Automatic speed changing method and device of bicycle, terminal equipment and storage medium

Abstract

The invention is suitable for the technical field of bicycle wireless electronic speed change, and provides an automatic speed change method and device for a bicycle, terminal equipment and a storage medium, and the method comprises the steps: firstly obtaining fuzzy control parameters which comprise the pedaling frequency, the previous speed change time and the speed pedaling frequency ratio, and then carrying out the fuzzy reasoning of the fuzzy control parameters, and a gear shifting result is obtained, and then the bicycle is controlled according to the gear shifting result. Therefore, decision making is achieved through multi-dimensional parameters, full-automatic speed changing is achieved only through the additionally-arranged speed treading frequency device, and the universality of the speed changing system is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of wireless electronic speed change for bicycles, and in particular, relates to an automatic speed change method, device, terminal equipment and storage medium for a bicycle. Background Art

[0002] Traditional mechanical transmission systems have the advantages of reliability and cost-effectiveness, but they are not intelligent and user-friendly. They require drivers to have rich experience in shifting and need to be adjusted regularly to maintain optimal performance. With the development of technology, electronic transmission systems have emerged, providing a more precise and faster shifting experience and reducing chain wear. However, the electronic transmission systems on the market are expensive and difficult to popularize. In addition, although the existing electronic transmission systems have achieved basic shifting functions, they still need to be improved in terms of intelligence, automation and user experience.

[0003] Existing intelligent automatic transmission solutions rely on expensive on-board torque detection components and precise on-board gyroscopes, and also require the assistance of cadence and speed measurement devices, which means that they can often only be used on electric-assisted bicycles, greatly limiting their popularity. Summary of the invention

[0004] The embodiments of the present application provide a method, apparatus, terminal device and storage medium for automatic speed change of a bicycle, which can solve the problem of low popularity of existing intelligent automatic speed change solutions due to their reliance on expensive on-board torque detection components and precise on-board gyroscopes.

[0005] In a first aspect, an embodiment of the present application provides an automatic speed shifting method for a bicycle, comprising: obtaining fuzzy control parameters, the fuzzy control parameters including pedaling frequency, previous speed shifting time, and speed-to-cadence ratio; performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shifting result; and controlling the bicycle according to the gear shifting result.

[0006] In a possible implementation manner of the first aspect, performing fuzzy reasoning on the fuzzy control parameters to obtain the gear shift result includes:

[0007] Obtaining the membership degree of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter;

[0008] The gear shifting result is obtained according to the membership degree of each fuzzy control parameter and multiple preset control rules.

[0009] Optionally, in another possible implementation of the first aspect, the above-mentioned preset multiple control rules include: if the previous speed change time was no speed change, the gear shift result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was downshift, the gear shift result was downshift; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was unchanged, the gear shift result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was upshift, the gear shift result was upshift; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was upshift, the gear shift result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was downshift, the gear shift result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was unchanged, the gear shift result was upshift; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was upshift, the gear shift result was upshift.

[0010] Optionally, in another possible implementation of the first aspect, obtaining the gear shift result according to the degree of membership of each fuzzy control parameter and a plurality of preset control rules includes:

[0011] Substituting the membership degree of each fuzzy control parameter into a plurality of preset control rules respectively, and generating the activation degree corresponding to each control rule;

[0012] A control rule corresponding to the maximum activation degree is determined, and a gear shift result corresponding to the control rule is determined as the gear shift result.

[0013] Optionally, in another possible implementation of the first aspect, when there are multiple maximum activation degrees, the gear shift result is determined to be unchanged.

[0014] Optionally, in another possible implementation of the first aspect, when the above-mentioned gear shift result is upshift or downshift, the previous gear shift time is reset to zero and the timing starts again.

[0015] In a second aspect, an embodiment of the present application provides an automatic speed shifting device for a bicycle, comprising: a first acquisition module, used to acquire fuzzy control parameters, the fuzzy control parameters including pedaling frequency, previous speed shifting time and speed-to-frequency ratio; a second acquisition module, used to perform fuzzy reasoning on the fuzzy control parameters to acquire a gear shifting result; and a control module, used to control the bicycle according to the gear shifting result.

[0016] In a third aspect, an embodiment of the present application provides a bicycle, including an automatic transmission device of a bicycle, a speed cadence meter, front and rear transmission receiving actuators, and a bicycle body structure.

[0017] In a fourth aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the automatic speed shifting method of a bicycle as described above is implemented.

[0018] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the automatic speed shifting method of a bicycle as described above is implemented.

[0019] In the technical solution of the present application, fuzzy control parameters are first obtained, including pedaling frequency, previous speed change time and speed-to-frequency ratio, and then fuzzy reasoning is performed on the fuzzy control parameters to obtain the gear change result, and then the bicycle is controlled according to the gear change result. Thus, decision-making is achieved by multi-dimensional parameters, and fully automatic gear change is achieved only by relying on an external speed pedal, which increases the versatility of the gear change system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic flow chart of an automatic speed changing method for a bicycle provided in one embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a membership function corresponding to a cadence provided in an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a membership function corresponding to the previous speed change time provided by an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a membership function corresponding to a speed-cadence ratio provided in an embodiment of the present application;

[0025] Figure 5 It is a structural schematic diagram of an automatic speed changing device for a bicycle provided in one embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0028] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0029] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0031] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0033] The following describes in detail the automatic speed shifting method, device, bicycle, terminal device and storage medium for a bicycle provided by the present application with reference to the accompanying drawings.

[0034] Figure 1 A schematic flow chart of an automatic speed changing method for a bicycle provided in an embodiment of the present application is shown.

[0035] like Figure 1 As shown, the automatic speed shifting method of the bicycle comprises the following steps:

[0036] Step 101, obtaining fuzzy control parameters, the fuzzy control parameters including cadence, last speed change time and speed-to-cadence ratio.

[0037] It should be noted that the speed-to-cadence ratio (whose physical meaning is the ratio of the number of revolutions of the rear wheel during one pedaling cycle to the current gear ratio) is calculated through the speed and the pedaling frequency.

[0038] It should also be noted that in the embodiment of the present application, "cadence", "last shift time", and "speed-to-cadence ratio" are selected as inputs, and "shift result" is selected as output. "Cadence" will be measured by the "speed-to-cadence device" using the Hall sensor principle and stored in the flash of the development board chip; "speed-to-cadence ratio" is calculated by the measured cadence and the gear ratio of the current gear and other parameters; "last shift time" is measured by the timer of the development board chip to measure the time interval from the last shift.

[0039] Step 102, perform fuzzy reasoning on the fuzzy control parameters to obtain the gear shift result.

[0040] Furthermore, in an embodiment of the present application, the above step 102 includes:

[0041] Step 1021, obtaining the membership of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter.

[0042] In one embodiment of the present application, the membership function diagrams corresponding to the cadence, the last speed change time, and the speed-to-cadence ratio are respectively as follows: Figure 2 , Figure 3 as well as Figure 4 shown.

[0043] Step 1022, obtaining the gear shift result according to the membership degree of each fuzzy control parameter and a plurality of preset control rules.

[0044] It should be noted that the preset multiple control rules may include: if the previous speed change time was no speed change, the gear change result is unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was downshift, the gear change result is downshift; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was unchanged, the gear change result is unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was upshift, the gear change result is upshift; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was downshift, the gear change result is unchanged; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was downshift, the gear change result is unchanged; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was unchanged, the gear change result is upshift; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was upshift, the gear change result is upshift.

[0045] Furthermore, in an embodiment of the present application, the above step 1022 further includes:

[0046] Substituting the membership degree of each fuzzy control parameter into a plurality of preset control rules respectively, and generating the activation degree corresponding to each control rule;

[0047] A control rule corresponding to the maximum activation degree is determined, and a gear shift result corresponding to the control rule is determined as the gear shift result.

[0048] Optionally, in one embodiment of the present application, F indicates that the gear shift result is a recommended downshift; S indicates that the gear shift result is a recommended unchanged; and R indicates that the gear shift result is a recommended upshift. It can be seen that there are a total of 12 situations (the pedaling frequency contains 3 levels, the previous speed change time contains 2 levels, and the speed pedaling frequency ratio contains 2 levels, a total of 3*2*2=12), and they are divided into three categories: recommended upshift, recommended downshift, and recommended unchanged. Since the final output of the system is fuzzy (upshift, downshift, unchanged), the defuzzification step in traditional fuzzy control can be omitted, but the idea of ​​the "maximum membership function method" must be used. It can be seen that the final output decision must appear at the point where the membership function value (vertical coordinate) reaches the maximum value. Therefore, according to the traditional method, after obtaining the maximum value of the same situation, directly compare the size relationship between the maximum values ​​of the three categories of situations, and output the situation corresponding to the largest maximum value as the gear shift result.

[0049] As a possible implementation method, when there are multiple maximum activation levels, the shift result is determined to be unchanged. If the maximum values ​​corresponding to two or more situations are equal, then for the sake of actual riding safety, the output shift result is always "recommended unchanged"

[0050] It should be noted that when the gear shift result is upshift or downshift, the previous gear shift time is reset to zero and the timing is restarted. The gear shift result output by the fuzzy control program will be passed to the rear derailleur program, which directly controls the servo to perform upshift or downshift or remain unchanged after processing and calculation. If the result is upshift or downshift, it will be fed back to the counting program that calculates the "previous gear shift time", refreshed and restarted.

[0051] Step 103, controlling the bicycle according to the gear shifting result.

[0052] It should be noted that the bicycle is controlled according to the gear shift result only at the moment when the crank of the bicycle is level with the ground, which is also the most suitable position for gear shifting in a general sense. The gear shift decision controls the front and rear gear shift receiving actuators of the bicycle to change in the overall gear position of the full synchronization mode mentioned above to traverse the minimum and maximum gear ratios that can be achieved by the gear shift system.

[0053] The automatic speed change method of the bicycle provided by the present application measures the speed and the cadence information through the speed cadence meter, and calculates the speed cadence ratio and the last speed change time in the development board. The membership function and control rules of the cadence, speed cadence ratio, the last speed change time, and the gear shift signal are pre-set, and the cadence, speed cadence ratio, and the last speed change time are used as fuzzy inputs. According to the set 7 control rules, the Mamdani reasoning method is used for fuzzy reasoning, and the largest membership function combination is calculated. The fuzzy output value corresponding to the largest membership function value is found and directly used as the gear change result without defuzzification. The gear change signal is directly used for the development board to control the steering gear to switch gears. Thus, the decision is made by multi-dimensional parameters together, and the fully automatic gear change is achieved only by relying on the external speed cadence meter, which increases the versatility of the gear change system.

[0054] As a possible implementation, in one embodiment of the present application, when the bicycle is running smoothly and normally on a flat road, the pedaling frequency is maintained at a moderate state, and the speed-to-pedal ratio is about 1, and the algorithm will output a decision not to change gear. When the bicycle starts from a standstill, the pedaling frequency slowly rises from 0, and the algorithm will recognize the starting behavior and appropriately output a downshift instruction to facilitate the rider to start. When the rider is sliding without power on a flat road or downhill or not pedaling with all his strength, the speed-to-pedal ratio is higher than 1, and the algorithm will choose to upshift or keep it unchanged according to the current pedaling frequency. When the rider suddenly enters an uphill section from a flat road, the rider's pedaling frequency will naturally decrease due to increased resistance, and the algorithm will make a downshift decision. After downshifting, since the rider's pedaling frequency will not rise immediately, the algorithm will make a speed change decision based on the previous speed change time interval. If the rider does not reduce his own pedaling frequency when going uphill, or suddenly increases his own pedaling frequency on a flat road to accelerate, the algorithm will follow the rider's own will and make decisions on not changing speed and upshifting respectively.

[0055] The above situations are all algorithm decisions under ideal conditions. The specific response of the algorithm is determined by the three parameters of cadence, speed-to-cadence ratio and the last gear shift time. In some intermediate states, the algorithm will make fuzzy decisions according to the calculated gear shift probability. The specific response mode, that is, the membership function of the three variables can be encapsulated into multiple sets of specialized gear shifting tendencies, such as undulating road specialized type, flat road specialized type, long slope specialized type, dirt road specialized type, etc., which can be customized by users through the APP. It should be noted that the above situation is only exemplary.

[0056] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0057] The automatic speed shifting method for a bicycle corresponding to the above embodiment, Figure 5A structural block diagram of an automatic transmission device for a bicycle provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0058] Reference Figure 5 , the device 500 comprises:

[0059] A first acquisition module 501 is used to acquire fuzzy control parameters, the fuzzy control parameters include cadence, previous variable time and speed-cadence ratio;

[0060] The second acquisition module 502 is used to perform fuzzy reasoning on the fuzzy control parameters to obtain the gear shift result;

[0061] The control module 503 is used to control the bicycle according to the gear shifting result.

[0062] In actual use, the automatic speed shifting device for a bicycle provided in the embodiment of the present application can be configured in any terminal device to execute the aforementioned automatic speed shifting method.

[0063] The automatic speed change device for a bicycle provided by the present application first obtains fuzzy control parameters, which include pedaling frequency, last speed change time, and speed-to-frequency ratio, then performs fuzzy reasoning on the fuzzy control parameters to obtain a gear change result, and then controls the bicycle according to the gear change result. Thus, decision-making is achieved by multi-dimensional parameters, and fully automatic speed change is achieved only by relying on an external speed pedal, which increases the versatility of the speed change system.

[0064] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0065] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0066] In order to implement the above embodiment, the present application also proposes a bicycle, including an automatic transmission device of a bicycle, a speed cadence device, front and rear transmission receiving actuators and a bicycle body structure, wherein the automatic transmission device executes the above automatic transmission method.

[0067] In order to implement the above embodiments, the present application also proposes a terminal device.

[0068] Figure 6 A schematic diagram of the structure of a terminal device according to an embodiment of the present application.

[0069] like Figure 6 As shown, the terminal device 200 includes:

[0070] The memory 210 and at least one processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and when the processor 220 executes the program, the automatic speed shifting method of the bicycle described in the embodiment of the present application is implemented.

[0071] Bus 230 represents one or more 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 architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0072] The terminal device 200 typically includes a variety of electronic device readable media, which can be any available media that can be accessed by the terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0073] The memory 210 may also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. The terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 260 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to bus 230 via one or more data medium interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0074] A program / utility 280 having a set (at least one) of program modules 270 may be stored, for example, in the memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 270 generally perform the functions and / or methods of the embodiments described herein.

[0075] The terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), and can also communicate with one or more devices that enable users to interact with the terminal device 200, and / or communicate with any device that enables the terminal device 200 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be carried out through an input / output (I / O) interface 292. In addition, the terminal device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) through a network adapter 293. As shown in the figure, the network adapter 293 communicates with other modules of the terminal device 200 through a bus 230. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the terminal device 200, including but not limited to: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive, and data backup storage system, etc.

[0076] The processor 220 executes various functional applications and data processing by running the programs stored in the memory 210 .

[0077] It should be noted that the implementation process and technical principles of the terminal device of this embodiment refer to the aforementioned explanation of the automatic speed shifting method of the bicycle in the embodiment of the present application, and will not be repeated here.

[0078] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0079] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0080] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0081] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0083] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0084] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for automatically shifting a bicycle, characterized in that: include: Acquiring fuzzy control parameters, wherein the fuzzy control parameters include cadence, last speed change time, and speed-cadence ratio; Performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shift result; The bicycle is controlled according to the gear shifting result.

2. The method according to claim 2, characterized in that The step of performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shift result includes: Obtaining the membership of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter; The gear shift result is obtained according to the membership degree of each fuzzy control parameter and a plurality of preset control rules.

3. The method according to claim 2, characterized in that The preset multiple control rules include: if the previous speed change time was no speed change, the gear change result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was downshift, the gear change result was downshift; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was unchanged, the gear change result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was no upshift, and the cadence was upshift, the gear change result was upshift; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was downshift, the gear change result was unchanged; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was unchanged, the gear change result was upshift; if the previous speed change time was speed change, the speed-cadence ratio was upshift, and the cadence was unchanged, the gear change result was upshift; 4. The method according to claim 3, characterized in that The step of obtaining the gear shift result according to the degree of membership of each fuzzy control parameter and a plurality of preset control rules comprises: Substituting the membership degree of each of the fuzzy control parameters into the preset multiple control rules respectively to generate the activation degree corresponding to each control rule; A control rule corresponding to the maximum activation degree is determined, and a gear shift result corresponding to the control rule is determined as the gear shift result.

5. The method according to claim 4, characterized in that When there are multiple maximum activation degrees, the shift result is determined to be unchanged.

6. The method according to claim 4, characterized in that When the gear shift result is an upshift or a downshift, the previous gear shift time is reset to zero and the timing is restarted.

7. An automatic transmission device for a bicycle, characterized in that: include: A first acquisition module, used for acquiring fuzzy control parameters, wherein the fuzzy control parameters include cadence, last speed change time and speed-cadence ratio; A second acquisition module, used for performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shift result; A control module is used to control the bicycle according to the gear shifting result.

8. A bicycle comprising the automatic transmission device for a bicycle according to claim 7, a speed cadence device, front and rear speed change receiving actuators and a bicycle body structure.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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