CN116279963A - Bicycle speed change control method, device, electronic equipment and storage medium - Google Patents

Bicycle speed change control method, device, electronic equipment and storage medium Download PDF

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Publication number
CN116279963A
CN116279963A CN202310087284.1A CN202310087284A CN116279963A CN 116279963 A CN116279963 A CN 116279963A CN 202310087284 A CN202310087284 A CN 202310087284A CN 116279963 A CN116279963 A CN 116279963A
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China
Prior art keywords
bicycle
real
gear
determining
time
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CN202310087284.1A
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Chinese (zh)
Inventor
刘春生
陈仕源
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Zhuhai Blueprint Sports Technology Co ltd
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Zhuhai Blueprint Sports Technology Co ltd
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Priority to CN202310087284.1A priority Critical patent/CN116279963A/en
Publication of CN116279963A publication Critical patent/CN116279963A/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
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M25/08—Actuators for gearing speed-change mechanisms specially adapted for cycles with electrical or fluid transmitting systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4151—Inclination sensors for sensing lateral inclination of the cycle
    • 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
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • 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
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M2025/006—Actuators for gearing speed-change mechanisms specially adapted for cycles with auxiliary shift assisting means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a bicycle speed change control method, a device, an electronic device and a storage medium, comprising the following steps: acquiring motion parameters of a bicycle, and determining a real-time gear of the bicycle; acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition; determining a target gear of the bicycle according to the real-time gear and the reference value; and controlling the bicycle to shift according to the target gear. The embodiment of the invention can realize the automation and the intellectualization of the bicycle speed changing system and improve the riding effect, thereby improving the riding safety.

Description

Bicycle speed change control method, device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of bicycle shifting, and more particularly, to a bicycle shifting control method and apparatus, an electronic device, and a storage medium.
Background
At present, a manual control mode is generally adopted in a speed change control system of a bicycle, and in the riding process of a user, the manual gear shifting operation is often required to be repeated for a plurality of times to control the riding speed, so that the attention of a rider to the road condition environment is reduced, and the riding safety is further influenced. Therefore, how to automatically identify the speed change time according to the road condition environment and realize the automation and the intellectualization of the bicycle speed change system become the problems to be solved urgently.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a bicycle speed change control method, a device, electronic equipment and a storage medium, which can realize the automation and the intellectualization of a bicycle speed change system and improve the riding effect, thereby improving the riding safety.
In a first aspect, an embodiment of the present invention provides a bicycle shift control method, applied to a bicycle, the bicycle shift control method including: acquiring motion parameters of the bicycle, and determining a real-time gear of the bicycle; acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition; determining a target gear of the bicycle according to the real-time gear and the reference value; and controlling the bicycle to shift according to the target gear.
The bicycle speed change control method provided by the invention has at least the following beneficial effects: acquiring motion parameters of a bicycle, and determining a real-time gear of the bicycle; acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition; determining a target gear of the bicycle according to the real-time gear and the reference value; and controlling the bicycle to shift according to the target gear. According to the technical scheme, the real-time gear of the bicycle can be obtained by acquiring the motion parameters of the bicycle, the reference value can be determined according to the real-time road condition environment image by acquiring the real-time road condition environment image in the riding process, the real-time road condition can be judged by means of the reference value, the target gear of the bicycle is determined according to the real-time gear and the reference value, the bicycle is controlled to shift according to the target gear, the automation and the intellectualization of a bicycle speed change system can be realized, the riding effect is improved, and the riding safety is improved.
According to some embodiments of the invention, the reference values include grade number, obstacle category and traffic sign category, and the determining the target gear of the bicycle according to the real-time gear and the reference values includes at least one of:
determining a target gear of the bicycle according to the real-time gear and the grade number;
determining a target gear of the bicycle according to the real-time gear and the obstacle category;
and determining the target gear of the bicycle according to the real-time gear and the traffic sign category.
According to some embodiments of the invention, the determining the reference value according to the real-time road condition environment image includes:
comparing the real-time road condition environment image with a preset normal road condition environment image to obtain a gradient image;
and determining the grade level according to the pixel threshold value of the grade image and the duration time of the grade image.
According to some embodiments of the invention, the determining the target gear of the bicycle according to the real-time gear and the grade number includes:
and determining the target gear of the bicycle according to the real-time gear, the gradient progression and the relation between the preset gradient progression and the target gear.
According to some embodiments of the invention, the determining the reference value according to the real-time road condition environment image further includes:
extracting the obstacle of the real-time road condition environment image to obtain an obstacle image;
determining the category of the obstacle according to the characteristic parameters of the obstacle image;
or extracting the traffic identification of the real-time road condition environment image to obtain a traffic identification image;
and determining the traffic identification category according to the characteristic parameters of the traffic identification image.
According to some embodiments of the invention, the determining the target gear of the bicycle according to the real-time gear and the obstacle category includes:
and determining the target gear of the bicycle according to the real-time gear, the obstacle type and the preset obstacle type-target gear relation.
According to some embodiments of the invention, the determining the target gear of the bicycle according to the real-time gear and the traffic sign category includes:
and determining the target gear of the bicycle according to the real-time gear, the traffic sign type and the preset traffic sign type-target gear relation.
In a second aspect, an embodiment of the present invention provides a bicycle shift control device comprising:
the data acquisition module is used for acquiring the motion parameters of the bicycle and determining the real-time gear of the bicycle;
the visual sensing module is used for acquiring a real-time road condition environment image, determining a reference value according to the real-time road condition environment image, and reflecting the real-time road condition;
a shift processing module provided with a shift controller for performing a shift operation of the bicycle;
the control module is respectively connected with the data acquisition module, the vision sensing module and the speed change processing module, and the control module is used for: and determining a target gear of the bicycle according to the real-time gear and the reference value, and controlling the speed change processing module according to the target gear so as to shift the bicycle.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed implements the bicycle shift control method as described in the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the bicycle shift control method according to the first aspect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
Additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flowchart of a bicycle shift control method provided in one embodiment of the present invention;
FIG. 2 is a flowchart of a specific method of step S130 in FIG. 1;
FIG. 3 is a flowchart of a specific method of step S120 in FIG. 1;
FIG. 4 is a flowchart of a specific method of step S210 in FIG. 2;
FIG. 5 is a flow chart of another specific method of step S120 in FIG. 1;
FIG. 6 is a flowchart of a specific method of step S220 in FIG. 2;
FIG. 7 is a flowchart of a specific method of step S230 in FIG. 2;
fig. 8 is a schematic structural diagram of an electronic device according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the purpose of the accompanying drawings is to supplement the description of the written description section with figures, so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of protection of the present application.
It should be appreciated that in the description of the embodiments of the present application, if any, the descriptions of "first," "second," etc. are used for the purpose of distinguishing between technical features only, and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. "at least one" means one or more, and "a plurality" means two or more. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items.
Furthermore, unless explicitly specified and limited otherwise, the term "coupled/connected" is to be interpreted broadly, as for example, being either fixedly coupled or movably coupled, being either detachably coupled or not detachably coupled, or being integrally coupled; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium.
In the description of the embodiments of the present application, the descriptions of the terms "one embodiment/implementation," "another embodiment/implementation," or "certain embodiments/implementations," "the above embodiments/implementations," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least two embodiments or implementations of the present disclosure. In this disclosure, schematic representations of the above terms do not necessarily refer to the same illustrative embodiment or implementation. It should be noted that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that in the flowchart.
The technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
The embodiment of the invention provides a bicycle speed change control method, a device, electronic equipment and a storage medium, wherein the bicycle speed change control method comprises the following steps: acquiring motion parameters of a bicycle, and determining a real-time gear of the bicycle; acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition; determining a target gear of the bicycle according to the real-time gear and the reference value; and controlling the bicycle to shift according to the target gear. According to the technical scheme, the real-time gear of the bicycle can be obtained by acquiring the motion parameters of the bicycle, the reference value can be determined according to the real-time road condition environment image by acquiring the real-time road condition environment image in the riding process, the real-time road condition can be judged by means of the reference value, the target gear of the bicycle is determined according to the real-time gear and the reference value, the bicycle is controlled to shift according to the target gear, the automation and the intellectualization of a bicycle speed change system can be realized, the riding effect is improved, and the riding safety is improved.
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
As shown in FIG. 1, in a first aspect, an embodiment of the present invention provides a bicycle shift control method that may include, but is not limited to, step S110, step S120, step S130 and step S140.
Step S110: acquiring motion parameters of a bicycle, and determining a real-time gear of the bicycle;
it should be noted that the motion parameters of the bicycle include state information and speed information of the bicycle, where the state information includes a riding state, a sliding state, a braking state, and the like, and the speed information refers to a current running speed of the bicycle.
It is understood that the speed information may be divided into a first speed section, a second speed section, and a third speed section, wherein any speed in the first speed section is smaller than any speed in the second speed section, and any speed in the second speed section is smaller than any speed in the third speed section. When the bicycle is in the first speed interval, the current speed of the bicycle can be judged to be low speed, so that the real-time gear of the bicycle is determined to be the low speed gear; when the bicycle is in the second speed interval, the current speed of the bicycle can be judged to be a medium speed, so that the real-time gear of the bicycle is determined to be a medium speed gear; when the bicycle is in the third speed interval, the current speed of the bicycle can be judged to be high, so that the real-time gear of the bicycle is determined to be the high-speed gear. For example, the gear of the bicycle is provided with 3 gears, 1 gear is a low-speed gear, 2 gear is a medium-speed gear, 3 gear is a high-speed gear, when the motion state of the bicycle is in a riding state, the running speed is in a third speed interval, and the gear of the bicycle can be determined to be the high-speed gear, namely the 3 gear.
It should be noted that the relationship between the speed range and the gear in the present embodiment may be adjusted according to the type of the bicycle in actual situations, and is not particularly limited herein.
Step S120: acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition;
it should be noted that the real-time road condition environment image is a road condition environment image in the process of riding a bicycle.
It can be understood that when the real-time road condition environment is detected to change, the bicycle can automatically acquire a real-time road condition environment image, process the real-time road condition environment image to obtain a reference value, convert the real-time road condition into specific data by means of the reference value and feed the specific data back to the control system.
It should be noted that the reference value can reflect the real-time road condition, so that the bicycle can automatically change speed according to the environmental change. The specific values of the reference values may be set according to actual conditions, and are not particularly limited herein.
Step S130: determining a target gear of the bicycle according to the real-time gear and the reference value;
it can be appreciated that the bicycle needs to determine the target gear of the bicycle according to two means of the real-time gear and the reference value, and when the reference value reflects the change of the real-time road condition environment, the bicycle can determine the target gear according to the real-time gear and the reference data so as to be used for the bicycle to perform gear shifting operation. For example, if the real-time gear of the bicycle is 3 gear, and the reference value reflects that the real-time road condition is that an obstacle exists in front, it can be determined that the bicycle needs to perform a gear-reversing operation according to the real-time gear and the reference value, the gear-reversing operation can enable the bicycle to automatically slow down, and the target gear at the moment can be determined as 2 gear or 1 gear, so that the running speed of the bicycle is reduced.
It should be noted that the target gear may be set in advance according to the own requirement, and is not particularly limited herein. The target gear is confirmed, so that the riding gear of the bicycle is adapted to the current road condition environment, the riding effect is improved, and the riding safety is improved.
Step S140: and controlling the bicycle to shift according to the target gear.
It can be appreciated that after the target gear is determined, the bicycle can perform automatic gear shifting operation, so that the riding speed of the bicycle is more in line with the real-time road condition environment, and accidents are avoided.
It should be noted that, through obtaining the motion parameter of bicycle, can obtain the real-time gear of bicycle, in riding the in-process, through obtaining real-time road conditions environment image, can confirm the reference value according to real-time road conditions environment image, judge real-time road conditions condition with the help of the reference value, confirm the target gear of bicycle according to real-time gear and reference value to control the bicycle according to the target gear and shift gears, can realize the automation and the intellectuality of bicycle speed change system, improve the effect of riding, thereby improve the security of riding.
As shown in FIG. 2, in one embodiment, the bicycle shift control method is further illustrated with reference to values including grade level, obstacle category and traffic sign category, wherein step S130 may further include, but is not limited to, step S210, step S220 and step S230.
Step S210: determining a target gear of the bicycle according to the real-time gear and the grade level;
the gradient refers to steepness and smoothness of the surface unit, and is generally expressed as a percentage of the vertical height and horizontal distance of the gradient. For example, a gradient of 5% means that every 100 meters in the horizontal direction, 5 meters in the vertical direction.
It can be understood that the current single road is in an ascending or descending state through the real-time road condition environment image, so that the gradient proportion is obtained, and the gradient progression is calculated. When the gradient of the front road is identified, the target gear of the bicycle required to be shifted can be determined according to the real-time gear and the gradient progression.
It will be appreciated that the grade number of this embodiment has five grades, 4, 3, 2, 1 and HC, with HC being the highest grade and 4 being the lowest grade, with the grade increasing in order from 4 to HC, i.e. the grade is progressively steeper. Specifically, in the present embodiment, the average uphill gradient of the current road is represented by the grade number 4 to be 1% or less, the average uphill gradient of the current road is represented by the grade number 3 to be more than 1%, the average uphill gradient of the current road is represented by the grade number 2 to be more than 4%, the average uphill gradient of the current road is represented by the grade number 1 to be more than 5%, and the average uphill gradient of the current road is represented by the grade number HC to be more than 9%.
It can be understood that when the grade level is 4, the average ascending grade reaches below 1%, the current grade is characterized as a gentle slope, gear switching is not needed, and when the grade level is 3, 2, 1 and HC, the current grade is characterized as gradually steeper, and at this time, the target gear of the bicycle can be determined according to the real-time gear and grade level, so as to timely perform multi-gear reversing operation, so that the riding gear of the bicycle is adapted to the current road condition environment.
Step S220: determining a target gear of the bicycle according to the real-time gear and the type of the obstacle;
it can be understood that after the real-time road condition environment image is acquired, the image can be identified based on an algorithm, so that the type of the obstacle is determined. For example, in the present embodiment, the characteristics of the vehicle can be identified by opencv (Open Source Computer Vision Library, cross-platform computer vision library), thereby classifying the vehicle; through a multi-moving-object detection algorithm of DBSCAN (Density-Based Spatial Clustering of Applications with Noise, density-based clustering algorithm), pedestrian objects can be separated from a moving background, so that corresponding obstacle types are obtained; and fitting can be performed through the three-dimensional point cloud data to generate curved surface reconstruction, so that the abnormal condition of the pavement is obtained.
The types of obstacles in the present embodiment include automobiles, pedestrians, and road surface abnormalities. The common automobile or the special automobile, such as a banknote truck, a tricycle, a large truck and the like, in the image is obtained according to the real-time road condition environment image identification, and the type of the obstacle can be determined as the automobile; the pedestrian in the image is obtained according to the real-time road condition environment image identification, and the obstacle type can be determined as the pedestrian; and according to the real-time road condition environment image identification, if cracks, ponding, zebra crossings, well covers, steps and the like exist in the image, the type of the obstacle can be determined to be abnormal road surface. The target gear of the bicycle can be determined according to the real-time gear and the obstacle, so that the multi-gear reversing operation is timely carried out, and the riding gear of the bicycle is adapted to the current road condition environment.
Step S230: and determining the target gear of the bicycle according to the real-time gear and the traffic identification type.
It can be understood that after the real-time road condition environment image is acquired, one or a class of traffic sign categories can be obtained through the control chip of machine deep learning, and the target gear of the bicycle can be determined according to the real-time gear and the traffic sign categories, so that the multi-gear reversing operation is timely carried out, and the riding gear of the bicycle is adapted to the current road condition environment.
In this embodiment, the traffic sign images are classified by the traffic sign shape. The shapes of traffic marks in different traffic environments are different, and the traffic mark types can be determined by identifying the traffic mark shapes in the real-time road condition environment image, so that the environment change condition of the current road is determined. Specifically, in this embodiment, the square traffic sign shape is obtained through real-time road condition environment image recognition, and can be classified as a common automobile or a special automobile on the current road; the fork-shaped traffic mark shape is obtained through real-time road condition environment image recognition, and can be classified as a warning sign that the current road has a fork symbol for a railway level crossing; the octagonal traffic sign shape is obtained through real-time road condition environment image recognition, and can be classified as a forbidden mark for 'parking and yielding' of the current road; the traffic sign shape of the inverted equilateral triangle is obtained through real-time road condition environment image recognition, and the traffic sign shape can be classified as a trampling sign for 'decelerating and letting go' of the current road; the round traffic sign shape is obtained through real-time road condition environment image recognition, and can be classified as a sign for 'forbidden' and 'indicated' of the current road. The traffic sign shape of the regular equilateral triangle is obtained through real-time road condition environment image recognition, and the traffic sign shape can be classified as a sign for warning of the current road.
In this embodiment, the reference values may be grade number, obstacle type and traffic sign type, or may be other reference values that may represent changes in real-time road conditions, which is not limited herein.
As shown in FIG. 3, in one embodiment, further describing the bicycle shift control method, step S120 can further include, but is not limited to, step S310 and step S320.
Step S310: comparing the real-time road condition environment image with a preset normal road condition environment image to obtain a gradient image;
step S320: and determining the grade level according to the pixel threshold value of the grade image and the duration time of the grade image.
In this embodiment, the normal road condition environment image refers to a normal level road image, and the real-time road condition environment image is compared with the normal level road image to obtain a gradient image with an upward or downward exceeding of a certain pixel threshold value and duration, so that it can be determined that the bicycle is on an uphill or downhill road section, and the gradient ratio calculated by means of the image processing technology is used to determine the gradient progression.
As shown in FIG. 4, in one embodiment, further describing the bicycle shift control method, step S210 can also include, but is not limited to, step S410.
Step S410: and determining the target gear of the bicycle according to the real-time gear, the grade level and the relation between the preset grade level and the target gear.
In this embodiment, the relationship between the preset gradient progression and the target gear can be adjusted according to the actual situation. The target gear corresponding to different gradient levels are different, and according to the real-time gear, the gradient level of the current environment and the relationship between the preset gradient level and the target gear, the target gear of the bicycle can be determined, and automatic gear shifting operation of the bicycle is realized.
As shown in FIG. 5, in one embodiment, further describing the bicycle shift control method, step S120 can further include, but is not limited to, step S510, step S520, step S530 and step S540.
Step S510: extracting an obstacle of the real-time road condition environment image to obtain an obstacle image;
step S520: determining the category of the obstacle according to the characteristic parameters of the obstacle image;
step S530: or extracting the traffic mark of the real-time road condition environment image to obtain a traffic mark image;
step S540: and determining the traffic identification category according to the characteristic parameters of the traffic identification image.
In this embodiment, the real-time road condition environment image refers to an image of a real-time road. The real-time road condition environment image comprises various elements, such as automobile, pedestrian, traffic sign and the like, the obstacle image in the image can be extracted by means of a target algorithm to obtain an obstacle image, meanwhile, the characteristics of the obstacle are analyzed by means of an image processing technology, and the category of the obstacle can be determined according to the characteristic parameters obtained by the analysis of the obstacle image. For example, the obstacle of the real-time road condition environment image is extracted to obtain a large truck image, the large truck image is analyzed to obtain characteristic parameters such as the number of wheels, the size of the automobile and the like, and the type of the obstacle can be determined according to the characteristic parameters.
It should be noted that, in this embodiment, the traffic identifier of the real-time road condition environment image may be extracted to obtain a traffic identifier image, and meanwhile, the characteristics of the traffic identifier may be analyzed by means of an image processing technology, so that the shape of the traffic identifier image may be determined, and the type of the traffic identifier may be determined according to the shape of the traffic identifier. For example, in this embodiment, the traffic sign of the real-time road condition environment image is extracted to obtain a traffic sign image, and the traffic sign image is subjected to feature extraction and analysis to obtain a traffic sign shape of a regular equilateral triangle, so that the traffic sign type can be determined as a warning sign according to the feature parameters of the traffic sign shape.
As shown in FIG. 6, in one embodiment, further describing the bicycle shift control method, step S220 can also include, but is not limited to, step S610.
Step S610: and determining the target gear of the bicycle according to the real-time gear, the type of the obstacle and the preset relation between the type of the obstacle and the target gear.
In this embodiment, the relationship between the preset obstacle type and the target gear can be adjusted according to the actual situation. The target gear corresponding to different obstacle categories is different, and according to the real-time gear, the obstacle category of the current environment and the preset relation between the obstacle category and the target gear, the target gear of the bicycle can be determined, so that automatic gear shifting operation of the bicycle is realized.
As shown in FIG. 7, in one embodiment, further describing the bicycle shift control method, step S230 can also include, but is not limited to, step S710.
Step S710: and determining the target gear of the bicycle according to the real-time gear, the traffic identification type and the preset traffic identification type-target gear relationship.
It should be noted that, in this embodiment, the relationship between the preset traffic sign category and the target gear can be adjusted according to the actual situation. The target gear corresponding to different traffic sign categories is different, and according to the real-time gear, the traffic sign category of the current environment and the preset traffic sign category-target gear relationship, the target gear of the bicycle can be determined, so that automatic gear shifting operation of the bicycle is realized.
In a second aspect, an embodiment of the present invention provides a bicycle shift control device comprising: the system comprises a data acquisition module, a visual sensing module, a speed change processing module and a control module. The data acquisition module is used for acquiring the motion parameters of the bicycle and determining the real-time gear of the bicycle; the visual sensing module is used for acquiring a real-time road condition environment image, determining a reference value according to the real-time road condition environment image, and reflecting the real-time road condition; the speed change processing module is provided with a speed change controller, and the speed change controller is used for executing gear change operation of the bicycle; the control module is respectively connected with the data acquisition module, the visual sensing module and the speed change processing module and is used for: and determining a target gear of the bicycle according to the real-time gear and the reference value, and controlling the speed change processing module according to the target gear so as to shift the bicycle.
It can be understood that the bicycle speed change control device of the embodiment is provided with a data acquisition module, a visual sensing module, a speed change processing module and a control module, wherein the data acquisition module can acquire the motion parameters of the bicycle, namely the motion state and the speed information of the bicycle, so as to further determine the real-time gear of the bicycle; the visual sensor can acquire a real-time road condition environment image in the travelling direction of the bicycle, and a corresponding reference value is obtained through calculation of a machine vision algorithm, so that the real-time road condition is reflected; the speed change processing module is provided with a speed change controller, and the speed change controller is used for executing the gear change operation of the bicycle; the control module is respectively connected with the data acquisition module, the visual sensing module and the speed change processing module, and can determine the target gear of the bicycle according to the real-time gear and the reference value, so as to control the bicycle to carry out gear shifting operation, realize the automation and the intellectualization of the bicycle speed change system, thereby improving the riding effect and ensuring the riding safety.
As shown in fig. 8, in a third aspect, an embodiment of the present invention provides an electronic device 800, where the electronic device 800 includes: the bicycle shift control method is implemented by the memory 810, the processor 820 and a computer program stored in the memory 810 and executable on the processor 820, wherein the processor 820 executes the computer program.
Processor 820 and memory 810 may be connected by a bus or other means.
The non-transitory software programs and instructions required to implement the bicycle shift control method of the above-described embodiments are stored in the memory 810, and when executed by the processor 820, the bicycle shift control method of the above-described embodiments is performed, for example, the method steps S110-S140 in fig. 1, the method steps S210-S230 in fig. 2, the method steps S310-S320 in fig. 3, the method steps S410 in fig. 4, the method steps S510-S540 in fig. 5, the method step S610 in fig. 6, and the method step S710 in fig. 7, which are described above.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Further, in a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by one processor 820 or controller, for example, by one processor 820 in the above-described electronic device 800 embodiment, which may cause the above-described processor 820 to execute the bicycle shift control method in the above-described embodiment, for example, to execute the above-described method steps S110 to S140 in fig. 1, the method steps S210 to S230 in fig. 2, the method steps S310 to S320 in fig. 3, the method steps S410 in fig. 4, the method steps S510 to S540 in fig. 5, the method step S610 in fig. 6, and the method step S710 in fig. 7.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims. While the preferred embodiments of the present application have been described in detail, the present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims. Such equivalent modifications and substitutions are intended to be included within the scope of the following claims.

Claims (10)

1. A bicycle shift control method, characterized by being applied to a bicycle, comprising:
acquiring motion parameters of the bicycle, and determining a real-time gear of the bicycle;
acquiring a real-time road condition environment image, and determining a reference value according to the real-time road condition environment image, wherein the reference value is used for reflecting the real-time road condition;
determining a target gear of the bicycle according to the real-time gear and the reference value;
and controlling the bicycle to shift according to the target gear.
2. The bicycle shift control method according to claim 1, wherein the reference values include a grade number, an obstacle category, and a traffic sign category, and wherein the determining the target gear of the bicycle based on the real-time gear and the reference values includes at least one of:
determining a target gear of the bicycle according to the real-time gear and the grade number;
determining a target gear of the bicycle according to the real-time gear and the obstacle category;
and determining the target gear of the bicycle according to the real-time gear and the traffic sign category.
3. The bicycle shift control method according to claim 2, wherein said determining a reference value from said real-time road condition environment image comprises:
comparing the real-time road condition environment image with a preset normal road condition environment image to obtain a gradient image;
and determining the grade level according to the pixel threshold value of the grade image and the duration time of the grade image.
4. The bicycle shift control method according to claim 3, wherein said determining a target gear of the bicycle based on the real-time gear and the grade number comprises:
and determining the target gear of the bicycle according to the real-time gear, the gradient progression and the relation between the preset gradient progression and the target gear.
5. The bicycle shift control method according to claim 2, wherein said determining a reference value from said real-time road condition environment image further comprises:
extracting the obstacle of the real-time road condition environment image to obtain an obstacle image;
determining the category of the obstacle according to the characteristic parameters of the obstacle image;
or extracting the traffic identification of the real-time road condition environment image to obtain a traffic identification image;
and determining the traffic identification category according to the characteristic parameters of the traffic identification image.
6. The bicycle shift control method according to claim 5, wherein said determining a target gear of the bicycle based on the real-time gear and the obstacle category comprises:
and determining the target gear of the bicycle according to the real-time gear, the obstacle type and the preset obstacle type-target gear relation.
7. The bicycle shift control method according to claim 5, wherein said determining a target gear of the bicycle based on the real-time gear and the traffic sign category comprises:
and determining the target gear of the bicycle according to the real-time gear, the traffic sign type and the preset traffic sign type-target gear relation.
8. A bicycle shift control device, comprising:
the data acquisition module is used for acquiring the motion parameters of the bicycle and determining the real-time gear of the bicycle;
the visual sensing module is used for acquiring a real-time road condition environment image, determining a reference value according to the real-time road condition environment image, and reflecting the real-time road condition;
a shift processing module provided with a shift controller for performing a shift operation of the bicycle;
the control module is respectively connected with the data acquisition module, the vision sensing module and the speed change processing module, and the control module is used for: and determining a target gear of the bicycle according to the real-time gear and the reference value, and controlling the speed change processing module according to the target gear so as to shift the bicycle.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the bicycle shift control method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized by: the computer-readable storage medium stores computer-executable instructions for causing a computer to perform the bicycle shift control method according to any one of claims 1 to 7.
CN202310087284.1A 2023-01-17 2023-01-17 Bicycle speed change control method, device, electronic equipment and storage medium Pending CN116279963A (en)

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