Automatic gear shifting method, device, terminal equipment and storage medium of bicycle

Abstract

The application is suitable for the technical field of wireless electronic gear shifting of bicycles, and provides an automatic gear shifting method and device of a bicycle, a terminal device and a storage medium, which comprises the following steps: firstly, acquiring fuzzy control parameters, the fuzzy control parameters comprising a pedal frequency, a previous gear shifting time and a speed-pedal frequency ratio; secondly, performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shifting result; and thirdly, controlling the bicycle according to the gear shifting result. Thus, the decision is realized by multiple dimension parameters, and the full-automatic gear shifting is realized only by relying on an additional speed-pedal frequency device, so that the universality of the gear shifting system is increased.

Description

Technical Field

[0001] This application belongs to the field of wireless electronic shifting technology for bicycles, and particularly relates to an automatic shifting method, device, terminal equipment, and storage medium for bicycles. Background Technology

[0002] Traditional mechanical shifting systems offer advantages in reliability and cost-effectiveness, but their level of intelligence and user-friendliness is low, requiring riders to have extensive shifting experience and regular adjustments to maintain optimal performance. With technological advancements, electronic shifting systems have emerged, providing a more precise and faster shifting experience and reducing chain wear. However, electronic shifting systems on the market are expensive, hindering widespread adoption. Furthermore, while existing electronic shifting systems achieve basic shifting functions, there is still room for improvement in terms of intelligence, automation, and user experience.

[0003] Existing intelligent automatic transmission solutions rely on expensive onboard torque detection components and sophisticated onboard gyroscopes, and also require the assistance of cadence and speed measurement devices, which means they are often only applicable to electric-assist bicycles, greatly limiting their widespread adoption. Summary of the Invention

[0004] This application provides an automatic shifting method, device, terminal equipment, and storage medium for bicycles, which can solve the problem of low adoption rate caused by existing intelligent automatic shifting solutions relying on expensive on-board torque detection components and sophisticated on-board gyroscopes.

[0005] In a first aspect, embodiments of this application provide an automatic gear shifting method for a bicycle, comprising: acquiring fuzzy control parameters, the fuzzy control parameters including cadence, previous gear shift time, and speed-cadence ratio; performing fuzzy inference on the fuzzy control parameters to obtain a gear shifting result; and controlling the bicycle according to the gear shifting result.

[0006] In one possible implementation of the first aspect, the above-mentioned fuzzy inference of the fuzzy control parameters to obtain the gear shift result includes:

[0007] The membership degree of each fuzzy control parameter is obtained by using the membership function corresponding to each fuzzy control parameter.

[0008] Based on the membership degree of each fuzzy control parameter and multiple preset control rules, the gear shifting result is obtained.

[0009] Optionally, in another possible implementation of the first aspect, the aforementioned preset multiple control rules include: if the previous gear shift time was not a gear change, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was downshifting, the gear shift result is downshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence is unchanged, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was upshifting, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was downshifting, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence is unchanged, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was upshifting, the gear shift result is upshifting.

[0010] Optionally, in another possible implementation of the first aspect, the above-mentioned obtaining the gear shift result based on the membership degree of each fuzzy control parameter and multiple preset control rules includes:

[0011] Substitute the membership degree of each fuzzy control parameter into multiple preset control rules to generate the activation degree corresponding to each control rule;

[0012] Determine the control rule corresponding to the maximum activation level, and then determine the shift result corresponding to the control rule as the shift result.

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

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

[0015] Secondly, embodiments of this application provide an automatic gear shifting device for a bicycle, comprising: a first acquisition module for acquiring fuzzy control parameters, the fuzzy control parameters including cadence, previous shift time, and speed-cadence ratio; a second acquisition module for performing fuzzy inference on the fuzzy control parameters to acquire shifting results; and a control module for controlling the bicycle according to the shifting results.

[0016] Thirdly, embodiments of this application provide a bicycle, including an automatic transmission device, a speed cadence device, a front and rear gear receiving actuator, and a bicycle frame structure.

[0017] Fourthly, embodiments of this application provide a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned automatic gear shifting method for a bicycle.

[0018] Fifthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned automatic gear shifting method for a bicycle.

[0019] In this technical solution, fuzzy control parameters are first obtained, including cadence, previous gear shift time, and speed-cadence ratio. Then, fuzzy inference is performed on the fuzzy control parameters to obtain the gear shifting result, and the bicycle is controlled based on the gear shifting result. Thus, decision-making is achieved through multiple dimensions of parameters, and fully automatic gear shifting is achieved using only an external speed-cadence sensor, increasing the versatility of the gear shifting system. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an embodiment of an automatic gear shifting method for a bicycle provided in this application.

[0022] Figure 2 This is a schematic diagram of the membership function corresponding to the tread frequency provided in an embodiment of this application;

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

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

[0025] Figure 5 This is a schematic diagram of the structure of an automatic transmission device for a bicycle provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

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

[0029] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0031] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0033] The automatic gear shifting method, device, bicycle, terminal equipment, and storage medium of this application are described in detail below with reference to the accompanying drawings.

[0034] Figure 1 A flowchart illustrating an automatic gear shifting method for a bicycle provided in an embodiment of this application is shown.

[0035] like Figure 1 As shown, the automatic transmission method of this bicycle includes the following steps:

[0036] Step 101: Obtain fuzzy control parameters, including cadence, previous shift time, and speed-cadence ratio.

[0037] It should be noted that the speed-cadence ratio (physically defined as the ratio of the number of rear wheel rotations per revolution to the current gear ratio) is calculated using speed and cadence.

[0038] It should also be noted that in this embodiment, "cadence," "previous shift time," and "speed-cadence ratio" are selected as inputs, and "shift result" is selected as output. "Cadence" is measured by the "speed-cadence sensor" using the Hall effect sensor principle and stored in the flash memory of the development board chip; "speed-cadence ratio" is calculated using the measured cadence and parameters such as the gear ratio of the current gear; "previous shift time" is measured by the timer built into the development board chip to determine the time interval since the last shift.

[0039] Step 102: Perform fuzzy inference on the fuzzy control parameters to obtain the gear shift result.

[0040] Furthermore, in one embodiment of this application, step 102 includes:

[0041] Step 1021: Obtain the membership degree of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter.

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

[0043] Step 1022: Obtain the gear shift result based on the membership degree of each fuzzy control parameter and multiple preset control rules.

[0044] It should be noted that the preset control rules can include: if the previous gear shift time was not a gear change, the gear shift result will be unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was downshifting, the gear shift result will be downshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was unchanged, the gear shift result will be unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was upshifting, the gear shift result will be upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was downshifting, the gear shift result will be unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was unchanged, the gear shift result will be upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was upshifting, the gear shift result will be upshifting.

[0045] Furthermore, in one embodiment of this application, step 1022 above further includes:

[0046] Substitute the membership degree of each fuzzy control parameter into multiple preset control rules to generate the activation degree corresponding to each control rule;

[0047] Determine the control rule corresponding to the maximum activation level, and then determine the shift result corresponding to the control rule as the shift result.

[0048] Optionally, in one embodiment of this application, F indicates that the gear shift result is a recommended downshift; S indicates that the gear shift result is a recommended unchanged shift; and R indicates that the gear shift result is a recommended upshift. Thus, there are a total of 12 cases (cadence has 3 levels, previous shift time has 2 levels, and speed-cadence ratio has 2 levels, totaling 3*2*2=12), which are divided into three categories: recommended upshift, recommended downshift, and recommended unchanged shift. 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 still be used. Therefore, the final output decision must occur where the membership function value (vertical axis) reaches its maximum value. Therefore, following the traditional method, after obtaining the maximum value of the same type of case, the size relationship between the maximum values ​​of the three types of cases is directly compared, and the case corresponding to the largest maximum value is output as the gear shift result.

[0049] As one possible implementation, when multiple maximum activation values ​​exist, the gear shift result is set to remain unchanged. If two or more scenarios have the same maximum value, then for practical riding safety considerations, the output gear shift result is always "Recommended to remain unchanged".

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

[0051] Step 103: Control the bicycle based on the gear shift result.

[0052] It should be noted that the control of the bicycle based on the gear shift result only occurs at the instant when the crank of the bicycle is horizontal to the ground, which is also the most suitable position for shifting gears in general. The gear shift decision controls the bicycle's front and rear gear receiving actuators to change gears in the overall gear range of the fully synchronized mode described above, to traverse the minimum and maximum gear ratios achievable by the gear system.

[0053] The automatic gear shifting method for bicycles provided in this application measures speed and cadence information using a speed-cadence sensor, and calculates the speed-cadence ratio and the previous shift time on a development board. The cadence, speed-cadence ratio, previous shift time, membership functions of the shift signal, and control rules are pre-set. Using cadence, speed-cadence ratio, and previous shift time as fuzzy inputs, and based on seven pre-defined control rules, fuzzy inference is performed using the Mamdani inference method to calculate the largest combination of membership functions. The fuzzy output value corresponding to the largest membership function value is directly used as the shift result without defuzzification. The shift signal is directly used by the development board to control the servo motor for gear switching. Thus, decision-making is achieved through multi-dimensional parameters, enabling fully automatic gear shifting with only an external speed-cadence sensor, increasing the versatility of the gear shifting system.

[0054] As one possible implementation, in one embodiment of this application, when the bicycle is riding smoothly and normally on a flat road, the cadence is maintained at a moderate level, and the speed-cadence ratio is around 1. At this time, the algorithm will output a decision not to change gears. When the bicycle starts from a standstill, the cadence slowly increases from 0. The algorithm will recognize the starting behavior and output a downshift command appropriately to facilitate the rider's start. When the rider is coasting without power or not pedaling at full force on a flat road or downhill, the speed-cadence ratio is higher than 1. The algorithm will choose to upshift or remain unchanged based on the current cadence. When the rider suddenly enters an uphill section from a flat road, the rider's cadence will naturally decrease due to increased resistance, and the algorithm will make a downshift decision. After downshifting, since the rider's cadence will not immediately increase, the algorithm will make a gear shift decision based on the time interval of the previous gear shift. If the rider does not decrease their cadence when going uphill, or suddenly increases their cadence to accelerate on a flat road, the algorithm will follow the rider's own will and make decisions to remain unchanged or upshift.

[0055] The above scenarios represent ideal algorithmic decisions. The actual algorithm response is determined by three parameters: cadence, speed-cadence ratio, and the time since the last gear shift. In some intermediate states, the algorithm will make fuzzy decisions based on the calculated shift probabilities. The specific response method, i.e., the membership functions of the three variables, can be encapsulated into multiple specialized shifting tendencies, such as those for undulating roads, flat roads, long slopes, and dirt roads, which can be customized by the user through an app. It should be noted that the above scenarios are merely illustrative.

[0056] It should be understood that the sequence number of each step in the above embodiments does not imply 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 this application.

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

[0058] Reference Figure 5 The device 500 includes:

[0059] The first acquisition module 501 is used to acquire fuzzy control parameters, including cadence, previous variable time, and speed-cadence ratio.

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

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

[0062] In practical use, the automatic transmission device for bicycles provided in this application embodiment can be configured in any terminal device to execute the aforementioned automatic transmission method.

[0063] The automatic transmission device for bicycles provided in this application first acquires fuzzy control parameters, including cadence, previous shift time, and speed-cadence ratio. Then, fuzzy inference is performed on these parameters to obtain the shifting result, and the bicycle is controlled based on this result. Thus, decision-making is achieved through multiple dimensions of parameters, enabling fully automatic transmission using only an external speed-cadence sensor, increasing the versatility of the transmission system.

[0064] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0065] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0066] To implement the above embodiments, this application also proposes a bicycle, including an automatic transmission device, a speed cadence device, a front and rear gear receiving actuator, and a bicycle frame structure, wherein the automatic transmission device performs the aforementioned automatic transmission method.

[0067] To implement the above embodiments, this application also proposes a terminal device.

[0068] Figure 6 This is a schematic diagram of the structure of a terminal device according to an embodiment of this application.

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

[0070] The system includes a memory 210 and at least one processor 220, and a bus 230 connecting the different components (including the memory 210 and the processor 220). The memory 210 stores a computer program that, when executed by the processor 220, implements the automatic gear shifting method for a bicycle as described in this application embodiment.

[0071] Bus 230 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0072] Terminal device 200 typically includes various electronically readable media. These media can be any available media that can be accessed by terminal device 200, including volatile and non-volatile media, removable and non-removable media.

[0073] 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. Terminal device 200 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 260 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as 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 media) may be provided. In these cases, each drive may be connected to bus 230 via one or more data media interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0074] A program / utility 280 having a set (at least one) of program modules 270 may be stored in, for example, memory 210. Such program modules 270 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 270 typically perform the functions and / or methods described in the embodiments of this application.

[0075] Terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), and with one or more devices that enable a user to interact with terminal device 200, and / or with any device that enables terminal device 200 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 292. Furthermore, terminal device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 293. As shown, network adapter 293 communicates with other modules of terminal device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with terminal device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

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

[0077] It should be noted that the implementation process and technical principles of the terminal device in this embodiment are explained in the foregoing description of the automatic gear shifting method for bicycles in this application embodiment, and will not be repeated here.

[0078] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0079] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0080] If the integrated unit is implemented as 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, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0083] In the embodiments provided in this 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 merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

[0085] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automatic gear shifting method for a bicycle, characterized in that, include: Acquire fuzzy control parameters, including cadence, previous gear shift time, and speed-cadence ratio; Fuzzy inference is performed on the fuzzy control parameters to obtain the gear shift result; The bicycle is controlled based on the gear shift result; Specifically, the membership degree of each fuzzy control parameter is obtained through the membership function corresponding to each fuzzy control parameter; the gear shifting result is obtained based on the membership degree of each fuzzy control parameter and multiple preset control rules. The preset control rules include: if the previous gear shift time was not a gear change, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was downshifting, the gear shift result is downshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence is unchanged, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was upshifting, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was downshifting, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence is unchanged, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was upshifting, the gear shift result is upshifting. Substitute the membership degree of each of the fuzzy control parameters into the preset multiple control rules to generate the activation degree corresponding to each control rule; Determine the control rule corresponding to the maximum activation degree, and determine the gear shift result corresponding to the control rule as the gear shift result.

2. The method as described in claim 1, characterized in that, When multiple maximum activation levels exist, the change result is determined to remain unchanged.

3. The method as described in claim 2, characterized in that, When the gear shift result is an upshift or downshift, the previous gear shift time is reset to zero and the timing restarts.

4. An automatic gear shifting device for a bicycle, characterized in that, include: The first acquisition module is used to acquire fuzzy control parameters, including cadence, previous shift time, and speed-cadence ratio. The second acquisition module is used to perform fuzzy inference on the fuzzy control parameters to obtain the gear shift result; A control module is used to control the bicycle based on the gear shifting result; Specifically, the membership degree of each fuzzy control parameter is obtained through the membership function corresponding to each fuzzy control parameter; the gear shifting result is obtained based on the membership degree of each fuzzy control parameter and multiple preset control rules. The preset control rules include: if the previous gear shift time was not a gear change, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was downshifting, the gear shift result is downshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence is unchanged, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was not upshifting, and the cadence was upshifting, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was downshifting, the gear shift result is unchanged; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence is unchanged, the gear shift result is upshifting; if the previous gear shift time was a gear change, the speed-cadence ratio was upshifting, and the cadence was upshifting, the gear shift result is upshifting. Substitute the membership degree of each of the fuzzy control parameters into the preset multiple control rules to generate the activation degree corresponding to each control rule; Determine the control rule corresponding to the maximum activation degree, and determine the gear shift result corresponding to the control rule as the gear shift result.

5. A bicycle comprising the automatic transmission device, speed cadence device, front and rear gear receiving actuator, and bicycle frame structure of the bicycle as described in claim 4.

6. 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, it implements the method as described in any one of claims 1 to 3.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 3.

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