Electric assist bicycle control method and electric assist bicycle

Abstract

The application provides an electrically assisted bicycle control method and an electrically assisted bicycle. The method comprises: sensing the original driving force F 原 experienced by the electrically assisted bicycle; sensing the forward acceleration a generated by the electrically assisted bicycle when experiencing the original driving force F 原 ; judging whether the original driving force F 原 is greater than the set electrically assisted starting critical thrust F 启停 ; if the original driving force F 原 is greater than the electrically assisted starting critical thrust F 启停 , providing electrically assisted force F 助 in the following manner: calculating the size of the initial electrically assisted force F 原 according to the total mass m of the electrically assisted bicycle and the load, the slope B of the road surface on which the electrically assisted bicycle is located, the original driving force F 初 , the forward acceleration a and the road surface friction coefficient k; and adjusting the initial electrically assisted force F 初 in a manner proportional to the original driving force F 原 to obtain the electrically assisted force F 助 provided to the electrically assisted bicycle. In the application, the initial electrically assisted force is provided comprehensively according to the total weight, the original driving force, the friction coefficient and the slope, the electrically assisted force is adjusted according to the size of the original driving force experienced, and the use is more comfortable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, in particular to an electric-assisted bicycle control method and electric-assisted bicycle. BACKGROUND

[0002] With the progress of society, people's awareness of environmental protection and energy saving is enhanced, and the travel and lifestyle of "low carbon, environmental protection, green, sports, and health" gradually attract high attention. The research of efficient, environmentally friendly, and energy-saving electric-assisted bicycles has attracted high attention of manufacturers around the world.

[0003] Traditional non-assisted bicycles are laborious and have a short running distance, especially on uphill slopes. The traditional electric-assisted bicycle can only set the size of the electric assistance before leaving the factory according to a certain parameter, for example, providing electric drive assistance according to the vehicle speed. However, the assistance method of such an electric-assisted bicycle considers only a single factor and cannot well adapt to various complex operating conditions of the electric-assisted bicycle, thereby resulting in poor user experience. SUMMARY

[0004] To solve the existing technical problems, the present application provides an electric-assisted bicycle control method and electric-assisted bicycle, which can provide electric assistance by comprehensively considering multiple factors and greatly improve the user experience.

[0005] To achieve the above-mentioned purpose, the technical solution of the embodiments of the present application is as follows:

[0006] The embodiments of the present application provide an electric-assisted bicycle control method, which includes the following steps: sensing the motive force F 原 received by the electric-assisted bicycle 原 ; judging whether the motive force F 原 is greater than the set electric assistance starting critical thrust F 启停 ; if the motive force F 原 is greater than the electric assistance starting critical thrust F 启停 , then providing electric assistance F 助 in the following manner:

[0007] According to the total mass m of the electric-assisted bicycle and the load, the slope B of the road where the electric-assisted bicycle is located, the motive force F 原 , the forward acceleration a, and the road friction coefficient k, the size of the initial electric assistance F 初 is calculated;

[0008] The initial electric assistance F 初 is adjusted in a manner proportional to the motive force F 原 to obtain the electric assistance F 助 provided to the electric-assisted bicycle.

[0009] In one embodiment, the initial electric assist force F 初 According to F 初 = F 摩 + mg * sin B + ma - F 原 = F 摩 = kmg * cos B, wherein the friction coefficient k is an estimated value according to the wheel of the electric assist vehicle and the common road surface.

[0010] In one embodiment, the electric assist force F 助 According to F 助 = x * (F 原 - F 启停 ) * (1 + y * sin B), wherein x is the total assist coefficient, and y is the ramp assist coefficient set according to the slope B; the values of the total assist coefficient x and the ramp assist coefficient y are set by the user within a predetermined range.

[0011] In one embodiment, the original driving force F 原 is measured by a pressure sensor; the total mass m is measured by a weighing sensor arranged at the frame of the electric assist vehicle, or the total mass m is calculated by the forward acceleration a generated by the electric assist vehicle when the load is placed on the vehicle body; the forward acceleration a is measured by an acceleration sensor arranged at the frame; and the slope B is calculated by the angular acceleration ω of the vehicle body.

[0012] In one embodiment, the total mass m is calculated as follows: a compression spring with an elastic coefficient m is arranged between the vehicle body and the frame in the up-down direction, and an acceleration sensor for measuring the downward acceleration b of the vehicle body is arranged on the vehicle body; when the load is placed on the vehicle body, the downward acceleration b is integrated over time t to obtain the downward displacement l of the vehicle body relative to the frame; the downward displacement l is multiplied by the elastic coefficient m to obtain the weight of the load; and the total mass m is obtained by adding the converted mass of the load and the mass of the electric assist vehicle.

[0013] In one embodiment, the slope B is calculated as follows: an angular acceleration sensor is arranged on the vehicle body; the angular acceleration ω of the vehicle body is measured by the angular acceleration sensor; and the slope B is obtained by integrating the angular acceleration ω over time t.

[0014] In one embodiment, if the original driving force F 原 is not greater than the electric assist starting critical thrust F 启停 , the current speed v of the electric assist vehicle is calculated by the forward acceleration a or measured by a speed sensor, and when the current speed v exceeds a set speed threshold v 临界 , a resistance F 阻so as to reduce or brake the current speed v of the electrically assisted vehicle.

[0015] The electrically assisted vehicle provided by the embodiment of the application adopts the electrically assisted vehicle control method as described above, and comprises a vehicle body for placing a load, a frame, wheels, an electric motor, a controller, a pressure sensor and an acceleration sensor. The frame is arranged at the bottom of the vehicle body, the wheels are installed below the frame, the electric motor is connected with the wheels to provide electric assistance for the wheels, the pressure sensor is arranged between the vehicle body and the frame and is connected with the controller to measure the original driving force F 原 and send it to the controller, and the acceleration sensor is arranged at the wheels and is connected with the controller to measure the forward acceleration a and send it to the controller.

[0016] In one of the embodiments, the pressure sensor is fixed on a sliding seat connected with the frame, a sliding platform is slidably arranged on the sliding seat in the forward direction of the electrically assisted vehicle, the sliding platform is connected with the vehicle body, and a spring is arranged between the sliding platform and the sliding seat in the forward direction, with one end of the spring in contact with the sensing surface of the pressure sensor.

[0017] Alternatively, the pressure sensor is fixed on a sliding seat connected with the frame, a sliding platform is slidably arranged on the sliding seat in the forward direction of the electrically assisted vehicle, the sliding platform is connected with the vehicle body, and a spring is arranged between the sliding platform and the pressure sensor in the forward direction, with one end of the spring in contact with the sensing surface of the pressure sensor.

[0018] In one of the embodiments, a weighing sensor is arranged on the frame to detect the total weight of the vehicle body and the load placed thereon, or a compression spring with an elastic coefficient m is arranged between the vehicle body and the frame in the up-down direction, and a second acceleration sensor is arranged on the vehicle body to measure the downward acceleration b of the vehicle body when the load is placed thereon.

[0019] The electrically assisted vehicle control method and the electrically assisted vehicle provided by the application have at least the following beneficial effects: the electrically assisted vehicle control method and the electrically assisted vehicle provided by the application provide assistance according to the size of the original driving force, and provide assistance when the sensed original driving force applied by a person in the forward direction reaches a certain threshold value, so that electric assistance can be provided even when the electrically assisted vehicle is static, helping the electrically assisted vehicle to move; the initial electric assistance provided by the electrically assisted vehicle is provided according to the total weight of the electrically assisted vehicle and the load, the size of the original driving force, the average road friction coefficient and the slope, and the size of the initial electric assistance can be adjusted according to the total weight and the slope, making it easier to use in the case of large load and large road slope; and in the process of continuous assistance, the size of the electric assistance is adjusted in a manner proportional to the original driving force, realizing intelligent adjustment control. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of an electrically assisted bicycle according to a first embodiment of the present application;

[0021] Figure 2 is a force schematic diagram of an electrically assisted bicycle in Figure 1 on a slope;

[0022] Figure 3 is a structural schematic diagram of a pressure sensing assembly of an electrically assisted bicycle according to an embodiment of the present application;

[0023] Figure 4 is a structural schematic diagram of a pressure sensing assembly of an electrically assisted bicycle according to another embodiment of the present application;

[0024] Figure 5 is a structural schematic diagram of an electrically assisted bicycle according to a second embodiment of the present application;

[0025] Figure 6 is a structural schematic diagram of an electrically assisted bicycle according to a third embodiment of the present application.

[0026] In the drawings: 10 - vehicle body; 20 - vehicle frame; 30 - vehicle wheel; 40 - pressure sensing assembly (including pressure sensor 41, slide base 42, slide 43, spring 44); 50 - push rod; 60 - handrail. DETAILED DESCRIPTION

[0027] The technical solutions of the present application are described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing specific embodiments of the present application, and is not intended to limit the implementation of the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0030] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] Based on the problem that the electric assist control parameters of the electric assist vehicle in the prior art are relatively single, the present application provides an electric assist vehicle control method and an electric assist vehicle. Please refer to Figure 1 , the electric assist vehicle of the embodiment of the present application comprises a vehicle body 10, a vehicle frame 20, a vehicle wheel 30, a motor, a power supply and a controller, wherein the vehicle body 10 can be used to place a load, the vehicle frame 20 is arranged at the bottom of the vehicle body 10, the vehicle wheel 30 is arranged below the vehicle frame 20, the vehicle frame 20 provides the connection between the vehicle body 10 and the vehicle wheel 30, the motor is connected with the vehicle wheel 30 to provide assist force for the vehicle wheel, and the power supply and the controller are arranged at the bottom of the vehicle body 10 or on the vehicle frame 20. Specifically, the vehicle wheel 30 is mounted at the bottom of the vehicle frame 20, the vehicle body 10 is mounted on the vehicle frame 20, the load is placed on the vehicle body 10, and an original driving force F 原 is provided to the vehicle body 10. 原 The controller judges whether to turn on the power supply to supply power to the motor to provide electric assist by sensing the size of the original driving force F

[0032] To sense the original driving force F 原 of the electric assist vehicle, a pressure sensing component 40 is arranged between the vehicle body 10 and the vehicle frame 20, which is used to sense the size of the force transmitted from the vehicle body 10 to the vehicle frame 20 when the vehicle body is subjected to the original driving force F 原 , that is, the original driving force F 原 . The pressure sensing component 40 is signal connected with the controller, and the detected data is transmitted to the controller, so that the controller controls the electric assist accordingly.

[0033] When the electric assist vehicle is subjected to the original driving force F 原 , the forward acceleration a is generated. To sense the forward acceleration a of the electric assist vehicle, an acceleration sensor (for example, a three-axis acceleration sensor, not shown in the figure) is arranged at the vehicle frame 20 and the vehicle wheel 30, which is used to sense the instantaneous forward acceleration a of the electric assist vehicle. The acceleration sensor is signal connected with the controller, and the detected data is transmitted to the controller, so that the controller controls the electric assist accordingly.

[0034] Since the electric assist vehicle does not need electric assist in all cases, the electric assist starting critical thrust F 启停 can be set according to the parameters of the electric assist vehicle itself, the use scene and the like, and the electric assist starting critical thrust F 启停This serves as the threshold for initiating electric assist. When the pressure sensing component 40 senses the driving force F... 原 Greater than the critical thrust F for electric assist starting 启停 Only then does the controller activate the motor to provide electrical assistance. If the pressure sensing component 40 senses the driving force F... 原 Not greater than the critical thrust F for electric assist starting 启停 If the current condition is not met, then it is assumed that no electric assist is needed. Thus, the controller adjusts the power output F supplied to the electric-assisted vehicle based on the input power F. 原 and the original power F 原 The initial forward acceleration 'a' generated under the action of the electric motor determines whether electric assistance is needed. This is because the electric motor's power F is manually supplied to the electric-assisted vehicle. 原 The power source F that the user needs to provide to the electric-assisted vehicle is determined by observing factors such as the environment of the electric-assisted vehicle and the amount of cargo it carries. 原 The magnitude of the force F is determined, therefore the prime mover F 原 The size of the controller provides a highly valuable reference for determining the total power required by the electric-assisted bicycle. Using the controller to determine whether electric assistance is needed and the appropriate level of assistance is a reasonable basis. Furthermore, the controller of the electric-assisted bicycle can provide electric assistance as needed, or it can put the motor, power supply, and controller into hibernation or perform energy recovery when electric assistance is not required, thereby improving the range and lifespan of the motor and power supply.

[0035] On the other hand, under the same operating conditions, the difference between being unloaded and fully loaded has a significant impact on the total power required by the electric-assisted bicycle. Therefore, the electric-assisted bicycle control method of this application also considers the load as a factor in determining the amount of electric assistance provided. Specifically, the electric assist is equipped with a weighing sensor (not shown) on the frame 20. The weighing sensor can measure the weight of the bicycle body 10 and the load on the bicycle body 10. By adding the measured value of the weighing sensor to the weight of the electric assist itself, the total mass m of the electric-assisted bicycle and its load can be obtained. The weighing sensor is connected to the controller signal and transmits the detected data to the controller so that the controller can calculate the total mass m of the electric-assisted bicycle and its load and control the electric assist accordingly.

[0036] Furthermore, the slope of the road surface where the electric-assisted bicycle is located also affects the total power required by the bicycle. Therefore, the electric-assisted bicycle control method of this application also considers the slope B of the road surface as a factor in controlling the amount of electric assistance provided by the control motor. For details, please refer to... Figure 2 When the road surface where the electric-assisted bicycle is located has a slope B, the controller controls the initial electric assist F provided by the motor. 初 Taking into account the total mass m of the electric-assisted bicycle and its load, the slope B of the road surface where the electric-assisted bicycle is located, and the prime mover F... 原The forward acceleration *a* and the road surface friction coefficient *k* can be calculated using the following formulas:

[0037] F 初 =F 摩 +mg*sinB+ma-F 原 ;

[0038] F 摩 = kmg * cosB.

[0039] In the above calculation formula, the total mass m of the electric-assisted bicycle and its load, as mentioned above, can be measured by a weighing sensor installed on the frame of the electric-assisted bicycle. In other embodiments, the total mass m can also be obtained by measurement.

[0040] Specifically, a compression spring with an elastic coefficient m can be installed between the vehicle body 10 and the frame 20 along the vertical direction. A second acceleration sensor is installed on the vehicle body 10. The downward acceleration b generated on the vehicle body 10 when a load is placed on it is calculated. This downward acceleration b is measured by the second acceleration sensor on the vehicle body 10. More specifically, since the elastic coefficient m of the compression spring is known, when a load is placed on the vehicle body 10, a downward acceleration b will be generated. Integrating the downward acceleration b over time t yields the downward displacement l of the vehicle body 10 relative to the frame 20. Multiplying the downward displacement l by the elastic coefficient m gives the weight of the load. Adding this to the known masses of the vehicle body 10 and the frame 20 gives the total mass m of the electric bicycle and the load.

[0041] In the above calculation formula, the slope B of the road surface where the electric-assisted bicycle is located can be calculated by measuring the angular acceleration ω of the bicycle body 10 using a triaxial angular acceleration sensor; when the road surface where the electric-assisted bicycle is located is flat, the slope B is zero. Specifically, the slope B is obtained by integrating the angular acceleration ω measured by the angular acceleration sensor: the initial angle is 0, and when the angular acceleration ω is greater than 0, the tilt angle of the electric-assisted bicycle can be obtained after time t, which is the slope B.

[0042] In the above calculation formula, the friction coefficient k is an estimated value based on the electric-assisted wheel 30 and the road surfaces commonly used by electric-assisted bicycles.

[0043] After obtaining the initial electric assist F 初 Afterwards, the electric-assisted bicycle's motor, under the power supply and controller, follows the initial electric assist F. 初 Electric assist is provided to the wheels at a rate of 30. The electric-assisted bicycle receives an initial electric assist F. 初 After starting to move, the electric assist provided by the motor can be adjusted. Specifically, when providing the initial electric assist F... 初 Then, the controller follows the instructions in conjunction with the electric assist F. 助The human provided motive force F 原 The electrically assisted bicycle is continuously provided with electric assistance F 助 in a proportional manner. 原 Thus, the human provided motive force F 原 is used as a basis to achieve the effect of intelligently adjusting the size of the assistance F 助 .

[0044] In the electrically assisted bicycle control method of the present application, the motor is controlled by the controller to provide electric assistance F 原 to the electrically assisted bicycle in a proportional manner to the motive force F 助 . The electric assistance F 助 can be intelligently adjusted according to the set assistance coefficient. Specifically, the electric assistance F 助 is set according to the following formula:

[0045] F 助 = x * (F 原 - F 启停 ) * (1 + y * sin B).

[0046] Where B is the slope of the road, x is the overall assistance coefficient, and y is the ramp assistance coefficient set according to the slope B. The overall assistance coefficient x and the ramp assistance coefficient y can be adjusted in size according to the user's wishes within a certain range according to the user's wishes. For example, the user can set the values of the overall assistance coefficient x and the ramp assistance coefficient y through the mobile phone, thereby defining the assistance mode of different assistance levels.

[0047] In the non-electric assistance mode, i.e., when the motive force F 原 is not greater than the electric assistance starting critical thrust F 启停 , the controller calculates the current speed v of the electrically assisted bicycle through the forward acceleration a, and when the current speed v exceeds the set speed threshold v 临界 , provides resistance F 阻 to reduce or brake the current speed v of the electrically assisted bicycle.

[0048] In order to better sense the motive force F 原 of the electrically assisted bicycle, the pressure sensor assembly 40 can adopt a sliding platform type pressure sensor.

[0049] Please refer to Figure 3 , the pressure sensor assembly 40 includes a pressure sensor 41, a sliding platform base 42, a sliding platform 43, and a spring 44. The pressure sensor 41 is fixed on one side of the sliding platform base 42, the sliding platform base 42 is fixed on the frame 20, the sensing surface of the pressure sensor 41 faces the sliding platform 43, the sliding platform 43 is slidably arranged on the sliding platform base 42 in the forward direction and is fixed with the vehicle body 10, and the spring 44 is arranged between the sliding platform base 42 and the sliding platform 43 in the forward direction. When the motive force F原 When applied to the vehicle body 10, the slide 43 moves along the forward direction relative to the slide base 42 along with the vehicle body 10, and the slide 43 applies the prime mover F. 原 The corresponding force is applied to the sensing surface of the pressure sensor 41, thereby the pressure sensor 41 obtains the corresponding reading. When the prime mover F... 原 After disappearing, the slide 43 returns to its initial position relative to the slide base 42 under the elastic restoring force of the spring 44.

[0050] exist Figure 3 In the pressure sensor assembly 40 shown, the slide 43 actuates the pressure sensor 41. In another embodiment, the slide 43 actuates the pressure sensor 41 via a spring 44, as shown... Figure 4 As shown in the diagram. Specifically, the pressure sensor assembly 40 includes a pressure sensor 41, a slide base 42, a slide 43, and a spring 44. The pressure sensor 41 is fixed to one side of the slide base 42, which is fixed to the vehicle frame 20. The sensing surface of the pressure sensor 41 faces one end of the spring 44. The slide 43 is slidably mounted on the slide base 42 in the forward direction and fixed to the vehicle body 10. The spring 44 is positioned between the pressure sensor 41 and the slide 43 in the forward direction. When the prime mover F... 原 When applied to the vehicle body 10, the slide 43 moves along the forward direction relative to the slide base 42 along with the vehicle body 10, and the slide 43 applies the prime mover F. 原 A corresponding force is applied to the spring 44, which in turn applies a corresponding force to the sensing surface of the pressure sensor 41, thereby causing the pressure sensor 41 to obtain a corresponding reading. When the prime mover F... 原 After disappearing, the slide 43 returns to its initial position relative to the slide base 42 under the elastic restoring force of the spring 44.

[0051] exist Figure 3 and Figure 4 In the pressure sensor assembly 40 shown, after receiving the reading from the pressure sensor 41, the controller converts it into the prime mover F according to the following formula. 原 :

[0052] F 原 =f*(S out -S threshold ).

[0053] Where f is the spring constant of spring 44, and S out For the output signal of pressure sensor 41, S threshold The pressure sensor 41 takes into account factors such as the preload of the spring 44 and other factors as the overall initial signal threshold.

[0054] It should be noted that, in Figures 1 to 4In the embodiment shown, the electrically assisted vehicle is a handrail-free electrically assisted scooter / electrically assisted hub bike. In other embodiments, the electrically assisted vehicle can also be other forms of electrically assisted vehicles. For example, as shown in Figure 5 , the electrically assisted vehicle is an electrically assisted cart, which is provided with a pushing rod 50 at the rear end of the vehicle body 10 for a user to push the electrically assisted cart and the load on the vehicle body 10 forward. As another example, as shown in Figure 6 , the electrically assisted vehicle is also a handrail-equipped electrically assisted scooter, which is provided with a handrail 60 at the front end of the vehicle body 10 for a user to stand on the vehicle body 10 and hold the handrail 60 to use the electrically assisted scooter.

[0055] In summary, the control method of the electrically assisted vehicle of the present application and the control method used by the electrically assisted vehicle of the present application include the following steps:

[0056] Step 1: sensing the original driving force F 原 experienced by the electrically assisted vehicle through the pressure sensor assembly 40 and sending it to the controller.

[0057] Step 2: sensing the forward acceleration a of the electrically assisted vehicle through the acceleration sensor and sending it to the controller.

[0058] Step 3: determining whether the original driving force F 原 is greater than the set electrically assisted starting critical thrust F 启 by the controller.

[0059] Step 4: if the original driving force F 原 is greater than the electrically assisted starting critical thrust F 启停 , the controller controls the motor to provide electric assistance F 助 in the following manner:

[0060] Step 4.1: the controller calculates the size of the initial electric assistance F 原 based on the total mass m of the electrically assisted vehicle and the load, the slope B of the road surface on which the electrically assisted vehicle is located, the original driving force F 初 , the forward acceleration a, and the road surface friction coefficient k.

[0061] F 初 = F 摩 + mg * sin B + ma - F 原 ;

[0062] F 摩 = kmg * cos B.

[0063] Wherein, the total mass m is measured by a weighing sensor arranged at the frame 20 of the electrically assisted vehicle, or calculated by the forward acceleration a generated by the electrically assisted vehicle when the load is placed on the vehicle body 10 of the electrically assisted vehicle; the forward acceleration a is measured by an acceleration sensor arranged at the frame 20; the slope B is calculated by the forward acceleration a; the friction coefficient k is an estimated value according to the electrically assisted wheels 30 and the commonly used road surface.

[0064] Step 4.2, the controller adjusts the initial electric assistance F 初 in a manner proportional to the original driving force F 原 to obtain the electric assistance F 助 provided to the electrically assisted vehicle.

[0065] F 助 = x*(F 原 -F 启停 )*(1+y*sinB).

[0066] Step 5, if the original driving force F 原 is not greater than the electrically assisted starting critical thrust F 启停 , the controller calculates the current speed v of the electrically assisted vehicle through the forward acceleration a, or measures the current speed v through a speed sensor.

[0067] Step 5.1, the controller determines whether the current speed v exceeds a set speed threshold v 临界 .

[0068] Step 5.2, if the current speed v exceeds the speed threshold v 临界 , the controller provides a resistance F 阻 to reduce or brake the current speed v of the electrically assisted vehicle.

[0069] The electrically assisted vehicle control method and the electrically assisted vehicle of the present application provide assistance according to the size of the original driving force received, and provide assistance after the original driving force applied in the forward direction by the electrically assisted vehicle reaches a certain threshold. In this way, electric assistance can be provided even when the electrically assisted vehicle is static, helping the electrically assisted vehicle to move forward. The initial electric assistance provided by the electrically assisted vehicle is provided according to the total weight of the electrically assisted vehicle and the load, the size of the original driving force, the average road friction coefficient and the slope, and the size of the initial electric assistance can be adjusted according to the total weight and the slope, making it easier to use in situations where the load is heavy and the road slope is steep. During the continuous assistance process, the size of the electric assistance is adjusted in a manner proportional to the original driving force, achieving intelligent adjustment control.

[0070] It should be noted that, as used in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0071] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An electric assist bicycle control method characterized by, The method comprises the following steps: The electrically assisted bicycle receives a motive force F provided by a human being 原 ; sensing that the electric assist bicycle is subjected to the motive force F 原 the generated forward acceleration a; determining whether the motive force F 原 is greater than a set electrically assisted starting threshold force F 启停 ; If the original force F 原 is greater than the electrically assisted starting threshold force F 启停 , then the electric assistance F 助 is provided in the following manner: According to the total mass m of the electrically assisted bicycle and the load, the slope B of the road surface on which the electrically assisted bicycle is located, the original driving force F 原 , the forward acceleration a and the road surface friction coefficient k, the size of the initial electric assistance F 初 is calculated; wherein the initial electric assistance F 初 is calculated according to F 初 =F 摩 +mg sinB+ma-F 原 , F 摩 =kmg cosB, the friction coefficient k is an estimated value obtained according to the wheels of the electrically assisted bicycle and the commonly used road surface; after obtaining the initial electric assistance F 初 , the motor of the electrically assisted bicycle provides electric assistance to the wheels under the power supply and the control of the controller according to the initial electric assistance F 初 ; after the electrically assisted bicycle is driven by the initial electric assistance F 初 , the electric assistance provided by the motor is adjusted; The initial electric assist F 初 According to the original power F 原 The electric assist F supplied to the electric-assisted bicycle is adjusted in a proportional manner. 助 ; wherein, the electric assist F 助 According to F 助 =x (F) 原 -F 启停 ) (1+y) x is the overall assist coefficient, and y is the ramp assist coefficient set according to the slope B, calculated by sinB. The values ​​of the overall assist coefficient x and the ramp assist coefficient y are set by the user within a preset range.

2. The electric assist bicycle control method according to claim 1, characterized by: The motive force F 原 The total mass m is measured by a weighing sensor arranged at the frame of the electrically assisted bicycle or calculated from the downward acceleration b of the electrically assisted bicycle when the load is placed on the vehicle body of the electrically assisted bicycle. The forward acceleration a is measured by an acceleration sensor arranged at the frame. The slope B is calculated from the angular acceleration ω of the vehicle body.

3. The electric assist bicycle control method according to claim 2, characterized by, The total mass m is calculated as follows: A compression spring with elastic coefficient m is arranged between the vehicle body and the frame in the up-down direction, and an acceleration sensor for measuring the downward acceleration b of the vehicle body is arranged on the vehicle body; When the load is placed on the vehicle body, the downward acceleration b is integrated over time t to obtain the downward displacement l of the vehicle body relative to the frame; The downward displacement l is multiplied by the elastic coefficient m to obtain the weight of the load; The converted mass of the load is added to the mass of the electric power-assisted vehicle to obtain the total mass m.

4. The electric assist bicycle control method according to claim 2, characterized by, The slope B is calculated as follows: An angular acceleration sensor is arranged on the vehicle body; The angular acceleration ω of the vehicle body is measured by the angular acceleration sensor; The angular acceleration ω is integrated over time t to obtain the slope B.

5. The e-bike control method according to claim 1, characterized in that: if the motive force F 原 is not greater than the electrically assisted starting threshold force F 启停 , the current speed v of the electrically assisted vehicle is calculated by the forward acceleration a or measured by a speed sensor, and when the current speed v exceeds a set speed threshold v 临界 , a resistance force F 阻 is provided to reduce or brake the current speed v of the electrically assisted vehicle.

6. An electric assist bicycle employing the electric assist bicycle control method according to any one of claims 1 to 5, characterized by: The application relates to a vehicle body for placing a load, a frame, wheels, a motor, a controller, a pressure sensor and an acceleration sensor, wherein the frame is arranged at the bottom of the vehicle body, the wheels are mounted below the frame, the motor is connected with the wheels to provide electric power for the wheels, the pressure sensor is arranged between the vehicle body and the frame and is connected with the controller to measure the original power F 原 and sends the signal to the controller, and the acceleration sensor is arranged at the wheel and is connected with the controller to measure the forward acceleration a and sends the signal to the controller.

7. The electric assist cycle of claim 6, characterized in that: The pressure sensor is fixed on a sliding seat, the sliding seat is connected with the frame, a sliding platform is slidably arranged on the sliding seat in the advancing direction of the power-assisted vehicle, the sliding platform is connected with the vehicle body, a spring is arranged between the sliding platform and the sliding seat in the advancing direction, and the sliding platform is in contact with the sensing surface of the pressure sensor. Alternatively, the pressure sensor is fixed on a sliding seat, the sliding seat is connected with the frame, a sliding platform is slidably arranged on the sliding seat in the advancing direction of the power-assisted vehicle, the sliding platform is connected with the vehicle body, a spring is arranged between the sliding platform and the pressure sensor in the advancing direction, and one end of the spring is in contact with the sensing surface of the pressure sensor.

8. The electric assist bicycle of claim 6, wherein: A weighing sensor is arranged on the frame to detect the total weight of the vehicle body and the load on the vehicle body, or a compression spring with elastic coefficient m is arranged between the vehicle body and the frame in the up-down direction, and a second acceleration sensor for measuring the downward acceleration b of the vehicle body when the load is placed is arranged on the vehicle body.

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