CN114510005A

CN114510005A - Riding equipment control method and device and riding equipment

Info

Publication number: CN114510005A
Application number: CN202210018152.9A
Authority: CN
Inventors: 杨磊; 佟林府; 杜新; 蒋健伟; 孙佳炜
Original assignee: Shanghai Junzheng Network Technology Co Ltd
Current assignee: Shanghai Junzheng Network Technology Co Ltd
Priority date: 2022-01-07
Filing date: 2022-01-07
Publication date: 2022-05-17
Anticipated expiration: 2042-01-07

Abstract

The specification provides a riding device and a control method and device thereof. Based on the method, in a scene that a user pushes the riding equipment and needs additional assistance, such as pushing a road shoulder on the riding equipment, the user can actively initiate a target assistance instruction; the riding device can respond to the target power-assisted instruction and control the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device. Therefore, matched assistance can be provided for the user in time in a scene that the user pushes the riding equipment and needs additional assistance, so that the user can push the riding equipment more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

Description

Riding equipment control method and device and riding equipment

Technical Field

The specification belongs to the technical field of electric vehicles, and particularly relates to a riding device and a control method and device thereof.

Background

Usually, when the user runs into road conditions such as uphill, road shoulder and the like in the electric vehicle for riding, the user mostly can choose to get off to push away in order to protect the riding safety.

However, based on the prior art, the user is troublesome and labor-consuming in the process of pushing the electric vehicle. For example, when a user needs to push the electric vehicle up to a shoulder, the user must spend a lot of effort to push the electric vehicle up to the shoulder; in addition, in the process of pushing the electric vehicle, accidents such as vehicle-crossing and the like are easy to happen, so that the use experience of users is relatively poor.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The specification provides a control method and a control device of riding equipment and the riding equipment, which can respond to a target power-assisted instruction initiated by a user in a scene that the user pushes the riding equipment and needs additional power assistance, and provide matched power assistance for the user in time, so that the user can push the riding equipment more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, the system can effectively avoid the occurrence of risks such as car fleeing and the like, protect the pushing safety of the user and enable the user to obtain better use experience.

The embodiment of the specification provides a control method of riding equipment, which is applied to the riding equipment and comprises the following steps: receiving a target power-assisted instruction; and responding to the target power-assisted instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for the user in the process of pushing the riding equipment.

An embodiment of the present specification further provides a control method of a riding device, which is applied to a terminal device, and includes: receiving and responding to user operation, and generating a target power-assisted instruction for the riding equipment; providing the target power-assist command to the cycling device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

An embodiment of the present specification further provides a control device of a riding apparatus, including: the receiving module is used for receiving a target power-assisted instruction; and the control module is used for responding to the target power-assisted instruction and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

This specification embodiment also provides a riding device, includes at least: the system comprises a T-Box module, a motor module and a controller, wherein the T-Box module receives a target power-assisted instruction; the controller responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

The embodiment of the specification further provides a terminal device which comprises a processor and a memory for storing processor executable instructions, wherein the processor executes the instructions to realize relevant steps of the control method of the riding device.

The embodiment of the specification also provides a computer readable storage medium, wherein computer instructions are stored on the computer readable storage medium, and when the instructions are executed by a processor, the instructions realize the relevant steps of the control method of the riding device.

Based on the control method and device for the riding device and the riding device provided by the specification, in a scene that a user pushes the riding device and needs additional assistance, such as pushing a road shoulder on the riding device, the user can actively initiate a target assistance instruction as required; the riding device can respond to the target power-assisted instruction and control the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device. Therefore, the matched proper assistance can be provided for the user in time in the scene that the user pushes the riding equipment and needs additional assistance, so that the user can push the riding equipment more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

Drawings

In order to more clearly illustrate the embodiments of the present specification, the drawings needed to be used in the embodiments will be briefly described below, and the drawings in the following description are only some of the embodiments described in the specification, and it is obvious to those skilled in the art that other drawings can be obtained based on the drawings without any inventive work.

Fig. 1 is a schematic view of an embodiment of a structural composition of a cycling apparatus to which a control method of the cycling apparatus provided by an embodiment of the present specification is applied;

fig. 2 is a flow chart of a control method of the riding device provided by one embodiment of the present specification;

FIG. 3 is a schematic diagram of an embodiment of a control method of a riding device provided by an embodiment of the present specification;

FIG. 4 is a schematic diagram of an embodiment of a control method of a riding device provided by an embodiment of the present specification;

FIG. 5 is a schematic diagram of an embodiment of a control method of a riding device provided by an embodiment of the present specification;

FIG. 6 is a schematic diagram of an embodiment of a control method of a riding device provided by an embodiment of the present specification;

fig. 7 is a flowchart illustrating a control method of the riding device provided by an embodiment of the present specification;

fig. 8 is a schematic structural component diagram of a terminal device provided in an embodiment of the present specification;

fig. 9 is a schematic structural component view of a control device of the riding device provided by one embodiment of the present specification;

fig. 10 is a schematic diagram of an embodiment of a control method of a riding device provided by an embodiment of the present specification, in one example scenario.

Detailed Description

In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.

In consideration of the existing method, when a user gets off and pushes the riding device in the face of road conditions such as uphill, road shoulders and the like, the user is often troublesome and laborious, accidents such as car fleeing and the like are easy to happen, risks are caused to the safety of the user, and the use experience of the user is influenced.

In order to solve the above problems, the present specification provides a riding apparatus, as shown in fig. 1. The riding equipment can effectively reduce the operation difficulty of the user, so that the user with small strength can easily and conveniently push the riding equipment to move forwards when facing the road condition scene; meanwhile, accidents such as car-crossing can be effectively avoided, the safety of the user is protected, and the user obtains better use experience.

Specifically, the riding device at least includes: a T-Box module, a motor module, a controller, wherein,

the T-Box module can be specifically used for receiving a target power-assisted instruction;

the controller can be specifically used for responding to the target power-assisted instruction and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

Specifically, the controller may specifically enable a user to respond to the target power-assisted instruction to obtain a reference pushing speed of the riding device; determining the reference pushing speed of the riding equipment as the upper limit speed of the riding equipment; correspondingly, the motor module can be specifically used for running according to a preset control strategy and the upper limit speed of the riding device, so that matched assistance is provided for a user in the process of pushing the riding device.

In some embodiments, the riding device may be specifically an electric vehicle, or may be a riding device such as an electric motorcycle and the like, in which a motor module is built, and power energy is provided by the motor module.

In some embodiments, the T-Box (or TBox) module may be configured to establish a data connection with a cloud server and a terminal device outside the riding device in advance based on a corresponding communication protocol, and support related data interaction with the cloud server and the terminal device; in addition, the T-Box module is connected with the electronic equipment inside the riding equipment through a bus (such as a canbus bus), so that the transmission interaction of instructions and information can be realized.

In some embodiments, when implemented, other communication modules may be used to receive the target assist command instead of the T-Box module, according to specific situations.

The terminal device may specifically include a client that is applied to a user side and is capable of implementing functions such as data acquisition and data transmission. Specifically, the terminal device may be, for example, an electronic device such as a tablet computer, a smart phone, and a smart watch. Alternatively, the terminal device may be a software application capable of running in the electronic device. For example, it may be an XX shared electric vehicle APP running on a smartphone or the like.

The cloud server may specifically include a background server applied to one side of a network platform (e.g., XX sharing electric vehicle cloud service platform), and capable of implementing functions such as data transmission and data processing. Specifically, the cloud server may be, for example, an electronic device having data operation, storage function, and network interaction function. Or, the cloud server may also be a software program that runs in the electronic device and provides support for data processing, storage, and network interaction. In this embodiment, the number of servers included in the cloud server is not specifically limited. The cloud server may be specifically one server, or may be several servers, or a server cluster formed by a plurality of servers.

The terminal equipment and the cloud server can perform related data interaction through a network.

In some embodiments, the T-Box module may specifically establish a bluetooth connection with a terminal device held by a user, and implement data communication with the terminal device based on the bluetooth connection. The T-Box module can specifically establish network connection with the cloud server, and realize data communication with the cloud server based on the network connection.

In some embodiments, the motor module, which may also be referred to as a motor, is used to provide the power and energy needed by the cycling apparatus.

In some embodiments, the controller may be specifically connected to the motor module through a bus, and the controller may be configured to control specific operations of the motor module according to the instructions and information received by the T-Box module. In addition, the controller can also acquire the running state information of the motor module.

In some embodiments, the target assistance command may be specifically understood as command data that is actively initiated by a user when the user is confronted with a scenario of pushing the riding device and requiring additional assistance, and is used for requesting the riding device to provide corresponding assistance so that the motor module operates in a low-speed high-torque operation mode. The operation mode with low speed and high torque will be described later.

The driving equipment and the scene needing additional assistance specifically can include any one of the following listed road conditions: the method comprises the following steps of pushing a scene that the riding equipment ascends a slope, pushing a scene that the riding equipment ascends a road shoulder, or pushing a scene that the riding equipment crosses an obstacle. Of course, it should be noted that the above listed road condition scenarios are only schematic illustrations. In specific implementation, according to specific situations, the scenes of pushing the riding device and needing additional assistance may further include other types of scenes that the riding device needs to provide assistance. The present specification is not limited thereto.

Correspondingly, the target assist command may specifically include at least one of: the target power-assisted instruction is initiated by a user in a scene that the pushing riding device ascends a slope, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device ascends a road shoulder, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device crosses an obstacle, and the like.

In some embodiments, the riding device can be further provided with a hall sensor, a speed PID regulator and other devices. In specific implementation, the speed change data of the riding device can be monitored by utilizing the device. The speed PID controller (PID regulation) is understood to be a rotational speed detection device based on a linear regulation rule with proportional, integral and derivative functions.

The riding device can receive and respond to a target power-assisted instruction actively initiated by a user when needed, and control the motor module to enter a low-speed high-torque running mode so as to provide matched power for the user in time in a scene that the user pushes the riding device and needs additional power assistance, so that the user can push the riding device more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

Referring to fig. 2, an embodiment of the present specification further provides a control method of a riding device. The method is specifically applied to one side of the riding equipment, and when the method is specifically implemented, the following contents can be included.

S201: and receiving a target assistance command.

S202: and responding to the target power assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assisting for the user in the process of pushing the riding device.

In some embodiments, the target instruction may be specifically understood as instruction data for a user to provide corresponding assistance through a riding device requested by a terminal device in a scenario where the user pushes the riding device and needs additional assistance, so that the motor module operates in a low-speed high-torque operation mode.

In some embodiments, the target assist command may specifically include at least one of: the target power-assisted instruction is initiated by a user in a scene that the pushing riding device ascends a slope, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device ascends a road shoulder, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device crosses an obstacle, and the like.

In some embodiments, for example, as shown in fig. 3, the current user pushes the cycling device on the road and wants to push the cycling device in a rightward pushing direction over the shoulder of the road on the right side of the road. At this time, referring to fig. 4, the user may perform corresponding operations in the assistance instruction setting interface in the XX shared electric vehicle APP on the smart phone. Correspondingly, the terminal device can receive and respond to user operation through the power-assisted instruction setting interface to generate a target power-assisted instruction for the riding device.

For example, referring to FIG. 4, a user may select and click a "push shoulder" option in the boost command setup interface to initiate a desired target boost command.

In some embodiments, the receiving of the target assist command may include, when implemented, the following: receiving a target power-assisted instruction sent by a user through terminal equipment; or receiving a target power-assisted instruction sent by the cloud server; the cloud server receives a target power-assisted instruction sent by the terminal device and forwards the target power-assisted instruction to the riding device.

Specifically, a target power-assisted instruction sent by a user through terminal equipment can be received through a T-Box module of the riding equipment; or receiving a target power-assisted instruction sent by the cloud server through the T-Box module.

In some embodiments, in specific implementation, as shown in fig. 5, a terminal device held by a user may establish a bluetooth connection with the T-Box module of the riding device, and accordingly, the terminal device may directly send a target power assisting instruction to the T-Box module through the bluetooth connection.

In some embodiments, in specific implementation, as shown in fig. 5, the terminal device may further send the target power-assisted instruction to the cloud server through the internet; the cloud server can forward the target power-assisted instruction to the T-Box module of the corresponding riding device through network connection with the T-Box.

Specifically, the target power-assisted instruction sent by the terminal device to the cloud server may carry a user identifier of a user holding the terminal device. The cloud server can query a use database of the riding equipment according to the user identification to determine the riding equipment currently used by the user; and sending the target power assisting instruction to a T-Box module of the riding device according to a corresponding communication protocol.

In some embodiments, the above-mentioned controlling the operation of the motor module according to a preset control strategy in response to the target power-assisted command may include the following steps: acquiring a reference pushing speed of the riding equipment; using the reference push speed of the riding device as the upper limit speed of the riding device; and controlling the motor module to run according to the preset control strategy and the upper limit speed of the riding equipment.

In some embodiments, the above-mentioned controlling the operation of the motor module according to the preset control strategy and the upper limit speed of the riding device may include the following steps: according to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed large-torque operation mode is an operation mode with the speed less than or equal to a preset speed threshold value and the torque more than or equal to a preset first torque threshold value.

In some embodiments, the method, when implemented, may further include: dynamically adjusting the running current of the motor module to control the speed of the riding device within a preset safe speed range; and the preset safe speed range is determined according to the upper limit speed of the riding equipment.

In some embodiments, after receiving the target boost command, the T-Box module may send the target boost command to the controller according to a preset hardware communication protocol. The preset hardware communication protocol may specifically include an RS485 protocol, a Can protocol, and the like.

In some embodiments, the controller may first obtain a reference propel speed of the cycling apparatus in response to the target assist command.

The reference pushing speed of the riding device can be a speed with a small value, and a user can feel relaxed when pushing the riding device based on the speed, and accidents such as car-crossing cannot happen.

In some embodiments, the reference advancing speed of the cycling device may specifically include: the pushing speed set by a user in a self-defined mode, the average value calculated by the cloud server based on the historical pushing speeds of the multiple riding devices, the current pushing speed of the riding devices and the like.

Accordingly, before using the reference propel speed of the cycling apparatus as the upper limit speed of the cycling apparatus, the method further comprises: acquiring a pushing speed set by a user in a self-defined manner as a reference pushing speed of the riding equipment; or, the current pushing speed of the riding device is collected and used as the reference pushing speed of the riding device. In addition, a default speed stored locally on the riding device is also acquired as a reference pushing speed, wherein the default speed may be an average value calculated by the cloud server based on historical pushing speeds of a plurality of riding devices.

In some embodiments, specifically, the user can set the reference pushing speed of the riding device in a self-defined manner by combining the walking speed and the pushing habit of the user when initiating the target power assisting instruction through the terminal device.

For example, referring to fig. 6, a user may click a custom push speed option in an assistance instruction setting interface in an XX sharing electric vehicle APP on a smart phone to enter a speed custom interface. In the speed self-defining interface, a user can set the '4 km/h' as the reference pushing speed of the riding device according to the walking speed of the user when pushing the riding device at present. Accordingly, the terminal device may receive the reference push speed of the riding device, and provide the reference push speed of the riding device to the riding device together with the target power-assisted instruction.

In some embodiments, in specific implementation, the cloud server may acquire historical pushing speeds of a plurality of riding devices belonging to the platform; calculating the average value of the historical pushing speeds of the plurality of riding devices through statistics to obtain the reference pushing speed of the riding devices; and then the reference pushing speed of the riding equipment is sent to each riding equipment in advance to be used as the default reference pushing speed.

In some embodiments, in specific implementation, the controller may further be configured to, in response to the target power-assisted instruction, acquire a current pushing speed of the riding device when the user currently pushes the riding device, and determine the current pushing speed of the riding device as a reference pushing speed of the riding device.

In some embodiments, the controller may determine the reference propel speed of the cycling apparatus described above as the upper limit speed of the cycling apparatus in the subsequent low speed, high torque operating mode.

In some embodiments, the predetermined control strategy specifically includes a plurality of operation control rules for the motor module. The motor module can be controlled to enter a low-speed and high-torque operation mode based on the preset control strategy. The low-speed large-torque operation mode is an operation mode with the speed less than or equal to a preset speed threshold value and the torque more than or equal to a preset first torque threshold value. The operation control rules may in particular comprise current control rules of the motor module.

Specifically, when the motor module operates in the low-speed high-torque operation mode, reasonable power and torque can be provided, so that the riding device can smoothly complete processes such as pushing up a road shoulder, crossing obstacles or pushing to a slope top without the effort of a user; meanwhile, when the bicycle runs based on the mode, the riding device can be kept to run at a lower speed matched with the walking speed of the user when pushing the riding device, and accidents that the user cannot catch up with the riding device or flees the bicycle and the like are avoided.

In some embodiments, the low-speed and high-torque operation mode can be an operation mode in which the speed is less than or equal to a preset speed threshold, the torque is greater than or equal to a preset first torque threshold, and the torque is less than or equal to a preset second torque threshold

In some embodiments, the preset speed threshold may be specifically 5 km/h; the preset first torque threshold may specifically be 15 nm; the preset second torque threshold may be specifically 21 nm.

Of course, it should be noted that the above listed preset speed threshold, preset first torque threshold, and preset second torque threshold are only illustrative. In specific implementation, according to the specific model and application requirement of the motor module, the preset speed threshold, the preset first torque threshold, and the preset second torque threshold may be set to other suitable values.

In some embodiments, the preset control policy may be specifically a control policy that is generated in advance by the cloud server, sent to each riding device, and stored in a local area of each riding device.

In some embodiments, the preset control strategies may specifically include a plurality of preset control strategies corresponding to a plurality of scene types, respectively. Wherein the scene type includes at least one of: the method comprises the following steps of pushing the riding device to ascend uphill, pushing the riding device to ascend road shoulders, pushing the riding device to cross obstacles and the like.

In some embodiments, the cloud server may collect historical performance records of a plurality of riding devices before implementation. The historical pushing record of each riding device at least comprises the scene environment characteristics of the riding device at the moment, the running current of the motor module in the pushing process and the evaluation feedback of the user on the pushing process. And determining the scene type corresponding to the historical pushing record of each riding device according to the scene environment characteristics in the historical pushing record of the riding device. Dividing historical pushing records of a plurality of riding devices into a plurality of record data groups; wherein each recorded data group corresponds to a scene type. And respectively learning the plurality of recorded data groups to construct and obtain a plurality of preset control strategies respectively corresponding to the plurality of scene types.

In some embodiments, during specific implementation, the controller may further acquire, through a sensor, a camera, and other devices, an environmental characteristic where the user is currently located, and determine a current scene type according to the environmental characteristic; and then screening out a preset control strategy matched with the current scene type from a plurality of preset control strategies stored locally as a preset control strategy to be used currently.

In some embodiments, in practice, for example, in the case of an upper limit speed of 4km/h, the operating current of the motor module may be increased to 18A, the power of the motor module may be increased to 400W motor, and the torque may be increased to 21 nm according to a preset control strategy. Based on the operating current, power, and torque described above, a user can easily push the riding device up the top of a hill, push the riding device up a shoulder of a road, or push the riding device across an obstacle.

In some embodiments, during implementation, a tolerance error may be determined according to a preset control strategy; and determining a preset safe speed range by using the tolerance error and the upper limit speed of the riding equipment. For example, the tolerance error is 1km/h, the upper limit speed is 4km/h, and according to the preset control strategy, the corresponding preset safe speed range can be determined as follows: [0, (4+1) km/h ].

In some embodiments, when implemented, the controller may generate a corresponding trigger instruction and send the trigger instruction to the motor module via a bus (e.g., a control bus). And the motor module receives and responds to the trigger instruction, and controls the operation of the motor module by adjusting the operation current according to a preset control strategy and an upper limit speed in the manner so as to enable the motor module to enter a low-speed and high-torque operation mode.

In some embodiments, the above dynamically adjusting the operating current of the motor module to control the speed of the riding device within the preset safe speed range may include the following steps:

s1: acquiring pulse change data and current change data;

s2: and adjusting the running current of the motor module according to the pulse change data and the current change data.

The pulse change data may be specifically change data of a pulse signal acquired by a hall sensor. The real-time speed of the riding device can be reflected by the pulse change data. The current change data may be specifically change data of an operating current when the motor module operates. The real-time running state of the motor module can be reflected by the current change data. For example, real-time power, real-time torque, etc. of the motor module may be reflected, and real-time speed of the riding device may be indirectly reflected from another layer based on the real-time operating state of the motor module.

In some embodiments, after entering a low-speed high-torque operation mode, the motor module may acquire pulse change data in real time through the hall sensor according to a preset control strategy, and acquire current change data of the motor module at the same time; determining the real-time speed of the riding equipment according to the obtained pulse change data and the obtained current change data; and adjusting the running current in a targeted manner according to the real-time speed to provide proper matched assistance, so that the speed of the riding equipment is always within a preset safe speed range. Thereby can utilize two kinds of data of pulse change data and current change data synthetically, determine the real-time speed of the equipment of riding more accurately to based on this real-time speed, in time, accurately correspond the adjustment to motor module's operating current, in order effectively to avoid the equipment of riding to appear in the pushing away process such as the speed is too fast, accident such as car fleeing even, protection user's pushing away safety.

Specifically, for example, according to a preset control strategy, when the actual speed of the riding device is detected to be greater than a preset safe speed range according to the pulse change data and the current change data, the running current may be adaptively reduced, so that the speed of the riding device is reduced back to the preset safe speed range.

In some embodiments, when implemented, the operation current of the motor module may also be adjusted according to the pulse variation data or the current variation data alone.

In some embodiments, when implemented, the rotation speed of the motor module can be obtained through a speed PID regulator. And adjusting the running current of the motor module according to the pulse change data and/or the rotating speed of the motor module. The rotating speed of the motor module can reflect the running state of the motor module and the real-time speed of the riding device to a certain extent.

In some embodiments, the method, when implemented, may further include: determining an execution result related to the target power-assisted command according to the pulse change data and the current change data; and sending the execution result to the terminal equipment. In specific implementation, the execution result can be sent to the terminal device through the T-Box module of the riding device.

In some embodiments, when implemented, the controller may acquire pulse variation data via the hall sensor; simultaneously acquiring current change data of the motor module; and detecting whether the motor module normally executes a corresponding trigger instruction or not according to the pulse change data and the current change data, and whether the motor module enters a low-speed high-torque operation mode or not.

In the case that the motor module is determined to normally execute the trigger command and enter the low-speed high-torque operation mode, an execution result representing successful execution can be generated and sent to the terminal equipment through the T-Box module. The terminal device can prompt the user that the target power-assisted instruction is successfully executed according to the execution result.

In contrast, in the case that the motor module is determined not to normally execute the trigger command and not to enter the low-speed high-torque operation mode, an execution result representing execution failure may be generated and sent to the terminal device through the T-Box module. The terminal device can prompt the user that the target power-assisted instruction fails to be executed according to the execution result, and further can prompt the user to operate again to restart the target power-assisted instruction.

In some embodiments, when implemented, the corresponding execution result may also be determined according to the pulse variation data and/or the rotation speed of the motor module. Wherein the execution result is used for representing whether the target power-assisted instruction is successfully executed or not

In some embodiments, the controller may further feed back the execution result to the cloud server for storage, so as to facilitate backtracking query of subsequent users.

In some embodiments, after controlling the operation of the motor module according to a preset control strategy and the upper limit speed of the riding device, when the method is implemented, the following may be further included:

s1: detecting whether a mode exit instruction is received;

s2: and under the condition that the mode exit instruction is determined to be received, controlling the motor module to exit the low-speed high-torque running mode.

In some embodiments, the mode exit instruction may be initiated when the user pushes the cycling device to the top of a hill, or pushes the cycling device up a shoulder, or pushes the cycling device across an obstacle. The mode exit command can be specifically understood as command data for instructing the motor module to exit from the low-speed high-torque operation mode.

In some embodiments, the mode exit instruction may specifically include: the user sends a mode exit instruction through the terminal equipment, or the user initiates the mode exit instruction through pinching the brake, and the like.

In some embodiments, in the implementation, the user may perform corresponding operations on the terminal device. The terminal equipment receives and responds to the operation and generates a mode exit instruction; and sending the mode exit instruction to the T-Box module of the riding device through Bluetooth connection, or forwarding the mode exit instruction to the T-Box module of the riding device through a cloud server.

Correspondingly, after receiving a mode exit instruction of a user through the T-Box module, the controller can generate a corresponding trigger instruction and send the trigger instruction to the motor module through the bus, so that the motor module exits the low-speed high-torque operation mode.

In some embodiments, when implemented, the brake of the riding device may also be provided with a pressure sensor. The pressure sensor can acquire pressure data on the brake in real time and transmit the pressure data to the controller. The controller can generate a corresponding mode exit instruction when determining that the user has the operation of pinching the brake according to the pressure data, and controls the motor module to exit the low-speed high-torque running mode according to the mode exit instruction.

In some embodiments, the electric machine module may revert to a normal propel mode after exiting the low speed, high torque operating mode before receiving further user initiated instructions. Specifically, the electronic control of the riding device can control the motor module to stop running, or run with a running current with a small value and stability (providing a small assisting force for the user to assist the user in pushing under normal conditions) to recover to a normal pushing mode, so that the pushing state of the user in normally pushing the riding device can be maintained.

As can be seen from the above scene examples, based on the control method of the riding device provided in the embodiments of the present specification, in a scene where a user pushes the riding device, such as pushing a road shoulder on the riding device, and needs additional assistance, the user may actively initiate a target assistance instruction; the riding equipment can respond to the target power-assisted instruction, and the reference pushing speed of the riding equipment is obtained and used as the upper limit speed of the riding equipment; and then controlling the motor module to operate according to a preset control strategy and the upper limit speed of the riding device so as to provide matched assistance for a user in the process of pushing the riding device. Therefore, matched assistance can be provided for the user in time in a scene that the user pushes the riding equipment and needs additional assistance, so that the user can push the riding equipment more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

Referring to fig. 7, an embodiment of the present specification provides a control method for a riding device, where the method is specifically applied to a side of a terminal device. In specific implementation, the method may include the following:

s701: receiving and responding to user operation, and generating a target power-assisted instruction for the riding equipment;

s702: providing the target power-assist command to the cycling device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

In some embodiments, when the user finds that the road condition ahead is a scene that the user needs to push the riding device and needs additional assistance, such as needing to push an uphill, push a shoulder, or push an obstacle, the user can generate a corresponding target assistance instruction for the riding device through the terminal device by performing a corresponding operation on the held terminal device. In particular, reference may be made to fig. 4.

In some embodiments, the terminal device may establish a bluetooth connection with a riding device currently used by a user, and accordingly, the terminal device may send a target power-assisting instruction to the riding device through the bluetooth connection.

In some embodiments, the terminal device may further send the target power-assisted instruction to the cloud server; the cloud server forwards the target power-assisted instruction to the corresponding riding equipment through the network.

During specific implementation, the terminal device or the cloud server can send the target power-assisted instruction to the T-Box module of the riding device. In some embodiments, the method, when implemented, may further include:

s1: displaying a speed self-defining interface;

s2: receiving the speed input by the user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment;

s3: providing the reference push speed of the riding device to the riding device.

In some embodiments, as shown in fig. 6, while the user operates on the terminal device to generate the target power assisting instruction, the user can also set the reference pushing speed of the riding device matched with the user through the terminal device according to the walking speed and habit of the user.

In particular, the terminal device may present a speed customization interface to the user. A default reference push speed may further be presented in the speed customization interface. The default reference push speed may be specifically an average value calculated by the cloud server based on historical push speeds of a plurality of riding devices, or a current push speed acquired by the riding devices. The user can directly choose to confirm the default reference push speed as the reference push speed of the cycling apparatus. If the user feels that the default reference pushing speed does not match with the user, the matched speed meeting the personalized requirement of the user can be input again in the input box to serve as the reference pushing speed of the riding device.

Correspondingly, the terminal equipment can acquire the reference pushing speed of the riding equipment which is set by the user through the express self-defining interface; and directly sending the reference pushing speed of the riding device to a T-Box module of the riding device through Bluetooth connection, or providing the reference pushing speed of the riding device to the riding device through modes of cloud server forwarding and the like.

And then can make the equipment of riding can combine predetermined control strategy control motor module operation with the speed that the user matches the degree is higher, for the user provides more matched helping hand relatively at the in-process of carrying out the equipment of riding, satisfies user diversified individual demand, further improves user's use and experiences.

An embodiment of the present specification further provides a terminal device, including a processor and a memory for storing processor-executable instructions, where the processor, when implemented specifically, may perform the following steps according to the instructions: receiving and responding to user operation, and generating a target power-assisted instruction for the riding equipment; providing the target power-assist command to the cycling device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

In order to more accurately complete the above instructions, referring to fig. 8, the present specification further provides another specific terminal device, where the terminal device includes a network communication port 801, a processor 802, and a memory 803, and the above structures are connected by an internal cable, so that the structures may perform specific data interaction.

The network communication port 801 may be specifically configured to receive and respond to a user operation, and generate a target assistance instruction for the riding device.

The processor 802 may be specifically configured to provide the target power-assisted instruction to the riding device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

The memory 803 may be specifically configured to store a corresponding instruction program.

In this embodiment, the network communication port 801 may be a virtual port bound to different communication protocols so as to send or receive different data. For example, the network communication port may be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for mail data communication. In addition, the network communication port can also be a communication interface or a communication chip of an entity. For example, it may be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it can also be a Wifi chip; it may also be a bluetooth chip.

In the present embodiment, the processor 802 may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, an embedded microcontroller, and so forth. The description is not intended to be limiting.

In this embodiment, the memory 803 may include multiple layers, and in a digital system, the memory may be any memory as long as it can store binary data; in an integrated circuit, a circuit without a physical form and with a storage function is also called a memory, such as a RAM, a FIFO and the like; in the system, the storage device in physical form is also called a memory, such as a memory bank, a TF card and the like.

An embodiment of the present specification further provides a computer storage medium based on the control method of the riding device, where the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the computer storage medium implements: receiving a target power-assisted instruction; and responding to the target power assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assisting for the user in the process of pushing the riding device.

The embodiment of the present specification further provides another computer storage medium based on the control method of the riding device, where the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the computer storage medium implements: receiving and responding to user operation, and generating a target power-assisted instruction for the riding equipment; providing the target power-assist command to the cycling device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

In this embodiment, the storage medium includes, but is not limited to, a Random Access Memory (RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk Drive (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.

In this embodiment, the functions and effects specifically realized by the program instructions stored in the computer storage medium can be explained by comparing with other embodiments, and are not described herein again.

Referring to fig. 9, in a software level, an embodiment of the present specification further provides a control device of a riding apparatus, where the control device specifically includes the following structural modules:

the receiving module 901 may be specifically configured to receive a target power-assisted instruction;

the control module 902 may be specifically configured to respond to the target assistance instruction, and control the motor module to operate according to a preset control strategy, so as to provide a matching assistance for the user in the process of pushing the riding device.

In some embodiments, the apparatus may further include a processing module, which may be specifically configured to obtain a reference push speed of the riding device; using the reference push speed of the riding device as the upper limit speed of the riding device;

correspondingly, the control module 902 may be specifically configured to control the motor module to operate according to a preset control strategy and the upper limit speed of the riding device, so as to provide a matched assistance force for the user in the process of pushing the riding device.

In some embodiments, the target assist command includes at least one of: the target power-assisted instruction is initiated by a user in a scene that the pushing riding device ascends a slope, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device ascends a road shoulder, the target power-assisted instruction is initiated by the user in a scene that the pushing riding device crosses an obstacle, and the like.

In some embodiments, when the receiving module 901 is implemented, the target assist command may be received as follows: receiving a target power-assisted instruction sent by terminal equipment; or receiving a target power-assisted instruction sent by the cloud server; the cloud server receives a target power-assisted instruction sent by the terminal device and sends the target power-assisted instruction to the riding device.

In some embodiments, the control module 903 may be implemented to control the operation of the motor module according to a preset control strategy and an upper limit speed of the riding device in the following manner: according to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed large-torque operation mode is an operation mode with the speed less than or equal to a preset speed threshold value and the torque more than or equal to a preset first torque threshold value.

In some embodiments, the control module 903, when implemented, may be further configured to dynamically adjust the operating current of the motor module to control the speed of the riding device within a preset safe speed range; and the preset safe speed range is determined according to the upper limit speed of the riding equipment.

In some embodiments, the control module 903, when implemented, may dynamically adjust the operating current of the motor module to control the speed of the riding device within a preset safe speed range according to the following manner: acquiring pulse change data and current change data; and adjusting the running current of the motor module according to the pulse change data and the current change data.

In some embodiments, the apparatus, when embodied, may be configured to determine a result of execution with respect to the target assist command based on the pulse variation data and the current variation data; and sending the execution result to the terminal equipment through the T-Box module.

In some embodiments, after the motor module is controlled to operate according to a preset control strategy and the upper limit speed of the riding device, the device can be further used for detecting whether a mode exit instruction is received or not when the device is implemented; and under the condition that the mode exit instruction is determined to be received, controlling the motor module to exit the low-speed high-torque running mode.

The embodiment of the present specification further provides another control device for cycling equipment, and the device may specifically include the following structural modules: the generating module is specifically used for receiving and responding to user operation and generating a target power-assisted instruction for the riding equipment; the processing module is specifically used for providing the target power-assisted instruction to the riding device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

In some embodiments, the device, when implemented, may also be used to present a speed customization interface; receiving the speed input by the user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment; providing the reference push speed of the riding device to the riding device.

It should be noted that, the units, devices, modules, etc. illustrated in the above embodiments may be implemented by a computer chip or an entity, or implemented by a product with certain functions. For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. It is to be understood that, in implementing the present specification, functions of each module may be implemented in one or more pieces of software and/or hardware, or a module that implements the same function may be implemented by a combination of a plurality of sub-modules or sub-units, or the like. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

As can be seen from the above, the control device for the riding device provided in the embodiments of the present specification can provide a matched assistance to the user in time in a scene where the user pushes the riding device and needs an additional assistance, so that the user can push the riding device more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

In a specific scene example, the control method of the riding device provided by the specification can be applied to adjust the running state of the motor of the electric vehicle in a user triggering mode, so that the electric vehicle can automatically match different running state modes in different road conditions. Therefore, the electric vehicle can provide proper assistance for the conditions of uphill pushing, road shoulder obstacle encountering and the like, keep the speed of the electric vehicle consistent with the walking speed, solve the problem of labor waste when a user pushes the electric vehicle under different road conditions, and ensure the pushing safety. A specific implementation can be seen in fig. 10, which includes the following.

Referring to fig. 10, the whole system at least includes an electric vehicle with a T-Box module, a controller (or called electronic controller), and a motor (or called motor module), a server (or called cloud server), and a handheld mobile terminal (or called terminal device).

The controller can control the motor through a communication protocol. The controller can judge the running state of the motor through the motor running signal transmitted back by the motor in real time; and parameters such as power, torque, speed and the like of the motor can be controlled in real time according to the running state of the motor, so that the power, the torque and the speed of the motor can be dynamically adjusted. In addition, the controller can provide the running state of the motor to the T-Box module in real time.

The motor module can acquire motor running information through the Hall sensor of the motor module, and can enable the controller to detect the running state of the motor in real time.

The T-Box module can send the running state information of the motor received from the controller to a mobile terminal or a server through media such as a built-in network or Bluetooth connection, and the running state information of the motor is checked and monitored in real time. Meanwhile, the T-Box module can also send the instruction received from the server or the terminal to the controller through a hardware communication protocol and then to the motor through the controller, so that the mobile terminal or the server can adjust the running state of the motor.

The handheld mobile terminal can support a user to actively send an instruction, allow the user to send a corresponding instruction in a scene with a special road condition, finally send the instruction to the controller through the server or the T-Box module, and control the motor to operate in a corresponding mode state (for example, a low-speed and high-torque operation mode).

And the server and the mobile terminal held by the user can perform data interaction with the T-Box module. Specifically, the server and the mobile terminal can collect the running state of the motor through the T-Box module, and analyze the running state of the motor and the specific road condition scene by technologies such as big data and the like.

Taking the step-over of the road shoulder as an example, the system can specifically operate as follows:

s1: a user can send a control instruction through a handheld mobile terminal such as a mobile phone, for example, send a "road shoulder mode" instruction (a target power assisting instruction), and the instruction can be forwarded to a T-Box module (hereinafter abbreviated as T-Box) through a server of a network, or directly sent to the T-Box through bluetooth. The T-Box of the electric vehicle is connected with the handheld mobile terminal and/or the server side in advance through a communication protocol so as to ensure smooth sending, receiving and identifying of the instruction.

S2: the T-Box receives the command and sends the command to the controller via a hardware communication protocol (e.g., RS485, Can protocol, etc.).

S3: the controller receives the command and sends the command to the motor through the motor control bus.

S4: the motor module receives the command and starts to execute the command of the road shoulder mode. Specifically, the vehicle speed can be matched to the walking speed (for example, about 4 km/h), and the power of the motor is increased (entering a low-speed and high-torque running mode) so as to help the electric vehicle climb the shoulder of the road or cross obstacles and the like, and meanwhile, the danger caused by the over-high speed of the electric vehicle can be avoided.

Specifically, after the instruction is executed, the running state of the motor can be changed, and in a low-speed and high-torque running mode, the controller can judge the motor execution result through pulse change, running current change and the like of a Hall sensor on the motor; synchronously transmitting the execution result back to the controller through a communication protocol; and finally, the controller returns the execution result and the running state of the motor to the mobile terminal such as the mobile phone through the T-Box.

Specifically, in a low-speed and high-torque operation mode, the climbing force of the electric vehicle can be effectively increased, so that the electric vehicle can smoothly cross a road shoulder or climb a slope; meanwhile, the mode has the limit on the speed, so that the electric vehicle still can keep the stable speed in the mode, accidents such as vehicle running and the like caused by passing over a road shoulder can be avoided, and the pushing safety of a user is protected.

By the scene example, it is verified that the control method of the riding device provided by the specification can actually respond to the target power-assisted instruction initiated by the user in time in the scene where the user pushes the riding device and needs additional power assistance, so that matched power assistance can be provided for the user, the user can push the riding device more easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as car fleeing can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

Although the present specification provides method steps as described in the examples or flowcharts, additional or fewer steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an apparatus or client product in practice executes, it may execute sequentially or in parallel (e.g., in a parallel processor or multithreaded processing environment, or even in a distributed data processing environment) according to the embodiments or methods shown in the figures. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the presence of additional identical or equivalent elements in a process, method, article, or apparatus that comprises the recited elements is not excluded. The terms first, second, etc. are used to denote names, but not any particular order.

Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may therefore be considered as a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

From the above description of the embodiments, it is clear to those skilled in the art that the present specification can be implemented by software plus necessary general hardware platform. With this understanding, the technical solutions in the present specification may be essentially embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments in the present specification.

The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The description is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

While the specification has been described with examples, those skilled in the art will appreciate that there are numerous variations and permutations of the specification that do not depart from the spirit of the specification, and it is intended that the appended claims include such variations and modifications that do not depart from the spirit of the specification.

Claims

1. A control method of riding equipment is characterized by being applied to the riding equipment and comprising the following steps:

receiving a target power-assisted instruction;

and responding to the target power assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assisting for the user in the process of pushing the riding device.

2. The method of claim 1, wherein controlling operation of the electric machine module according to a preset control strategy in response to the target assist command comprises:

acquiring a reference pushing speed of the riding equipment;

using the reference push speed of the riding device as the upper limit speed of the riding device;

and controlling the motor module to operate according to the preset control strategy and the upper limit speed of the riding equipment.

3. The method of claim 2, wherein controlling operation of the motor module according to the preset control strategy and the upper speed limit of the cycling apparatus comprises:

according to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed large-torque operation mode is an operation mode with the speed less than or equal to a preset speed threshold value and the torque more than or equal to a preset first torque threshold value.

4. The method of claim 3, further comprising:

dynamically adjusting the running current of the motor module to control the speed of the riding device within a preset safe speed range; and the preset safe speed range is determined according to the upper limit speed of the riding equipment.

5. The method of claim 4, wherein dynamically adjusting the operating current of the motor module to control the speed of the cycling apparatus within a preset safe speed range comprises:

acquiring pulse change data and current change data;

and adjusting the running current of the motor module according to the pulse change data and the current change data.

6. The method of claim 5, further comprising:

determining an execution result related to the target power-assisted command according to the pulse change data and the current change data;

and sending the execution result to the terminal equipment.

7. The method of claim 1, wherein receiving a target assist command comprises:

receiving a target power-assisted instruction sent by terminal equipment;

or the like, or, alternatively,

receiving a target power-assisted instruction sent by a cloud server; the cloud server receives a target power-assisted instruction sent by the terminal device and sends the target power-assisted instruction to the riding device.

8. The method of claim 2, wherein after controlling operation of the electric machine module according to a preset control strategy, the method further comprises:

detecting whether a mode exit instruction is received;

and under the condition that the mode exit instruction is determined to be received, controlling the motor module to exit the low-speed high-torque running mode.

9. The control method of the riding device is applied to the terminal device and comprises the following steps:

receiving and responding to user operation, and generating a target power-assisted instruction for the riding equipment;

providing the target power-assisted instruction to the riding device; the riding device responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

10. The method of claim 9, further comprising:

displaying a speed self-defining interface;

receiving the speed input by a user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment;

and providing the reference pushing speed of the riding device to the riding device.

11. A control device of a riding apparatus, comprising:

the receiving module is used for receiving a target power-assisted instruction;

and the control module is used for responding to the target power-assisted instruction and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

12. A cycling apparatus, characterized by comprising at least: a T-Box module, a motor module, a controller, wherein,

the T-Box module receives a target power-assisted instruction;

the controller responds to the target power-assisted instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding device.

13. A terminal device comprising a processor and a memory for storing processor-executable instructions which, when executed by the processor, implement the steps of the method of any one of claims 9 to 10.

14. A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, carry out the steps of the method of any of claims 1 to 8, or 9 to 10.