WO2023279539A1 - Moped energy recovery method and apparatus, and electronic device and storage medium - Google Patents

Abstract

A moped energy recovery method and apparatus, and an electronic device and a storage medium. The method comprises: determining treading torque information, which corresponds to a treading crank, and speed association information of a moped; determining a target recovery grade according to the treading torque information and the speed association information; in response to the target recovery grade reaching a preset energy recovery grade, acquiring battery pack information; and in response to the battery pack information meeting a preset energy recovery condition, performing energy recovery on the basis of a battery pack.

Description

Method, device, electronic device and storage medium for energy recovery of moped

This application claims priority to a Chinese patent application with application number 202110776061.7 filed with the China Patent Office on July 9, 2021, the entire contents of which are incorporated herein by reference.

technical field

The embodiments of the present application relate to the field of moped control, for example, to an energy recovery method, device, electronic equipment and storage medium of a moped.

Background technique

In the current use of mopeds, there are high requirements for the quality of the control system and the battery components themselves, especially for the longer and longer battery life.

There are at least the following technical problems in the related technologies: the traditional method of improving battery life is often to increase the battery capacity, which will inevitably increase the weight, at the expense of weight to improve battery life, and when the battery charge is exhausted Finally, the moped needs to be fully charged before continuing to drive, which has the problems of poor battery life and poor user experience. In order to improve the battery life, the recovered energy can be used to continue the battery life, but the energy recovery needs to be carried out with the help of accelerator and brake sensors, and the current moped does not have the above-mentioned devices, so the energy recovery of the moped is still not possible based on the vehicle energy recovery method , causing the problem of poor battery life of the moped to still exist.

Contents of the invention

The present application provides an energy recovery method, device, electronic equipment and storage medium for a moped, so as to realize energy recovery based on driving-related information of the moped, which not only improves energy recovery efficiency, but also improves its universality.

In the first aspect, the embodiment of the present application provides a method for recovering energy from a moped, including:

Determining the pedaling torque information corresponding to the pedaling crank and the speed-related information of the moped;

determining a target level to be recovered according to the pedaling torque information and the speed-related information;

In response to the target level to be recovered reaching a preset energy recovery level, battery pack information is acquired; in response to the battery pack information meeting a preset energy recovery condition, energy recovery is performed based on the battery pack.

In the second aspect, the embodiment of the present application also provides an energy recovery device for a moped, including:

An information determination module, configured to determine the pedaling torque information corresponding to the pedaling crank and the speed-related information of the moped;

A level determination module, configured to determine a target level to be recovered according to the pedaling torque information and the speed-related information;

The energy recovery module is configured to obtain battery pack information in response to the target to-be-recovery level reaching a preset energy recovery level; and perform energy recovery based on the battery pack in response to the battery pack information meeting a preset energy recovery condition.

In the third aspect, the embodiment of the present application also provides an energy recovery device for a moped, including:

at least one processor;

storage means configured to store at least one program,

When the at least one program is executed by the at least one processor, the at least one processor implements the method for energy recovery of a moped according to the first aspect of the present application.

In the fourth aspect, the embodiment of the present application also provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to perform the energy recovery of the moped as described in the first aspect of the application when executed by a computer processor Methods.

Description of drawings

FIG. 1 is a schematic flow chart of a method for recovering energy from a moped provided in Embodiment 1 of the present application;

FIG. 2 is a schematic diagram of the structure of a moped provided in Embodiment 1 of the present application;

3 is a schematic flow chart of a method for recovering energy from a moped provided in Embodiment 2 of the present application;

FIG. 4 is a schematic flow chart of a method for recovering energy from a moped provided in Embodiment 3 of the present application;

5 is a schematic flow chart of a method for recovering energy from a moped provided in Embodiment 4 of the present application;

Fig. 6 is a structural block diagram of an energy recovery device for a moped provided in Embodiment 5 of the present application;

Fig. 7 is a schematic structural diagram of an energy recovery device for a moped provided in Embodiment 6 of the present application.

detailed description

The application will be described in detail below in conjunction with the accompanying drawings and embodiments.

Embodiment one

Fig. 1 is a schematic flow chart of a method for recovering energy from a moped provided in Embodiment 1 of the present application. This embodiment is applicable to the situation where the energy is recovered according to the driving related information of the vehicle during the running of the vehicle (moped). This method It can be executed by the moped energy recovery device provided in the embodiment of the present application, which can be realized by software and/or hardware, and can be configured in the moped energy recovery device to implement the moped energy recovery method in the embodiment of the present application.

Before introducing the technical solution, a brief introduction can be made to the moped structure to which the technical solution is applied. It should be noted that the moped is only an example of the name, and any vehicle that can realize the technical solution is within the protection scope of the embodiment of the application. For example, the bicycle is equipped with the components disclosed in the application and realized based on the technical solution Energy recovery is within the protection scope of this technical solution.

As shown in FIG. 2 , the structure of the power-assisted bicycle includes: a vehicle frame, a crank arranged on the vehicle frame, a tooth plate, a flywheel, a central shaft, a front wheel, a rear wheel, a battery and a motor. During the process of using the moped, the user can step on the pedals, so that the crank connected to the pedals will generate a certain torque. The crank is connected to the bottom shaft, and the torque generated by the crank causes the bottom shaft to rotate. The crankshaft rotates with the central shaft, and the chain is wound on the crankshaft to transmit the rotation of the crankshaft to the flywheel, and the rear wheel and the flywheel rotate coaxially to make the moped move forward. The battery is the power source of the moped, which provides electric energy for the rotation of the motor, and the motor is the driving motor, which can convert the electrical energy into mechanical energy to provide power for the moped. The joint action of each component realizes the driving of the moped. The driving of the moped is a mixture of manpower and electric power, that is, the driving of the moped is realized by the combination of stepping on the handle and the power of the motor. At this time, there is still a case where the battery is dead , can not achieve the problem of boosting.

For the technical solution of this embodiment, please refer to the following steps:

S110. Determine pedaling torque information corresponding to the pedaling crank and speed-related information of the power-assisted vehicle.

In this implementation, the energy recovery of the moped refers to the recovery of energy that cannot be stored and reused, and will be wasted for reuse, such as the torque generated by the pedal when the user uses the moped, the potential energy generated when going downhill, and the overspeed. Energy etc. are converted into electrical energy and stored for reuse.

Wherein, the crank is a part connected with the pedal handle, and the pedal crank is the crank. During the process of using the moped, the user can step on the foot handle, so that the crank connected to the foot handle will generate certain torque information. The pedaling torque information may include but not limited to parameters such as pedaling torque. The speed-related information may include, but not limited to, wheel speed values, acceleration values, and angular velocities of the front and rear wheels of the moped.

In this embodiment, determining the pedaling torque information and speed-related information can be determined in the following manner. Optionally, the pedaling torque information when the user pedals on the crank is collected based on the torque sensor set on the first target position of the moped; The speed sensor on the power-assisted vehicle collects speed-related information of the power-assisted vehicle.

Wherein, the first target position can be any position on the moped, and can also be a position that can accurately collect pedaling torque information when the user steps on the crank; for example, the first target position can be any position on the crank, or a anywhere connected. Torque sensors are also called torque sensors and torque sensors. Torque sensors are configured to sense torsional moments on various rotating or non-rotating machine parts. The torque sensor may include, but not limited to, a non-contact torque sensor, a strain gauge torque sensor, or a high-performance wireless torque sensor, and the present embodiment does not limit the type of the torque sensor. The torque sensor can convert the physical transformation of torque into an accurate electrical signal, which has the characteristics of high precision, strong reliability and long service life. Therefore, the torque sensor can be used to collect the torque information generated when the user steps on the crank, and then the torque information as one of the factors for whether to perform energy recovery. The installation position of the speed sensor can be any position on the vehicle, as long as it can detect the driving speed of the vehicle. wheel outside. The speed sensor may include, but is not limited to, a contact speed sensor and a non-contact speed sensor, and this embodiment does not limit the type of the speed sensor. If the speed sensor of the moped uses a non-contact speed sensor, the contact with the parts of the moped is reduced, the service life of the speed sensor can be increased, and the stability of the speed measurement of the moped can be guaranteed.

Exemplarily, the torque sensor can convert the physical change of the user's pedaling torque of the crank into an accurate electrical signal, and send the electrical signal to the control module of the moped to generate pedaling torque information. The speed sensor can convert the speed change into an accurate electrical signal, and send the electrical signal to the control module of the moped to generate speed-related information.

Optionally, the first target position includes on the pedal crank, on the rear dropout or on the center shaft.

Among them, the torque sensor can detect the torsion torque on the rotating pedal crank or the center shaft. The position of the pedal crank, the rear dropout or the center shaft is the position where the user pedals to generate torque. Install the torque sensor here, and the distance from the position where the torque is generated Recently, the loss of torsional torque can be reduced, thereby improving the accuracy of the collected pedaling torque information.

S120. Determine a target level to be recovered according to the pedaling torque information and the speed-related information.

In this implementation, the target level to be recovered can be understood as the energy recovery level finally determined according to the pedaling torque information and speed-related information. The level to be recovered is used to characterize the urgency of energy recovery. Optionally, the determination may be made in the following manner: according to the preset corresponding relationship between the torque information and the speed information corresponding to the levels to be recovered, the target level to be recovered is determined. For example, the pedaling torque information can be used as the column header value of the excel table, and the speed-related information can be used as the row header value of the excel table, and the intersection point of the column header and the row header can be marked as the level to be recycled. After torque information and speed correlation information, the target level to be recovered can be determined based on the above table.

In this embodiment, determining the target to-be-recycled level may also be: Optionally, classify the energy recovery of the moped by a preset level division method, the level division method may be a pre-established mapping relationship table, according to the pre-established A mapping relationship table, which determines the target to-be-recovered level of the pedaling torque information and the speed-related information; wherein, the mapping relationship table includes the target to-be-recovered level corresponding to the pedaling torque information to be matched and the speed-related information to be matched; the level division method It is also possible to input the pedaling torque information and speed correlation information into the pre-trained target recovery level determination model to obtain the target recovery level; the level division method can also be to correlate the pedaling torque information and speed according to the preset objective function The information is processed to determine the target level to be recycled. The embodiments of the present application classify the energy recovery of the moped, which can realize precise control of the energy recovery of the moped and improve the utilization rate of the energy recovery.

It should be noted that, in this embodiment, determining the level to be recovered can recover as much wasted energy as possible for subsequent use, thereby reducing resource waste and improving resource utilization.

Exemplarily, according to the pedaling torque parameter in the pedaling torque information and the angular velocity parameter in the speed-related information, the mechanical power of the current pedaling crank or the central shaft can be determined, and the mechanical power of the current pedaling crank or central shaft can be judged and graded. Determine the target level to be recovered. For example, if the current mechanical power is much greater than the normal range, then determine the target level to be recovered to be the highest level.

S130. If the target level to be recovered reaches a preset energy recovery level, acquire battery pack information.

In this embodiment, the preset energy recovery level is a reference basis for judging whether the target level to be recovered reaches energy recovery, and it can also be understood as the user's judgment of the urgent need for energy recovery corresponding to the target level to be recovered. Correspondingly, the preset energy recovery level may be divided into multiple levels, for example, the preset energy recovery level may be divided into emergency recovery, moderate recovery and slow recovery. A battery pack can be made up of multiple cells. The battery pack information may include, but is not limited to, information such as life of each single battery, battery capacity, and battery charge. The reason and benefit of obtaining the battery pack information is: since the purpose of energy recovery is mainly to charge the battery on the moped, before performing energy recovery, the battery pack information can be obtained first, so as to determine whether energy recovery is needed according to the battery information. It effectively prevents the energy recovery of the battery pack when the capacity is close to saturation, which causes the battery to be overcharged and cause damage.

S140. If the information on the battery pack satisfies a preset energy recovery condition, perform energy recovery based on the battery pack.

In this embodiment, the preset energy recovery condition is a pre-set judgment basis for energy recovery, and the preset energy recovery condition may include but not limited to a preset charge threshold, a preset capacity value, and the like. If the battery pack information meets the preset energy recovery conditions, the drive motor will be converted from motor mode to generator mode. In generator mode, kinetic energy will be converted into electrical energy, and then the electrical energy will be stored in the battery pack. During the driving process, the drive motor will be driven by The generator mode is converted to the motor mode, and the electric energy provided by the battery pack is converted into kinetic energy to provide assistance. Optionally, the drive motor can be a permanent magnet brushless DC motor. The permanent magnet brushless DC motor has the characteristics of small size, light weight, and large torque, which can save space for the moped and provide more durable power assistance.

Optionally, the preset energy recovery condition includes a preset charge threshold, and if the battery pack information meets the preset energy recovery condition, performing energy recovery based on the battery pack includes: if the battery pack information If the charge value in the battery pack is less than the preset charge threshold value, energy recovery is performed based on the battery pack.

Wherein, the preset charge threshold can be set according to the ratio of the remaining charge capacity of the battery pack to the charge capacity in the fully charged state, for example, when the ratio of the remaining charge capacity of the battery pack to the charge capacity in the fully charged state is less than 95%, then the The battery pack performs energy recovery, that is, the battery pack is charged. In this implementation, by setting the charge threshold, it effectively prevents the energy recovery of the battery pack when the capacity is close to saturation, resulting in damage to the battery due to overcharging, and achieves the technical effect of effective energy recovery.

In the technical solution of this embodiment, through the determined pedaling torque information corresponding to the pedaling crank and the speed-related information of the moped; determine the target level to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, the battery pack can be obtained Information, and then determine whether to perform energy recovery based on the battery pack information, which solves the problem that in related technologies, when the battery capacity set on the moped is exhausted, it needs to be charged before continuing to drive. In order to improve the battery life, the battery capacity will be increased. At this time It will increase the weight of the moped. At the same time, after the charge is exhausted, it needs to be fully charged to continue driving. There are still problems of poor battery life and poor user experience. Dividing the levels to be recovered, and then realizing dynamic energy recovery based on the divided levels, not only improves the battery life of the moped, but also realizes dynamic energy recovery, thereby improving the technical effect of user experience.

Embodiment two

Fig. 3 is a flow chart of a method for recovering energy from a moped provided in Embodiment 2 of the present application. On the basis of the foregoing embodiments, it is possible to determine "according to the pedaling torque information and the speed-related information" in the above embodiments. Target Recycling Level" to be refined, and its implementation can be described in detail by referring to the information in this technical solution. Wherein, technical terms that are the same as or corresponding to those in the foregoing embodiments will not be repeated here.

As shown in Figure 3, the method of the embodiment of the present application includes the following steps:

S210. Determine pedaling torque information corresponding to the pedaling crank and speed-related information of the power-assisted vehicle.

S220. According to the pedaling torque information and speed-related information within a preset time period, determine the assisting information of the driving motor and the driving state information of the assist vehicle.

It should be noted that in the actual application process, the pedaling torque information and speed correlation information at isolated time points can be used as a reference to determine the power assist information and driving state information of the moped's drive motor, but in order to improve accuracy, it can be based on the preset The pedaling torque information and speed-related information within the duration can determine the driving motor assist information and driving status information of the moped, so as to improve the reliability of subsequent determination of the target recovery level.

Wherein, the preset duration may be 2S, 3S, etc., and the duration is not limited here. Of course, the corresponding sensor can also collect pedaling torque information and speed-related information in real time or at intervals. The interval is much shorter than the preset time to ensure that as much pedaling torque information and speed-related information as possible can be collected within the preset time, and then based on its processing, the drive motor assist information and driving state information are determined.

In this embodiment, by collecting a plurality of pedaling torque information and a plurality of speed-related information within a preset period of time, the assisting information of the drive motor and the driving state information of the power-assisted vehicle are determined.

Wherein, based on a plurality of pedaling torque information and a plurality of speed-related information, the maximum pedaling torque information and the maximum speed-related information within a preset time period can be determined, or, based on a plurality of pedaling torque information and a plurality of speed-related information, the preset The average value of the pedaling torque information and the average value of the speed-related information within the duration. It should be noted that based on multiple pedaling torque information and multiple speed-related information, other information about the pedaling torque information and speed-related information within the preset duration can also be determined. Calculations that can improve the reliability of the data, such as variance, standard deviation, minimum, etc.

Exemplarily, five interval time points are set within the preset duration, and at this time, the five acquired pedaling torque information 12N·m, 10N·m, 15N·m, 20N·m and 18N·m can be processed, It is determined that the maximum pedaling torque information within the preset time period is 20N·m, and the average value of the pedaling torque information is 15N·m, and the power assist information of the drive motor is determined based on the maximum pedaling torque information or the average value of the pedaling torque information. The five speed correlation information obtained within the preset time length are divided into 1m/s, 1.2m/s, 1.5m/s, 1.1m/s and 1.2m/s for processing to determine the maximum speed correlation within the preset time length The information is 1.5 m/s, the average value of the speed-related information is 1.2 m/s, and the driving state information is determined based on the maximum speed-related information or the average value of the speed-related information.

Wherein, the assisting information of the driving motor of the moped can be understood as the value of the driving force of the motor, which can be determined through the pedaling torque information. For example, when the pedaling torque in the pedaling torque information is greater, that is, the user's pedaling force is greater, the driving force value of the booster motor that the drive motor of the moped needs to provide is smaller, and the pedaling torque information is inversely proportional to the power assist information of the drive motor; the driving state The information refers to the motion status of the moped during driving, which may include but not limited to at least one of normal driving, fast driving, accelerated driving, decelerated driving, slow driving, and parking. In an optional implementation of the embodiment of the present application, the speed-related information includes a wheel speed value, and according to the pedaling torque information and speed-related information within a preset period of time, the power assist information and driving state information of the driving motor of the power-assisted vehicle are determined , including: if the pedaling torque information is less than a preset torque threshold within a preset time period, and the wheel speed value within a preset time period is greater than or equal to a first preset wheel speed threshold, then determining that the drive motor assist information is the first assist value And the driving state information is fast driving.

Wherein, the first power assist value is a value divided by the motor driving force value in the driving motor power assist information, which can be understood as the motor driving force value not exceeding the normal driving force value. The first preset wheel speed threshold is set according to the wheel speed value when the assist vehicle is running normally.

If the pedaling torque information is less than the preset torque threshold within the preset time period, the pedaling torque is small or there is no pedaling torque at this time, and the wheel speed value within the preset time period is greater than or equal to the first preset wheel speed threshold, then the speed of the moped is Faster driving conditions. At this time, the assist value of the drive motor is the first assist value, that is, the assist value of the drive motor is determined according to the pedaling torque, and the driving state information is determined as fast driving according to the wheel speed value.

Exemplarily, when driving on a downhill road section, the moped can slide freely, and the vehicle travels faster. At this time, there is no need to step on the crank of the moped, the drive motor can stop providing power, and the moped can use the potential energy of the downhill to increase the driving speed. Increase. There is no need to provide power. At this time, the power assist value of the motor assist information is zero, and the driving state information at this time is fast driving.

Optionally, the speed-related information also includes an acceleration value. According to the pedaling torque information and speed-related information within a preset period of time, the power assist information and driving state information of the driving motor of the power-assisted vehicle are determined, including: if the acceleration If the value is greater than the preset acceleration threshold within the preset time length, the driving motor assist information remains unchanged, and the driving state information is updated to the accelerating driving state.

Wherein, the preset acceleration threshold is set according to the acceleration during normal driving of the moped. For example, when the acceleration is zero during normal driving, the preset acceleration threshold is set to zero.

Exemplarily, when the user is driving on a downhill section, the moped has the inertia of walking forward and the downhill potential energy, so that the moped generates acceleration. If the acceleration value is greater than the preset acceleration threshold within the preset time period, it may be that the acceleration value exceeds the normal driving time. The acceleration value may also be an acceleration value exceeding the acceleration value that allows the moped to slide freely, which is not limited in this embodiment. After judging that the acceleration value is greater than the preset acceleration threshold within the preset time period, the moped continues to keep the power assist information of the drive motor unchanged, and updates the driving state information to the accelerated driving state.

S230. Based on the driving motor assist information and the driving state information, determine a target level to be recovered.

In this implementation, the target to-be-recovered level may be the target to-be-recovered level of the drive motor assist information and driving state information determined according to a pre-established mapping relationship table; The target level to be recovered corresponding to the power assist information of the drive motor to be matched; the level division method may also be to input the power assist information of the drive motor and the driving state information into the pre-trained target level determination model to obtain the target level to be recovered; The class division method can also be to process the power assist information of the drive motor and the driving state information according to the preset objective function to determine the target to-be-recycled class.

In order to clearly understand how to determine the target level to be recycled, please refer to the following three implementation modes:

The first implementation manner may be to establish a mapping relationship table, so as to determine the target level to be recycled according to the mapping relationship table. According to actual experience or theory, the degree of urgent energy recovery corresponding to each drive motor assist value and each driving state information can be determined, and the corresponding mapping relationship table of the level to be recovered can be determined according to the degree of urgent energy recovery, and then determined based on the mapping relationship table. The currently collected driving motor assist information and driving status information correspond to the target level to be recovered.

The second implementation manner may be: first train the target level to be recovered determination model, and then determine the target level to be recovered corresponding to the currently collected information based on the target level to be recovered determination model. An exemplary implementation may be as follows: obtaining a plurality of training samples, each of which includes the power assist value of the drive motor, driving state information, and the evaluation value corresponding to the preset output level; inputting the training sample data into the target to be trained to be recovered In the level determination model, the actual output evaluation value is obtained, the loss value of the loss function is determined according to the actual output evaluation value and the preset evaluation value, and the convergence of the loss function is used as the training goal to obtain the target recovery level determination model through training. Correspondingly, after inputting the power assist information and driving information of the driving motor into the target recovery level determination model, the corresponding evaluation value can be output, and the target recovery level can be obtained based on the evaluation value. Optionally, the evaluation value and the recovery level exist Correspondence.

A third embodiment may be: preset a function corresponding to the drive motor assist information and driving state information, and determine the target level to be recovered based on the function and the drive motor assist information and driving state information collected at the current moment. An exemplary implementation may be as follows: performing a fitting process on a plurality of driving motor assist information and driving state information through theory to obtain weight values corresponding to the driving motor assist information and driving state information respectively. After collecting the current driving motor assist information and driving state information, the first intermediate value can be obtained by calculating the product of the driving motor assist value and its weight value, and the second intermediate value can be obtained by calculating the product of the driving state information and the corresponding weight value, Based on the first intermediate value and the second intermediate value, the target numerical value is obtained, and the target to-be-recycled level can be determined based on the correspondence between the target data and the to-be-recycled level.

In this embodiment, the pedaling torque information and speed-related information within a preset period of time are used to determine the driving motor assist information and driving state information of the moped, and then achieve accurate division of the target recovery level, thereby ensuring the efficiency of energy recovery.

Optionally, the determining the target level to be recovered based on the driving motor assist information and the vehicle driving state information includes: if the driving motor assist information is the first assist value and the driving state information is fast driving state or accelerating state, then determine that the target level to be recovered is the level to be recovered urgently.

Among them, the recovery level indicates that the energy that can be recovered by the current moped is sufficient, and energy recovery needs to be carried out as soon as possible. Exemplarily, when the power assist value of the drive motor assist information is zero and the driving state information is a fast driving state, the current target recovery level is the recovery level urgently needed. Alternatively, when the power assist value of the drive motor assist information is less than 5 N·m and the driving state information is the acceleration driving state, the current target recovery level is the recovery level urgently needed.

Optionally, the determining the power assistance information of the drive motor and the driving state information of the power-assisted vehicle according to the pedaling torque information and speed-related information within a preset time period includes: if the pedaling torque information is greater than a preset torque threshold within a preset time period , and the wheel speed value within the preset duration is greater than or equal to the first preset wheel speed threshold, then it is determined that the drive motor assist information is the second assist value and the driving state information is normal driving; The motor assistance information and the vehicle driving state information determine the target recovery level, including: if the driving motor assistance information is the second assistance value and the driving state information is normal driving, then determining the target recovery level is the normal recovery level.

Wherein, the second assist value is a value divided by the motor driving force value in the driving motor assist information, which can be understood as the motor driving force value during normal driving. The normal recovery level indicates that the energy that can be recovered by the current moped is average, and the priority level of energy recovery is relatively poor compared with the level that needs to be recovered urgently.

Exemplarily, when driving on a gentle road section, it is necessary to step on the crank of the moped, and the drive motor can provide power according to the information of the stepping torque. For example, the pedaling torque generated by the user pedaling the moped is 15N m, the preset torque threshold is 8N m, the wheel speed within the preset duration is 1.5m/s, the preset wheel speed threshold is 1m/s, and the pedaling torque is 15N m, the wheel speed value 1.5m/s corresponds to the drive motor assist value of 5N m, then the pedaling torque information generated by the user pedaling the moped is greater than the preset torque threshold and the wheel speed value within the preset time period Greater than or equal to the preset wheel speed threshold, then determine the second power assist value of 5N·m and the driving status information as normal driving through the mapping relationship between pedaling torque, wheel speed value and drive motor assist value, and determine the target recovery level as normal recovery grade.

Optionally, the preset energy recovery level includes an urgent recovery level and a normal recovery level, and if the target recovery level reaches the preset energy recovery level, obtaining the battery pack information includes: if the detected If the target to-be-recycled level is an urgently needed recovery level or a normal recovery level, then the information of the battery pack is obtained based on the control module; wherein, the battery pack is set on the moped.

Exemplarily, the control module detects the target to-be-recycled level, and if it detects that the target to-be-recycled level is an urgent to-be-recycled level or a normal recovery level, the control module will obtain the battery capacity information in the battery pack information.

S240. Acquire battery pack information if the target level to be recovered reaches a preset energy recovery level.

S250. If the information on the battery pack satisfies a preset energy recovery condition, perform energy recovery based on the battery pack.

In the technical solution of this embodiment, through the pedaling torque information corresponding to the pedaling crank determined within the preset time length and the speed-related information of the power-assisted vehicle, the power-assisted information and driving state information of the driving motor of the power-assisted vehicle are determined, and then the target level to be recovered is determined; Under the condition that the recovery level reaches the preset energy recovery level, the battery pack information can be obtained, and then based on the battery pack information, it can be determined whether to perform energy recovery, which solves the problem that when the battery capacity set on the moped is exhausted in related technologies, it needs to be fully charged. To continue driving, in order to improve battery life, the battery capacity will be increased, which will increase the weight of the moped. At the same time, after the charge is exhausted, it needs to be fully charged before continuing to drive. There are still poor battery life and poor user experience. According to the problem of vehicle driving, the target level to be recovered can be divided according to the related information of vehicle driving, and then the energy dynamic recovery can be realized based on the divided level, which not only improves the battery life of the moped, but also realizes the dynamic recovery of energy, thereby improving The effect of technology on user experience.

Embodiment Three

Fig. 4 is a flow chart of an energy recovery method for a moped provided in Embodiment 3 of the present application. On the basis of the foregoing embodiments, the "if the battery pack information satisfies the preset energy recovery conditions, then Energy recovery based on the battery pack" is refined, and its implementation can be described in detail by referring to the information of this technical solution. Wherein, technical terms that are the same as or corresponding to those in the foregoing embodiments will not be repeated here.

S310. Determine pedaling torque information corresponding to the pedaling crank and speed-related information of the power-assisted vehicle.

S320. According to the pedaling torque information and speed-related information within a preset time period, determine the assisting information of the driving motor and the driving state information of the assist vehicle.

S330. Based on the driving motor assist information and the driving state information, determine a target level to be recovered.

S340. If the target level to be recovered reaches a preset energy recovery level, acquire battery pack information.

S350. If the battery pack information satisfies a preset energy recovery condition, determine an energy recovery value.

Before performing energy recovery based on the battery pack if the battery pack information satisfies the preset energy recovery condition, it also includes determining the energy recovery value in at least one of the following ways: according to a pre-established mapping relationship table, determine and The drive motor assistance information is the first assistance value or the second assistance value, and the driving state information is the energy recovery value corresponding to the fast driving state or the accelerating driving state; wherein, the mapping relationship table includes Motor assistance information and the energy recovery value to be recovered corresponding to the driving state information to be matched; input the driving motor assistance information and driving state information into a pre-trained energy recovery value determination model to obtain the energy recovery value; according to The pre-set objective function processes the power assist information of the drive motor and the driving state information to determine the energy recovery value.

Among them, the mapping relationship table can realize the one-to-one correspondence between the power assist information of the driving motor of the moped, the driving state information and the energy recovery value to be recovered. Exemplarily, in the mapping relationship table, the first power assistance value corresponds to the energy recovery value to be recovered. 50J, the second assist value corresponds to the energy recovery value to be recovered is 10J, the fast driving state corresponds to the energy recovery value to be recovered is 30J, the accelerated driving state corresponds to the energy recovery value to be recovered is 70J, and the energy recovery value to be recovered is obtained according to the mapping relationship table Combination calculations are performed to determine the energy recovery value. The energy recovery value determination model can be generated by training based on machine learning algorithms, which can include but not limited to algorithms such as support vector machines, naive Bayesian classification, or decision trees.

Wherein, according to the preset objective function, the power assist information of the drive motor and the driving state information are processed to determine the energy recovery value. Exemplarily, the power of the driving motor may be determined according to the motor torque and the angular velocity of the motor in the power assist information of the driving motor, and then the energy recovery value may be determined according to the relationship between power and energy.

In this embodiment, the advantage of determining the energy recovery value is that the energy recovery value can be determined according to the current driving information of the moped, so as to ensure that the excess energy can be recovered when the vehicle is in a normal driving state, which improves the efficiency of energy recovery. Accuracy avoids waste of resources.

S360. Enabling the battery pack to perform energy recovery according to the determined energy recovery value.

In this embodiment, by making the battery pack perform energy recovery according to the determined energy recovery value, the battery pack can be provided with corresponding recovered energy when the moped is determined to be running normally, which not only ensures the normal running of the moped, but also ensures that the energy is not wasted.

In the technical solution of this embodiment, through the pedaling torque information corresponding to the pedaling crank determined within the preset time length and the speed related information of the moped; determine the power assist information and driving state information of the driving motor of the moped, and then determine the target level to be recovered; Under the condition that the recovery level reaches the preset energy recovery level, the battery pack information can be obtained, and then based on the battery pack information, it can be determined whether to perform energy recovery, which solves the problem that when the battery capacity set on the moped is exhausted in related technologies, it needs to be fully charged. In order to improve the battery life, the battery capacity will be increased, and the weight of the moped will be increased at this time. At the same time, after the charge is exhausted, it needs to be fully charged before continuing to drive. There are still poor battery life and poor user experience. The optimal problem realizes the division of the target recovery level according to the vehicle driving related information during the vehicle driving process, and then realizes energy dynamic recovery based on the divided level, which not only improves the battery life of the moped, but also realizes energy dynamic recovery, and then Improved technical effects for user experience.

Embodiment Four

Fig. 5 is a flow chart of a method for recovering energy from a power-assisted vehicle provided in Embodiment 4 of the present application. On the basis of the foregoing embodiments, the "according to the pedaling torque information and the speed-related information in the above embodiments, determine Target Recycling Level" to be refined, and its implementation can be described in detail by referring to the information in this technical solution. Wherein, technical terms that are the same as or corresponding to those in the foregoing embodiments will not be repeated here.

S410. Determine pedaling torque information corresponding to the pedaling crank and speed-related information of the power-assisted vehicle.

S420. According to the pedaling torque information and speed-related information within a preset time period, determine the driving motor assist information and driving state information of the power-assisted vehicle, and correspondingly, determine the target waiting time based on the driving motor assist information and the driving state information. recycling grade.

Optionally, the determining the power assist information and driving state information of the driving motor of the power-assisted vehicle according to the pedaling torque information and speed-related information within a preset time period includes: if the pedaling torque information is greater than a preset torque threshold within a preset time period , and the wheel speed value within the preset duration is less than the first preset wheel speed threshold, then the drive motor assist information is the third assist value and the driving state information is slow driving; correspondingly, the drive motor The assisting information and the vehicle driving state information, determining the target to-be-recycled level includes: if the driving motor assisting information is the third assisting value and the driving state information is slow driving, then determining the target to-be-recovered level is a non-recycling level.

Wherein, the third assist value is a value divided by the motor driving force value in the driving motor assist information, which can be understood as being greater than the motor driving force value during normal driving. The non-recycling level means that the current moped cannot perform energy recovery. Exemplarily, when driving on an uphill road section, it is necessary to step on the crank of the moped, and the drive motor can provide power according to the stepping torque information. For example, the pedaling torque generated by the user pedaling the moped is 15N m, the preset torque threshold is 8N m, the wheel speed value within the preset duration is 0.8m/s, the preset wheel speed threshold is 1m/s, and the pedaling torque is 15N m and the wheel speed value of 0.8m/s corresponds to a power assist value of the drive motor of 10N m, then the pedaling torque information generated by the user pedaling the moped is greater than the preset torque threshold and the wheel speed value within the preset time period is less than the preset wheel speed threshold, and then determine the third power assist value as 10N m and the driving status information as slow driving through the mapping relationship between pedaling torque, wheel speed value and drive motor assist value, and determine the target recovery level as non-recovery grade.

Optionally, after determining that the target to-be-recycled level is a non-recovery level, the method further includes: controlling the drive motor to output assist information based on the control module, so as to assist the moped to drive.

Exemplarily, after the control module detects that the target level to be recovered is a non-recovery level, the control module will control the drive motor, increase the speed of the drive motor, and assist the moped to move forward.

S430. If the target level to be recovered reaches a preset energy recovery level, acquire battery pack information.

S440. If the battery pack information meets the preset energy recovery condition, enable the battery pack to perform energy recovery according to the determined energy recovery value.

In the technical solution of this embodiment, through the pedaling torque information corresponding to the pedaling crank determined within the preset time length and the speed related information of the moped; determine the power assist information and driving state information of the driving motor of the moped, and then determine the target level to be recovered; When the recovery level reaches the preset energy recovery level, the information of the battery pack can be obtained, and then based on the information of the battery pack, it can be determined whether to perform energy recovery, which solves the problem that in related technologies, when the battery capacity set on the moped is exhausted, it needs to be fully charged. To continue driving, in order to improve battery life, the battery capacity will be increased, which will increase the weight of the moped. At the same time, after the charge is exhausted, it needs to be fully charged before continuing to drive. There are still poor battery life and poor user experience. According to the problem of vehicle driving, the target level to be recovered can be divided according to the related information of vehicle driving, and then the energy dynamic recovery can be realized based on the divided level, which not only improves the battery life of the moped, but also realizes the dynamic recovery of energy, thereby improving The effect of technology on user experience.

Embodiment five

FIG. 6 is a schematic structural diagram of an energy recovery device for a moped according to the fifth embodiment of the present application. The device includes: an information determination module 510 , a level determination module 520 and an energy recovery module 530 .

Among them, the information determination module 510 is configured to determine the pedaling torque information corresponding to the pedaling crank and the speed-related information of the power-assisted vehicle; the grade determination module 520 is configured to determine the target to-be-recovered grade according to the pedaling torque information and the speed-related information The energy recovery module 530 is configured to obtain battery pack information if the target to-be-recovery level reaches a preset energy recovery level; if the battery pack information meets preset energy recovery conditions, perform energy recovery based on the battery pack .

On the basis of any optional technical solution in the embodiments of this application, optionally, the information determination module 510 may include:

The pedaling torque information acquisition unit is configured to collect pedaling torque information when the user pedals the crank based on the torque sensor arranged at the first target position of the moped;

The speed-related information collection unit is configured to collect the speed-related information of the power-assisted bicycle based on a speed sensor provided on the power-assisted bicycle.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the first target position includes on the pedal crank or on the center shaft.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the level determining module 520 may also include:

The target level determination unit is configured to determine the target level to be recovered according to the pedaling torque information and speed correlation information within a preset time period.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the target level determining unit may further include:

The assist vehicle information determination subunit is configured to determine the drive motor assist information and driving state information of the assist vehicle according to the pedaling torque information and speed-related information within a preset period of time;

The target to-be-recycled level determining subunit is configured to determine the target to-be-recovered level based on the driving motor assist information and the driving state information.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the speed-related information includes a wheel speed value, and the moped information determination subunit is set to:

If the pedaling torque information is less than the preset torque threshold within the preset time length, and the wheel speed value within the preset time length is greater than or equal to the first preset wheel speed threshold, then it is determined that the driving motor assist information is the first assist value and the The driving status information is fast driving.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the speed-related information also includes an acceleration value, and the moped information determining subunit is set to:

If the acceleration value is greater than a preset acceleration threshold within the preset time period, the driving motor assist information is kept unchanged, and the driving state information is updated to an accelerated driving state.

On the basis of any optional technical solution in the embodiment of the present application, optionally, the subunit for determining the target level to be recycled is set to:

If the driving motor assistance information is the first assistance value and the driving state information is a fast driving state or an accelerated driving state, then it is determined that the target recovery level is an urgent recovery level.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the moped information determining subunit is set to:

If the pedaling torque information is greater than the preset torque threshold within the preset time period, and the wheel speed value within the preset time period is greater than or equal to the first preset wheel speed threshold, then it is determined that the drive motor assist information is the second assist value and the driving state The information is normal driving;

Correspondingly, the subunit for determining the target level to be recycled is set as:

If the driving motor assistance information is the second assistance value and the driving state information is normal driving, then it is determined that the target recovery level is the normal recovery level.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the preset energy recovery level includes an urgent recovery level and a normal recovery level, and if the target recovery level reaches the preset energy recovery level level, then obtain the battery pack information, including:

If it is detected that the target recycling level is urgent recycling level or normal recycling level, the battery pack information is obtained based on the control module; wherein the battery pack is set on the moped.

On the basis of any optional technical solution in the embodiments of the present application, optionally, before performing energy recovery based on the battery pack if the battery pack information satisfies the preset energy recovery condition, it may also include :

Energy recovery values are determined by at least one of the following:

According to the pre-established mapping relationship table, determine the energy recovery value corresponding to the first assist value or the second assist value and the fast driving state or accelerated driving state in the driving state information; wherein, the The above mapping relationship table includes the energy recovery value to be recovered corresponding to the power assist information of the drive motor to be matched and the driving state information to be matched;

inputting the power assist information of the driving motor and the driving state information into a pre-trained energy recovery value determination model to obtain the energy recovery value;

According to the pre-set objective function, the power assist information of the drive motor and the driving state information are processed to determine the energy recovery value.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the preset energy recovery condition includes a preset charge threshold, and the energy recovery module 530 further includes:

The charge judging unit is configured to perform energy recovery based on the battery pack if the charge value in the battery pack information is less than a preset charge threshold.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the charge judgment unit is set to:

The battery pack performs energy recovery according to the determined energy recovery value.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the moped information determination subunit is set to:

If the pedaling torque information is greater than the preset torque threshold within the preset time period, and the wheel speed value within the preset time period is less than the first preset wheel speed threshold, the driving motor assist information is the third assist value and the driving state information is drive slowly

Correspondingly, the subunit for determining the target level to be recycled may also include:

The non-recycling level determination subunit is configured to determine that the target to-be-recycled level is a non-recovery level if the driving motor assist information is the third assist value and the driving state information is slow driving.

On the basis of any optional technical solution in the embodiment of the present application, optionally, after the non-recycling level determination subunit determines that the target level to be recycled is a non-recycling level, it can also be set to:

The controller controls the drive motor to output assist information to assist the assist vehicle to travel.

The moped energy recovery device provided in the embodiment of the present application can execute the energy recovery method of the moped provided in any embodiment of the present application, and has corresponding functional modules for executing the method.

It is worth noting that the various units and modules included in the above system are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the names of the functional units are only for It is convenient to distinguish each other, and is not used to limit the protection scope of the embodiment of the present application.

Embodiment six

FIG. 7 is a schematic structural diagram of an energy recovery device for a moped provided in Embodiment 6 of the present application. FIG. 7 shows a block diagram of an exemplary electronic device 60 suitable for implementing the embodiments of the present application. The electronic device 60 shown in FIG. 7 is only an example, and should not limit the functions and scope of use of this embodiment of the present application.

As shown in FIG. 7, electronic device 60 takes the form of a general-purpose computing device. Components of the electronic device 60 may include, but are not limited to: at least one processor or processing unit 601 , a system memory 602 , and a bus 603 connecting different system components (including the system memory 602 and the processing unit 601 ).

Bus 603 represents at least one of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (Industry Standard Architecture, ISA) bus, Micro Channel Architecture (Micro Channel Architecture, MCA) bus, Enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local bus and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.

Electronic device 60 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 60 and include both volatile and nonvolatile media, removable and non-removable media.

System memory 602 may include computer system readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 604 and/or cache memory 605 . Electronic device 60 may include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be configured to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a disk drive for reading and writing to a removable non-volatile disk (such as a "floppy disk") may be provided, as well as a removable non-volatile disk (such as a Compact Disc- Read Only Memory, CD-ROM), Digital Video Disc (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical media) CD-ROM drive. In these cases, each drive may be connected to bus 603 via at least one data medium interface. The memory 602 may include at least one program product having a set (for example, at least one) of program modules configured to perform the functions of the various embodiments of the present application.

A program/utility tool 608 having a set (at least one) of program modules 607 may be stored, for example, in memory 602, such program modules 607 including but not limited to an operating system, at least one application program, other program modules, and program data, which Each or some combination of the examples may include the implementation of a network environment. The program module 607 generally executes the functions and/or methods in the embodiments described in this application.

The electronic device 60 can also communicate with at least one external device 609 (such as a keyboard, a pointing device, a display 610, etc.), and can also communicate with at least one device that enables the user to interact with the electronic device 60, and/or communicate with the electronic device that enables the user to interact with the electronic device 60. 60 communicates with any device (eg, network card, modem, etc.) capable of communicating with at least one other computing device. Such communication may be performed through an input/output (Input/Output, I/O) interface 611 . Moreover, the electronic device 60 can also communicate with at least one network (such as a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN) and/or a public network such as the Internet) through the network adapter 612. As shown, network adapter 612 communicates with other modules of electronic device 60 via bus 603 . It should be appreciated that although not shown in FIG. 7 , other hardware and/or software modules may be used in conjunction with electronic device 60, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

The processing unit 601 executes various functional applications and data processing by running the programs stored in the system memory 602, for example, realizing the energy recovery method of the moped provided by the embodiment of the present application.

Embodiment seven

Embodiment 7 of the present application also provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the energy recovery method for a moped provided in the embodiment of the present application when executed by a computer processor. The storage medium may be a non-transitory storage medium.

The computer storage medium in the embodiments of the present application may use any combination of at least one computer-readable medium. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. Examples (non-exhaustive list) of computer-readable storage media include: electrical connections with at least one lead, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable Read-only memory ((Erasable Programmable Read-Only Memory, EPROM) or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

Computer program codes for performing the operations of the embodiments of the present application may be written in one or more programming languages or combinations thereof, the programming languages including object-oriented programming languages—such as Java, Smalltalk, C++, including A conventional procedural programming language - such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (such as through an Internet Service Provider). Internet connection).

Claims (18)

1. A method for recovering energy from a moped, comprising:

   Determining the pedaling torque information corresponding to the pedaling crank and the speed-related information of the moped;

   determining a target level to be recovered according to the pedaling torque information and the speed-related information;

   Acquiring battery pack information in response to the target to-be-recovered level reaching a preset energy recovery level;

   In response to the battery pack information meeting a preset energy recovery condition, energy recovery is performed based on the battery pack.
2. The method according to claim 1, wherein said determining the pedaling torque information corresponding to the pedaling crank and the speed-related information of the power-assisted vehicle comprises:

   Based on the torque sensor arranged on the first target position of the moped, the pedaling torque information when the user pedals on the crank is collected;

   The speed-related information of the power-assisted vehicle is collected based on a speed sensor arranged on the power-assisted vehicle.
3. The method of claim 2, wherein the first target position comprises on the pedal crank, on the rear dropout, or on the bottom bracket.
4. The method according to claim 1, wherein said determining the target level to be recovered according to said pedaling torque information and said speed-related information comprises:

   Determine the target level to be recovered according to the pedaling torque information and speed-related information within a preset period of time.
5. The method according to claim 4, wherein said determining the target to-be-recycled level according to the pedaling torque information and speed-related information within a preset period of time includes:

   According to the pedaling torque information and speed-related information within a preset period of time, determine the power assist information and driving state information of the drive motor of the moped;

   Based on the driving motor assistance information and the driving state information, a target level to be recovered is determined.
6. The method according to claim 5, wherein the speed-related information includes a wheel speed value, and according to the pedaling torque information and speed-related information within a preset period of time, the power assist information and driving state information of the driving motor of the power-assisted vehicle are determined ,include:

   In response to the pedaling torque information being less than a preset torque threshold within the preset time period, and the wheel speed value within the preset time period being greater than or equal to a first preset wheel speed threshold, determining that the drive motor assistance information is the first assistance The value and the driving status information are fast driving.
7. The method according to claim 6, wherein the speed-related information further includes an acceleration value, and according to the pedaling torque information and speed-related information within a preset period of time, the power assist information and driving state information of the driving motor of the power-assisted vehicle are determined ,include:

   In response to the acceleration value being greater than a preset acceleration threshold within the preset time period, the driving motor assistance information is kept unchanged, and the driving state information is updated to an acceleration driving state.
8. The method according to claim 7, wherein said determining the target to-be-recovered level based on the driving motor assist information and the vehicle driving state information comprises:

   In response to the driving motor assistance information being the first assistance value and the driving state information being a fast driving state or an accelerating driving state, it is determined that the target recovery level is an urgent recovery level.
9. The method according to claim 5, wherein, according to the pedaling torque information and speed-related information within a preset period of time, determining the power assist information of the drive motor and the driving state information of the power-assisted vehicle includes:

   In response to the pedaling torque information being greater than a preset torque threshold within the preset time period, and the wheel speed value within the preset time period being greater than or equal to a first preset wheel speed threshold, determining that the drive motor assistance information is the second assistance Value and driving status information is normal driving;

   The determining the target to-be-recovered level based on the power assist information of the driving motor and the driving state information of the vehicle includes:

   In response to the driving motor assistance information being the second assistance value and the driving state information being normal driving, it is determined that the target level to be recovered is the normal recovery level.
10. The method according to claim 8 or 9, wherein the preset energy recovery level includes an urgent recovery level and a normal recovery level, and in response to the target recovery level reaching the preset energy recovery level, acquiring the battery Group information, including:

    In response to detecting that the target recycling level is an urgent recycling level or a normal recycling level, the battery pack information is acquired based on a control module; wherein the battery pack is arranged on the moped.
11. The method according to claim 10, before performing energy recovery based on the battery pack in response to the battery pack information meeting a preset energy recovery condition, further comprising:

    Energy recovery values are determined by at least one of the following:

    According to the pre-established mapping relationship table, determine the energy recovery value corresponding to the first assist value or the second assist value and the fast driving state or accelerated driving state as the driving state information; wherein, The mapping relationship table includes the energy recovery value to be recovered corresponding to the power assist information of the drive motor to be matched and the driving state information to be matched;

    inputting the power assist information of the driving motor and the driving state information into a pre-trained energy recovery value determination model to obtain the energy recovery value;

    The power assist information of the drive motor and the driving state information are processed according to a preset objective function to determine an energy recovery value.
12. The method according to claim 1, wherein the preset energy recovery condition includes a preset charge threshold, and performing energy recovery based on the battery pack in response to the battery pack information meeting the preset energy recovery condition includes :

    In response to the charge value in the battery pack information being less than a preset charge threshold, energy recovery is performed based on the battery pack.
13. The method according to claim 11, wherein said performing energy recovery based on said battery pack comprises:

    The battery pack performs energy recovery according to the determined energy recovery value.
14. The method according to claim 5, wherein, according to the pedaling torque information and speed-related information within a preset period of time, determining the power assist information and driving state information of the driving motor of the moped, comprising:

    In response to the pedaling torque information being greater than a preset torque threshold within the preset time period and the wheel speed value within the preset time period being less than a first preset wheel speed threshold, the drive motor assist information is a third assist value and The driving status information is slow driving;

    The determining the target to-be-recovered level based on the power assist information of the driving motor and the driving state information of the vehicle includes:

    In response to the driving motor assistance information being the third assistance value and the driving state information being slow driving, it is determined that the target level to be recovered is a non-recovery level.
15. The method according to claim 14, after determining that the target to-be-recycled grade is a non-recycled grade, further comprising:

    Based on the control module, the drive motor is controlled to output assist information, so as to assist the assist vehicle to travel.
16. An energy recovery device for a moped, comprising:

    An information determination module, configured to determine the pedaling torque information corresponding to the pedaling crank and the speed-related information of the moped;

    A level determination module, configured to determine a target level to be recovered according to the pedaling torque information and the speed-related information;

    The energy recovery module is configured to obtain battery pack information in response to the target to-be-recovery level reaching a preset energy recovery level; and perform energy recovery based on the battery pack in response to the battery pack information meeting a preset energy recovery condition.
17. An energy recovery device for a moped, comprising:

    at least one processor;

    storage means configured to store at least one program,

    When the at least one program is executed by the at least one processor, the at least one processor is made to implement the energy recovery method for the moped according to any one of claims 1-15.
18. A storage medium containing computer-executable instructions, the computer-executable instructions are used to execute the energy recovery method for a moped according to any one of claims 1-15 when executed by a computer processor.

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