WO2023279540A1

WO2023279540A1 - Moped energy recovery method and apparatus, electronic device and storage medium

Info

Publication number: WO2023279540A1
Application number: PCT/CN2021/120246
Authority: WO
Inventors: 曾奇方
Original assignee: 广东高标电子科技有限公司
Priority date: 2021-07-09
Filing date: 2021-09-24
Publication date: 2023-01-12
Also published as: CN113459828A; CN113459828B

Abstract

A moped energy recovery method and apparatus, an electronic device and a storage medium. The method comprises: determining pace information corresponding to stepping on a crank and speed-related information of a moped; according to the pace information and the speed-related information, determining information of energy to be recovered; in response to the information of energy matching preset energy recovery information, determining an energy value to be recovered; and on the basis of the energy value and battery pack information, determining a target energy recovery value so as to perform energy recovery on a battery pack on the basis of the target energy recovery value.

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 202110776054.7 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 an energy recovery method for a moped, including:

Determine the cadence information corresponding to pedaling the crank and the speed-related information of the moped;

determining energy to be recovered information according to the cadence information and the speed-related information;

determining an energy value to be recovered in response to the match between the energy to be recovered information and the preset energy recovery information;

A target energy recovery value is determined based on the energy value to be recovered and battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.

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

The energy to be recovered information determination module is configured to determine the energy to be recovered information according to the cadence information and the speed related information;

The energy value determination module to be recovered is configured to determine the energy value to be recovered in response to the matching of the energy to be recovered information with the preset energy recovery information;

The energy recovery module is configured to determine a target energy recovery value based on the energy value to be recovered and battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.

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

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 energy recovery method for the 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 execute the power cycle of the moped as described in the first aspect of the present application when executed by a computer processor. Recycling method.

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

Fig. 2B is a schematic diagram of the installation position of a moped motor provided in Embodiment 1 of the present application;

Fig. 2C is a schematic diagram of the installation position of another moped motor provided in Embodiment 1 of the present application;

Fig. 2D is a schematic diagram of the installation position of another moped motor provided in Embodiment 1 of the present application;

Fig. 2E is a schematic diagram of the installation position of a bicycle cadence sensor provided in Embodiment 1 of the present application;

Fig. 2F is a schematic diagram of the installation position of another kind of moped cadence sensor provided in Embodiment 1 of the present application;

Fig. 2G is a schematic diagram of another kind of moped cadence sensor installation position provided by Embodiment 1 of the present application;

FIG. 3 is a schematic flowchart of a method for recovering energy from a moped provided in Embodiment 2 of the present application.

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

FIG. 5 is a schematic flowchart 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. It should be noted that, in this embodiment, the motor can be installed on the front wheel of the moped, as shown in Figure 2B; the motor can also be installed on the rear wheel of the moped, as shown in Figure 2C; the motor can also be installed on the On the central axis, the installation position is shown in FIG. 2D , which is not limited in this embodiment. The driving power of the moped is provided by a combination of manpower and electricity, that is, the driving of the moped is realized by combining the stepping on the foot handle and the motor assist. At this time, there is still the problem that the assist cannot be achieved if the battery is dead.

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

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

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.

Among them, the cadence information refers to the information of the number of revolutions per minute of one side of the crank, that is to say, the number of times one side of the leg is stepped down per minute. The cadence information may include information such as cadence frequency. Generally, the slower the pedaling frequency, the greater the power output per pedaling; conversely, the faster the pedaling frequency, the smaller the power output per pedaling. The speed-related information refers to the physical information associated with the speed generated during the driving of the moped, which may include but not limited to the wheel speed value, acceleration value, or angular velocity of the front and rear wheels of the moped.

In this embodiment, the determination of the cadence information and the speed-related information can be determined in the following manner. Optionally, the cadence information of the pedaling crank is collected based on the cadence 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 may be any position on the moped, as long as the cadence information of the vehicle can be collected. For example, the first target position can be the central axis position, as shown in Figure 2E, or any position on the crank, as shown in Figure 2F, or the position of the flywheel, as shown in Figure 2G. .

The cadence sensor, also known as the pedaling frequency sensor, can be set to collect the pedaling frequency of the bicycle, which is convenient for understanding the riding status. The cadence sensor can include a Hall switch and a magnet. The magnet is installed on the part of the moped that rotates. The magnet continuously provides the change of the magnetic field to the Hall switch during the rotation process. The Hall switch converts the change of the magnetic field into an electrical signal and sends it to the moped. Control system to realize counting. In addition, the cadence sensor can also collect the pressure information of stepping on the pedals, and realize the counting through the change of the pressure information. The cadence sensor has the characteristics of simple structure and small size, and the collected cadence information is highly reliable. Therefore, the cadence sensor can be used to collect the cadence information generated when the user steps on the crank, and then use the cadence information as an indicator of whether to perform energy recovery. one of the factors. The setting position of the speed sensor can be any position on the vehicle, as long as the running speed of the vehicle can be detected, any position can be the tire outside of the front wheel, the tire outside of the rear wheel, the outside of the flywheel or the outside of the sprocket. 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 magnet of the cadence sensor continuously provides the change of the magnetic field to the Hall switch during the rotation process, and the Hall switch converts the change of the magnetic field into an accurate electrical signal, and sends the electrical signal to the control module of the moped, generating Cadence 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.

On the basis of the above embodiments, the first target position includes pedaling on the crank, flywheel or center axle.

Among them, the cadence sensor can detect the magnet installed on the rotating pedal crank, flywheel or center shaft in real time. The magnet rotates synchronously with the pedal crank, flywheel or center shaft, and the rotation track is regular, making a circular motion, which is conducive to collecting the magnetic field. Change information, thereby improving the accuracy of the collected cadence information.

S120. Determine energy to be recovered information according to the cadence information and the speed-related information.

Wherein, the energy to be recovered information refers to information related to recoverable energy generated during driving of the moped. Optionally, the determination may be made in the following manner: the energy to be recovered information is determined according to the correspondence between the preset cadence information and the corresponding energy to be recovered information corresponding to the speed related information. For example, the cadence 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 energy to be recovered information, correspondingly in the collected actual After the cadence information and the speed correlation information, the energy to be recovered information can be determined based on the above table.

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

Exemplarily, according to the pedaling frequency in the cadence information and the angular velocity parameter in the speed-related information, the mechanical power of the current pedaling crank or the central axis can be determined, and the mechanical power of the current pedaling crank or the central axis can be judged, graded, and determined For the energy to be recovered information, for example, if the current mechanical power is much greater than the normal range, it is determined that the energy to be recovered information is at the highest level.

S130. If the energy to be recovered information matches the preset energy recovery information, determine an energy to be recovered value.

In this embodiment, the preset energy recovery information is a reference basis for judging whether the energy to be recovered information reaches energy recovery, and can also be understood as the user's judgment of the urgent need for energy recovery corresponding to the energy to be recovered information. Correspondingly, the preset energy recovery information may be divided into multiple levels, for example, the preset energy recovery information may be divided into urgent recovery, moderate recovery, and slow recovery.

Exemplarily, if the energy to be recovered information matches the preset energy recovery information, that is, the energy to be recovered information matches the level information in the preset energy recovery information, then the energy value to be recovered of the moped is determined.

S140. Determine a target energy recovery value based on the energy value to be recovered and the battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.

Wherein, the battery pack may be composed of a plurality of single 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 target energy recovery value is the finally determined energy recovery value.

Exemplarily, if the battery pack information satisfies the preset energy recovery condition, then determine the energy value to be recovered as the target energy recovery value, and perform energy recovery on the battery pack based on the target energy recovery value; if the battery pack information does not meet the preset energy recovery value If the recovery condition is not met, the energy recovery of the battery pack is not performed.

Exemplarily, the state of the electric quantity of the battery pack is divided, and the state of electric quantity of the battery pack includes a charging state and a non-charging state. For example, if the power of the preset energy recovery condition is set to 95%, if the current power of the battery pack is 98%, the battery pack is in a non-charging state at this time, and no energy recovery will be performed on the battery pack; if the current power of the battery pack is 90% , then the battery pack is in a charging state at this time, and energy recovery is performed on the battery pack. It should be noted that when the battery pack is in the charging state, when the power of the battery pack reaches the preset energy recovery condition, the battery pack stops energy recovery, that is, the battery pack replenishes 5% of the power to complete energy recovery. If the energy to be recovered If 5% of the power can be replenished, it means that the target energy recovery value is 5% of the power. On the contrary, if the energy to be recovered cannot replenish 5% of the power, then the target energy to be recovered is consistent with the value of the energy to be recovered.

Exemplarily, if the information of the battery pack satisfies the preset energy recovery condition, the drive motor is converted from the motor mode to the generator mode. In the generator mode, the kinetic energy is converted into electrical energy, and then the electrical energy is stored in the battery pack. During the driving process, The drive motor is then converted from generator mode to motor mode, and the electric energy provided by the battery pack is converted into kinetic energy to provide assistance. Optionally, the driving motor can be a permanent magnet brushless DC motor, which has the characteristics of small size, light weight, and high torque, and can save space for the moped and provide more durable power assistance.

In the embodiment of this application, the reason and benefit of obtaining the battery pack information is that: since the purpose of energy recovery is mainly to charge the battery on the moped, before energy recovery, the battery pack information can be obtained first, so that according to the battery information Determining whether energy recovery is required effectively prevents the battery pack from performing energy recovery when the capacity is close to saturation, causing the battery to be overcharged and causing damage.

In the technical solution of this embodiment, the energy to be recovered information is determined through the determined cadence information corresponding to the pedaling crank and the speed related information of the moped; under the condition that the energy to be recovered information matches the preset energy recovery information, it can be determined The energy value to be recovered, and then determine the target energy recovery value based on the energy value to be recovered and the battery pack information, and perform energy recovery on the battery pack, which solves the problem in related technologies that when the battery capacity set on the moped is exhausted, it needs to be recharged In order to continue driving, in order to improve 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 poor battery life and poor user experience. To solve the problem, this application determines the energy to be recovered information according to the relevant information of the moped during the driving process of the moped, and then realizes the dynamic energy recovery, which not only improves the battery life of the moped, but also realizes the dynamic recovery of energy, thereby improving the 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, the "according to the cadence information and the speed-associated information, determine "Energy to be recovered information" is refined, and its implementation can be found in the detailed elaboration 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.

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

S210. Determine the cadence information corresponding to pedaling the crank and the speed-related information of the moped.

S220. Determine energy to be recovered information according to the cadence information within a preset time period and the speed-related information.

It should be noted that in the actual application process, the cadence information and speed-related information at isolated time points can be used as a reference basis to determine the energy to be recovered information of the moped, but in order to improve accuracy, it can Frequency information and speed-related information are used to determine the corresponding information, so as to improve the reliability of subsequent determination of energy to be recovered information.

Wherein, the preset duration may be 2S, 3S, etc., and the duration is not limited here. Of course, the corresponding sensor can also collect cadence 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 cadence information and speed-related information as possible can be collected within the preset time, and then based on multiple cadence information and multiple speed-related information, the energy to be recovered information is determined.

In this embodiment, by collecting a plurality of cadence 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 moped are determined. Wherein, based on a plurality of cadence information and a plurality of speed-related information, the maximum cadence information and the maximum speed-related information within a preset duration can be determined, or, based on a plurality of cadence information and a plurality of speed-related information, a preset The average value of the cadence information and the average value of the speed-related information within the duration. It should be noted that, based on multiple cadence information and multiple speed-related information, other parameters of the cadence information and speed-related information within the preset duration can also be determined. Calculations that can improve the reliability of the data, for example, variance, standard deviation, minimum, etc.

Exemplarily, five interval time points are set within the preset duration, and at this time, five cadence information obtained can be processed: 60 rpm (Revolutions Per Minute, RPM), 10RPM, 20RPM, 40RPM and 30RPM, Determine the average cadence information within the preset duration is 32RPM, and the five speed-related information acquired within the preset duration are 1m/s, 1.2m/s, 1.5m/s, 1.1m/s and 1.2m /s for processing, determine the average value of the speed-related information within the preset time length is 1.2m/s, and determine the energy to be recovered information based on the average value of the cadence information and the average value of the speed-related information.

In an optional implementation manner of the embodiment of the present application, the speed-related information includes wheel speed information, and determining the energy to be recovered information according to the cadence information within a preset time and the speed-related information includes: Determine the target cadence speed and target cadence acceleration according to the target cadence frequency in the cadence information within the preset duration; according to the target cadence speed, target cadence acceleration, assist value information of the moped and the target within the preset duration Wheel speed information, determine the energy to be recovered information.

Wherein, the wheel speed information refers to a wheel speed value, for example, the power assist wheel speed value may be 1.1 m/s. The target cadence frequency is a result calculated according to the cadence information within a preset time period, for example, it may be an average value of the cadence frequency within a period of time. The assist value information of the moped can be understood as the value of the driving force of the motor, which can be determined by pedaling pressure information. For example, when the pedaling torque in the pedaling pressure 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 pressure information is inversely proportional to the booster power information of the drive motor.

Exemplarily, within a preset time, based on the frequency of the target cadence, calculate the distance that the components installed with the cadence sensor rotate, and obtain the target cadence speed through the speed calculation formula; within the preset time, based on the change of the target cadence speed value, and get the target cadence acceleration through the acceleration calculation formula.

On the basis of the above-mentioned embodiments, the determination of the energy to be recovered information according to the target cadence speed, target cadence acceleration, assist value information of the moped, and target wheel speed information within a preset time period includes: The target wheel speed information is used to determine the driving state information of the power-assisted vehicle; according to the target pedaling speed, the target cadence acceleration value, the assist value information of the power-assisted vehicle and the driving state information, determine the energy waiting time recycling information.

Wherein, the driving state information refers to the motion state during the driving process of the moped, which may include but not limited to at least one of normal driving, fast driving, overspeed driving, deceleration driving, slow speed driving, and parking.

On the basis of the above-mentioned embodiments, the determination of the energy to be recovered information according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information includes: if The driving state information is an overspeed driving state and/or a fast driving state, the target pedaling acceleration value is within a first preset acceleration range, the target pedaling speed is within a first preset speed range, and the If the assist value information is within the first preset assist value range, it is determined that the energy to be recovered information is an urgent recovery level.

Wherein, the speeding state refers to that the moped is in an accelerating state, and the driving speed is greater than a speed threshold. For example, optionally, the speed threshold is 1.2m/s, and the speed of the moped is greater than 1.2m/s, and the speed keeps increasing, or the acceleration value is 0.5-5m/s ² , it is in the speeding state. The fast driving state means that the speed of the moped is greater than the speed threshold, and the speed remains unchanged or the acceleration value is less than the preset acceleration threshold. Optionally, the preset acceleration threshold can be 0-0.5m/s ² . For example, if the driving speed of the moped is greater than 1.2m/s, and the speed remains unchanged, it is in a fast driving state. Urgent recovery level indicates that the energy that can be recovered by the current moped is sufficient, and energy recovery needs to be performed as soon as possible.

The first preset acceleration range is the value range divided by the target cadence acceleration value, which can be understood as the value range of the target cadence acceleration during overspeed driving or fast driving; the first preset speed range is the value range for the target cadence speed The value range divided by the value size can be understood as the value range of the target cadence speed when driving over speed or fast driving; the first preset assist value range is the value range divided by the assist value of the moped, which can be understood as overspeed The value range of the assist value when driving or fast driving.

Exemplarily, when driving on a downhill section, the driving state of the moped is an overspeeding state. At this time, the assist value can be zero, and there is no need to step on the crank of the moped at this time, and the drive motor can perform energy recovery according to the cadence information. For example, the target cadence acceleration value generated by the user pedaling the moped is 0m/s ² , the target pedaling speed is 0m/s, the assist value information is 0N·m, and the first preset acceleration range is -0.2m/s ² to 0.2m /s ² , the first preset speed range is 0m/s-0.1m/s, the first preset assist value range is 0N·m-1N·m, and the above judgment criteria are all within the preset value range, then determine The energy to be recovered information is the level of urgently needed recovery.

On the basis of the above-mentioned embodiments, the determination of the energy to be recovered information according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information includes: if The driving state information is a stable driving state, the target pedaling acceleration value is within the second preset acceleration range, the target pedaling speed is within the second preset speed range, and the assist value information is within the second preset acceleration range. If it is within the preset assist value range, it is determined that the energy to be recovered information is a recoverable level.

Among them, the recyclable 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. The second preset acceleration range is the value range divided by the target cadence acceleration value, which can be understood as the value range of the target cadence acceleration value when driving smoothly; the second preset speed range is the value range divided by the target cadence speed value The value range of the value range can be understood as the value range of the target cadence speed when driving smoothly; the second preset assist value range is the value range divided by the assist value of the moped, which can be understood as the value range of the assist value when driving smoothly. range of values.

Exemplarily, when the moped is running on a gentle road in a stable driving state, it is necessary to step on the crank of the moped, and the drive motor can perform energy recovery according to the cadence information. For example, the target cadence acceleration value generated by the user pedaling the moped is 1m/s ² , the target pedaling speed is 0.5m/s, the assist value information is 5N·m, and the second preset acceleration range is 0.8m/s ² -1.5m /s ² , the second preset speed range is 0.3m/s-0.6m/s, the second preset assist value range is 4N·m-7N·m, and the above judgments are all within the preset value range, then It is determined that the energy to be recovered information is a recoverable level.

On the basis of the above-mentioned embodiments, the determination of the energy to be recovered information according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information includes: if The driving state information is a slow driving state, the target pedaling acceleration value is within the third preset acceleration range, the target pedaling speed is within the third preset speed range, and the assist value information is in the third preset acceleration range. If it is within the range of three preset assist values, it is determined that the energy to be recovered information is a non-recovery level.

Among them, the non-recycling level indicates that the current moped cannot perform energy recovery. The third preset acceleration range is the value range divided by the target cadence acceleration value, which can be understood as the value range of the target cadence acceleration value when driving at a slow speed; the third preset speed range is the value range of the target cadence speed value The divided value range can be understood as the value range of the target cadence speed when driving at a slow speed; the third preset assist value range is the value range divided by the assist value of the moped, which can be understood as the assist value when driving at a slow speed. The value range.

Exemplarily, when driving on an uphill section, the driving speed of the moped is generally slow, and at this time, the crank of the moped needs to be stepped on, and the drive motor needs to provide power to stop energy recovery. For example, for example, the target cadence acceleration value generated by the user stepping on the moped is 0.4m/s ² , the target pedaling speed is 0.1m/s, the assist value information is 10N·m, and the third preset acceleration range is 0.2m/s ² -0.8m/s ² , the third preset speed range is 0.05m/s-0.3m/s, the third preset assist value range is 7N·m-15N·m, the above judgment basis is within the preset value range , then determine that the energy to be recovered information is a non-recovery level.

Optionally, after determining that the energy to be recovered information 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 travel.

S230. If the energy to be recovered information matches the preset energy recovery information, determine an energy to be recovered value.

S240. Determine a target energy recovery value based on the energy value to be recovered and the battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.

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 energy to be recovered information is match, then determine the energy value to be recovered” for refinement, and its specific implementation can refer to the detailed elaboration 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.

As shown in Figure 4, the method of the embodiment of the present application includes the following steps:

S310. Determine cadence information corresponding to stepping on the crank and speed-related information of the moped.

S320. Determine energy to be recovered information according to the cadence information and the speed-related information.

S330. If the energy to be recovered information matches the preset energy recovery information, determine the value of the energy to be recovered; wherein the preset energy recovery information includes an urgent recovery level and a recoverable level.

If the energy to be recovered information is an urgent recovery level or a recoverable level, then determine the energy value to be recovered;

Determine the energy value to be recovered by at least one of the following methods: according to the pre-established mapping relationship table, determine the energy value to be recovered corresponding to the assist value information, cadence speed, cadence acceleration and driving state information; wherein, the The mapping relationship table includes the energy recovery value to be matched corresponding to the power assist value to be selected, the cadence speed to be selected, the cadence acceleration to be selected, and the driving state information;

Input the assist value information, cadence speed, cadence acceleration, and wheel speed information corresponding to the driving state information into the pre-trained energy recovery value determination model to obtain the energy value to be recovered;

The wheel speed information corresponding to the assist value information, cadence speed, cadence acceleration, and driving state information is processed according to a preset objective function to determine the energy value to be recovered.

In order to clearly understand how to determine the energy value to be recovered, the following three implementation modes can be referred to:

The first implementation manner may be to establish a mapping relationship table, so as to determine the energy value to be recovered according to the mapping relationship table. According to actual experience or theory, it can be determined that each assist value information, cadence speed, cadence acceleration, and driving state information correspond to the recovered energy value to form a mapping relationship table, and then determine the currently collected assist value information based on the mapping relationship table. , cadence speed, cadence acceleration, and the energy value to be recovered corresponding to the driving status information.

Exemplarily, in the mapping relationship table, the assist value information corresponds to 40J of energy to be recovered, the cadence speed corresponds to 30J of energy to be recovered, the cadence acceleration corresponds to 10J of energy to be recovered, and the driving state information corresponds to the energy to be recovered The value is 80J, and the energy value to be recovered is combined and calculated according to the mapping relationship table to determine the energy value to be recovered corresponding to the currently collected assist value information, cadence speed, cadence acceleration and driving state information.

The second implementation manner may be: the energy recovery value determination model may be trained first, and then the energy value to be recovered corresponding to the currently collected information is determined based on the trained energy recovery value determination model. An exemplary implementation may be: obtaining a plurality of training samples, each of which includes assist value information, cadence speed, cadence acceleration, and driving state information as well as preset output energy recovery values; inputting the training sample data into the In the training energy recovery value determination model, the actual output energy recovery value is obtained, and the loss value of the loss function is determined according to the actual output evaluation value and the preset evaluation value, and the loss function convergence is taken as the training goal, and the energy recovery value determination model is obtained by training . Correspondingly, after the assist value information, cadence speed, cadence acceleration and driving state information are input into the energy recovery value determination model, the corresponding evaluation value can be output, and the energy value to be recovered can be obtained based on the evaluation value. Optionally, There is a corresponding relationship between the evaluation value and the energy value to be recovered.

Wherein, the energy recovery value determination model may be generated by training according to a machine learning algorithm, and the machine learning algorithm may include but not limited to algorithms such as support vector machine, naive Bayesian classification, or decision tree.

The third embodiment may be: pre-setting the function corresponding to the wheel speed information corresponding to the assist value information, cadence speed, cadence acceleration and driving state information, based on the function and the assist value information collected at the current moment, The cadence speed, cadence acceleration, and wheel speed information corresponding to the driving state information determine the energy value to be recovered. An exemplary implementation may be: through theoretical fitting processing on a plurality of assist value information, cadence speed, cadence acceleration and driving state information corresponding to the wheel speed information, respectively obtain the assist value information, cadence speed, The weight value corresponding to the cadence acceleration and the wheel speed information corresponding to the driving state information. After collecting the current assist value information, cadence speed, cadence acceleration, and wheel speed information corresponding to the driving state information, the first intermediate value can be obtained by calculating the product of the assist value information and its weight value, and by calculating the cadence speed and the product of the corresponding weight value to obtain the second intermediate value, the third intermediate value is obtained by calculating the product of the cadence acceleration and the corresponding weight value, and the fourth intermediate value is obtained by calculating the product of the wheel speed information corresponding to the driving state information and the corresponding weight value Based on the first intermediate value, the second intermediate value, the third intermediate value and the fourth intermediate value, the target value is obtained, and the energy value to be recovered can be determined based on the corresponding relationship between the target value and the recovered energy value.

In this embodiment, the advantage of determining the energy value to be recovered 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 running normally, which improves energy recovery. The accuracy avoids resource waste.

S340. Determine a target energy recovery value based on the energy value to be recovered and the battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.

In this embodiment, by making the battery pack perform energy recovery according to the determined target 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 the energy Not to be wasted.

Embodiment Four

Fig. 5 is a flow chart of an energy recovery method for a moped provided in Embodiment 4 of the present application. On the basis of the foregoing embodiments, it is possible to determine the target for the "based on the energy value to be recovered and the battery pack information" in the above embodiments. "Energy Recovery Value" is refined, and its implementation can be found in the detailed description 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.

As shown in Figure 5, the method of the embodiment of the present application includes the following steps:

S410. Determine the cadence information corresponding to pedaling the crank and the speed-related information of the moped.

S420. Determine energy to be recovered information according to the cadence information and the speed-related information.

S430. If the energy to be recovered information matches the preset energy recovery information, determine an energy to be recovered value.

S440. Determine a target energy recovery value based on the energy value to be recovered and the battery recoverable charge value, so as to perform energy recovery on the battery pack based on the target energy recovery value.

Wherein, the recoverable charge value of the battery is the remaining storable charge amount in the battery pack. Exemplarily, the current charge value of the battery pack is obtained, and if the current charge value is less than the preset charge threshold, then based on the current charge value and the preset charge threshold, the recoverable charge value of the battery is determined, and based on the The recovered charge value and the energy value to be recovered determine the target energy recovery value. If the energy value corresponding to the recoverable charge value of the battery is less than the energy value to be recovered, the energy value corresponding to the recoverable charge value is determined as the target energy recovery value; if the battery can If the energy value corresponding to the recovered charge value is greater than or equal to the energy value to be recovered, the energy value to be recovered is determined as the target energy recovery value. Real-time energy recovery is performed on the battery pack according to the final target energy recovery value. If it is detected that the current charge value is greater than or equal to the preset charge threshold during the energy recovery process, the energy recovery on the battery pack is stopped.

Exemplarily, the energy value corresponding to the recoverable charge value of the battery is 90, and the energy value to be recovered is 100, then the energy value 90 corresponding to the recoverable charge value is determined as the target energy recovery value, and the target energy recovery value 90 is stored in In the battery; or, the energy value corresponding to the recoverable charge value of the battery is 90, and the energy value to be recovered is 80, then the energy value to be recovered 80 is determined as the target energy recovery value, and the target energy recovery value 80 is stored in the battery.

In this embodiment, by setting a preset charge threshold, the battery pack is effectively prevented from recovering energy when its capacity is close to saturation, resulting in damage to the battery due to overcharging, and achieves the technical effect of effectively recovering energy.

Embodiment five

FIG. 6 is a schematic structural diagram of an energy recovery device for a moped provided in Embodiment 5 of the present application. The device includes: an information determination module 510, an energy to be recovered information determination module 520, an energy value to be recovered determination module 530, and an energy recovery module 540 .

Among them, the information determination module 510 is configured to determine the cadence information corresponding to the pedaling crank and the speed-related information of the moped; the energy to be recovered information determination module 520 is configured to determine according to the cadence information and the speed-related information Energy to be recovered information; the energy value determination module 530 to be recovered is configured to determine the energy value to be recovered if the energy to be recovered information matches the preset energy recovery information; the energy recovery module 540 is configured to be based on the energy to be recovered Energy value and battery pack information, determining a target energy recovery value, so as to perform energy recovery on the battery pack based on the target energy recovery value.

The embodiment of the present application provides an energy recovery device for a moped, which determines the energy to be recovered information through the determined cadence information corresponding to the pedaling crank and the speed related information of the moped; when the energy to be recovered information is compared with the preset energy recovery information Under matching conditions, the energy value to be recovered can be determined, and then the target energy recovery value can be determined based on the energy value to be recovered and the battery pack information, and energy recovery can be performed on the battery pack. When the battery is exhausted, it needs to be charged before continuing to drive. In order to improve the battery capacity, the battery capacity will be increased. At this time, the weight of the moped will be increased. At the same time, after the charge is exhausted, it needs to be fully charged before continuing to drive. For the problems of poor ability and poor user experience, this application determines the energy to be recovered information according to the related information of the moped during the driving process of the moped, and then realizes the dynamic recovery of energy, which not only improves the battery life of the moped, but also realizes dynamic energy recovery. Thereby improving the user experience.

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

The cadence information collection unit is configured to collect the cadence information of the pedaling crank based on the cadence sensor arranged at the first target position of the moped;

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

On the basis of any optional technical solution in the embodiments of the present application, optionally, the first target position includes pedaling on a crank, a flywheel or a center axle.

On the basis of any optional technical solution in the embodiments of this application, optionally, the energy to be recovered information determination module 520 may also include:

The energy to be recovered information unit within a preset time is configured to determine energy to be recovered information according to the cadence information and the speed-related information within a preset time.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the speed-related information includes wheel speed information, and the preset time energy to be recovered information unit includes:

The target cadence information determination subunit is configured to determine the target cadence speed and target cadence acceleration according to the target cadence frequency in the cadence information within a preset time period;

The energy determination sub-unit is configured to determine the energy to be recovered information according to the target cadence speed, target cadence acceleration, assist value information of the moped, and target wheel speed information within a preset time period.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the energy determination subunit includes:

The driving state information determination subunit is configured to determine the driving state information of the moped according to the target wheel speed information;

The driving state energy determination subunit is configured to determine the energy to be recovered information according to the target pedaling speed, the target cadence acceleration value, the power assist value information of the moped, and the driving state information.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the driving state energy determining subunit may be set to:

If the driving state information is an overspeed driving state and/or a fast driving state, the target pedaling acceleration value is within a first preset acceleration range, the target pedaling speed is within a first preset speed range, and the If the assist value information is within the first preset assist value range, it is determined that the energy to be recovered information is an urgent recovery level.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the driving state energy determination subunit can also be set to:

If the driving state information is a stable driving state, the target pedaling acceleration value is within the second preset acceleration range, the target pedaling speed is within the second preset speed range, and the assist value information is in the second If it is within the range of two preset assist values, it is determined that the energy to be recovered information is a recoverable level.

If the driving state information is a slow driving state, the target pedaling acceleration value is within a third preset acceleration range, the target pedaling speed is within a third preset speed range, and the assist value information is within If it is within the third preset assist value range, it is determined that the energy to be recovered information is a non-recovery level.

On the basis of any optional technical solution in the embodiments of the present application, optionally, the preset energy recovery information includes an urgent recovery level and a recoverable level, and the energy value determination module 530 to be recovered is set to:

Determine the energy value to be recovered by at least one of the following methods:

According to the pre-established mapping relationship table, determine the energy value to be recovered corresponding to the assist value information, cadence speed, cadence acceleration and driving state information; Cadence speed, to-be-selected cadence acceleration, and driving state information correspond to the recovered energy value to be matched;

Input the assist value information, cadence speed, cadence acceleration and wheel speed information corresponding to the driving state information into the pre-trained energy recovery value determination model to obtain the energy value to be recovered;

On the basis of any optional technical solution in the embodiments of the present application, optionally, the energy recovery module 540 is set to:

Acquiring the current charge value of the battery pack, and if the current charge value is less than a preset charge threshold, then determining a recoverable charge value of the battery based on the current charge value and the preset charge threshold;

A target energy recovery value is determined based on the energy value to be recovered and the battery charge value that can be recovered.

The energy recovery device of the moped 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 functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only In order to facilitate mutual distinction, it is not intended to limit the protection scope of the embodiments of the present application.

Embodiment six

FIG. 7 is a schematic structural diagram of an energy recovery device for a moped provided in Embodiment 4 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 execute 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), wide area network (Wide Area Network, WAN) and/or public network, such as the Internet) through the network adapter 612. As shown in the figure , the network adapter 612 communicates with other modules of the electronic device 60 through the bus 603. It should be understood that although not shown in FIG. drives, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems, etc.

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. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections having 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 can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).

Claims

An energy recovery method for a moped, comprising:

Determine the cadence information corresponding to pedaling the crank and the speed-related information of the moped;

determining energy to be recovered information according to the cadence information and the speed-related information;

determining an energy value to be recovered in response to the match between the energy to be recovered information and the preset energy recovery information;

A target energy recovery value is determined based on the energy value to be recovered and battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.
The method according to claim 1, wherein said determining the cadence information corresponding to pedaling the crank and the speed-related information of the moped comprises:

Collecting the cadence information of the pedaling crank based on the cadence sensor arranged at the first target position of the moped;

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

The energy to be recovered information is determined according to the cadence information within the preset time period and the speed related information.
The method according to claim 4, wherein the speed-related information includes wheel speed information, and determining the energy to be recovered information according to the cadence information within a preset time and the speed-related information includes:

Determine the target cadence speed and target cadence acceleration according to the target cadence frequency in the cadence information within the preset time period;

According to the target cadence speed, target cadence acceleration, assist value information of the moped, and target wheel speed information within a preset time period, the energy to be recovered information is determined.
The method according to claim 5, wherein, according to the target cadence speed, target cadence acceleration, assist value information of the moped, and target wheel speed information within a preset duration, determining the energy to be recovered information includes:

determining the driving state information of the moped according to the target wheel speed information;

The energy to be recovered information is determined according to the target pedaling speed, the target cadence acceleration value, the assist value information of the assist vehicle, and the driving state information.
The method according to claim 6, wherein the energy to be recovered information is determined according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information, include:

In response to the driving state information being an overspeeding state or a fast driving state, the target pedaling acceleration value is within a first preset acceleration range, the target pedaling speed is within a first preset speed range, and the If the assist value information of the moped is within the first preset assist value range, it is determined that the energy to be recovered information is an urgent recovery level.
The method according to claim 6, wherein the energy to be recovered information is determined according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information, include:

Responding to the fact that the driving state information is a steady driving state, the target pedaling acceleration value is within a second preset acceleration range, the target pedaling speed is within a second preset speed range, and the assist value of the power-assisted vehicle If the information is within the second preset assist value range, it is determined that the energy to be recovered information is a recoverable level.
The method according to claim 6, wherein the energy to be recovered information is determined according to the target pedaling speed, the target cadence acceleration value, the assist value information of the moped, and the driving state information, include:

Responding to the fact that the driving state information is a slow driving state, the target pedaling acceleration value is within a third preset acceleration range, the target pedaling speed is within a third preset speed range, and the power assist of the power-assisted vehicle If the value information is within the third preset assist value range, it is determined that the energy to be recovered information is a non-recovery level.
The method according to claim 6, wherein the preset energy recovery information includes an urgent recovery level and a recoverable level, and the energy value to be recovered is determined in response to the matching of the energy recovery information with the preset energy recovery information, include:

Responding to the information that the energy to be recovered is an urgent recovery level or a recoverable level, determine an energy value to be recovered;

Determine the energy value to be recovered by at least one of the following methods:

According to the pre-established mapping relationship table, determine the energy value to be recovered corresponding to the assist value information, target cadence speed, target cadence acceleration and driving state information of the moped; wherein, the mapping relationship table includes the energy value to be recovered The selected assist value, the cadence speed to be selected, the cadence acceleration to be selected, and the driving state information correspond to the recovered energy value to be matched;

Inputting the assist value information, target cadence speed, target cadence acceleration, and target wheel speed information corresponding to the driving state information of the moped into the pre-trained energy recovery value determination model to obtain the energy value to be recovered;

The assist value information, target cadence speed, target cadence acceleration, and target wheel speed information corresponding to the driving state information of the power-assisted vehicle are processed according to a preset objective function to determine the energy value to be recovered.
The method according to claim 1, wherein said determining a target energy recovery value based on the energy value to be recovered and battery pack information comprises:

Acquiring the current charge value of the battery pack, and in response to the current charge value being less than a preset charge threshold, determining a recoverable charge value of the battery based on the current charge value and the preset charge threshold;

A target energy recovery value is determined based on the energy value to be recovered and the battery charge value that can be recovered.
An energy recovery device for a moped, comprising:

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

The energy to be recovered information determination module is configured to determine the energy to be recovered information according to the cadence information and the speed related information;

The energy value determination module to be recovered is configured to determine the energy value to be recovered in response to the energy to be recovered information matching the preset energy recovery information;

The energy recovery module is configured to determine a target energy recovery value based on the energy value to be recovered and battery pack information, so as to perform energy recovery on the battery pack based on the target energy recovery value.
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 implements the energy recovery method of the moped according to any one of claims 1-11.
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 1-11 when executed by a computer processor.