud server, or a cloud-deployed server cluster, etc. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one embodiment, the server 1000 may be as shown in fig. 1 and may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, and the like.

Processor 1100 is used to execute computer programs, which may be written in instruction sets of architectures such as x86, Arm, RISC, MIPS, SSE, and the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The communication device 1400 is capable of wired or wireless communication, for example.

In this embodiment, the memory 1200 of the server 1000 is used for storing a computer program for controlling the processor 1100 to perform operations for monitoring the electric bicycle and the like, including, for example: according to an unlocking request sent by the terminal device 2000 of the user, an unlocking instruction is sent to the electric bicycle, so that the electric bicycle is in a state of being ridden; according to a locking request sent by the terminal device 2000 of the user, a locking instruction is sent to the bicycle 3000, so that the bicycle 3000 is in a non-riding state; and, according to the trouble information reported by the bicycle 3000, the bicycle 3000 is subjected to trouble processing and the like. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

In this embodiment, the user terminal 2000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, or the like.

The user terminal 2000 is installed with a bicycle using application client, and a user can use the bicycle 3000 by operating the bicycle using application client.

As shown in fig. 1, the user terminal 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like.

The processor 2100 is used to execute a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, and so on. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 2400 can perform wired or wireless communication, for example, the communication device 2400 may include at least one short-range communication module, for example, any module that performs short-range wireless communication based on a short-range wireless communication protocol such as a Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, and the like, and the communication device 2400 may also include a long-range communication module, for example, any module that performs WLAN, GPRS, 2G/3G/4G/5G long-range communication. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. The user terminal 2000 may output an audio signal through the speaker 2700 and collect an audio signal through the microphone 2800.

In this embodiment, the memory 2200 of the user terminal 2000 is used to store a computer program for controlling the processor 2100 to operate to perform a method of using the electric bicycle, including, for example: acquiring a unique identifier of a bicycle 3000, generating an unlocking request for the bicycle 3000, and sending the unlocking request to the server 1000; send a lock-off request to the server 1000 for the bicycle 3000; and, bill calculation and the like are performed according to the charge settlement notice transmitted from the server 1000. A skilled person can design a computer program according to the solution disclosed in the present invention. How computer programs control the operation of the processor is well known in the art and will not be described in detail herein.

In this embodiment, the bicycle 3000 may be a bicycle with only mechanical power, and may be an electric bicycle with any form of motor for outputting torque to the wheels of the bicycle 3000 to provide riding power for the user.

As shown in fig. 1, the control system of bicycle 3000 may include a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, an output device 3500, an input device 3600, a state detection device 3700, motors 3800, and the like.

The processor 3100 is for executing a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The computer program is configured to control the processor 2100 to operate so as to execute a brake control method according to any of the embodiments of the present disclosure, for example, the computer program is configured to control the processor 2100 to operate so as to execute at least the following steps: acquiring a current value of a brake signal, wherein the brake signal is a signal reflecting the brake stroke of the brake handle; and controlling the motor to output a reverse torque corresponding to the current value according to the current value of the brake signal, wherein the reverse torque is a torque opposite to the wheel steering of the electric bicycle.

The bicycle 3000 can be provided with at least one processor 3100, and the at least one processor 3100 can be used as a controller of a control system. The processor 3100 may be, for example, a microprocessor MCU or the like.

The memory 3200 may comprise, for example, a ROM (read only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, or the like.

The interface device 3300 may include at least one of a USB interface, an RJ45 interface, and an earphone interface, for example.

The communication device 3400 is capable of wired or wireless communication, for example, and is also capable of short-range and long-range communication, for example, and the communication module 340 may include at least one of a GSM module, a GPRS module, a 3G module, a 4G module, and a WLAN module.

The output device 3500 may include at least one of a display module, an audio output module, and a light output module. The display module is, for example, a liquid crystal display or a touch display. The audio output module may include at least one of a speaker and a buzzer, for example. The light output module includes, for example, various LED lamp indicating circuits and the like.

The input device 3600 may include at least one of an audio input module for inputting an audio signal, such as a touch panel, a physical key input circuit, and a microphone.

The state detecting device 3700 is used to detect a corresponding state of the bicycle 3000 and output a state signal indicating the corresponding state, and the state detecting device 370 may output the state signal by outputting an analog signal or a digital signal, which is not limited herein.

For example, the state detection device 3700 may include: at least one motion sensor, a positioning device such as a GPS, a wheel motion detector, a tread frequency detector, a position sensor, and the like.

The state detection device 3700 is connected to the processor 3100 via an adapted state detection circuit to output a corresponding state signal to the processor 3100.

Each motor 3800 includes at least a motor for providing riding power.

It should be understood that although fig. 1 shows only one server 1000, one user terminal 2000, and one bicycle 3000, it is not meant to limit the respective numbers, and the shared vehicle system 100 may include a plurality of servers 1000, a plurality of user terminals 2000, a plurality of bicycles 3000, and the like.

< method examples >

Fig. 2 illustrates a brake failure detection method for a bicycle according to one embodiment, which may be implemented by the bicycle, such as by a controller of the bicycle, and the brake control method of the embodiment will be described below with reference to the bicycle 3000 shown in fig. 1, wherein the processor 3100 of the bicycle 3000 may be used as the controller of the bicycle 3000.

As shown in fig. 2, the brake control method of the present embodiment may include the following steps S210 to S230:

step S210, a first signal value of a braking signal is obtained, where the braking signal is a signal reflecting a braking stroke of a brake handle.

In this embodiment, the bicycle 3000 includes a brake device, the brake device includes a brake handle for a user to perform a braking action, and the user can perform a "holding down the brake handle" braking operation for the brake handle when the user needs to brake, so that the movable portion of the brake handle rotates, and further the braking stroke of the brake handle is increased from zero.

In this embodiment, when the user does not perform the braking operation at the initial position, the corresponding braking stroke may be set to be zero, and when the user performs the braking operation to the maximum extent allowed by the braking handle, the corresponding braking stroke may reach the maximum value H_maxI.e. the range of variation of the braking stroke is [0, H_max]. In the variation range of the braking stroke, the gripping power of a user is in direct proportion to the braking stroke, and the larger the gripping power is, the larger the braking stroke is, and the larger the braking force desired by the user is; the smaller the grip strength and the smaller the braking stroke, the smaller the braking force desired by the user, and therefore the first signal value of the braking signal is [0, H ]_max]Within the range.

In this embodiment, the brake signal may be provided by a brake lever state detecting device of the bicycle, the brake signal may be an electrical signal, and the processor 3100 may sample the brake signal according to a set sampling period or according to an interrupt trigger, etc. to obtain a first signal value of the brake signal, for example, a voltage value.

In step S220, in case the first signal value indicates that the brake stroke is greater than zero, an actual value of acceleration of the bicycle is acquired, and a reference value of acceleration corresponding to the first signal value is determined.

In this embodiment, the first signal value indicates that the brake stroke is greater than zero, and indicates that the user performs a brake operation of "holding down the brake lever" with respect to the brake lever.

In this embodiment, can obtain the acceleration of bicycle through the change of the fast wheel speed of the wheel of collection bicycle in fixed time quantum, also can directly acquire the speed of traveling of bicycle through the speed collection device of bicycle, obtain the acceleration of bicycle according to the change of the speed of traveling of bicycle in fixed time quantum.

In this embodiment, the method of acquiring the actual value of the acceleration of the bicycle includes the following steps S2211 to S2212:

and S2211, acquiring a plurality of sampling values of the acceleration of the bicycle in a set time period.

In this embodiment, a plurality of sampling values of the acceleration of the bicycle in a set time period are obtained, that is, a plurality of acceleration values in the set time period are collected, where a starting time point of the set time period is greater than or equal to a time point of obtaining the first signal value, an ending time point of the set time period is less than or equal to a time point of obtaining the second signal value, and the second signal value is not equal to the first signal value.

In this embodiment, if the brake is normal when the user carries out the brake operation, the brake equipment of bicycle plays, forces the bicycle to slow down, and acceleration is the negative value this moment to exert the resistance of marcing to the bicycle, and then make the speed of a motor vehicle descend fast, reach the brake effect.

And S2212, obtaining the actual value of the acceleration according to the plurality of sampling values.

In this embodiment, the actual value of the acceleration may be obtained according to an average value of a plurality of sampling values, and the average value may be an arithmetic average value, a geometric average value, a square average value, or the like.

In this embodiment, since the signal value of the braking signal can reflect the size of the braking stroke, the first signal value of the braking signal can reflect the braking force that the user wants to obtain at the current moment. This braking force can be indicative of the reverse acceleration obtained at the moment of the bicycle. Therefore, whether the brake is failed or not can be judged under the condition that the first signal value indicates that the brake stroke is larger than zero according to the magnitude relation between the actual value of the current acceleration of the bicycle and the value of the acceleration corresponding to the first signal value.

In this embodiment, step S220 is also performed by determining a reference value of acceleration corresponding to the first signal value in case the first signal value indicates that the brake stroke is greater than zero. That is, when the braking signal is the first signal value, the corresponding reference acceleration can be determined whether the brake is faulty or not through the relationship between the reference acceleration and the actual value of the current acceleration.

In this embodiment, determining the reference value of the acceleration corresponding to the first signal value includes the following steps S2221 to S2222:

s2221, a set brake model is obtained.

In this embodiment, the brake model reflects a correspondence between a signal value of the brake signal and a reference value of the acceleration of the bicycle. By establishing mapping data reflecting the mapping relation between the signal value of the brake signal and the acceleration of the bicycle, whether the brake is in fault can be judged according to the current value of the acceleration of the bicycle and the mapping data.

S2222, obtaining a reference value of the acceleration corresponding to the first signal value according to the first signal value and the set brake model.

In this embodiment, the mapping data reflecting the mapping relationship between the signal value of the brake signal and the acceleration of the bicycle in the brake model may be a mapping function, a look-up table, or the like, and is not limited herein.

For the mapping function, the dependent variable of the mapping function is the reference value of the acceleration, and the independent variable is the signal value of the brake signal, so that the reference value of the acceleration corresponding to the first signal value can be obtained by substituting the first signal value of the brake signal obtained through step S210 as the signal value of the brake signal into the mapping function. The reference value of the acceleration may directly represent the value of the required reverse acceleration, or may indirectly represent the value of the required reverse acceleration, which is not limited herein.

For the look-up table, a reference value of the acceleration corresponding to the first signal value may be looked up in the look-up table. If the reference value of the acceleration cannot be found directly in the comparison table, two signal values adjacent to the first signal value can be found, and the reference value of the acceleration corresponding to the first signal value is obtained by utilizing an interpolation means according to the two signal values and the reference values of the acceleration respectively corresponding to the two signal values.

S230, obtaining a detection result indicating whether the brake device has a failure according to a comparison result between the actual value and the reference value, including the following steps S2311 to S2312:

s2311, obtaining a first detection result indicating that the brake device is not faulty, in case the actual value is less than or equal to the reference value.

It will be appreciated that normally the vehicle should decelerate after braking, and that the acceleration should be negative, and therefore the reference value is negative.

In this embodiment, when the actual value is less than or equal to the reference value, it means that when the brake signal is the first signal value, the current acceleration of the bicycle is less than the reference value of the acceleration corresponding to the first signal value, that is, the vector acceleration is gradually decreased, for example, when the reference value is-5 m/s²The actual value is-8 m/s²And if the actual vector acceleration is smaller than the reference value, the reverse acceleration of the bicycle is larger than the absolute value of the reference value, namely the bicycle is decelerated, and the brake of the bicycle is not in fault.

S2312, calculating a difference value between the actual value and the reference value under the condition that the actual value is larger than the reference value;

in one example, the brake device for a bicycle may cause tightness of the fitting relationship between the brake handle, the brake cable and the brake member due to its use loss, that is, a deviation between the actual value and the reference value may occur for the same brake signal. For example, the actual value of the acceleration is-4 m/s²The reference value is-4.2 m/s²At the moment, the deviation is small, and under the deviation, the bicycle can still brake normally, so that the brake fault cannot be judged only through the inconsistency of the actual value and the reference value. Therefore, the present embodiment can determine whether the brake lever is in the failure state by detecting whether the difference between the actual value and the reference value belongs to a certain range of values.

In this embodiment, a difference between the actual value and the reference value is calculated when the actual value is greater than the reference value; and under the condition that the difference value is larger than the set threshold value, the deviation of the actual value of the acceleration representing the bicycle and the reference value is overlarge, and under the condition that the bicycle cannot be normally braked, a second detection result indicating that the brake device has a fault is obtained.

In this embodiment, when the difference is smaller than or equal to the set threshold, the difference between the actual value of the acceleration representing the bicycle and the reference value is within the preset range in which the bicycle can normally run. The first detection result indicates that the brake device is not in failure.

As can be seen from the above steps S210 to S230, the bicycle 3000 of this embodiment compares the actual value of the acceleration with the reference value of the acceleration corresponding to the first signal value to obtain the comparison result, and determines whether the brake device has a failure according to the comparison result, when the first signal value of the brake signal indicates that the brake stroke is greater than zero. As long as the user has triggered brake equipment, has produced brake signal, just can judge whether brake equipment breaks down to need not the user initiative and report the trouble, discovery bicycle that can be timely is whether the trouble, can effectively improve bicycle 3000's safety in utilization.

In this embodiment, referring to fig. 3, after obtaining the detection result indicating whether the brake device is faulty or not, in order to avoid the user using the bicycle with the faulty brake device, the present embodiment further includes the steps of:

and S310, controlling the output device of the bicycle to output set prompt information under the condition that the detection result shows that the brake device has a fault.

In this embodiment, the prompt message includes information reflecting that the brake device has a fault. Such as a voice prompt, a vibration prompt, a light signal prompt, or a text prompt. Correspondingly, the output device may comprise at least one of an audio output device, a vibration output device, a light output device, a display screen.

In this embodiment, the voice prompt message may be a voice prompt that a speaker mounted on the bicycle sends a preset "brake failure". The vibration prompting information can be a vibration prompt sent by a vibration prompting device installed on the bicycle. The light signal prompt message may be a light signal prompt from a flashlight device mounted on the bicycle. The text reminding information can be a text prompt that a display screen arranged on the bicycle sends a preset brake fault.

In this embodiment, after obtaining the detection result indicating whether the brake device has a fault, the method of this embodiment further includes: and reporting the detection result to a server for fault processing under the condition that the detection result shows that the brake device has a fault. So that the operation and maintenance personnel can know the information of the faulty bicycle and maintain the faulty bicycle.

In this embodiment, the fault processing includes:

and S320, modifying the state of the bicycle from a healthy state to a fault state.

And S330, after receiving the successful locking message reported by the bicycle, sending the setting information of the bicycle to the account number of the operation and maintenance personnel.

It can be understood that the bicycle can monitor the on-off state of the lock, and when the on-off state of the lock changes, the lock on-off information is sent to the server in time, so that the lock can execute the lock on-off action according to the instruction of the user terminal. And after the server receives the locking information reported by the bicycle, the server sends the setting information of the bicycle to the account of the operation and maintenance personnel when representing that the user finishes using the bicycle. The setting information includes failure information indicating that the brake device of the bicycle has a failure and position information of the bicycle. The failure information indicating that the brake device of the bicycle has a failure may be voice prompt information, text prompt information, or the like, for example, the failure information indicating that the brake device of the bicycle has a failure is "the vehicle of number 100 has a brake failure". After receiving the setting information of the bicycle, the operation and maintenance personnel can timely transport the bicycle to a nearby maintenance point so that the maintenance personnel can maintain the bicycle with a brake fault, and upload the maintenance information and the vehicle information of the bicycle to a server after maintenance to update the state of the bicycle.

And S340, after the setting information is sent to the account number of the operation and maintenance personnel, and the state of the bicycle is modified from the fault state to the health state under the condition that a first notification message indicating that the bicycle is repaired is received.

In this embodiment, if the operation and maintenance personnel receive the setting information, the maintenance of the bicycle with the brake failure is completed, and the state information of the bicycle is updated in the server. The server sends a first notification message of completing maintenance to the bicycle, and the controller of the bicycle modifies the state of the bicycle from a failure state to a health state in case of receiving the first notification message indicating that the bicycle has completed maintenance.

In this embodiment, if during the last riding, the detection result indicates that the brake device has a fault, and the operation and maintenance personnel have not yet repaired the bicycle at this time, in order to avoid the bicycle with the fault being used by the user, after receiving the successful locking message reported by the bicycle, the fault handling further includes:

and S350, detecting whether the bicycle is in a fault state or not when the unlocking request for the bicycle is received.

If the bicycle is in a healthy state at this time, the lock is unlocked in response to the unlocking request, and if the bicycle is in a fault state at this time, step S360 is executed.

And S360, under the condition that the bicycle is in the fault state, rejecting the unlocking request and sending a second notification message indicating that the bicycle is in the fault state to the user terminal sending the unlocking request.

In one example, the second notification message may be a voice notification message or a text notification message, for example, the second notification message is "the vehicle has a fault and please change the vehicle". And meanwhile, an unlocking request sent by the user terminal is rejected. Thereby avoiding the potential safety hazard caused by using a fault vehicle by a user.

As can be seen from the steps S320 to S360, in this embodiment, after the detection result indicating whether the brake device has a fault is obtained, the post-maintenance and the safety prompt are performed on the faulty vehicle, so that the faulty vehicle can be found in time, the potential safety hazard caused by the use of the faulty vehicle by the user is avoided, and the vehicle using safety is improved.

< first embodiment of the apparatus >

FIG. 4 illustrates a block schematic diagram of a brake failure detection apparatus of a bicycle according to one embodiment. The bicycle comprises a brake device, the brake device comprises a brake handle for a user to perform a braking action, and the brake fault detection device 4000 of the bicycle further comprises a sampling module 4100, an analysis module 4200 and a processing module 4300.

The sampling module 4100 is configured to obtain a first signal value of a brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle.

The analysis module 4200 is configured to obtain an actual value of the acceleration of the bicycle and to determine a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero.

The processing module 4300 is configured to obtain a detection result indicating whether the brake apparatus has a fault according to a comparison result between the actual value and the reference value.

In one embodiment, the analysis module 4200, in determining the reference value of acceleration corresponding to the first signal value, is further configured to: acquiring a set brake model; wherein the brake model reflects a correspondence between a signal value of the brake signal and a reference value of the acceleration of the bicycle; and obtaining a reference value of the acceleration corresponding to the first signal value according to the first signal value and a set brake model.

In one embodiment, the processing module 4300, when obtaining the detection result indicating whether the brake apparatus has a fault according to the comparison result between the actual value and the reference value, is further configured to: obtaining a first detection result indicating that there is no fault in the brake device, in a case where the actual value is less than or equal to the reference value; calculating a difference between the actual value and the reference value in case the actual value is greater than the reference value; under the condition that the difference value is larger than a set threshold value, obtaining a second detection result which indicates that the brake device has a fault; and obtaining the first detection result when the difference is smaller than or equal to the set threshold.

In one embodiment, the analysis module 4200, when obtaining the actual value of the acceleration of the bicycle, is further configured to: acquiring a plurality of sampling values of the acceleration of the bicycle in a set time period; the starting time point of the set time period is greater than or equal to the time point of acquiring the first signal value, the ending time point of the set time period is less than or equal to the time point of acquiring a second signal value, and the second signal value is not equal to the first signal value; and obtaining the actual value of the acceleration according to the plurality of sampling values.

In one embodiment, the bicycle 4000 can also include a fault handling module. The fault processing module can be used for reporting the detection result to the server for fault processing under the condition that the detection result shows that the brake device has the fault after the detection result showing that the brake device has the fault is obtained; wherein the fault handling comprises: modifying the state of the bicycle from a healthy state to a failed state; after receiving the successful locking message reported by the bicycle, sending the setting information of the bicycle to an account number of an operation and maintenance worker; the setting information comprises fault information indicating that a brake device of the bicycle has a fault and position information of the bicycle; and after the setting information is sent to the account number of the operation and maintenance personnel, under the condition that a first notification message indicating that the bicycle is repaired is received, the state of the bicycle is modified from a fault state to a health state.

In one embodiment, the bicycle 4000 can further include an intervention module. The intervention module may be configured to, after receiving the successful locking message reported by the bicycle, perform the fault handling further including: detecting whether the bicycle is in a fault state in a case where an unlocking request for the bicycle is received; and if the bicycle is in the fault state, rejecting the unlocking request and sending a second notification message indicating that the bicycle is in the fault state to the user terminal sending the unlocking request.

< second device embodiment >

The bicycle comprises a first embodiment of the apparatus, such as the brake failure detection device of fig. 4, or the bicycle comprises a memory for storing an executable computer program and a processor; the processor is used for executing the brake fault detection method provided in the method embodiment under the control of the computer program.

FIG. 5 illustrates a hardware configuration diagram of a bicycle according to one embodiment. As shown in fig. 5, the bicycle 5000 of the present embodiment may include a brake lever (not shown), a brake lever state detecting device 5710, a controller 5100, and a memory 5200. The controller 5100 corresponds to the processor.

The lever state detecting device 5710 is used to provide a brake signal reflecting the brake stroke of the brake lever, and the lever state detecting device 5710 is connected to the controller 5100 to output the brake signal to the controller 5100. Thus, the controller 5100 may obtain a first signal value of the brake signal by sampling the brake signal.

The controller 5100 is configured to execute a brake failure detection method according to any method embodiment of the present disclosure under the control of a computer program.

The computer program may be stored in the memory 5200 of the bicycle 5000.

In one embodiment, the bicycle 5000 has a mechanical brake structure, i.e., the brake lever can be connected to the mechanical brake device through the brake cable, so that the mechanical brake device can be pulled to function through the brake cable when a user holds down the brake lever.

In one embodiment, the modules in the first device embodiment above may be implemented by the controller 5100 executing the brake fault detection method.

In another embodiment, at least some of the modules in the first apparatus embodiment may also be implemented by hardware circuits, which is not limited herein.

In one embodiment, the controller 5100 can be connected to a communication device of the bicycle, such that the controller 5100 is responsible for communication between the bicycle and the server.

In one embodiment, the brake lever status detection device 5710 includes a magnet assembly and a hall device for providing a brake signal, the hall device being fixedly mounted in the brake lever 501 as shown in fig. 6 a. As shown in fig. 6a, the magnet assembly includes a chute portion 5711, a slider portion 5712, and a magnet (not shown) provided on the slider portion. The sliding groove portion 5711 is fixedly installed in the brake handle 501, and the sliding block portion 5712 is connected with the sliding groove portion 5711 in a sliding fit manner.

In this embodiment, the lever state detecting means 5710 is disposed at a position in the brake lever 501 such that the slider portion 5712 slides relative to the slide groove portion 5711 in accordance with the rotation of the movable portion 5011 of the brake lever 501.

In this embodiment, when performing a braking operation, a user needs to grip the movable portion 5011 of the brake lever 501 to rotate the movable portion 5011 relative to the fixed portion 5012 of the brake lever 501, thereby changing the braking stroke of the brake lever 501. The sliding block portion 5712 slides relative to the sliding slot portion 5711 following the rotation of the movable portion 5011, wherein the sliding block portion 5712 slides to different positions of the sliding slot portion 5711 when the brake lever 501 is at different braking strokes. The braking stroke of the brake lever 501 in fig. 6a is zero and the slider part 5712 is in the position as shown in fig. 6a, in which the slider part 5712 projects outwards by a short length, the braking stroke of the brake lever 501 in fig. 6b reaches a maximum and the slider part 5712 is in the position as shown in fig. 6b, in which the slider part 5712 projects outwards by a long length.

As shown in fig. 6a, in one embodiment, the slider portion 5712 may include a slider body and an acting portion fixedly connected with the slider body, and the slider portion 5712 may be connected with the sliding groove portion 5711 by sliding fit through the slider body. In this embodiment, the lever state detecting device 5710 may further include an elastic member, the elastic member is disposed between the slider body and the sliding slot portion 5711 in a compressed manner, the acting portion protrudes outward from the sliding slot portion 5711 and is always abutted against the movable portion 5011 under the action of the elastic member, so that when the movable portion 5011 rotates, the slider portion 5712 is controlled to slide relative to the sliding slot portion 5711 under the combined action of the elastic member and the movable portion 5011, and the position of the slider portion 5712 relative to the sliding slot portion 5711 is changed.

In this embodiment, the hall device and the magnet are disposed at positions such that a first signal value and a second signal value of a braking signal output by the hall device are different, wherein the first signal value is a signal value of the braking signal at a first position of the slider portion 5712, the second signal value is a signal value of the braking signal at a second position of the slider portion 5712, and the first position and the second position are different positions of the slider portion 5712 on the sliding stroke, so that the signal value of the braking signal changes along with the change of the braking stroke of the brake handle, and the braking signal can be a signal reflecting the braking stroke.

The present invention may be a system, method and/or computer program product. The computer program product may comprise a computer readable storage medium having a computer program stored thereon, the computer program having computer readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention. The computer program, when executed by a processor, particularly implements the brake failure detection method provided in the method embodiments.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method of brake fault detection for a bicycle, the bicycle comprising a brake device including a brake lever for a user to perform a braking action, the method comprising:

acquiring a first signal value of a brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle;

acquiring an actual value of the acceleration of the bicycle and determining a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero;

and obtaining a detection result indicating whether the brake device has a fault or not according to the comparison result of the actual value and the reference value.

2. The method of claim 1, wherein determining the reference value for the acceleration corresponding to the first signal value comprises:

acquiring a set brake model; wherein the brake model reflects a correspondence between a signal value of the brake signal and a reference value of the acceleration of the bicycle;

and obtaining a reference value of the acceleration corresponding to the first signal value according to the first signal value and a set brake model.

3. The method according to claim 1, wherein the obtaining a detection result indicating whether the brake apparatus has a fault or not based on the comparison result of the actual value and the reference value comprises:

obtaining a first detection result indicating that there is no fault in the brake device, in a case where the actual value is less than or equal to the reference value;

calculating a difference between the actual value and the reference value in case the actual value is greater than the reference value;

under the condition that the difference value is larger than a set threshold value, obtaining a second detection result which indicates that the brake device has a fault;

and obtaining the first detection result when the difference is smaller than or equal to the set threshold.

4. The method of claim 1, wherein said obtaining an actual value of acceleration of the bicycle comprises:

acquiring a plurality of sampling values of the acceleration of the bicycle in a set time period; the starting time point of the set time period is greater than or equal to the time point of acquiring the first signal value, the ending time point of the set time period is less than or equal to the time point of acquiring a second signal value, and the second signal value is not equal to the first signal value;

and obtaining the actual value of the acceleration according to the plurality of sampling values.

5. The method according to any one of claims 1 to 4, characterized in that after obtaining the detection result indicating whether the brake device has a fault, the method further comprises:

controlling an output device of the bicycle to output set prompt information under the condition that the detection result shows that the brake device has a fault; wherein the prompt message includes information reflecting that the brake device has a fault.

6. The method according to any one of claims 1 to 4, characterized in that after the obtaining of the detection result indicating whether the brake device is malfunctioning, the method further comprises:

reporting the detection result to a server for fault processing under the condition that the detection result shows that the brake device has a fault; wherein the fault handling comprises:

modifying the state of the bicycle from a healthy state to a failed state;

after receiving the successful locking message reported by the bicycle, sending the setting information of the bicycle to an account number of an operation and maintenance worker; the setting information comprises fault information indicating that a brake device of the bicycle has a fault and position information of the bicycle;

and after the setting information is sent to the account number of the operation and maintenance personnel, under the condition that a first notification message indicating that the bicycle is repaired is received, the state of the bicycle is modified from a fault state to a health state.

7. The method of claim 6, wherein after receiving the successful lock-off message reported by the bicycle, the fault handling further comprises:

detecting whether the bicycle is in a fault state in a case where an unlocking request for the bicycle is received;

and if the bicycle is in the fault state, rejecting the unlocking request and sending a second notification message indicating that the bicycle is in the fault state to the user terminal sending the unlocking request.

8. A brake failure detection apparatus for a bicycle, the bicycle including a brake apparatus including a brake lever for a user to perform a braking action, the apparatus comprising:

the sampling module is used for acquiring a first signal value of the brake signal; the brake signal is a signal reflecting the brake stroke of the brake handle;

an analysis module for acquiring an actual value of the acceleration of the bicycle and determining a reference value of the acceleration corresponding to the first signal value, in case the first signal value indicates that the brake stroke is greater than zero; and the number of the first and second groups,

and the processing module is used for obtaining a detection result indicating whether the brake device has a fault or not according to a comparison result of the actual value and the reference value.

9. A bicycle comprising the device of claim 8; alternatively, the first and second electrodes may be,

the bicycle comprises a memory for storing an executable computer program and a processor; the processor is adapted to perform the method according to any of claims 1-7 under control of the computer program.

10. A computer-readable storage medium, characterized in that there is stored thereon a computer program which, when being executed by a processor, carries out the method according to any one of claims 1-7.