CN113650713A

CN113650713A - Auxiliary control method, device and equipment for intelligent foot support and storage medium

Info

Publication number: CN113650713A
Application number: CN202111049686.XA
Authority: CN
Inventors: 于怀智
Original assignee: Mobai Beijing Information Technology Co Ltd
Current assignee: Mobai Beijing Information Technology Co Ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2021-11-16
Anticipated expiration: 2041-09-08
Also published as: CN113650713B

Abstract

The embodiment of the application provides an auxiliary control method, an auxiliary control device, auxiliary control equipment and a storage medium for an intelligent foot support, wherein the method comprises the following steps: under the condition that the electric bicycle is in a lock opening state, acquiring a detection signal of the electric bicycle, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle; determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle within a first preset range; under the condition that the foot support controller is in a working state, determining a foot support control signal according to the wheel speed of the electric bicycle and the driving control signal; the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

Description

Auxiliary control method, device and equipment for intelligent foot support and storage medium

Technical Field

The embodiment of the disclosure relates to the technical field of electric bicycle foot support control, in particular to an auxiliary control method, device, equipment and storage medium of an intelligent foot support.

Background

The electric bicycle is generally used by people due to the advantage of high convenience and speed of the electric bicycle, and the electric bicycle can be in a stable state through the foot supports of the electric bicycle. When parking, a user is required to manually put down the foot supports, and the electric bicycle is stabilized on the ground by the foot supports; when riding, people need to lift the foot supports, and a user usually needs to step on the ground with one foot and rotate the wheel handle to accelerate; in the driving process, for the driving scene of the urban traffic light, a user needs to frequently start and stop, and the driving experience is seriously influenced.

In view of the above situation, in the prior art, the control switch is mounted on the handlebar and the angle sensor is provided to control the rising and falling of the intelligent foot support, but mechanical buttons such as the control switch are easily damaged after being pressed for multiple times, and particularly for the shared electric bicycle, the use frequency is high, and the maintenance and operation cost is high.

Disclosure of Invention

An object of the present disclosure is to provide a new technical solution for an auxiliary control method, apparatus, device and storage medium of an intelligent footrest, which can solve the problem of high operation cost of the existing intelligent footrest.

According to a first aspect of the present disclosure, there is provided an embodiment of an auxiliary control method for an intelligent footrest, including: under the condition that the electric bicycle is in a lock opening state, acquiring a detection signal of the electric bicycle, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle; determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle within a first preset range; under the condition that the foot support controller is in a working state, determining a foot support control signal according to the wheel speed of the electric bicycle and the driving control signal; the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

Optionally, the footrest control signal includes a footrest retracting signal and a footrest resetting signal, the footrest retracting signal is used for controlling the footrest to be in a retracted state, and the footrest resetting signal is used for controlling the footrest to be in a supporting state; after the lock of the electric bicycle is opened and before starting, the method further comprises the following steps: judging whether the driving control signal meets a starting condition or not, and determining the heel brace control signal as a heel brace retracting signal under the condition that the driving control signal meets the starting condition; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel crank trigger signal.

Optionally, the determining the operation state of the footrest controller according to the wheel speed of the electric bicycle and/or the duration of the wheel speed of the electric bicycle within a first preset range includes: in the event that the wheel speed of the electric bicycle is greater than a first threshold value; or, when the wheel speed of the electric bicycle is in the first preset range and the duration time in the first preset range is longer than the first time, determining that the foot support controller is in a dormant state; determining that the foot support controller is in a working state under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value; the first threshold is a maximum value of the first preset range, and the second threshold is a minimum value of the first preset range.

Optionally, the determining a footrest control signal according to the wheel speed of the electric bicycle and the driving control signal under the condition that the footrest controller is in the working state includes: judging whether the running control signal meets a braking condition or not under the condition that the wheel speed of the electric bicycle is within a second preset range and the duration time within the second preset range is less than a second time, wherein the maximum value of the second preset range is a second threshold value, and the minimum value of the second preset range is a third threshold value; under the condition that the running control signal meets a braking condition, or under the condition that the wheel speed of the electric bicycle is in a second preset range and the duration time of the wheel speed in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a footrest control signal according to the wheel speed of the electric bicycle and the duration time of the wheel speed kept in a third preset range; determining the heel brace control signal as a heel brace retraction signal under the condition that the driving control signal does not meet the braking condition; the braking condition is that the running control signal comprises a brake lever trigger signal and a wheel lever reset signal.

Optionally, the continuously acquiring the wheel speed of the electric bicycle, and obtaining the footrest control signal according to the wheel speed of the electric bicycle and the duration that the wheel speed is kept within a third preset range includes: determining the support control signal as a support reset signal under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is larger than a third time; and under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is smaller than the third time, determining the foot support control signal as a foot support retraction signal.

According to a second aspect of the present disclosure, there is provided an auxiliary control apparatus of an intelligent foothold, the apparatus including: the data acquisition module is used for acquiring a detection signal of the electric bicycle under the condition that the electric bicycle is in a lock opening state, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle; the first data processing module is used for determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle within a first preset range; the second data processing module is used for determining a foot support control signal according to the wheel speed of the electric bicycle and the running control signal under the condition that the foot support controller is in a working state; the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

Optionally, the second data processing module is further configured to: judging whether the driving control signal meets a starting condition or not, and determining the heel brace control signal as a heel brace retracting signal under the condition that the driving control signal meets the starting condition; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel crank trigger signal.

Optionally, the first data processing module is configured to: in the event that the wheel speed of the electric bicycle is greater than a first threshold value; or, when the wheel speed of the electric bicycle is in the first preset range and the duration time in the first preset range is longer than the first time, determining that the foot support controller is in a dormant state; determining that the foot support controller is in a working state under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value; the first threshold is a maximum value of the first preset range, and the second threshold is a minimum value of the first preset range.

Optionally, the second data processing module is configured to: judging whether the running control signal meets a braking condition or not under the condition that the wheel speed of the electric bicycle is within a second preset range and the duration time within the second preset range is less than a second time, wherein the maximum value of the second preset range is a second threshold value, and the minimum value of the second preset range is a third threshold value; under the condition that the running control signal meets a braking condition, or under the condition that the wheel speed of the electric bicycle is in a second preset range and the duration time of the wheel speed in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a footrest control signal according to the wheel speed of the electric bicycle and the duration time of the wheel speed kept in a third preset range; determining the heel brace control signal as a heel brace retraction signal under the condition that the driving control signal does not meet the braking condition; the braking condition is that the running control signal comprises a brake lever trigger signal and a wheel lever reset signal.

Optionally, the second data processing module is configured to: determining the support control signal as a support reset signal under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is larger than a third time; and under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is smaller than the third time, determining the foot support control signal as a foot support retraction signal.

According to a third aspect of the present disclosure, there is provided an electronic device comprising a memory for storing a computer program and a processor; the processor is adapted to execute the computer program to implement the method according to the first aspect of the present description.

According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect of the specification.

One beneficial effect of the disclosed embodiment lies in that, the fast and the control signal that traveles of electric bicycle that this embodiment is through gathering, under the fast and the control signal's of the difference condition of traveling, the self-adaptation generates corresponding heel brace control signal to make the heel brace be in and pack up or the support state, need not set up the switching device and can realize, can reduce maintenance operation cost.

Other features of the present description 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 specification and together with the description, serve to explain the principles of the specification.

FIG. 1 is a diagram showing an implementation environment and hardware architecture, including the device components of the system and the hardware architecture of each device;

FIG. 2 is a flow chart of an auxiliary control method of an intelligent footrest to which embodiments of the present disclosure can be applied;

FIG. 3 is a signaling flow diagram of a method of foot prop control according to one embodiment;

fig. 4 is a schematic structural diagram of a footrest control device of the electric bicycle provided in the embodiment;

FIG. 5 is a block schematic diagram of an electronic device according to one embodiment.

Detailed Description

Various exemplary embodiments of the present disclosure 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.

The embodiment of the disclosure relates to an application scenario of the foot support control of an electric bicycle. Present heel brace needs the manual work to operate usually, needs the user to operate and lifts up the heel brace during the start, simultaneously in order to guarantee steadily, the user need step on ground with a foot usually, rotates the wheel handle simultaneously and accelerates, drives the in-process, drives the scene to urban traffic light, and the user needs frequent start-stop, seriously influences driving experience. Thus, there is a need for a foot brace that can be intelligently controlled to enhance the user experience.

To above demand, can install control switch in handlebar department, the user controls the heel brace through operation control switch and rises and falls, through the analysis, to sharing electric bicycle, this kind of control switch very easily damages, and maintenance operation cost is high.

In view of the technical problems in the foregoing embodiments, the present disclosure provides an auxiliary control method, apparatus, device, and storage medium for an intelligent footrest.

< hardware configuration >

Fig. 1 is a schematic structural diagram of an auxiliary control system for an intelligent footrest according to an embodiment of the present disclosure.

As shown in fig. 1, the system includes a server 2000, a terminal device 1000, and a vehicle 3000.

The server 2000 and the terminal device 1000, and the server 2000 and the vehicle 3000 may be communicatively connected through a network 4000. The vehicle 3000 and the server 2000, and the network 4000 over which the terminal apparatus 1000 and the server 2000 communicate with each other may be the same or different. The network 4000 may be a wireless communication network or a wired communication network, and may be a local area network or a wide area network.

The server 2000 provides a service point for processes, databases, and communications facilities. The server 2000 may be a monolithic 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. The specific configuration of the server 2000 may include, but is not limited to, a processor 2100, a memory 2200, an interface device 2300, and a communication device 2400. Processor 2100 is used to execute computer programs written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, and so on. The memory 2200 is, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, or the like. The interface device 2300 is, for example, a USB interface, a serial interface, a parallel interface, or the like. The communication device 2400 is, for example, capable of wired communication or wireless communication, and may include, for example, WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like.

As applied to the disclosed embodiment, the memory 2200 of the server 2000 is configured to store a computer program for controlling the processor 2100 to operate so as to implement the method according to the disclosed embodiment. The skilled person can design the computer program according to the solution disclosed in the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

It will be understood by those skilled in the art that the server 2000 may include other devices besides the devices shown in fig. 1, and is not limited thereto.

In this embodiment, the terminal device 1000 is, for example, a mobile phone, a portable computer, a tablet computer, a palmtop computer, a wearable device, or the like.

The terminal device 1000 is installed with a vehicle-using application client, and a user can operate the vehicle-using application client to achieve the purpose of using the vehicle 3000.

The terminal apparatus 1000 may include, but is not limited to, a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a graphics processing unit GPU, a microprocessor MCU, or the like, and is configured to execute a computer program, and the computer program may be written by using an instruction set of architectures such as x86, Arm, RISC, MIPS, and SSE. 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, a USB interface, a serial interface, a parallel interface, and the like. The communication device 1400 is capable of wired communication using an optical fiber or a cable, or wireless communication, and specifically may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The speaker 1170 is used to output audio signals. The microphone 1180 is used to pick up audio signals.

As applied to the disclosed embodiments, the memory 1200 of the terminal device 1000 is used to store a computer program for controlling the processor 1100 to operate so as to execute the method of the disclosed embodiments, and how the computer program controls the processor to operate is well known in the art and therefore will not be described in detail herein. The terminal device 1000 may be installed with an intelligent operating system (e.g., Windows, Linux, android, IOS, etc.) and application software.

It should be understood by those skilled in the art that although a plurality of means of the terminal device 1000 are shown in fig. 1, the terminal device 1000 of the embodiments of the present disclosure may refer to only some of the means therein, for example, only the processor 1100, the memory 1200, and the like.

The vehicle 3000 may be an electric bicycle shown in fig. 1, or may be various types such as a tricycle, an electric scooter, a motorcycle, and a four-wheeled passenger vehicle, and is not limited thereto.

The vehicle 3000 may include, but is not limited to, a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, a display device 3500, an input device 3600, a speaker 3700, a microphone 3800, and so forth. The processor 3100 may be a microprocessor MCU or the like. The memory 3200 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 3300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 3400 can perform wired communication using an optical fiber or a cable, for example, or perform wireless communication, and specifically may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, or the like. The display device 3500 may be, for example, a liquid crystal display panel, a touch panel, or the like. The input device 3600 may include, for example, a touch panel, a keyboard, or the like, and may input voice information through a microphone. Vehicle 3000 may output audio signals through speaker 3700 and capture audio signals through microphone 3800.

As applied to the disclosed embodiment, the memory 3200 of the vehicle 3000 is used to store a computer program for controlling the processor 3100 to operate so as to perform information interaction with the server 2000. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

Although a plurality of devices of the vehicle 3000 are shown in fig. 1, the present invention may relate only to some of the devices, for example, the vehicle 3000 relates only to the processor 3100, the memory 3200, and the communication device 3400.

It should be understood that although fig. 1 shows only one server 2000, terminal apparatus 1000, and vehicle 3000, it is not meant to limit the number of each, and a plurality of servers 2000, a plurality of terminal apparatuses 1000, and a plurality of vehicles 3000 may be included in the present system.

Various embodiments and examples according to the present invention are described below with reference to the accompanying drawings.

< method examples >

Fig. 2 is a flow diagram of a method of assisting control of an intelligent footrest according to one embodiment, which may be implemented by a processor of an electric bicycle, such as processor 3100 of fig. 1.

As shown in fig. 2, the auxiliary control method for the intelligent foot support of the present embodiment may include the following steps S2100 to S2300:

s2100, under the condition that the electric bicycle is in a lock unlocking state, a detection signal of the electric bicycle is obtained.

It can be understood that the lock of the electric bicycle can monitor the unlocking signal under the condition of normal power supply, is in a standby state under the condition of no unlocking signal, and controls the lock to be unlocked when monitoring the unlocking signal, namely, the lock state is a low level when the lock is not unlocked, and the lock state is a high level after the lock is unlocked.

In one example, after the vehicle lock is unlocked, the processor may trigger the foot support controller to be powered up according to a high level signal of the vehicle lock, so that the foot support controller can receive a foot support control signal of the processor to control the foot support to be in the retracted or supporting state.

In one example, the foot support controller may be connected to a driving device, such as an electric motor, and the electric motor is connected to the foot support, and the foot support controller controls the electric motor to operate by sending a control command to control the foot support to be retracted or reset, and when the foot support is reset, the foot support is in the supporting state.

In this embodiment, the detection signal includes a wheel speed and a travel control signal of the electric bicycle. It should be noted that the detection signal in this embodiment may be obtained through data acquired by an existing sensor of the electric bicycle itself, that is, an additional sensor is not required to be added for the method of the previous embodiment, which is beneficial to reducing the cost. For example, the current intelligent electric bicycle is generally provided with a wheel speed sensor for preventing the speed from being too fast, and the present embodiment directly acquires the data of the wheel speed sensor to acquire the wheel speed of the electric bicycle.

In this embodiment, the driving control signal includes a wheel handle signal and a brake handle signal, wherein the wheel handle is an accelerating handle for controlling the voltage of the electric bicycle power assisting circuit, and the wheel handle signal includes a wheel handle trigger signal for controlling the electric bicycle to accelerate and a wheel handle reset signal for turning off the electric bicycle power assisting. The brake handle is also called a brake handle, and the brake handle signals comprise a brake handle trigger signal for controlling the electric bicycle to decelerate and a brake handle reset signal for not applying brake force to the electric bicycle.

S2200, determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle in a first preset range;

in this embodiment, when the wheel speed of the electric bicycle is greater than the first threshold, the first threshold may be the wheel speed of the electric bicycle during high-speed running, which indicates that the electric bicycle is in a high-speed running state or a continuous acceleration state at this time.

In this embodiment, when the wheel speed of the electric bicycle is within the first preset range and the duration time within the first preset range is greater than the first time t1, it is indicated that the user intends to drive at a constant speed or at a reduced speed by using a speed value within the first preset range, and it can be understood that the stand is not required to support the electric bicycle by landing, and it can be determined that the stand controller is in the sleep state.

In this embodiment, under the condition that the wheel speed of the electric bicycle is less than the second threshold value, the characterization user wants to brake the electric bicycle to ensure safety, and then it can be determined that the heel brace controller is in a working state to control the heel brace to be in a supporting state according to the real-time speed of the electric bicycle.

The first threshold is the maximum value of the first preset range, and the second threshold is the minimum value of the first preset range. For example, if the first threshold value is n1 and the second threshold value is n2, then n1 may be the set wheel speed for normal travel and n2 may be the set wheel speed for low travel.

According to the embodiment, the running state of the foot support controller is controlled according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle in a first preset range, so that when the wheel speed of the electric bicycle is smaller than the set wheel speed during low-speed running, the foot support controller is awakened, preparation is made for controlling the state of the foot support, and running safety is guaranteed.

And S2300, under the condition that the foot support controller is in a working state, determining a foot support control signal according to the wheel speed of the electric bicycle and the driving control signal.

In this embodiment, the heel brace control signal is used to control the heel brace to be in the retracted or supported state, and the heel brace control signal includes a heel brace retraction signal and a heel brace reset signal, and the heel brace retraction signal is used to control the heel brace to be in the retracted state, and the heel brace reset signal is used to control the heel brace to be in the supported state.

It can be understood that after the user opens the lock, if the foot support is suddenly retracted, the user may be injured because the user is not ready, and therefore, in order to safely start, in this embodiment, after the lock of the electric bicycle is opened, before starting, the method further includes: judging whether the driving control signal meets a starting condition or not, and determining the foot support control signal as a foot support retracting signal to control the foot support to be in a retracting state under the condition that the driving control signal meets the starting condition; the starting condition is that the running control signal comprises a brake lever trigger signal and a wheel lever trigger signal. That is to say, in the process of driving the electric bicycle from rest, only when a user pinches a brake crank and a rotating wheel handle of the electric bicycle, the foot supports are controlled to be folded, so that safe starting is realized.

In this embodiment, when the footrest controller is in an operating state, the wheel speed of the electric bicycle is less than n2, and the user may want to run at a low speed or to decelerate and brake, so the embodiment determines the user's intention by determining the relationship between the wheel speed of the electric bicycle and the second preset range, so as to perform a corresponding action by controlling the footrest.

In this embodiment, when the wheel speed of the electric bicycle is within the second preset range and the duration time within the second preset range is less than the second time t2, it is determined that the user has an intention to brake, at this time, it is determined whether the driving control signal satisfies the braking condition, and when the driving control signal does not satisfy the braking condition, it is determined that the user decelerates only intermittently, and the footrest control signal is determined to be the footrest retraction signal to control the footrest to maintain the retraction state.

The maximum value of the second preset range is a second threshold value n2, the minimum value of the second preset range is a third threshold value n3, n3 is smaller than n2, and n3 is a set wheel speed of the electric bicycle approaching to the stop.

In this embodiment, in a case where the driving control signal satisfies the braking condition, it is determined that the user is going to perform the braking operation on the electric bicycle, but since the wheel speed of the electric bicycle does not reach the speed of the parking at this time, it is necessary to continuously acquire the wheel speed of the electric bicycle, and the footrest control signal is determined according to the wheel speed of the electric bicycle and the duration for which the wheel speed is maintained within the third preset range.

The braking condition is that the driving control signal comprises a brake crank triggering signal and a wheel crank resetting signal, the brake crank triggering signal represents that a user applies pressure to a brake crank at the moment so as to control the brake of the electric bicycle, and the wheel crank resetting signal represents that the user loosens the wheel crank so as to enable the electric bicycle to be powered off.

In the present embodiment, when the driving control signal does not satisfy the braking condition, the footrest control signal is determined as a footrest retracting signal so that the footrest maintains the retracted state.

In one example, the user's intention to decelerate is characterized by the user simply releasing the wheel handle, and the user's intention to decelerate and brake the electric bicycle is indicated by the user activating the brake handle, which indicates that the brake handle activation signal has a higher priority for determining the user's intention to brake because the presence of the brake handle activation signal is preferentially detected in determining whether the travel control signal satisfies the braking condition. Thus, in one example, the case where the travel control signal does not satisfy the braking condition includes: in the 2 cases, the fact that the user does not need to perform braking operation on the electric bicycle is represented, and the foot support control signal is determined to be the foot support retraction signal so that the foot support maintains the retraction state. Meanwhile, the magnitude relation between the wheel speed at the current moment and the second threshold value n2 is judged, so as to judge whether the wheel speed is in the second preset range, and judge the running state of the foot support controller or the foot support control signal.

In this embodiment, determining the footrest control signal according to the wheel speed of the electric bicycle and the duration for which the wheel speed is maintained within the third preset range includes: in the case where the wheel speed of the electric bicycle is less than the third threshold value and the duration that the wheel speed of the electric bicycle remains less than the third threshold value is greater than the third time t3, it is characterized that the speed of the electric bicycle is already close to 0 and the user intends to control the electric bicycle to be stationary, and at this time, the footrest control signal is determined to be the footrest reset signal so that the footrest is in the support state and the electric bicycle is stationary.

In this embodiment, when the wheel speed of the electric bicycle is less than the third threshold and the duration that the wheel speed of the electric bicycle remains less than the third threshold is less than the third time t3, it is characterized that the electric bicycle has an acceleration state during the process, and the wheel speed at this time is greater than n3, that is, the user has no intention to brake, and at this time, the footrest control signal is determined to be the footrest retraction signal, so that the footrest maintains the retraction state. Meanwhile, the wheel speed of the electric bicycle is continuously acquired, the relation between the wheel speed and the second threshold value is judged, and the operation state of the foot support controller is executed or the judgment of a foot support control signal is determined according to the wheel speed.

In this embodiment, when the wheel speed of the electric bicycle is within the second preset range and the duration time within the second preset range is greater than the second time, it is characterized that the electric bicycle is in a continuous deceleration state, at this time, the wheel speed of the electric bicycle is continuously obtained, the wheel speed of the electric bicycle is compared with the third threshold value, when it is detected that the wheel speed of the electric bicycle is less than the third threshold value and the duration time during which the wheel speed of the electric bicycle is kept less than the third threshold value is greater than the third time t3, the speed of the electric bicycle is characterized to be close to 0, and the user intends to control the electric bicycle to be stationary, at this time, the footrest control signal is determined to be the footrest reset signal, so that the footrest is in the support state, and the electric bicycle is made to be stationary.

In one example, when the lock of the electric bicycle is turned off from the open state, the state of the lock is low, and the support controller is determined to be in the dormant state.

It should be noted that the auxiliary control method for the intelligent foot support of the present embodiment is preferably an auxiliary method, that is, the method can assist the user to realize intelligent control over the foot support, and the user can also manually control the foot support. In one example, the user terminal may be used to turn on and off the intelligent control function of the foot support.

It should be noted that the first threshold n1 and the second threshold n2 in this embodiment are parameters having strong correlation with the power consumption of the temple controller, wherein the first preset range formed by n1 to n2 is kept within a reasonable range to minimize the power consumption, and if the first preset range is too small, the temple controller frequently sleeps and wakes up. If the first preset range is too large, the sleep time of the foot-rest controller becomes shorter when n1 is too large, and the response speed requirement increases when n2 is too small, so that the specific values of n1 and n2 can be selected in combination with the performance of the foot-rest controller and the test data in practical application.

The optimal t1 and t2 can be selected according to offline calibration, so that response delay caused by too large t1 and t2 is avoided, frequent sleep command issuing caused by too small t1 is avoided, and redundant judgment caused by too small t2 is avoided.

In a feasible example, n3 and t3 are parameters which are strongly related to the roll angle and the abrasion of the electric bicycle, the smaller n3 is, the larger t3 is, the smaller the abrasion is, and meanwhile, the larger the roll angle of the electric bicycle is, the roll angle and the abrasion can be used as parameters to construct a loss function, and an optimal control algorithm is used for calculating n3 and t 3.

In a possible example, the method may be implemented by acquiring the running speed of the electric bicycle instead of the wheel speed of the electric bicycle.

This embodiment is through the fast and the control signal that traveles of the fast of the electric bicycle who gathers, and the intelligent control heel brace is in and packs up or the support state, need not set up the switching device, can realize through setting up the system program, can reduce maintenance operation cost, can promote user experience simultaneously.

The following describes the present embodiment by a specific example, referring to fig. 3, where fig. 3 is a signaling flowchart after the electric bicycle starts in the present embodiment, and includes:

301. and judging whether the vehicle lock is unlocked.

When the lock is detected to be unlocked, a high level signal is generated so as to power on the foot support controller.

302. And detecting whether the wheel speed of the electric bicycle is larger than n 1.

In the case where the wheel speed is greater than n1, it is determined that the temple controller is in the sleep state, and in the case where the wheel speed is less than n1, it proceeds to step 303 or 304.

303. Detecting the wheel speed of the electric bicycle to be in a duration T1 between n1 and n2, if T1 is larger than T1, determining that the foot support controller is in a sleep state, and if T1 is smaller than T1, executing step 304.

304. It is determined whether the wheel speed is below n 2.

If not, step 302 is entered, and if so,

steps

305 and 306 are entered and it is determined that the temple controller is in an operational state.

305. It is determined whether the wheel speed is maintained between n2 and n3 for a time T2 greater than T2.

If yes, go to step 308, otherwise, go to step 306.

306. Whether the running control signal has a brake crank triggering signal or not.

If yes, go to step 307 to determine whether the driving control signal satisfies the braking condition. If not, it indicates that the user may be in the low-speed skating state, and then step 304 is entered.

307. And judging whether the running control signal has a wheel handle reset signal or not.

If yes, go to step 308, otherwise, determine that the footrest control signal is the footrest retracting signal.

308. It is determined whether the wheel speed is less than n3.

If yes, go to step 309, otherwise, go back to step 304.

309. And judging whether the wheel speed is greater than T3 within the duration time T3 less than n3, if so, determining that the foot support control signal is the foot support reset signal, and if not, returning to the step 308.

In one example, fig. 3 may be divided according to the driving condition of the electric bicycle. For example, the following process may be included:

accelerating the process: and in a short time after starting, the wheel speed can reach n1, when the wheel speed is greater than n1, the user enters a normal driving state, the foot support controller is in a dormant state, and meanwhile, the wheel speed signal is continuously monitored. Corresponding to step 302.

And (3) deceleration driving process: when the user decelerates, the wheel speed is first less than n1, and the user has two intentions, the first is low speed driving, and the second is to continue deceleration braking, so it is determined whether the wheel speed is lower than n2, corresponding to step 304.

And (3) a low-speed driving process: when the wheel speed is less than n1 and greater than n2, the user is determined to be running at low speed, the loop judgment is carried out, the loop time T1 that the wheel speed is kept at n2 to n1 is recorded, and when T1 is greater than T1, corresponding to the step 303, the footrest controller enters the sleep mode to reduce power consumption.

Deceleration to parking process: when the wheel speed is lower than n2, judging that the user has the intention of continuous deceleration braking, detecting whether a brake lever trigger signal and a wheel lever reset signal exist, determining that the user has the intention of deceleration braking under the condition that the brake lever trigger signal and the wheel lever reset signal exist, corresponding to

steps

306 and 307, judging whether the wheel speed is less than n3, and controlling the foot support to be in a support state and the electric bicycle to be static when the wheel speed is less than n3 and the time kept less than n3 is more than t 3. Corresponding to

steps

308 and 309. If the wheel speed is higher than n3, continuously monitoring whether the wheel speed is lower than n2, and entering the cycle judgment of the deceleration braking process.

And (3) deceleration and braking processes: when the wheel speed is below n2, a brake lever trigger signal is present, but in the absence of a wheel lever reset signal, indicating that the user intends to emergency brake, the foot support is controlled to be in the stowed state, corresponding to a demand for continuous travel at step 307.

The deceleration process accelerates, when the wheel speed is less than n3 and remains less than n3 for a time less than t3, indicating that the electric bicycle is accelerating, then the decision to return to wheel speed and n3, step 308.

And (3) low-speed sliding process: when the wheel speed is less than n3 and the holding time T3 is less than T3, when the user starts accelerating, the wheel speed exceeds n3 soon after the wheel handle is rotated because n3 is the speed close to parking, the relationship between the wheel speed and n2 is judged, if the wheel speed is greater than n3 and less than n2 and the brake lever is not triggered, and the holding time is greater than T2, the low-speed sliding process is judged possibly at the moment.

< apparatus embodiment >

Fig. 4 is a functional block diagram of an apparatus according to an embodiment. As shown in fig. 4, the footrest control device 400 of the electric bicycle may include:

the data acquisition module 410 is used for acquiring a detection signal of the electric bicycle under the condition that the electric bicycle is in a lock opening state, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle;

a first data processing module 420, configured to determine an operating state of the footrest controller according to a wheel speed of the electric bicycle and/or a duration of the wheel speed of the electric bicycle within a first preset range;

the second data processing module 430 is configured to determine a footrest control signal according to the wheel speed of the electric bicycle and the driving control signal when the footrest controller is in an operating state; the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

In one example, the execution subject of the embodiment may be a master of the electric bicycle, or the processor 3100 in fig. 1, that is, the processor 3100 may include the footrest control device 400 of the electric bicycle. For example, the detection data of the electric bicycle may be sensor data of the electric bicycle itself, or may be acquired through an electric bicycle bus, such as a CAN bus or a LIN bus.

In one example, the footrest control device 400 may obtain a detection signal of the electric bicycle by acquiring the sensor data, and generate a footrest controller state control command by processing the detection signal so that the footrest controller is in a sleep or operating state. And generating a foot support control signal and sending the foot support control signal to the foot support controller so that the foot support controller controls the foot support to be in a folding or supporting state.

In one example, the second data processing module 430 is further configured to: judging whether the driving control signal meets a starting condition or not, and determining the heel brace control signal as a heel brace retracting signal under the condition that the driving control signal meets the starting condition; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel crank trigger signal.

In one example, the first data processing module 420 is configured to: in the event that the wheel speed of the electric bicycle is greater than a first threshold value; or, when the wheel speed of the electric bicycle is in the first preset range and the duration time in the first preset range is longer than the first time, determining that the foot support controller is in a dormant state; determining that the foot support controller is in a working state under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value; the first threshold is a maximum value of the first preset range, and the second threshold is a minimum value of the first preset range.

In one example, the second data processing module 430 is configured to: judging whether the running control signal meets a braking condition or not under the condition that the wheel speed of the electric bicycle is within a second preset range and the duration time within the second preset range is less than a second time, wherein the maximum value of the second preset range is a second threshold value, and the minimum value of the second preset range is a third threshold value; under the condition that the running control signal meets a braking condition, or under the condition that the wheel speed of the electric bicycle is in a second preset range and the duration time of the wheel speed in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a footrest control signal according to the wheel speed of the electric bicycle and the duration time of the wheel speed kept in a third preset range; determining the heel brace control signal as a heel brace retraction signal under the condition that the driving control signal does not meet the braking condition; the braking condition is that the running control signal comprises a brake lever trigger signal and a wheel lever reset signal.

In one example, the second data processing module 420 is configured to: determining the support control signal as a support reset signal under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is larger than a third time; and under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is smaller than the third time, determining the foot support control signal as a foot support retraction signal.

< apparatus embodiment >

Fig. 5 is a hardware configuration diagram of an electronic device according to another embodiment.

As shown in fig. 5, the electronic device 500 comprises a processor 510 and a memory 520, the memory 520 being adapted to store an executable computer program, the processor 510 being adapted to perform a method according to any of the above method embodiments, under control of the computer program.

The electronic device 500 may be the processor 3100 of fig. 1.

The modules of the electronic device 500 may be implemented by the processor 510 executing the computer program stored in the memory 520 in the present embodiment, or may be implemented by other circuit structures, which is not limited herein.

< storage Medium embodiment >

The present embodiments provide a computer-readable storage medium having stored therein an executable command, which when executed by a processor, performs the method described in any of the method embodiments of the present specification.

One or more embodiments of the present description may be a system, method, and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the specification.

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 for embodiments of the present description may be assembly 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, an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), can execute computer-readable program instructions to implement various aspects of the present description by utilizing state information of the computer-readable program instructions to personalize the electronic circuit.

Aspects of the present description 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 description. 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 description. 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.

The foregoing description of the embodiments of the present specification has been presented for purposes of illustration and description, but is not intended to be exhaustive or 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 application is defined by the appended claims.

Claims

1. An auxiliary control method of an intelligent foot support comprises the following steps:

under the condition that the electric bicycle is in a lock opening state, acquiring a detection signal of the electric bicycle, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle;

determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle within a first preset range;

under the condition that the foot support controller is in a working state, determining a foot support control signal according to the wheel speed of the electric bicycle and the driving control signal;

the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

2. The method of claim 1, wherein the foot support control signal comprises a foot support stow signal for controlling the foot support in the stowed state and a foot support reset signal for controlling the foot support in the support state;

after the lock of the electric bicycle is opened and before starting, the method further comprises the following steps:

judging whether the driving control signal meets a starting condition or not, and determining the heel brace control signal as a heel brace retracting signal under the condition that the driving control signal meets the starting condition;

the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel crank trigger signal.

3. The method according to claim 1, wherein the determining the operating state of the footrest controller based on the wheel speed of the electric bicycle and/or the duration of time that the wheel speed of the electric bicycle is within a first preset range comprises:

in the event that the wheel speed of the electric bicycle is greater than a first threshold value; or, when the wheel speed of the electric bicycle is in the first preset range and the duration time in the first preset range is longer than the first time, determining that the foot support controller is in a dormant state;

determining that the foot support controller is in a working state under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value;

the first threshold is a maximum value of the first preset range, and the second threshold is a minimum value of the first preset range.

4. The method of claim 1, wherein determining a footrest control signal based on a wheel speed of the electric bicycle and the travel control signal with the footrest controller in an operating state comprises:

judging whether the running control signal meets a braking condition or not under the condition that the wheel speed of the electric bicycle is within a second preset range and the duration time within the second preset range is less than a second time, wherein the maximum value of the second preset range is a second threshold value, and the minimum value of the second preset range is a third threshold value;

under the condition that the running control signal meets a braking condition, or under the condition that the wheel speed of the electric bicycle is in a second preset range and the duration time of the wheel speed in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a footrest control signal according to the wheel speed of the electric bicycle and the duration time of the wheel speed kept in a third preset range;

determining the heel brace control signal as a heel brace retraction signal under the condition that the driving control signal does not meet the braking condition;

the braking condition is that the running control signal comprises a brake lever trigger signal and a wheel lever reset signal.

5. The method of claim 4, wherein said continuously obtaining the wheel speed of the electric bicycle, and obtaining the footrest control signal according to the wheel speed of the electric bicycle and the duration of time that the wheel speed is maintained within a third preset range comprises:

determining the support control signal as a support reset signal under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is larger than a third time;

and under the condition that the wheel speed of the electric bicycle is smaller than the third threshold value and the duration that the wheel speed of the electric bicycle is kept smaller than the third threshold value is smaller than the third time, determining the foot support control signal as a foot support retraction signal.

6. An auxiliary control device for an intelligent foot support, the device comprising:

the data acquisition module is used for acquiring a detection signal of the electric bicycle under the condition that the electric bicycle is in a lock opening state, wherein the detection signal comprises a wheel speed and a running control signal of the electric bicycle;

the first data processing module is used for determining the running state of the foot support controller according to the wheel speed of the electric bicycle and/or the duration time of the wheel speed of the electric bicycle within a first preset range;

the second data processing module is used for determining a foot support control signal according to the wheel speed of the electric bicycle and the running control signal under the condition that the foot support controller is in a working state; the foot support control signal is used for controlling the foot support to be in a folding or supporting state.

7. The apparatus of claim 6, wherein the second data processing module is further configured to:

8. The apparatus of claim 6, wherein the first data processing module is configured to:

9. The apparatus of claim 6, wherein the second data processing module is configured to:

10. The apparatus of claim 9, wherein the second data processing module is configured to:

11. An electronic device comprising a memory and a processor, the memory for storing a computer program; the processor is adapted to execute the computer program to implement the method according to any of claims 1-5.

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.