Power assisting method and power assisting device for electric power-assisted bicycle and storage medium
By using a gyroscope to detect posture information and determine the pitch angle on the central control equipment of the electric power assist bicycle, and adjusting the power output in real time, the power assist response problem of the electric power assist bicycle under different slope conditions is solved, and more reasonable power assist distribution and energy-saving effects are achieved.
Patent Information
- Application Number
- CN202311316621.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-11
- Publication Date
- 2025-04-11
AI Technical Summary
When existing electric assist bicycles are riding on uphill sections with large slopes, the assist function usually cannot be started or the assist effect is poor after starting. Moreover, when riding on downhill sections, the assist function cannot be weakened and controlled accordingly, resulting in the problem of rapid downhill acceleration.
The bicycle position information is obtained by a gyroscope installed on the central control device, and the pitch angle, that is, slope information, is determined based on the position information, and the assist output is adjusted in real time based on the slope information. Specific measures include setting the boost current limit to respond to different slope conditions when the pitch angle is greater than a certain angle threshold.
It achieves relatively sufficient assistance when going uphill, relatively energy-saving assistance on flat roads, does not provide or provides less assistance when going downhill, and reduces assist output when turning, solving the problem of untimely response to the power function and rapid acceleration in the downhill in the existing technology, while avoiding the use of high-cost torque sensors.
Smart Images
Figure CN119796394A_ABST
Abstract
Description
Technical Field
[0001] Example embodiments of the present disclosure generally relate to the field of electric power-assisted bicycles, and more particularly to an assisting method, an assisting device, and a computer-readable storage medium for an electric power-assisted bicycle. Background Art
[0002] At present, there are generally two types of power-assist sensors used in electric power-assisted bicycles on the market, one is a torque sensor and the other is a cadence speed sensor. The torque sensor can make the power-assist function of the electric power-assisted bicycle respond promptly and have a better power-assist effect, but the cost is relatively high. The cost of the cadence speed sensor is relatively low, but the power-assist effect is not as good as the power-assist solution using the torque sensor. When riding on an uphill section with a large slope, the power-assist function of a bicycle using the cadence speed sensor solution usually cannot be activated or the power-assist effect after activation is poor. When riding on a downhill section, the power-assist function cannot be weakened accordingly, resulting in the problem of excessive acceleration downhill. Summary of the invention
[0003] Embodiments of the present disclosure provide an assisting method, an assisting device, and a computer-readable storage medium for an electric assist bicycle.
[0004] In a first aspect of the present disclosure, a power assist method for an electric power-assisted bicycle is provided, comprising: obtaining posture information from a gyroscope disposed on a central control device of the electric power-assisted bicycle; determining a pitch angle of the electric power-assisted bicycle based on the posture information; and in response to the pitch angle being greater than a first angle threshold, setting an assist current limit of the electric power-assisted bicycle to a first current limit value, wherein the electric power-assisted bicycle has a plurality of assist current limit values and the first current limit value is greater than the remaining assist current limit values of the electric power-assisted bicycle.
[0005] In a second aspect of the present disclosure, a power assisting device for an electric power-assist bicycle is provided, comprising: an acquisition module, configured to obtain posture information from a gyroscope arranged on a central control device of the electric power-assist bicycle; a determination module, configured to determine a pitch angle of the electric power-assist bicycle based on the posture information; and a setting module, configured to set an assisting current limit of the electric power-assist bicycle to a first current limiting value in response to the pitch angle being greater than a first angle threshold, wherein the electric power-assist bicycle has multiple assisting current limit values and the first current limiting value is greater than the remaining assisting current limit values of the electric power-assist bicycle.
[0006] In a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program can be executed by a processor to implement the power assistance method of the first aspect.
[0007] According to the embodiments of the present disclosure, the gyroscope provided on the central control device can be used to obtain the posture of the bicycle, and the pitch angle, that is, the slope information, can be determined based on the posture, so as to adjust the power output in real time according to the slope information. In this way, the power system can respond to the state of the vehicle in a timely manner, provide relatively sufficient power when going uphill, provide relatively energy-saving power on flat roads, provide no or less power when going downhill, and reduce the power output when turning. In addition, this solution avoids the use of torque sensors and reduces costs.
[0008] It should be understood that the contents described in this content section are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:
[0010] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;
[0011] Figure 2 Shows Figure 1 The data flow of the central control device shown in;
[0012] Figure 3 A flow chart showing an assist process for an electric assist bicycle according to some embodiments of the present disclosure is shown;
[0013] Figure 4 A schematic diagram showing a gyroscope detecting posture information according to some embodiments of the present disclosure is shown;
[0014] Figure 5 A schematic diagram of determining the output current of a motor controller according to some embodiments of the present disclosure is shown;
[0015] Figure 6 A calibration process for a reference pitch angle according to some embodiments of the present disclosure is shown;
[0016] Figure 7 A schematic structural block diagram showing a power assist device for an electric power assist bicycle according to some embodiments of the present disclosure; and
[0017] Figure 8 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION
[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.
[0019] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.
[0020] As briefly mentioned above, the torque sensor can make the power-assisting function of the electric power-assist bicycle respond promptly and have a good power-assisting effect, but the cost is relatively high; the cadence speed sensor has a lower cost, but the power-assisting effect is not as good as the power-assisting scheme using the torque sensor; for bicycles using the cadence speed sensor scheme, when riding on an uphill section with a large slope, the power-assisting function usually cannot be started or the power-assisting effect after starting is poor, and when riding on a downhill section, the power-assisting function cannot be weakened and controlled accordingly, resulting in the problem of too fast downhill acceleration. The embodiments of the present disclosure provide a power-assisting scheme for an electric power-assist bicycle, which can use a gyroscope set on a central control device to obtain the posture of the bicycle, and determine the pitch angle based on the posture, that is, the slope information, so as to adjust the power-assisting ratio output in real time according to the slope information. The following will be combined with Figures 1 to 8 To describe the embodiments of the present disclosure.
[0021] Some example embodiments of the present disclosure will be described below with reference to the accompanying drawings. Please note that in some descriptions of the embodiments, certain specific values may be involved in order to better help readers understand. These values are exemplary and may vary according to specific application scenarios, and do not limit the scope of the present disclosure in any way.
[0022] Figure 1 1 is a schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented. Figure 1As shown, environment 100 includes motor 101, motor controller 102, battery 103, cadence speed sensor 104, central control device 105 and server 106. Motor 101, motor controller 102, battery 103, cadence speed sensor 104 and central control device 105 are arranged on an electric power-assisted bicycle.
[0023] The central control device 105 is disposed in the middle of the handlebar of the electric power-assisted bicycle and can communicate with the server 106. In one embodiment, the server 106 can send a text message configuration to the central control device 105 to start the power-assisted function of the electric power-assisted bicycle. It should be understood that the power-assisted function of the electric power-assisted bicycle can also be started in other ways, and the embodiments of the present disclosure are not limited to this.
[0024] The central control device 105 can send the mode configuration information and the pitch angle information to the motor controller 102 powered by the battery 103 via the controller area network bus (CAN) communication. The mode configuration information can be used to configure the working mode of the motor controller 102, such as a non-zero start mode or a zero start mode. In the non-zero start mode, the electric power-assisted bicycle can start the power-assist function only after the pedal has been stepped on for a predetermined number of times. For example, the electric power-assisted bicycle can start the power-assist function only after the pedal has been stepped on for 1, 1.5, 2 or more times. In the zero start mode, the electric power-assisted bicycle can start the power-assist function when the pedal is stepped on, without waiting for the pedal to be stepped on for a predetermined number of times. The pitch angle information is used to reflect the pitch posture of the electric power-assisted bicycle. In other words, the pitch angle information is used to reflect the slope information of the location of the electric power-assisted bicycle. The motor controller 102 can adjust its output current based on the pitch angle information to change the power-assistance output by the motor 101. The motor controller 102 also receives the pedal speed (also referred to herein as pedal rotation speed) from the cadence speed sensor 104 , and adjusts its output current based on the pedal speed to change the magnitude of the assist force output by the motor 101 .
[0025] Figure 2 Shows Figure 1 The data flow of the central control device 106 shown in FIG. Figure 2 As shown, the central control device 106 is provided with a gyroscope 1051, which can detect the posture information of the electric power-assisted bicycle, such as six-axis information. The central control device 106 is also provided with a functional unit 1052 and a micro control unit 1053. The functional unit 1052 can obtain the posture information from the gyroscope 1051, and determine the pitch angle of the electric power-assisted bicycle based on the posture information, that is, the slope information of the location. The micro control unit 1053 can send the pitch angle information and the mode configuration information to the motor controller 102.
[0026] Figure 3The flowchart of the power assist process 300 for an electric power assist bicycle according to some embodiments of the present disclosure is shown. The power assist process 300 may be executed by the central control device 105 and the motor controller 102 .
[0027] In block 310 , position information is obtained from the gyroscope 1051 disposed on the central control device 105 of the electric assist bicycle.
[0028] Figure 4 FIG. 1 shows a schematic diagram of a gyroscope 1051 detecting posture information according to some embodiments of the present disclosure. Figure 4 As shown, the gyroscope 1051 has a constant downward gravity acceleration G=9.8m / s in the direction pointing to the center of the earth. 2 Therefore, when the electric bicycle is stationary and lying flat, the acceleration value of the Z axis is constant at -9.8m / s 2 When the electric power-assisted bicycle goes uphill or downhill, the pitch attitude of the vehicle changes, so that the vector components of gravity acceleration are obtained in the X-axis and Y-axis directions. By detecting the vector components in the X-axis and Y-axis directions, the gyroscope 1051 can obtain the posture information.
[0029] In box 320, the pitch angle of the electric power-assisted bicycle, that is, the slope information, is determined based on the posture information. In some embodiments, when the electric power-assisted bicycle is on a flat road, the pitch angle is zero, when the electric power-assisted bicycle is going uphill, the pitch angle is a positive number, and when the electric power-assisted bicycle is going downhill, the pitch angle is a negative number. For example, the value range of the pitch angle can be set to -90 degrees to 90 degrees, with an accuracy of 1 degree. In other embodiments, the pitch angle of the electric power-assisted bicycle can also be characterized in other ways, such as by using an unsigned numerical range to distinguish between uphill and downhill situations, and these implementations also fall within the scope of the present disclosure.
[0030] In box 330, in response to the pitch angle being greater than the first angle threshold, the power-assist current limit of the electric power-assist bicycle is set to the first current limit. The electric power-assist bicycle has a plurality of power-assist current limits and the first current limit is greater than the remaining power-assist current limits of the electric power-assist bicycle. That is, the first current limit is the highest current limit among the power-assist current limits of the electric power-assist bicycle. In one embodiment, the first angle threshold can be set to 4 degrees. When the pitch angle is greater than 4 degrees, it can be determined that the electric power-assist bicycle is in an uphill state. In this case, regardless of whether the vehicle has a speed, the motor controller 102 is required to output a larger drive current so that the motor 101 provides a larger power-assist ratio output. As an example, the power-assist current limit of the electric power-assist bicycle may include 3A, 10A and 15A. In the case of the electric power-assist bicycle going uphill, its power-assist current limit is set to 15A so that the motor 101 can provide the maximum power-assist ratio output.
[0031] According to an embodiment of the present disclosure, when the electric power-assisted bicycle goes uphill, the motor 101 can provide a large torque to assist the vehicle, so that the vehicle can travel on a road with a large slope.
[0032] In some embodiments, the assist process 300 further includes: in response to the pitch angle being greater than the second angle threshold and less than the third angle threshold, setting the assist current limit of the electric assist bicycle to a second current limit value, wherein the third angle threshold is less than the first angle threshold, and the second current limit value is less than the first current limit value. In this way, when the electric assist bicycle is traveling on a flat road, the motor 101 can provide a relatively energy-saving torque to assist the vehicle.
[0033] In one embodiment, the second angle threshold can be set to -2 degrees, the third angle threshold can be set to 2 degrees, and the second current limit value can be set to 10 A. When the pitch angle is greater than -2 degrees and less than 2 degrees, it can be determined that the electric power-assisted bicycle is traveling on a flat road. At this time, the motor controller 102 can reduce its power-assisted current limit value, for example, to 10 A, so that the motor 101 provides a conventional power-assisted ratio output.
[0034] In some embodiments, the power-assisting process 300 further includes: in response to the pitch angle being less than a fourth angle threshold, setting the power-assisting current limit of the electric power-assisting bicycle to a third current limit, wherein the fourth angle threshold is less than the second angle threshold, and the third current limit is less than the second current limit. As an example, the fourth angle threshold can be set to -4 degrees, and the third current limit can be set to 3A. When the pitch angle is less than -4 degrees, it can be determined that the vehicle is in a downhill state, and at this time, the lower power-assisting current limit of 3A is used to drive the motor 101. In this way, when the electric power-assisting bicycle is going downhill, the motor 101 can provide a relatively small power assist, which can save energy on the one hand and improve the safety performance of the vehicle on the other hand.
[0035] In addition, since the central control device 105 is installed on the front of the electric power-assisted bicycle and the rotation axis of the front is inclined, when the electric power-assisted bicycle is on a flat road, the pitch angle of the central control device 105 when the front of the bicycle faces straight ahead is 0 degrees, and when the central control device 105 rotates to both sides with the front of the bicycle, the pitch angle is, for example, -12 degrees. Since the pitch angle is less than -4 degrees, it is considered to be in a downhill state, and the power-assisted current limit is automatically reduced to 3A, so the function of reducing the power assist when turning is indirectly achieved by setting the gyroscope 1051 in the central control device 105.
[0036] In some embodiments, the power-assisting process 300 further includes: obtaining the speed of the electric power-assisting bicycle from a speed sensor; and in response to the speed being greater than a first speed threshold, setting the power-assisting current limit of the electric power-assisting bicycle to a second current limit. As an example, the first speed threshold can be set to 8 km / h. When the speed is greater than 8 km / h, the power-assisting current limit of the electric power-assisting bicycle can be adjusted back to 10 A. In this way, when the speed of the electric power-assisting bicycle is faster, the motor 101 can provide relatively small power assistance.
[0037] In some embodiments, the power-assisting process 300 further includes: in response to the vehicle speed being less than the second speed threshold and the pitch angle being greater than the first angle threshold, the power-assisting mode of the electric power-assisting bicycle is set to the zero-start mode, wherein the second speed threshold is less than the first speed threshold. As an example, the second speed threshold can be set to 2km / h. When the pitch angle is greater than 4 degrees and the vehicle speed is less than 2km / h, it can be determined that the electric power-assisting bicycle is in an uphill state and requires more power to assist riding. Therefore, the power-assisting mode of the electric power-assisting bicycle is set to the zero-start mode. In the zero-start mode, the electric power-assisting bicycle can start the power-assisting function when the pedal is stepped on, without waiting for the pedal to be stepped on for a predetermined number of laps. In this way, the power-assisting function can be started in a timely manner when going uphill.
[0038] In some embodiments, the power-assisting process 300 further includes: in response to the pitch angle being greater than the second angle threshold and less than the third angle threshold, setting the power-assisting mode of the electric power-assisting bicycle to a non-zero starting mode. As an example, when the pitch angle is greater than -2 degrees and less than 2 degrees, it means that the vehicle is on a flat road. At this time, the power-assisting mode is set to a non-zero starting mode, and the power-assisting current limit is adjusted back to 10A. In the non-zero starting mode, the electric power-assisting bicycle can only start the power-assisting function after the pedal has been stepped on for a predetermined number of times. For example, the electric power-assisting bicycle can only start the power-assisting function after the pedal has been stepped on for 1 circle, 1.5 circles, 2 circles or more circles.
[0039] In some embodiments, the assisting process 300 further includes: in response to the vehicle speed being greater than a third speed threshold, stopping providing assisting force to the electric assisting bicycle, wherein the third speed threshold is greater than the first speed threshold. In this way, when the electric assisting bicycle is moving at a very high speed, the motor 101 can stop assisting force.
[0040] Figure 5 A schematic diagram of determining the output current of the motor controller 102 according to some embodiments of the present disclosure is shown.
[0041] like Figure 5 As shown, in block 501, the assist current limit Imax of the electric assist bicycle is determined. The assist current limit Imax can be used as described above in conjunction with Figure 3The described assisting process 300 is determined according to the pitch angle θ, which will not be described in detail here.
[0042] At block 502 , a difference error between the pedal speed and the vehicle speed is determined.
[0043] In block 503 , proportional-integral-derivative (PID) control is performed according to the difference error to generate a current set value I_pid.
[0044] At block 504 , the output current I_out of the motor controller 102 is determined according to the assist current limit Imax and the current setting I_pid.
[0045] In some embodiments, the assisting process 300 further includes: receiving a calibration instruction for calibrating a reference pitch angle of the electric-assisted bicycle; and in response to receiving the calibration instruction, setting the reference pitch angle of the electric-assisted bicycle to zero.
[0046] Figure 6 FIG. 2 shows a calibration process for a reference pitch angle according to some embodiments of the present disclosure. Figure 6 As shown, after the vehicle is ready, you can click the slope calibration button on the application of the terminal device. The application can send a calibration instruction (such as a slope zeroing instruction) to the central control device 105 of the vehicle. In response to receiving the calibration instruction, the central control device 105 sets the reference pitch angle of the electric power-assisted bicycle to zero. If the calibration is successful, the vehicle horn can broadcast a voice prompt that the slope is successfully zeroed.
[0047] When the vehicle is produced and rolled off the production line, the factory slope setting of the new vehicle can be completed through manual zeroing calibration operation. As an example, a person weighing 75kg can sit in a vehicle on a flat ground, holding the handlebars, folding the side supports, lightly touching the ground with his feet, and the vehicle is straightened and upright. In this case, the zeroing calibration operation can be performed. In the maintenance process, for example, when the central control device 105 is replaced, the operation and maintenance personnel can perform zeroing calibration. After the vehicle has been in operation for a long time, if the posture of the whole vehicle changes due to attenuation of the shock absorbing elastic coefficient value, tire wear, etc., a slope zeroing calibration is required.
[0048] In some embodiments, the gyroscope 1051 can also detect the turning angle data of the electric power-assisted bicycle. As an example, when the electric power-assisted bicycle turns left, the turning angle can be set to a positive number, and when the electric power-assisted bicycle turns right, the turning angle can be set to a negative number, and vice versa. The value range of the turning angle can be -90 degrees to 90 degrees, with an accuracy of 1 degree. In other embodiments, the turning angle of the electric power-assisted bicycle can also be characterized in other ways, such as distinguishing between left and right turns by using an unsigned numerical range, and these implementations also fall within the scope of the present disclosure.
[0049] Figure 7 A schematic structural block diagram of a power assist device 700 for an electric power assist bicycle according to some embodiments of the present disclosure is shown. The power assist device 700 may be implemented in the central control device 105 and the motor controller 102 .
[0050] like Figure 7 As shown, the power assist device 700 includes an acquisition module 710, which is configured to obtain posture information from a gyroscope disposed on a central control device of the electric power assist bicycle.
[0051] The power assisting device 700 further includes a determining module 720 configured to determine a pitch angle of the electric power assisting bicycle based on the posture information.
[0052] The assisting device 700 includes a setting module 730, which is configured to set the assisting current limit of the electric assisting bicycle to a first current limiting value in response to a pitch angle being greater than a first angle threshold, wherein the electric assisting bicycle has multiple assisting current limiting values and the first current limiting value is greater than the remaining assisting current limiting values of the electric assisting bicycle.
[0053] In some embodiments, the setting module 730 is also configured to: in response to the pitch angle being greater than the second angle threshold and less than the third angle threshold, set the assist current limit of the electric assisted bicycle to a second current limiting value, wherein the third angle threshold is less than the first angle threshold, and the second current limiting value is less than the first current limiting value.
[0054] In some embodiments, the setting module 730 is further configured to: in response to the pitch angle being less than a fourth angle threshold, set the assist current limit of the electric assisted bicycle to a third current limiting value, wherein the fourth angle threshold is less than the second angle threshold, and the third current limiting value is less than the second current limiting value.
[0055] In some embodiments, the setting module 730 is further configured to: obtain the speed of the electric-assisted bicycle from a speed sensor; and in response to the speed being greater than a first speed threshold, set the assist current limit of the electric-assisted bicycle to a second current limit.
[0056] In some embodiments, the setting module 730 is further configured to: in response to the vehicle speed being less than a second speed threshold and the pitch angle being greater than a first angle threshold, set the assistance mode of the electric assisted bicycle to the zero start mode, wherein the second speed threshold is less than the first speed threshold.
[0057] In some embodiments, the setting module 730 is further configured to: in response to the pitch angle being greater than the second angle threshold and less than the third angle threshold, set the assist mode of the electric assist bicycle to a non-zero start mode.
[0058] In some embodiments, the setting module 730 is further configured to: in response to the vehicle speed being greater than a third speed threshold, stop providing assistance to the electric-assisted bicycle, wherein the third speed threshold is greater than the first speed threshold.
[0059] In some embodiments, the setting module 730 is further configured to: receive a calibration instruction for calibrating a reference pitch angle of the electric-assisted bicycle; and in response to receiving the calibration instruction, set the reference pitch angle of the electric-assisted bicycle to zero.
[0060] The embodiment of the present disclosure avoids the use of a torque sensor, but can achieve a power-assisting effect similar to that of a torque sensor solution, providing relatively sufficient power assistance when going uphill, providing relatively energy-saving power assistance on flat roads, providing no or less power assistance when going downhill, and reducing power assistance output when turning. Since no torque sensor is used, the cost is significantly reduced.
[0061] Figure 8 A block diagram of an electronic device 800 is shown in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 8 The electronic device 800 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 8 The electronic device 800 shown can be used to implement Figure 7 At least a portion of the power assist device 700.
[0062] like Figure 8 As shown, the electronic device 800 is in the form of a general electronic device. The components of the electronic device 800 may include, but are not limited to, one or more processors or processing units 810, a memory 820, a storage device 830, one or more communication units 840, one or more input devices 850, and one or more output devices 860. The processing unit 810 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 820. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capability of the electronic device 800.
[0063] The electronic device 800 typically includes a plurality of computer storage media. Such media may be any accessible media that is accessible to the electronic device 800, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 820 may be a volatile memory (e.g., a register, a cache, a random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 830 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data (e.g., training data for training) and may be accessed within the electronic device 800.
[0064] The electronic device 800 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 8 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 820 may include a computer program product 825 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.
[0065] The communication unit 840 implements communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device 800 can be implemented with a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 800 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.
[0066] The input device 850 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc. The output device 860 may be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 800 may also communicate with one or more external devices (not shown) through the communication unit 840 as needed, such as a storage device, a display device, etc., communicate with one or more devices that allow a user to interact with the electronic device 800, or communicate with any device that allows the electronic device 800 to communicate with one or more other electronic devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).
[0067] According to an exemplary implementation of the present disclosure, a device for monitoring the operating state of a battery pack is provided. The device includes at least one processing unit and at least one memory. The at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit, and when the instructions are executed by the at least one processing unit, the device executes the method described above.
[0068] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.
[0069] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.
[0070] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0071] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.
[0072] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.
[0073] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.
Claims
1. A power assist method for an electric power-assisted bicycle, comprising: Obtaining position information from a gyroscope provided on a central control device of the electric power-assisted bicycle; Determine the pitch angle of the electric power-assisted bicycle based on the posture information; as well as In response to the pitch angle being greater than a first angle threshold, the assist current limit of the electric assist bicycle is set to a first current limit value, wherein the electric assist bicycle has multiple assist current limit values and the first current limit value is greater than the remaining assist current limit values of the electric assist bicycle.
2. The power assist method according to claim 1, further comprising: In response to the pitch angle being greater than a second angle threshold and less than a third angle threshold, the assist current limit of the electric assist bicycle is set to a second current limit value, wherein the third angle threshold is less than the first angle threshold, and the second current limit value is less than the first current limit value.
3. The power assist method according to claim 2, further comprising: In response to the pitch angle being less than a fourth angle threshold, the assist current limit of the electric assist bicycle is set to a third current limit value, wherein the fourth angle threshold is less than the second angle threshold, and the third current limit value is less than the second current limit value.
4. The power assist method according to claim 2, further comprising: Obtaining the speed of the electric power-assisted bicycle from a speed sensor; as well as In response to the vehicle speed being greater than a first speed threshold, the assist current limit value of the electric assist bicycle is set to the second current limit value.
5. The power assist method according to claim 4, further comprising: In response to the vehicle speed being less than a second speed threshold and the pitch angle being greater than the first angle threshold, the assist mode of the electric assist bicycle is set to a zero start mode, wherein the second speed threshold is less than the first speed threshold.
6. The power assist method according to claim 5, further comprising: In response to the pitch angle being greater than the second angle threshold and less than the third angle threshold, the assist mode of the electric assist bicycle is set to a non-zero start mode.
7. The power assist method according to claim 4, further comprising: In response to the vehicle speed being greater than a third speed threshold, providing assistance to the electric-assisted bicycle is stopped, wherein the third speed threshold is greater than the first speed threshold.
8. The power assist method according to claim 4, further comprising: receiving a calibration instruction for calibrating a reference pitch angle of the electric power-assisted bicycle; as well as In response to receiving the calibration instruction, a reference pitch angle of the electric-assisted bicycle is set to zero.
9. A power assist device for an electric power assist bicycle, comprising: An acquisition module is configured to obtain position information from a gyroscope provided on a central control device of the electric power-assisted bicycle; a determination module, configured to determine a pitch angle of the electric power-assisted bicycle based on the posture information; as well as The setting module is configured to set the assist current limit of the electric assist bicycle to a first current limit value in response to the pitch angle being greater than a first angle threshold, wherein the electric assist bicycle has a plurality of assist current limit values and the first current limit value is greater than the remaining assist current limit values of the electric assist bicycle. 10 . A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the power assist method according to any one of claims 1 to 8.