CN113650713B - Auxiliary control method, device and equipment for intelligent foot support and storage medium - Google Patents
Auxiliary control method, device and equipment for intelligent foot support and storage medium Download PDFInfo
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- CN113650713B CN113650713B CN202111049686.XA CN202111049686A CN113650713B CN 113650713 B CN113650713 B CN 113650713B CN 202111049686 A CN202111049686 A CN 202111049686A CN 113650713 B CN113650713 B CN 113650713B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/412—Speed sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the application provides an auxiliary control method, device and equipment for intelligent foot support and a storage medium, wherein the method comprises the following steps: under the condition that an electric bicycle is in a lock-open 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 running control signal; the heel brace control signal is used for controlling the heel brace to be in a retracted or supporting state.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of foot support control of electric bicycles, and more particularly relates to an auxiliary control method, device and equipment of an intelligent foot support and a storage medium.
Background
The electric bicycle is widely used by people due to the advantage of high speed, and the electric bicycle can be in a stable state by the foot support of the electric bicycle. When the bicycle is parked, a user is required to manually put down the heel brace, and the electric bicycle is stabilized on the ground by using the heel brace; when riding, the user needs to manually lift the foot support, and the user usually needs to step on the ground by one foot, and simultaneously rotates the wheel handle to accelerate; in the driving process, for urban traffic light driving scenes, a user needs to frequently start and stop, and driving experience is seriously influenced.
For the above-mentioned condition, though in prior art through installing equipment such as control switch and setting up angle sensor in handlebar department and control the rising and falling of intelligent heel brace, because such mechanical button of control switch is easy to damage after pressing many times, especially for sharing electric bicycle, use frequently more, lead to the maintenance operation to be with high costs.
Disclosure of Invention
An object of the present disclosure is to provide a new technical solution for an auxiliary control method, an apparatus, a device and a storage medium for an intelligent foot support, which can solve the problem of high operation cost of the existing intelligent foot support.
According to a first aspect of the present disclosure, there is provided an embodiment of an auxiliary control method of an intelligent foot rest, including: under the condition that an electric bicycle is in a lock-open 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 running control signal; the heel brace control signal is used for controlling the heel brace to be in a retracted or supporting state.
Optionally, the foot rest control signal includes a foot rest stowing signal and a foot rest reset signal, the foot rest stowing signal is used for controlling the foot rest to be in a stowing state, and the foot rest reset signal is used for controlling the foot rest to be in a supporting state; after the lock of the electric bicycle is unlocked and before starting, the method further comprises: judging whether the running control signal meets starting conditions, and determining that the foot support control signal is a foot support retraction signal under the condition that the running control signal meets the starting conditions; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel handle trigger signal.
Optionally, the determining the operation 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 includes: in the event that the wheel speed of the electric bicycle is greater than a first threshold value; or determining that the foot support controller is in a dormant state 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; under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value, determining that the foot support controller is in a working state; 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.
Optionally, the determining, when the foot rest controller is in the working state, the foot rest control signal according to the wheel speed of the electric bicycle and the running control signal 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 in a second preset range and the duration time in the second preset range is smaller 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 the wheel speed of the electric bicycle is in a second preset range, and under the condition that the duration time in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a foot support control signal according to the wheel speed of the electric bicycle and the duration time for which the wheel speed is kept in a third preset range; under the condition that the running control signal does not meet the braking condition, determining that the foot support control signal is a foot support retraction signal; the braking condition is that the running control signal comprises a brake handle triggering signal and a wheel handle resetting signal.
Optionally, the continuously obtaining the wheel speed of the electric bicycle, obtaining a foot support 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, including: determining that the foot rest control signal is a foot rest reset signal when 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 smaller than the third threshold value is longer than a third time; and determining that the foot support control signal is a foot support stow signal when the wheel speed of the electric bicycle is less than the third threshold and the duration of the wheel speed of the electric bicycle remains less than the third threshold is less than the third time.
According to a second aspect of the present disclosure, there is provided an auxiliary control device for an intelligent foot rest, the device comprising: the data acquisition module is used for acquiring detection signals of the electric bicycle under the condition that the electric bicycle is in a lock-on state, wherein the detection signals comprise wheel speeds and running control signals 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 heel brace control signal is used for controlling the heel brace to be in a retracted or supporting state.
Optionally, the second data processing module is further configured to: judging whether the running control signal meets starting conditions, and determining that the foot support control signal is a foot support retraction signal under the condition that the running control signal meets the starting conditions; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel handle 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 determining that the foot support controller is in a dormant state 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; under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value, determining that the foot support controller is in a working state; 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.
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 in a second preset range and the duration time in the second preset range is smaller 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 the wheel speed of the electric bicycle is in a second preset range, and under the condition that the duration time in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a foot support control signal according to the wheel speed of the electric bicycle and the duration time for which the wheel speed is kept in a third preset range; under the condition that the running control signal does not meet the braking condition, determining that the foot support control signal is a foot support retraction signal; the braking condition is that the running control signal comprises a brake handle triggering signal and a wheel handle resetting signal.
Optionally, the second data processing module is configured to: determining that the foot rest control signal is a foot rest reset signal when 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 smaller than the third threshold value is longer than a third time; and determining that the foot support control signal is a foot support stow signal when the wheel speed of the electric bicycle is less than the third threshold and the duration of the wheel speed of the electric bicycle remains less than the third threshold is less than the third time.
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 configured to execute the computer program to implement the method as described in the first aspect of the present specification.
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 a method as described in the first aspect of the present description.
The beneficial effects of the embodiment of the disclosure are that the wheel speed and the running control signal of the electric bicycle are collected, and corresponding foot support control signals are adaptively generated under the conditions of different wheel speeds and running control signals, so that the foot support is in a retracted or supporting state, the foot support can be realized without setting a switch device, and the maintenance and operation cost can be reduced.
Other features of the present specification and its advantages 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 a hardware architecture, including the respective device components of a system and the hardware structure of each device;
FIG. 2 is a flow chart of an auxiliary control method for an intelligent foot support to which embodiments of the present disclosure can be applied;
FIG. 3 is a signaling flow diagram of a method of controlling a foot support according to one embodiment;
fig. 4 is a schematic structural view of a control device for a foot support of an electric bicycle according to the present 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, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one 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 specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The embodiment of the disclosure relates to an application scene of foot support control of an electric bicycle. At present, the foot support is usually operated manually, a user is required to operate to lift the foot support when starting, and meanwhile, in order to ensure stability, the user is usually required to step on the ground by one foot, and meanwhile, the wheel handle is rotated to accelerate, so that in the driving process, the user needs frequent start and stop for urban traffic light driving scenes, and the driving experience is seriously influenced. There is therefore a need for a foot support that can be intelligently controlled to enhance the user experience.
According to the requirements, the control switch can be installed at the handle bar, a user can control the foot support to lift up and down by operating the control switch, and the control switch is extremely easy to damage and high in maintenance and operation cost for the shared electric bicycle through analysis.
Aiming at the technical problems in the above embodiments, the present disclosure provides an auxiliary control method, an apparatus, a device and a storage medium for an intelligent foot support.
< hardware configuration >
Fig. 1 is a schematic structural diagram of an auxiliary control system that may be used to implement an intelligent foot support 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 network 4000 on which the vehicle 3000 and the server 2000 and the terminal device 1000 communicate with the server 2000 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 the service points for processing, databases, communication facilities. The server 2000 may be a monolithic server, a distributed server across multiple computers, a computer data center, a cloud server, or a cluster of servers deployed in the cloud, etc. The server may be of various types such as, but not limited to, a web server, news server, mail server, message server, advertisement server, file server, application server, interaction server, database server, or 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 by or implemented by the server. The server 2000 specific configuration may include, but is not limited to, a processor 2100, a memory 2200, an interface device 2300, a communication device 2400. The processor 2100 is configured to execute a computer program written in an instruction set of an architecture such as x86, arm, RISC, MIPS, SSE, etc. The memory 2200 is, for example, ROM (read only memory), RAM (random access memory), 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 capable of wired or wireless communication, for example, and may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like, for example.
The memory 2200 of the server 2000 is used to store a computer program for controlling the processor 2100 to operate to implement the method according to the embodiments of the present disclosure, which is applied to the embodiments of the present disclosure. The skilled person can design the computer program according to the disclosure of 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.
Those skilled in the art will appreciate that the server 2000 may include other devices in addition to those shown in fig. 1, and is not limited in this regard.
In this embodiment, the terminal device 1000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, etc.
The terminal device 1000 is provided with a vehicle application client, and a user can use the vehicle 3000 by operating the vehicle application client.
The terminal device 1000 can 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 processor GPU, a microprocessor MCU, etc. for executing a computer program written in an instruction set of an architecture such as x86, arm, RISC, MIPS, SSE, etc. The memory 1200 includes, for example, ROM (read only memory), RAM (random access memory), 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 can perform wired communication using an optical fiber or a cable, or perform wireless communication, for example, and specifically can include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display, a touch display, or the like. The input device 1600 may include, for example, a touch screen, keyboard, somatosensory input, and the like. The speaker 1170 is for outputting an audio signal. A microphone 1180 is used to pick up the audio signal.
The memory 1200 of the terminal device 1000, as applied to the embodiments of the present disclosure, is used to store a computer program for controlling the processor 1100 to operate to perform the method of the embodiments of the present disclosure, which is well known in the art, and thus will not be described in detail herein. The terminal device 1000 can be equipped with an intelligent operating system (e.g., windows, linux, android, IOS, etc. systems) and application software.
It will be appreciated by those skilled in the art that although a plurality of means of terminal device 1000 are shown in fig. 1, terminal device 1000 of embodiments of the present disclosure may refer to only some of the means therein, e.g., only processor 1100, memory 1200, etc.
The vehicle 3000 may be an electric bicycle as shown in fig. 1, or may be a tricycle, an electric power assisted bicycle, a motorcycle, a four-wheeled passenger car, or the like, 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 the like. The processor 3100 may be a microprocessor MCU or the like. The memory 3200 includes, for example, ROM (read only memory), RAM (random access memory), nonvolatile memory such as a hard disk, and the like. The interface device 3300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication device 3400 may perform wired communication using an optical fiber or a cable, or perform wireless communication, for example, and may include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 3500 may be, for example, a liquid crystal display, a touch display, or the like. The input device 3600 may include, for example, a touch panel, a keyboard, or the like, and may input voice information by a microphone. The vehicle 3000 may output audio signals through a speaker 3700, and collect audio signals through a microphone 3800.
In the embodiment applied to the present disclosure, the memory 3200 of the vehicle 3000 is used to store a computer program for controlling the processor 3100 to operate 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 to only some of the devices, for example, the vehicle 3000 may relate to only 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 device 1000, and vehicle 3000, it is not meant to limit the respective numbers, and that a plurality of servers 2000, a plurality of terminal devices 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 example >
Fig. 2 is a flow diagram of a method of auxiliary control of an intelligent foot support according to an embodiment that may be implemented by a processor of an electric bicycle, such as processor 3100 in fig. 1.
As shown in fig. 2, the auxiliary control method of the intelligent foot support of the present embodiment may include the following steps S2100 to S2300:
And S2100, acquiring a detection signal of the electric bicycle under the condition that the electric bicycle is in a lock-open state.
It can be understood that the lock of the electric bicycle monitors the unlock signal under the condition of normal power supply, is in a standby state under the condition of no unlock signal, and controls the lock to be unlocked when the unlock signal is monitored, that is, the lock state is at a low level when the lock is not unlocked, and the lock state is at a high level after the lock is unlocked.
In one example, after the lock is unlocked, the processor may trigger the foot rest controller to power up according to the high level signal of the lock, so that the foot rest controller may receive the foot rest control signal of the processor to control the foot rest to be in the retracted or supporting state.
In one example, the foot rest controller may be coupled to a drive device, such as an electric motor, which is coupled to the foot rest, and the foot rest controller controls the electric motor to operate by issuing control commands to control the retraction or the return of the foot rest, such that the foot rest is in a support state when the foot rest is returned.
In this embodiment, the detection signals include the wheel speed of the electric bicycle and the running control signal. It should be noted that, the detection signal in this embodiment may be obtained by the data collected by the existing sensor of the electric bicycle, that is, there is no need to add an additional sensor for the method of this embodiment, which is beneficial to reducing the cost. For example, in order to prevent the speed from being too fast, the existing intelligent electric bicycle is generally provided with a wheel speed sensor, and the embodiment only needs to directly acquire 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 lever signal, where the wheel handle is an acceleration handle for controlling the voltage of the electric bicycle power assisting circuit, and the wheel handle signal includes a wheel handle triggering signal for controlling acceleration of the electric bicycle and a wheel handle resetting signal for turning off the electric bicycle power assisting. The brake handle is 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 braking 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 within 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 or continuous acceleration state at this time, and it may be understood that in this case, the foot support controller may be determined to be in a sleep state without the need for the foot support to support the electric bicycle in a landing manner.
In this embodiment, when the wheel speed of the electric bicycle is within a first preset range and the duration time within the first preset range is greater than a first time t1, the user is represented to travel at a constant speed or at a reduced speed by a speed value within the first preset range, and it is understood that in this case, the electric bicycle is not required to be supported by the foot rest, and the foot rest controller can be determined to be in a sleep state.
In this embodiment, when the wheel speed of the electric bicycle is less than the second threshold, it is indicated that the user wants to brake the electric bicycle to ensure safety, and then the foot support controller can be determined to be in a working state, so as to control the foot support 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, the first threshold value is n1, the second threshold value is n2, and then n1 may be a set wheel speed for normal running, and n2 may be a set wheel speed for low-speed running.
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 within a first preset range, so that when the wheel speed of the electric bicycle is smaller than the low-speed running set wheel speed, the foot support controller is awakened, preparation is made for controlling the state of the foot support, and running safety is guaranteed.
S2300, determining a foot support control signal according to the wheel speed and the running control signal of the electric bicycle under the condition that the foot support controller is in a working state.
In this embodiment, the foot rest control signal is used for controlling the foot rest to be in a retracted or supporting state, and the foot rest control signal includes a foot rest retraction signal and a foot rest reset signal, where the foot rest retraction signal is used for controlling the foot rest to be in a retracted state, and the foot rest reset signal is used for controlling the foot rest to be in a supporting state.
It can be appreciated that, after the user opens the lock, if the user suddenly stows the foot support, the user may not be ready to get hurt, so for safe starting, in this embodiment, after the lock of the electric bicycle is opened, before starting, the method further includes: judging whether the running control signal meets starting conditions, and determining the foot support control signal as a foot support stowing signal to control the foot support to be in a stowing state under the condition that the running control signal meets the starting conditions; the starting condition is that the driving control signal comprises a brake crank trigger signal and a wheel handle trigger signal. That is, during the travel of the electric bicycle from stationary, the foot support is controlled to retract only when the user holds the brake lever of the electric bicycle and rotates the wheel handle, so that safe starting is realized.
In this embodiment, when the foot rest controller is in the working state, the wheel speed of the electric bicycle is smaller than n2, and the user may want to run at a low speed or may want to brake at a reduced speed, so that the embodiment determines the intention of the user by determining the relationship between the wheel speed of the electric bicycle and the second preset range, so as to execute the corresponding action by controlling the foot rest.
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 indicated that the user has a braking intention, at this time, it is determined whether the running control signal satisfies the braking condition, and if the running control signal does not satisfy the braking condition, it is indicated that the user only intermittently decelerates, and it is determined that the foot support control signal is the foot support stowing signal, so as to control the foot support to maintain the stowing 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 the set wheel speed of the electric bicycle close to parking.
In this embodiment, in the case where the running control signal satisfies the braking condition, it is determined that the user is to perform the braking operation on the electric bicycle, but since the wheel speed of the electric bicycle has not yet reached the speed of parking at this time, it is necessary to continuously acquire the wheel speed of the electric bicycle, and the foot rest control signal is determined based on 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 trigger signal and a wheel handle reset signal, wherein the brake crank trigger signal represents that a user applies pressure to a brake crank at the moment so as to control the electric vehicle to brake, and the wheel handle reset signal represents that the user releases the wheel handle so as to enable the electric bicycle to be powered off.
In this embodiment, when the travel control signal does not satisfy the braking condition, the foot support control signal is determined to be a foot support stowing signal so that the foot support is maintained in a stowing state.
In one example, since the user only releases the wheel handle, the user is presented with the intention to slow down, and the user is presented with the intention to slow down and brake the electric bicycle if the user triggers the brake lever, this indicates that the brake lever trigger signal is prioritized higher for determining the user's intention to brake, because it is prioritized to detect whether the brake lever trigger signal is present in the travel control signal when determining whether the travel control signal meets the braking condition. Thus, in one example, the case where the travel control signal does not satisfy the braking condition includes: the running control signal only comprises a brake crank trigger signal and a running control signal without a brake crank trigger signal and a wheel handle reset signal, and under the 2 conditions, the user is characterized in that no braking operation needs to be executed on the electric bicycle, and the foot support control signal is determined to be a foot support stowing signal so that the foot support is kept in a stowing state. Meanwhile, judging the magnitude relation between the wheel speed at the current moment and the second threshold value n2 so as to judge whether the wheel speed is in a second preset range or not, and executing the judgment of the running state of the foot support controller or the foot support control signal.
In this embodiment, determining the foot rest 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: and under the condition that the wheel speed of the electric bicycle is smaller than a third threshold value and the duration that the wheel speed of the electric bicycle is smaller than the third threshold value is longer than a third time t3, the speed of the electric bicycle is close to 0, and a user intends to control the electric bicycle to be stationary, at the moment, a foot rest control signal is determined to be a foot rest reset signal, so that the foot rest is in a supporting state, and the electric bicycle is stationary.
In this embodiment, when the wheel speed of the electric bicycle is smaller than the third threshold value and the duration of the wheel speed of the electric bicycle kept smaller than the third threshold value is smaller than the third time t3, it is characterized that the electric bicycle has an acceleration state in the process, the wheel speed is larger than n3, that is, the user does not have a braking intention, and at this time, the foot support control signal is determined to be a foot support retraction signal, so that the foot support is kept in a retraction state. Meanwhile, continuously acquiring the wheel speed of the electric bicycle, judging the relation between the wheel speed and the second threshold value, and executing the running state of the foot support controller or determining the judgment of the foot support control signal according to the wheel speed.
In this embodiment, when the wheel speed of the electric bicycle is within a second preset range and the duration time within the second preset range is greater than a second time, the electric bicycle is characterized in that the electric bicycle is in a continuous deceleration state, the wheel speed of the electric bicycle is continuously acquired at the moment, the wheel speed of the electric bicycle is compared with a third threshold value, when the wheel speed of the electric bicycle is detected to be smaller than the third threshold value and the duration time of the wheel speed of the electric bicycle is kept smaller than the third threshold value to be greater than a third time t3, the speed of the electric bicycle is characterized as being close to 0, and the user intends to control the electric bicycle to be stationary, and at the moment, a foot support control signal is determined to be a foot support reset signal, so that the foot support is in a supporting state, and the electric bicycle is made to be stationary.
In one example, when the lock of the electric bicycle is turned on to off, the lock state is low, and it is determined that the foot rest controller is in a sleep state.
It should be noted that, the auxiliary control method of the intelligent heel brace in this embodiment is preferably an auxiliary method, that is, the auxiliary control method can assist the user to realize intelligent control of the heel brace, and the user can also manually control the heel brace. In one example, the intelligent control function of the foot support can be turned off and on through the user terminal.
It should be noted that, in this embodiment, the first threshold n1 and the second threshold n2 are parameters with strong power consumption relevance to the heel brace controller, where the power consumption can be minimized by keeping the first preset range formed by n1 to n2 in a reasonable range, and if the first preset range is too small, the heel brace controller is frequently waken up by dormancy. If the first preset range is too large, the sleep time of the foot support controller is shortened when n1 is too large, and the response speed requirement is increased when n2 is too small, so that the specific values of n1 and n2 can be selected by combining the performance of the foot support controller and the test data in practical application.
The optimal t1 and t2 can be selected according to offline calibration, so as to avoid response delay caused by overlarge t1 and t2, and avoid frequent issuing of sleep commands caused by overlarge t1 and redundant judgment caused by overlarge t 2.
In one possible example, n3 and t3 are parameters that have a strong correlation with the roll angle and wear of the electric bicycle, the smaller n3 is, the larger t3 is, the smaller the wear is, and at the same time, the larger the roll angle of the electric bicycle is, the roll angle and wear can be used as parameters to construct a loss function, and the optimal control algorithm is used for calculating n3 and t3.
In one 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.
According to the embodiment, through the collected wheel speed and running control signals of the electric bicycle, the intelligent control foot support is in a retracted or supporting state, a switching device is not required to be arranged, the electric bicycle can be realized through a system program, the maintenance operation cost can be reduced, and meanwhile, the user experience can be improved.
The following describes the present embodiment by way of a specific example, and referring to fig. 3, fig. 3 is a signaling flow chart after starting the electric bicycle according to the present embodiment, including:
301. judging whether the lock is opened or not.
When the unlocking of the lock is detected, a high-level signal is generated so as to enable the foot support controller to be powered on.
302. It is detected whether the wheel speed of the electric bicycle is greater than n1.
And under the condition that the wheel speed is greater than n1, determining that the foot support controller is in a dormant state, and under the condition that the wheel speed is less than n1, entering step 303 or 304.
303. Detecting the duration T1 of the wheel speed of the electric bicycle between n1 and n2, if T1 is larger than T1, determining that the foot support controller is in a dormant state, and if T1 is smaller than T1, performing step 304.
304. It is determined whether the wheel speed is lower than n2.
If not, go to step 302, if yes, go to steps 305 and 306, and determine that the foot rest controller is in a working state.
305. It is determined whether the wheel speed is maintained for a time T2 greater than T2 between n2 and n3.
If yes, go to step 308, if no, go to step 306.
306. Whether the running control signal is a brake crank trigger signal or not.
If yes, go to step 307 to determine whether the running control signal satisfies the braking condition. If not, it is indicated that the user may be in a low speed slide state, and 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, if not, determine that the temple control signal is a temple stow signal.
308. It is determined whether the wheel speed is less than n3.
If yes, go to step 309, if no, return to 304.
309. Judging whether the duration time T3 of the wheel speed being smaller than n3 is larger than T3, if yes, determining that the foot rest control signal is a foot rest reset signal, and if no, returning to step 308.
In one example, fig. 3 may be partitioned according to the driving condition of the electric bicycle. For example, the following procedure may be included:
acceleration process: after the vehicle is started, the wheel speed can reach n1 in a short time, and when the wheel speed is larger than n1, the user enters a normal running state, and at the moment, the foot support controller is in a dormant state and continues to monitor the wheel speed signal. Corresponding to step 302.
And (3) a deceleration driving process: when the user decelerates, the wheel speed is firstly smaller than n1, and at the moment, the user has two intentions, namely, the first is low-speed running and the second is continuous deceleration braking, so that whether the wheel speed is lower than n2 is judged, and the step 304 corresponds to.
And (3) a low-speed driving process: when the wheel speed is smaller than n1 and larger than n2, the user is determined to be running at a low speed, the cycle judgment is carried out, the cycle time T1 that the wheel speed is kept between n2 and n1 is recorded, and when the T1 is larger than T1, the foot support controller enters dormancy corresponding to the step 303, so that the power consumption is reduced.
Deceleration to park process: when the wheel speed is lower than n2, judging whether the user has the intention of continuous deceleration braking, detecting whether a brake crank trigger signal and a wheel handle reset signal exist, determining that the user has the intention of deceleration braking under the condition that the brake crank trigger signal and the wheel handle reset signal exist, judging whether the wheel speed is lower than n3 or not according to steps 306 and 307, and controlling the foot support to be in a supporting state when the wheel speed is lower than n3 and the time kept lower than n3 is longer than t3 and the electric bicycle is stationary. Corresponding to steps 308 and 309. If the wheel speed is greater than n3, continuously monitoring whether the wheel speed is lower than n2, and entering the cycle judgment of the deceleration braking process.
The deceleration braking process comprises the following steps: when the wheel speed is lower than n2, a brake crank trigger signal exists, but under the condition that a wheel handle reset signal does not exist, the user is indicated to be in emergency braking, and the foot support is controlled to be in a retracted state corresponding to the requirement of continuous running in step 307.
The deceleration process accelerates, and when the wheel speed is less than n3 and the time remaining less than n3 is less than t3, it is indicated that the electric bicycle is accelerating at this time, and the determination of the wheel speed and n3 is returned, step 308.
Low speed skating process: when the wheel speed is smaller than n3 and the holding time T3 is smaller than T3, and a user starts accelerating, the relation between the wheel speed and n2 is judged at the moment because n3 is the speed close to the parking speed, and when the wheel speed is larger than n3 and smaller than n2 and the brake lever is not triggered, the holding time is larger than T2, the low-speed sliding process is judged at the moment.
According to the embodiment, through the collected wheel speed and running control signals of the electric bicycle, the intelligent control foot support is in a retracted or supporting state, a switching device is not required to be arranged, the electric bicycle can be realized through a system program, the maintenance operation cost can be reduced, and meanwhile, the user experience can be improved.
< device example >
Fig. 4 is a functional block diagram of an apparatus according to one embodiment. As shown in fig. 4, the foot rest control device 400 of the electric bicycle may include:
The data acquisition module 410 acquires detection signals of the electric bicycle under the condition that the electric bicycle is in a lock-on state, wherein the detection signals comprise wheel speeds and running control signals of the electric bicycle;
a first data processing module 420, configured to determine an operation state of the foot rest controller according to a wheel speed of the electric bicycle and/or a duration time of the wheel speed of the electric bicycle within a first preset range;
a second data processing module 430, configured to determine a foot rest control signal according to a wheel speed of the electric bicycle and the driving control signal when the foot rest controller is in an operating state; the heel brace control signal is used for controlling the heel brace to be in a retracted or supporting state.
In one example, the execution body of the present embodiment may be a main control of an electric bicycle, or the processor 3100 in fig. 1, that is, the processor 3100 may include the foot rest control device 400 of the electric bicycle. For example, the detection data of the electric bicycle may be sensor data of the electric bicycle, or may be obtained through an electric bicycle bus, such as a CAN bus or a LIN bus.
In one example, the stand control device 400 may obtain a detection signal of the electric bicycle by acquiring sensor data, and generate a stand controller state control command by processing the detection signal, so as to put the stand controller 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 retracted or supporting state.
In one example, the second data processing module 430 is further configured to: judging whether the running control signal meets starting conditions, and determining that the foot support control signal is a foot support retraction signal under the condition that the running control signal meets the starting conditions; the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel handle 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 determining that the foot support controller is in a dormant state 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; under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value, determining that the foot support controller is in a working state; 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.
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 in a second preset range and the duration time in the second preset range is smaller 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 the wheel speed of the electric bicycle is in a second preset range, and under the condition that the duration time in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a foot support control signal according to the wheel speed of the electric bicycle and the duration time for which the wheel speed is kept in a third preset range; under the condition that the running control signal does not meet the braking condition, determining that the foot support control signal is a foot support retraction signal; the braking condition is that the running control signal comprises a brake handle triggering signal and a wheel handle resetting signal.
In one example, the second data processing module 420 is configured to: determining that the foot rest control signal is a foot rest reset signal when 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 smaller than the third threshold value is longer than a third time; and determining that the foot support control signal is a foot support stow signal when the wheel speed of the electric bicycle is less than the third threshold and the duration of the wheel speed of the electric bicycle remains less than the third threshold is less than the third time.
< device example >
Fig. 5 is a schematic diagram of a hardware structure 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 for storing an executable computer program, the processor 510 being for performing a method as any of the method embodiments above, according to control of the computer program.
The electronic device 500 may be the processor 3100 of fig. 1.
The above modules of the electronic device 500 may be implemented by the processor 510 executing the computer program stored in the memory 520 in this embodiment, or may be implemented by other circuit structures, which are not limited herein.
< storage Medium embodiment >
The present embodiment provides a computer-readable storage medium having stored therein executable instructions that, when executed by a processor, perform 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 aspects of the present description.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage 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: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through 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 over 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 transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface 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.
Computer program instructions for carrying out operations of 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 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 be executed 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present description are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer-readable program instructions, which may execute the computer-readable program instructions.
Various 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 specification. 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 having the instructions stored therein includes 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 flowcharts 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 all equivalent.
The embodiments of the present specification have been described above, and the above description is illustrative, 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 various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement 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 (10)
1. An auxiliary control method of an intelligent foot support comprises the following steps:
under the condition that an electric bicycle is in a lock-open 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 that the foot support controller is in a dormant state under the condition that the wheel speed of the electric bicycle is larger than a first threshold value or under the condition that the wheel speed of the electric bicycle is in a first preset range and the duration time of the wheel speed of the electric bicycle in the first preset range is larger than a first time; under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value, determining that the foot support controller is in a working state; 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;
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 running control signal;
the heel brace control signal is used for controlling the heel brace to be in a retracted 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 to be in a stowed state and a foot support reset signal for controlling the foot support to be in a support state;
after the lock of the electric bicycle is unlocked and before starting, the method further comprises:
judging whether the running control signal meets starting conditions, and determining that the foot support control signal is a foot support retraction signal under the condition that the running control signal meets the starting conditions;
the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel handle trigger signal.
3. The method of claim 1, wherein said determining a foot rest control signal based on a wheel speed of said electric bicycle and said travel control signal with said foot rest controller in an operational 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 in a second preset range and the duration time in the second preset range is smaller 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 the wheel speed of the electric bicycle is in a second preset range, and under the condition that the duration time in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a foot support control signal according to the wheel speed of the electric bicycle and the duration time for which the wheel speed is kept in a third preset range;
under the condition that the running control signal does not meet the braking condition, determining that the foot support control signal is a foot support retraction signal;
the braking condition is that the running control signal comprises a brake handle triggering signal and a wheel handle resetting signal.
4. The method of claim 3, wherein the continuously obtaining the wheel speed of the electric bicycle, based on the wheel speed of the electric bicycle and a duration for which the wheel speed remains within a third predetermined range, obtains a foot support control signal, comprising:
Determining that the foot rest control signal is a foot rest reset signal when 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 smaller than the third threshold value is longer than a third time;
and determining that the foot support control signal is a foot support stow signal when the wheel speed of the electric bicycle is less than the third threshold and the duration of the wheel speed of the electric bicycle remains less than the third threshold is less than the third time.
5. An auxiliary control device for intelligent foot support, characterized in that the device comprises:
the data acquisition module is used for acquiring detection signals of the electric bicycle under the condition that the electric bicycle is in a lock-on state, wherein the detection signals comprise wheel speeds and running control signals of the electric bicycle;
the first data processing module is used for determining that the foot support controller is in a dormant state under the condition that the wheel speed of the electric bicycle is larger than a first threshold value or the wheel speed of the electric bicycle is in a first preset range and the duration time of the wheel speed of the electric bicycle in the first preset range is larger than a first time; under the condition that the wheel speed of the electric bicycle is smaller than a second threshold value, determining that the foot support controller is in a working state; 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;
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 heel brace control signal is used for controlling the heel brace to be in a retracted or supporting state.
6. The apparatus of claim 5, wherein the second data processing module is further configured to:
judging whether the running control signal meets starting conditions, and determining that the foot support control signal is a foot support retraction signal under the condition that the running control signal meets the starting conditions;
the starting condition is that the running control signal comprises a brake crank trigger signal and a wheel handle trigger signal.
7. The apparatus of claim 5, wherein 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 in a second preset range and the duration time in the second preset range is smaller 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 the wheel speed of the electric bicycle is in a second preset range, and under the condition that the duration time in the second preset range is longer than a second time, continuously acquiring the wheel speed of the electric bicycle, and determining a foot support control signal according to the wheel speed of the electric bicycle and the duration time for which the wheel speed is kept in a third preset range;
under the condition that the running control signal does not meet the braking condition, determining that the foot support control signal is a foot support retraction signal;
the braking condition is that the running control signal comprises a brake handle triggering signal and a wheel handle resetting signal.
8. The apparatus of claim 7, wherein the second data processing module is configured to:
determining that the foot rest control signal is a foot rest reset signal when 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 smaller than the third threshold value is longer than a third time;
and determining that the foot support control signal is a foot support stow signal when the wheel speed of the electric bicycle is less than the third threshold and the duration of the wheel speed of the electric bicycle remains less than the third threshold is less than the third time.
9. An electronic device comprising a memory and a processor, the memory for storing a computer program; the processor is configured to execute the computer program to implement the method according to any one of claims 1-4.
10. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of claims 1-4.
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