CN114872823A - Power-assisted electric bicycle control method, device, structure, electronic equipment and storage medium - Google Patents

Power-assisted electric bicycle control method, device, structure, electronic equipment and storage medium Download PDF

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Publication number
CN114872823A
CN114872823A CN202210525924.8A CN202210525924A CN114872823A CN 114872823 A CN114872823 A CN 114872823A CN 202210525924 A CN202210525924 A CN 202210525924A CN 114872823 A CN114872823 A CN 114872823A
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China
Prior art keywords
bicycle
power
assisted electric
speed
state
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CN202210525924.8A
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Chinese (zh)
Inventor
田达
宋真子
李小舟
李万宝
曾永强
韩金亮
赵佳生
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CETHIK Group Ltd
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CETHIK Group Ltd
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Priority to CN202210525924.8A priority Critical patent/CN114872823A/en
Publication of CN114872823A publication Critical patent/CN114872823A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • 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

Abstract

The embodiment of the disclosure provides a power-assisted electric bicycle control method, a power-assisted electric bicycle control device, a power-assisted electric bicycle control structure, an electronic device and a storage medium, wherein the method comprises the following steps: receiving a first sensing signal generated by a first sensing element and a second sensing signal generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric bicycle; determining an average torque based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel; determining the bicycle acceleration based on the second sensing signal; determining a bicycle speed based on the first sensing signal; and switching the running state of the power-assisted electric bicycle according to at least one of the average moment, the bicycle acceleration and the bicycle speed and the current running state of the power-assisted electric bicycle. The control method of the power-assisted electric bicycle can improve the matching degree of the output of the motor and the riding intention of a user.

Description

Power-assisted electric bicycle control method, device, structure, electronic equipment and storage medium
Technical Field
The invention relates to the field of bicycles, in particular to a power-assisted electric bicycle control method, a power-assisted electric bicycle control device, a power-assisted electric bicycle control structure, electronic equipment and a storage medium.
Background
The power-assisted electric bicycle is a novel vehicle which can realize the integration of manpower riding and motor power assistance by taking a battery as an auxiliary power source, installing a motor and having a power auxiliary system. The power-assisted electric bicycle and the electric bicycle are different in that whether a person inputs power needs to be detected, and the motor can provide power assistance only when the person tramples. With the development of the power-assisted electric bicycle, higher requirements are provided for the automatic control and the riding experience of the power-assisted electric bicycle.
The existing power-assisted electric bicycle control method adopts a speed sensor or a torque sensor for detection, and has high installation cost; in addition, in the power-assisted judgment of the electric bicycle by using the sensor, only the starting and stopping judgment of the riding of the user can be carried out, and the states of idle stepping, acceleration, stable riding and the like of the user cannot be judged. In addition, in the existing scheme of utilizing a speed sensor to carry out motor output control, the motor can only be controlled to start and stop due to the fact that the assisting power output judgment is carried out by using a pedaling frequency signal, when the pedaling speed is higher than the actual speed of a bicycle, the assisting power is started by the motor, and when the actual speed of the bicycle is higher than the pedaling speed, the assisting power of the motor can be stopped, so that the motor can be continuously started and stopped, the assisting power electric bicycle is continuously fluctuated in speed, and the riding experience of a user is poor.
Disclosure of Invention
In view of the defects in the prior art, the embodiments of the present disclosure provide a control method, device, structure, electronic device and storage medium for a power-assisted electric bicycle, which can improve the matching degree between the output of a motor and the riding intention of a user.
The embodiment of the disclosure provides a control method of a power-assisted electric bicycle, which comprises the following steps: receiving a first sensing signal generated by a first sensing element and a second sensing signal generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric bicycle; determining an average torque based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel; determining the bicycle acceleration based on the second sensing signal; determining a bicycle speed based on the first sensing signal; and switching the running state of the power-assisted electric bicycle according to at least one of the average moment, the bicycle acceleration and the bicycle speed and the current running state of the power-assisted electric bicycle.
In particular, the first sensor signal is generated by the first sensor element at each half revolution of the wheel.
Specifically, a magnet is arranged on the wheel and rotates along with the wheel, and a second sensing signal is generated by a second sensing element when the magnet is close to the second sensing element and if the instantaneous moment is larger than a first moment threshold value.
Specifically, the interval angle between every two adjacent second sensing elements is a preset interval angle, and the average moment is determined based on the second sensing signals, and the method comprises the following steps: based on the second sensing signal and the number of second sensing elements, a mean moment is determined.
Specifically, switching the running state of the power-assisted electric bicycle according to at least one of the average torque, the bicycle acceleration, the bicycle speed, and the current running state of the power-assisted electric bicycle includes: if the current driving state is a waiting state, detecting the signal interval between the currently received second sensing signal and the last received second sensing signal; and if the signal interval is smaller than the interval threshold value and the bicycle acceleration is larger than the first acceleration threshold value, switching the power-assisted electric bicycle to an acceleration state.
Specifically, switching the running state of the power-assisted electric treadmill according to at least one of the average torque, the bicycle acceleration, the bicycle speed, and the current running state of the power-assisted electric treadmill includes: and if the current running state is an acceleration state, the bicycle acceleration is smaller than a second acceleration threshold value or the average moment is smaller than a second moment threshold value, the power-assisted electric bicycle is switched to a motion holding state.
Specifically, switching the running state of the power-assisted electric bicycle according to at least one of the average torque, the bicycle acceleration, the bicycle speed, and the current running state of the power-assisted electric bicycle includes: if the current running state is a motion maintaining state and the average moment is zero, switching the power-assisted electric bicycle to a stop state; or: and if the current running state is the motion maintaining state and the bicycle acceleration is greater than the third acceleration threshold value, switching the power-assisted electric bicycle to an accelerating state.
Specifically, after switching the running state of the power-assisted electric treadmill according to at least one of the average torque, the bicycle acceleration, the bicycle speed, and the current running state of the power-assisted electric treadmill, the method further comprises: if the power-assisted electric bicycle is in a motion maintaining state, the current speed of the motor is controlled according to the speed of the bicycle and the average torque.
Specifically, if the power-assisted electric bicycle is in a motion maintaining state, controlling the current speed of the motor according to the bicycle speed and the average torque includes: if the power-assisted electric bicycle is in a motion maintaining state and the average torque is greater than the torque threshold value, determining the output speed corresponding to the bicycle speed according to the bicycle speed; and controlling the current speed of the motor according to the output speed.
Specifically, if the power-assisted electric bicycle is in a motion maintaining state, controlling the current speed of the motor according to the bicycle speed and the average torque includes: if the power-assisted electric bicycle is in a motion holding state and the average torque is smaller than the torque threshold value, the speed of the motor is determined as the reference speed when the power-assisted electric bicycle is switched to the motion holding state; and controlling the current speed of the motor according to the reference speed and the average torque.
Accordingly, embodiments of the present application provide a power-assisted electric bicycle control device, the device comprising: the receiving module is used for receiving a first sensing signal generated by a first sensing element and second sensing signals generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric bicycle; the average torque determining module is used for determining average torque based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel; the acceleration determining module is used for determining the acceleration of the bicycle based on the second sensing signal; a speed determination module for determining a speed of the bicycle based on the first sensing signal; and the state switching module is used for switching the running state of the power-assisted electric bicycle according to at least one of the average torque, the bicycle acceleration and the bicycle speed and the current running state of the power-assisted electric bicycle.
In particular, the first sensor signal is generated by the first sensor element at each half revolution of the wheel.
Specifically, a magnet is arranged on the wheel and rotates along with the wheel, and a second sensing signal is generated by a second sensing element when the magnet is close to the second sensing element and if the instantaneous moment is larger than a first moment threshold value.
Specifically, the interval angle between every two adjacent second sensing elements is a preset interval angle, and the mean moment determining module is further configured to: based on the second sensing signal and the number of second sensing elements, a mean moment is determined.
Specifically, the state switching module is further configured to: if the current driving state is a waiting state, detecting the signal interval between the currently received second sensing signal and the last received second sensing signal; and if the signal interval is smaller than the interval threshold value and the bicycle acceleration is larger than the first acceleration threshold value, switching the power-assisted electric bicycle to an acceleration state.
Specifically, the state switching module is further configured to: and if the current running state is an acceleration state, the bicycle acceleration is smaller than a second acceleration threshold value or the average moment is smaller than a second moment threshold value, the power-assisted electric bicycle is switched to a motion holding state.
Specifically, the state switching module is further configured to: if the current running state is a motion maintaining state and the average moment is zero, switching the power-assisted electric bicycle to a stop state; or: and if the current running state is the motion maintaining state and the bicycle acceleration is greater than the third acceleration threshold value, switching the power-assisted electric bicycle to an accelerating state.
Specifically, the power-assisted electric bicycle control device further comprises a motor control module for controlling the current speed of the motor according to the speed of the bicycle and the average torque if the power-assisted electric bicycle is in a motion maintaining state.
Specifically, the motor control module is further configured to: if the power-assisted electric bicycle is in a motion maintaining state and the average torque is greater than the torque threshold value, determining the output speed corresponding to the bicycle speed according to the bicycle speed; and controlling the current speed of the motor according to the output speed.
Specifically, the motor control module is further configured to: if the power-assisted electric bicycle is in a motion holding state and the average torque is smaller than the torque threshold value, the speed of the motor is determined as the reference speed when the power-assisted electric bicycle is switched to the motion holding state; and controlling the current speed of the motor according to the reference speed and the average torque.
Accordingly, the disclosed embodiments provide a power-assisted electric bicycle control structure, which comprises a sensing element, an intermediate disc, an elastic element and a connecting rod; the sensing element is fixed at the rear wheel bearing and comprises a first sensing element and a plurality of second sensing elements; the plurality of second sensing elements are annularly arranged by taking the center of the rear wheel as a circle center, and the interval angle between every two adjacent second sensing elements is a preset interval angle; the distance between the first sensing element and the center of the rear wheel is a, the distance between the second sensing element and the center of the rear wheel is b, and a is smaller than b; the middle disc is connected with the connecting rod and the chain, and the middle disc and the connecting rod rotate synchronously with the chain; the elastic element is positioned between the rear wheel and the middle disc, and stretches according to the extrusion torque of the middle disc to synchronously drive the connecting rod to be close to or far away from the sensing element; the connecting rod is provided with a magnet, and the magnet activates the sensing element to generate a sensing signal under the condition that the distance from the sensing element is less than a preset distance; when the connecting rod is close to the first sensing element along with the rotation of the chain, the distance between the magnet and the first sensing element is smaller than the preset distance.
Accordingly, an embodiment of the present disclosure provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, set of codes, or set of instructions, and the at least one instruction, at least one program, set of codes, or set of instructions is loaded and executed by the processor to implement the above-mentioned power assisted electric treadmill control method.
Accordingly, embodiments of the present disclosure provide a computer-readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded into and executed by a processor to implement the above-described method of assisting electric treadmill control.
The embodiment of the application has the following beneficial effects:
(1) the bicycle parameter is estimated by arranging a plurality of Hall elements, and a scheme of arranging a torque sensor or a speed sensor is replaced, so that the equipment cost of the power-assisted electric bicycle is reduced;
(2) the running state of the power-assisted electric bicycle is identified according to a plurality of bicycle parameters, so that the power-assisted electric bicycle is controlled according to the running state and different strategies, and the control efficiency is improved;
(3) the motor output is adjusted under different states to realize multi-state switching and smooth output, so that the problem of frequent starting and stopping of the motor caused by too high bicycle speed is reduced, the problem that the bicycle speed is not matched with the expected speed of a user is avoided, and the matching degree of the motor output and the user intention is improved.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic first flow chart of a method of controlling a power-assisted treadmill according to an embodiment of the present application;
FIG. 2 is a second flowchart of a method of controlling a power-assisted treadmill according to an embodiment of the present application;
FIG. 3 is a third schematic flow chart illustrating a method of controlling a power-assisted treadmill according to an embodiment of the present application;
FIG. 4 is a fourth flowchart illustrating a method for controlling a power-assisted treadmill according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a control device for a power-assisted bicycle according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a control structure for a power-assisted electric bicycle according to an embodiment of the present application;
FIG. 7 is a block diagram of a hardware configuration of a server for a method of controlling a power-assisted treadmill according to an embodiment of the present application;
610-sensing element, 611-first sensing element, 612-second sensing element, 620-intermediate disk, 630-elastic element, 640-connecting rod, 641-magnet.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An "embodiment" as referred to herein relates to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only used for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices/systems or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be taken as limiting the present application. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises," "comprising," and "having"/"is," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system/apparatus, article, or apparatus that comprises a list of steps or elements/modules is not necessarily limited to those steps or elements/modules expressly listed, but may include other steps or elements/modules not expressly listed or inherent to such process, method, article, or apparatus.
The following describes an embodiment of a method for controlling a power-assisted electric bicycle according to the present application.
The embodiment of the application provides a control method of a power-assisted electric bicycle, which is used for the power-assisted electric bicycle. Specifically, the embodiment of the application can detect the sensing signal through the power-assisted electric bicycle control structure, and determine the parameter and judge the state of the power-assisted electric bicycle through the power-assisted electric bicycle controller. Further, this application embodiment can control the motor of helping hand electric bicycle, guarantees the smoothness degree of user's control of riding and the comfort level that the user experienced.
An exemplary process of the control method for an assisted electric bicycle provided by the present application is described below. Fig. 1 is a first flowchart of a method for controlling a power-assisted treadmill according to an embodiment of the present application, wherein the present application provides a method or process steps according to an embodiment or flowchart, but may include more or less steps based on conventional or non-inventive labor. The sequence of steps recited in the embodiments is only one of many execution sequences, and does not represent the only execution sequence, and in actual execution, the steps can be executed according to the method or the flow sequence shown in the embodiment or the figure, or executed in parallel (for example, a parallel processor or a multi-thread processing environment). Specifically, as shown in fig. 1, the execution subject of the exemplary process may be a power-assisted bicycle controller, and the process includes:
step S101: a first sensing signal generated by a first sensing element and a second sensing signal generated by a plurality of second sensing elements are received.
Specifically, the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric treadmill. The first sensing element and the second sensing element may be hall elements.
In a specific embodiment, the structure at the rear wheel bearing may further include a magnet rotating synchronously with the bicycle chain, and the magnet may move in a direction away from the center of the rear wheel and toward the first and second sensing elements as the pedal squeezing torque increases. Specifically, the first sensing element and the second sensing element are both fixed at the bearing and do not rotate with the bicycle, and the structure at the rear wheel bearing can further comprise a middle disc, a connecting rod provided with a magnet and an elastic element positioned between the middle disc and the rear wheel structure. When the bicycle is ridden, the chain can drive the middle disc to rotate, the elastic element can be extruded by the rotation of the disc, and meanwhile, the rear wheel can also be driven to rotate. Along with the increase of the pedal moment, the elastic element can be linearly deformed and shortened, so that the connecting rod and the magnet move towards the direction far away from the circle center.
Specifically, when the magnet rotates close to the first sensing element or the second sensing element, the first sensing element or the second sensing element can generate a first sensing signal or a second sensing signal when the distance between the magnet and the first sensing element or the second sensing element is less than the maximum activation distance; wherein, when the magnet is close to the first sensing element, the distance between the first sensing element and the magnet is necessarily less than the maximum activation distance. The first sensing signal and the second sensing signal may be high-order voltage signals. The first sensor element may be provided in one piece, the second sensor element may be provided in plural pieces, and the second sensor elements may be provided in plural pieces in a ring shape.
The embodiment of the application can realize the estimation of bicycle parameters by arranging a plurality of Hall elements, and replace the scheme of arranging a torque sensor or a speed sensor, thereby realizing the reduction of the equipment cost of the power-assisted electric bicycle.
Step S102: based on the second sensor signal, a mean moment is determined.
In particular, the mean moment may be indicative of the difference in mean moment of the chain and the rear wheel per wheel revolution.
Specifically, the wheel may be provided with a magnet, which rotates with the wheel. The magnet can be arranged in one or more than one circle center. The second sensing signal may be generated by the second sensing element when the magnet is proximate to the second sensing element if the instantaneous torque is greater than the first torque threshold. The instantaneous moment can characterize the instantaneous chain and rear wheel mean moment difference. Specifically, the first moment threshold may be 5N × m, and it should be noted that the first moment threshold is not limited herein, and in some alternative embodiments, the first moment threshold may be other values.
In a specific embodiment, a separation angle between every two adjacent second sensing elements may be a preset separation angle. Specifically, the preset interval angle may be 360 °/the number of the second sensing elements. For example, in an embodiment in which the number of the second sensing elements is 12, the preset interval angle may be 30 °. Since the magnets may be sequentially adjacent to the plurality of second sensing elements for each wheel revolution, the average moment of the wheel revolution may be estimated by counting the number of second sensing elements based on whether the plurality of instantaneous moments are greater than the first moment threshold or do not produce a high level signal. Determining the mean moment based on the second sensing signal may include: based on the second sensing signal and the number of second sensing elements, a mean moment is determined. The formula for determining the mean moment may be: the average torque is a predetermined torque/number of second sensor elements per wheel revolution. In particular, the preset torque may be a first torque threshold.
Step S103: based on the second sensing signal, a bicycle acceleration is determined.
In a specific embodiment, the method further includes, in step S101, the steps of: the time interval between the second sensor signals is recorded.
Specifically, from the time interval and the bicycle circumference, the first speed of the bicycle for the first time period between two moments corresponding to two adjacent second sensor signals (i.e., the nth second sensor signal and the N +1 th second sensor signal) can be derived. From the recorded time intervals, the time interval of the first time period may be determined. The formula for calculating the first speed of the bicycle for the first time period may be: the first speed is the bicycle rear wheel circumference/(number of second sensor elements) the time interval of the first time period.
After obtaining the first speeds corresponding to two adjacent second sensing signals (i.e., the nth second sensing signal and the N +1 th second sensing signal), the second speeds corresponding to the next pair of two adjacent second sensing signals (i.e., the N +1 th second sensing signal and the N +2 th second sensing signal) can be obtained. From the time interval and the perimeter of the bicycle, a second speed of the bicycle for a second time period between two moments corresponding to two adjacent second sensor signals (i.e., the N +1 th second sensor signal and the N +2 th second sensor signal) can be derived. From the recorded time intervals, the time interval of the second time period may be determined. The calculation formula for the second speed of the bicycle for the second time period may be: the second speed is the bicycle rear wheel circumference/(number of second sensor elements) time interval of the second time period.
The bicycle acceleration may be derived based on the first speed and the second speed. Specifically, the formula for determining the bicycle acceleration may be: the bicycle acceleration is 2 × (second speed-first speed)/(time interval of the first period + time interval of the second period).
Step S104: based on the first sensing signal, a bicycle speed is determined.
Specifically, the bicycle speed may be derived from a first sensing signal generated by a first sensing element. In a specific embodiment, one magnet can be arranged, and a plurality of magnets can be uniformly arranged by taking the center of the rear wheel as the center of a circle. The first sensing element may generate a first sensing signal when the magnet rotates proximate to the first sensing element during rotation of the magnet with the chain. The generation of the first sensor signal may be unaffected by the torque.
In a specific embodiment, two magnets may be symmetrically arranged, and the first sensing signal may be generated by the first sensing element every half revolution of the wheel, that is, two first sensing signals may be received every revolution of the wheel. In another embodiment, a magnet may be provided, and the first sensor signal may be generated by the first sensor element for each wheel revolution, i.e. one first sensor signal may be received for each wheel revolution.
Specifically, the formula for determining bicycle speed may be: bicycle rear wheel perimeter/(magnet count times time interval of first sensed signal). For example, in an embodiment where two magnets are provided, the formula for determining the speed of the bicycle may be: bicycle rear wheel circumference/(2 x time interval of first sensor signal).
Step S105: and switching the running state of the power-assisted electric bicycle according to at least one of the average moment, the bicycle acceleration and the bicycle speed and the current running state of the power-assisted electric bicycle.
In one embodiment, a travel state of the assisted electric treadmill may be determined, and the assisted electric treadmill may be controlled based on the determined travel state. The driving state may include five states of an initial state, a waiting state, an acceleration state, a motion holding state, and a stop state. The method comprises the following steps that control parameters can be initialized in an initial state, and a waiting state can be entered after the initialization of the parameters is finished; whether assistance needs to be carried out or not can be judged in the waiting state; in the acceleration state, the bicycle can be assisted with starting assistance to assist the bicycle to start when starting; the holding state can provide the helping hand of riding at the stable process of riding of bicycle.
According to the control method of the power-assisted electric bicycle, the running state of the power-assisted electric bicycle can be identified according to a plurality of bicycle parameters, so that the power-assisted electric bicycle can be controlled according to different strategies according to the running state, and the control efficiency is improved.
Step S105 is further described below in conjunction with fig. 2. Fig. 2 is a second flowchart of a method for controlling an assisted electric treadmill according to an embodiment of the present application, specifically as illustrated in fig. 2, comprising:
step S201: and if the current driving state is the waiting state, detecting the signal interval between the currently received second sensing signal and the last received second sensing signal.
Step S202: and if the signal interval is smaller than the interval threshold value and the bicycle acceleration is larger than the first acceleration threshold value, switching the power-assisted electric bicycle to an acceleration state.
Specifically, the interval threshold may be 0.1 s. It should be noted that the specific value of the interval threshold is not limited herein, and in some alternative embodiments, the interval threshold may be other values.
In a specific embodiment, step S202 may also be: and if the signal interval is smaller than the interval threshold value and the bicycle acceleration is smaller than or equal to the first acceleration threshold value, switching the power-assisted electric bicycle to a motion holding state.
Step S105 is further described below with reference to fig. three. Fig. 3 is a second flowchart of a method for controlling an assisted electric treadmill according to an embodiment of the present application, particularly as illustrated in fig. 3, comprising:
step S301: and if the current running state is an acceleration state, the acceleration of the bicycle is smaller than a second acceleration threshold value or the average moment is smaller than a second moment threshold value, the power-assisted electric bicycle is switched to a motion maintaining state.
In a specific embodiment, S301 may be: and if the current running state is an acceleration state and the bicycle acceleration is smaller than a second acceleration threshold value, switching the power-assisted electric bicycle to a motion holding state. In another specific embodiment, S301 may also be: and if the current running state is an acceleration state and the average moment is smaller than the second moment threshold value, switching the power-assisted electric bicycle to a motion holding state.
Specifically, the second moment threshold may be 5N × m, and it should be noted that the second moment threshold is not limited herein, and in some other alternative embodiments, the second moment threshold may also be another value.
In one embodiment, when the running state of the assisted electric bicycle is an acceleration state, the motor can output a preset acceleration power to provide acceleration assistance to the assisted electric bicycle.
Step S105 is further described below in conjunction with fig. 4. Fig. 4 is a fourth flowchart illustrating a control method for an electric bicycle according to an embodiment of the present application, wherein step S105 may include step S401 or step S402. As illustrated in particular in fig. 4, comprising:
step S401: and if the current running state is the motion maintaining state and the average moment is zero, switching the power-assisted electric bicycle to a stop state.
Specifically, if the average moment is zero, it indicates that the user is not applying the pedaling force to the pedals or the pedaling force applied to the pedals by the user is less than the starting pedaling force threshold, the power-assisted electric bicycle is switched to the stopped state. In the present embodiment, the power-assisted electric bicycle can be started and operated only in the case where the user applies a pedaling force.
Step S402: and if the current running state is the motion maintaining state and the bicycle acceleration is greater than the third acceleration threshold value, switching the power-assisted electric bicycle to an accelerating state.
In particular, the third acceleration threshold may be equal to the first acceleration threshold; the third acceleration threshold may be a value greater than or equal to the second acceleration threshold.
In a specific embodiment, after step S105, the method for controlling a power-assisted bicycle according to the embodiment of the present application may further include: if the power-assisted electric bicycle is in a motion maintaining state, the current speed of the motor is controlled according to the speed of the bicycle and the average torque.
Specifically, the power-assisted electric bicycle in the exercise maintaining state, controlling the current speed of the motor according to the bicycle speed and the average torque, may include: if the power-assisted electric bicycle is in a motion maintaining state and the average torque is greater than a third torque threshold value, determining the output speed corresponding to the bicycle speed according to the bicycle speed; and controlling the current speed of the motor according to the output speed. Wherein, the output speed can be 80% of the bicycle speed, and the current speed of the control motor is the output speed, thereby realizing the equal ratio control of the current speed of the motor and the bicycle speed.
Specifically, the power-assisted electric bicycle is in a motion maintaining state, and the current speed of the motor is controlled according to the bicycle speed and the average torque, and the method further comprises the following steps: if the power-assisted electric bicycle is in a motion holding state and the average torque is smaller than a third torque threshold value, determining the output speed of the motor as a reference speed when the power-assisted electric bicycle is switched to the motion holding state; and controlling the current speed of the motor according to the reference speed and the average torque. In one embodiment, the average torque may be the third torque threshold when the assisted electric treadmill switches to the motion preserving state. Controlling the current speed of the motor according to the reference speed and the average torque may be: the current speed of the control motor is the reference speed x mean torque/third torque threshold.
In a specific embodiment, the third torque threshold may be 5N × m, and it should be noted that the third torque threshold is not limited herein, and in other alternative embodiments, the third torque threshold may also be other values.
According to the control method of the power-assisted electric bicycle, torque estimation can be performed by arranging a plurality of sensing elements with lower cost, so that a high-cost torque sensor is replaced, and the cost of the sensor is reduced; the state recognition of the bicycle is realized by determining the acceleration, the speed and the average torque of the bicycle, and the states of starting, accelerating, motion maintaining and the like of the bicycle are recognized, so that the output is adjusted under different states to realize multi-state switching and smooth output, the problem of frequent starting and stopping of a motor caused by the fact that the bicycle is too fast is solved, the problem that the bicycle speed is not matched with the expected speed of a user is avoided, and the matching degree of the motor output and the user intention is improved.
Accordingly, the present application provides a power assist electric bicycle control device. Fig. 5 is a schematic structural diagram of a control device of a power-assisted bicycle according to an embodiment of the present application. As illustrated in fig. 5, the assist electric bicycle control apparatus 500 may include:
a receiving module 501, configured to receive a first sensing signal generated by a first sensing element and second sensing signals generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric bicycle;
a mean moment determination module 502 for determining a mean moment based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel;
an acceleration determination module 503, configured to determine a bicycle acceleration based on the second sensing signal;
a speed determination module 504 for determining a bicycle speed based on the first sensing signal;
and a state switching module 505 for switching the running state of the power-assisted electric treadmill according to at least one of the average torque, the bicycle acceleration, and the bicycle speed, and the current running state of the power-assisted electric treadmill.
In particular, the first sensor signal is generated by the first sensor element every half revolution of the wheel.
Specifically, a magnet is arranged on the wheel and rotates along with the wheel, and a second sensing signal is generated by a second sensing element when the magnet is close to the second sensing element and if the instantaneous moment is larger than a first moment threshold value.
Specifically, the interval angle between every two adjacent second sensing elements is a preset interval angle, and the mean moment determining module 502 is further configured to: based on the second sensing signal and the number of second sensing elements, a mean moment is determined.
Specifically, the state switching module 505 is further configured to: if the current driving state is a waiting state, detecting the signal interval between the currently received second sensing signal and the last received second sensing signal; and if the signal interval is smaller than the interval threshold value and the bicycle acceleration is larger than the first acceleration threshold value, switching the power-assisted electric bicycle to an acceleration state.
Specifically, the state switching module 505 is further configured to: and if the current running state is an acceleration state, the bicycle acceleration is smaller than a second acceleration threshold value or the average moment is smaller than a second moment threshold value, the power-assisted electric bicycle is switched to a motion holding state.
Specifically, the state switching module 505 is further configured to: if the current running state is a motion maintaining state and the average moment is zero, switching the power-assisted electric bicycle to a stop state; or: and if the current running state is a motion maintaining state and the acceleration of the bicycle is greater than a third acceleration threshold value, switching the power-assisted electric bicycle to an accelerating state.
Specifically, the power-assisted electric bicycle control device further comprises a motor control module for controlling the current speed of the motor according to the speed of the bicycle and the average torque if the power-assisted electric bicycle is in a motion maintaining state.
Specifically, the motor control module is further configured to: if the power-assisted electric bicycle is in a motion maintaining state and the average torque is greater than the torque threshold value, determining the output speed corresponding to the bicycle speed according to the bicycle speed; and controlling the current speed of the motor according to the output speed.
Specifically, the motor control module is further configured to: if the power-assisted electric bicycle is in a motion holding state and the average torque is smaller than the torque threshold value, the speed of the motor is determined as the reference speed when the power-assisted electric bicycle is switched to the motion holding state; and controlling the current speed of the motor according to the reference speed and the average torque.
The apparatus embodiments and method embodiments of the present application may be based on the same concept.
Accordingly, the present application provides a power-assisted electric bicycle control structure. Fig. 6 is a schematic view of a control structure of a power-assisted electric bicycle according to an embodiment of the present application. As illustrated in fig. 6, the power-assisted electric bicycle control structure 600 can comprise: sensing element 610, intermediate disk 620, elastic element 630, and linkage 640.
Specifically, the sensing element 610 is fixed at the bearing of the rear wheel without rotation of the rear wheel. The sensing element 610 may include a first sensing element 611 and a plurality of second sensing elements 612; the plurality of second sensing elements 612 are annularly arranged with the center of the rear wheel as a circle center, and the interval angle between every two adjacent second sensing elements 612 is a preset interval angle; the first sensing element 611 is located a distance from the center of the rear wheel, the second sensing element 612 is located b distance from the center of the rear wheel, a being smaller than b.
Specifically, the number of the second sensing elements 612 may be 12, and the preset interval angle is 30 °. The first sensing element 611 and the second sensing element 612 can be hall sensors, the first sensing element 611 can be used to determine the bicycle speed, and the second sensing element 612 can be used to determine the average torque and the speed and acceleration while pedaling.
Specifically, the middle disc 620 may be connected to a link 640 and a chain. When the bicycle runs, the chain drives the middle disc 620 to rotate, the middle disc 620 can drive the rear wheel to rotate, that is, the middle disc 620 and the connecting rod 640 rotate synchronously with the chain.
Specifically, the elastic member 630 may be disposed between the rear wheel and the middle disc 620, and may extend and contract according to the pressing torque of the middle disc 620 to synchronously move the connecting rod 640 to approach or move away from the sensing element 610. Specifically, one end of the elastic member 630 may abut against the structure of the rear wheel, and the other end of the elastic member 630 may abut against the structure of the middle disk 620. Specifically, based on the increased pedal moment, the difference between the chain moment and the rear wheel moment is increased, and accordingly the pressing moment of the middle disk 620 to the elastic member 630 is increased, and thus the elastic member 630 is linearly deformed to be shortened, so that the link 640 connected to the middle disk 620 is tilted, and the link 640 moves toward the direction approaching the sensor element 610.
Specifically, the junction of the rear wheel and the middle disc 620 may also be provided with a link comprising two pins, a first pin being fixed to the rear wheel and a second pin being fixed to the middle disc, specifically, the link may be correspondingly deflected based on the relative movement of the middle disc and the rear wheel. The connecting member may be connected to the connecting rod 640, wherein an included angle between the connecting member and the connecting rod 640 is not changed, so that the connecting rod 640 may tilt about the first pin under the driving of the deflection of the connecting member, and thus the end of the connecting rod 640 away from the first pin moves in a direction away from the center of the rear wheel. In a specific embodiment, the deflection angle of the connecting member and the compression length of the elastic member 630 may be in a corresponding relationship, that is, the connecting rod 640 is close to or away from the center of the rear wheel and further close to or away from the sensing element 610 according to the expansion and contraction of the elastic member 630.
Specifically, the connecting rod 640 may be provided with a magnet 641, and the magnet 641 may be disposed at an end of the connecting rod 640 remote from the first pin. The magnet 641 activates the sensing element 610 to generate a sensing signal when the distance from the sensing element 610 is less than a preset distance; when the link rod approaches the first sensing element 611 along with the rotation of the chain, the distance between the magnet and the first sensing element 611 is less than the preset distance. Specifically, the sensing element 610 may generate the sensing signal only if the difference between the chain moment and the rear wheel moment is greater than the moment threshold and the wheel is rotating. Specifically, there may be one or two connecting rods 640; in the embodiment where two connecting rods 640 are symmetrically disposed with the center of the rear wheel as the center of the circle, the number of the magnets 641 is two accordingly.
In one particular embodiment, the sensed signals from the power assist bicycle control structure 600 can be used to determine bicycle speed, bicycle acceleration, and mean moment, wherein the mean moment is indicative of the difference in mean moment between the chain and the rear wheel per rotation of the rear wheel. These bicycle parameters can be used to make a determination of the driving state of the assisted electric bicycle and allow the assisted electric bicycle to further control the motor in accordance with the driving state.
The structural embodiments and method embodiments of the present application may be based on the same concept.
Accordingly, an embodiment of the present disclosure further provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the at least one instruction, at least one program, a set of codes, or a set of instructions is loaded and executed by the processor to implement the above-mentioned power assisted electric treadmill control method.
The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the operation on a server as an example, fig. 7 is a hardware configuration block diagram of the server of the control method of the power-assisted electric bicycle according to the embodiment of the present application. As shown in fig. 7, the server 700 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 710 (the CPU 710 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing applications 723 or data 722. Memory 730 and storage medium 720 may be, among other things, transient storage or persistent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations for the server. Still further, central processor 710 may be configured to communicate with storage medium 720 and execute a series of instruction operations in storage medium 720 on server 700. The server 700 may also include one or more power supplies 750, one or more wired or wireless network interfaces 750, one or more input-output interfaces 740, and/or one or more operating systems 721, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The input/output interface 740 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 700. In one example, the input/output Interface 740 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the input/output interface 740 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 7 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 700 may also include more or fewer components than shown in FIG. 7, or have a different configuration than shown in FIG. 7.
The present application provides a storage medium that can be disposed in a server for storing at least one instruction, at least one program, a set of codes, or a set of instructions associated with implementing a method for controlling a power-assisted electric treadmill, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor for implementing the above-mentioned method for controlling a power-assisted electric treadmill.
Specifically, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk.
In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. In particular, for the embodiments of the apparatus/system, since they are based on embodiments similar to the method embodiments, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.

Claims (14)

1. A method of controlling a power-assisted electric treadmill, the method comprising:
receiving a first sensing signal generated by a first sensing element and a second sensing signal generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric treadmill;
determining a mean moment based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel;
determining a bicycle acceleration based on the second sensing signal;
determining a bicycle speed based on the first sensing signal;
switching a running state of the power-assisted electric treadmill according to at least one of the average torque, the bicycle acceleration, the bicycle speed, and a current running state of the power-assisted electric treadmill.
2. A method according to claim 1, wherein said first sensor signal is generated by said first sensor element for each half revolution of said wheel.
3. A method according to claim 1, wherein said wheel is provided with a magnet, said magnet rotating with said wheel,
the second sensing signal is generated by the second sensing element when the magnet is close to the second sensing element if the instantaneous moment is greater than the first moment threshold.
4. A method according to claim 3, wherein the second sensing elements are spaced apart by a predetermined spacing angle,
the determining a mean moment based on the second sensor signal includes:
based on the second sensor signal and the number of second sensor elements, a mean moment is determined.
5. A method according to claim 1, wherein said step of controlling said step of operating said treadmill,
the switching the driving state of the power-assisted electric bicycle according to the current driving state of the power-assisted electric bicycle and at least one of the average torque, the bicycle acceleration and the bicycle speed comprises:
if the current driving state is the waiting state, detecting a signal interval between the currently received second sensing signal and the last received second sensing signal;
and if the signal interval is smaller than an interval threshold value and the bicycle acceleration is larger than a first acceleration threshold value, switching the power-assisted electric bicycle to the acceleration state.
6. A method according to claim 1, wherein said step of controlling said step of operating said treadmill,
the switching of the running state of the power-assisted electric bicycle according to the current running state of the power-assisted electric bicycle and at least one of the average torque, the bicycle acceleration and the bicycle speed comprises:
and if the current running state is the acceleration state, the bicycle acceleration is smaller than a second acceleration threshold value or the average moment is smaller than a second moment threshold value, the power-assisted electric bicycle is switched to the motion holding state.
7. A method according to claim 1, wherein said step of controlling said step of operating said treadmill,
the switching the driving state of the power-assisted electric bicycle according to the current driving state of the power-assisted electric bicycle and at least one of the average torque, the bicycle acceleration and the bicycle speed comprises:
if the current running state is the motion maintaining state and the average moment is zero, switching the power-assisted electric bicycle to the stop state;
or:
and if the current running state is the motion maintaining state and the bicycle acceleration is greater than a third acceleration threshold value, switching the power-assisted electric bicycle to the accelerating state.
8. A method according to claim 1, wherein after said switching a driving state of said assisted electric treadmill based on at least one of said average torque, bicycle acceleration, bicycle speed, and a current driving state of said assisted electric treadmill, said method further comprises:
and if the power-assisted electric bicycle is in the motion maintaining state, controlling the current speed of the motor according to the speed of the bicycle and the average moment.
9. A method according to claim 8, wherein said controlling a current speed of a motor based on said bicycle speed and said average torque if said treadmill is in a motion-sustaining state comprises:
if the power-assisted electric bicycle is in a motion holding state and the average torque is greater than a torque threshold value, determining an output speed corresponding to the bicycle speed according to the bicycle speed;
and controlling the current speed of the motor according to the output speed.
10. A method according to claim 8, wherein said controlling a current speed of a motor based on said bicycle speed and said average torque if said treadmill is in a motion-sustaining state comprises:
if the power-assisted electric bicycle is in a motion holding state and the average torque is smaller than a torque threshold value, determining the speed of the motor as a reference speed when the power-assisted electric bicycle is switched to the motion holding state;
and controlling the current speed of the motor according to the reference speed and the average torque.
11. A power-assisted bicycle control apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving a first sensing signal generated by a first sensing element and second sensing signals generated by a plurality of second sensing elements; the first sensing element and the second sensing element are fixed at a rear wheel bearing of the power-assisted electric treadmill;
a mean moment determination module for determining a mean moment based on the second sensing signal; the average moment represents the average moment difference between the chain and the rear wheel of each circle of the wheel;
an acceleration determination module for determining bicycle acceleration based on the second sensing signal;
a speed determination module for determining a bicycle speed based on the first sensing signal;
and the state switching module is used for switching the running state of the power-assisted electric treadmill according to at least one of the average moment, the bicycle acceleration and the bicycle speed and the current running state of the power-assisted electric treadmill.
12. A power-assisted electric bicycle control structure is characterized by comprising a sensing element, an intermediate disc, an elastic element and a connecting rod;
the sensing element is fixed at the rear wheel bearing and comprises a first sensing element and a plurality of second sensing elements; the plurality of second sensing elements are annularly arranged by taking the center of the rear wheel as a circle center, and the interval angle between every two adjacent second sensing elements is a preset interval angle; the distance between the first sensing element and the center of the rear wheel is a, the distance between the second sensing element and the center of the rear wheel is b, and a is smaller than b;
the middle disc is connected with the connecting rod and the chain, and the middle disc and the connecting rod rotate synchronously with the chain;
the elastic element is positioned between the rear wheel and the middle disc, and stretches according to the extrusion torque of the middle disc to synchronously drive the connecting rod to be close to or far away from the sensing element;
the connecting rod is provided with a magnet, and the magnet activates the sensing element to generate a sensing signal under the condition that the distance from the magnet to the sensing element is smaller than a preset distance; when the connecting rod is close to the first sensing element along with the rotation of the chain, the distance between the magnet and the first sensing element is smaller than a preset distance.
13. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which are loaded and executed by the processor to implement the method of controlling an assisted electric treadmill of any of claims 1-10.
14. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to carry out the method of controlling a power-assisted electric treadmill of any one of claims 1-10.
CN202210525924.8A 2022-05-13 2022-05-13 Power-assisted electric bicycle control method, device, structure, electronic equipment and storage medium Pending CN114872823A (en)

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WO2013097735A1 (en) * 2011-12-29 2013-07-04 无锡尚格工业设计有限公司 Double-station hall sensor
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