Control method of power-assisted bicycle, power-assisted assembly and power-assisted bicycle

Abstract

According to the control method of the power-assisted bicycle, the power-assisted bicycle is provided with a power-assisted assembly, the power-assisted assembly is configured to output power-assisted torque in response to the received power applied to the power-assisted bicycle from the outside, and the method comprises the steps that information of the power applied to the power-assisted bicycle from the outside is obtained; determining the response speed of the power assisting assembly according to the power information; and according to the response speed, relevant information of the power-assisted torque output by the power-assisted assembly is adjusted. The corresponding response speed is adjusted according to the power information so as to control the power assisting assembly, so that the power assisting assembly outputs the power assisting torque at a more appropriate time, and the intelligent degree of power assisting and the user experience can be improved. The invention further provides a power assisting assembly and a power assisting bicycle.

Description

Control method of power-assisted bicycle, power-assisted assembly and power-assisted bicycle TECHNICAL FIELD

[0001] The present application relates to the technical field of power-assisted bicycles, and in particular to a control method of a power-assisted bicycle, a power-assisted assembly and a power-assisted bicycle. BACKGROUND

[0002] A power-assisted bicycle, such as an electric power-assisted bicycle (Ebicycle), can be provided with a power-assisted unit to provide a torque, and the torque provided by the power-assisted unit is superimposed with human pedaling force to be output to a sprocket to drive a wheel to rotate, so as to achieve a power-assisted amplification effect and save the user's physical strength.

[0003] In related technologies, the intelligence level of the power-assisted bicycle is relatively low, and the user experience still has room for improvement.

[0004] SUMMARY

[0005] The main purpose of the present application is to provide a control method of a power-assisted bicycle, a power-assisted assembly and a power-assisted bicycle, which aims to improve the intelligence level and user experience of the power-assisted bicycle.

[0006] In a first aspect, the present application provides a control method of a power-assisted bicycle, wherein the power-assisted bicycle is provided with a power-assisted assembly, the power-assisted assembly is configured to output a power-assisted torque in response to receiving a power applied to the power-assisted bicycle by an external force, and the method comprises:

[0007] obtaining power information of the power applied to the power-assisted bicycle by the external force;

[0008] determining a response speed of the power-assisted assembly according to the power information; and

[0009] adjusting related information of the power-assisted torque output by the power-assisted assembly according to the response speed.

[0010] In a second aspect, the present application also provides a control method of a power-assisted bicycle, wherein the power-assisted bicycle is provided with a power-assisted assembly, and the method comprises:

[0011] in response to the power-assisted bicycle being in an uphill state and a vehicle speed of the power-assisted bicycle being less than or equal to a preset vehicle speed, controlling the power-assisted assembly to output a balance torque, the balance torque being used to prevent the power-assisted bicycle from rolling downhill to maintain balance; and

[0012] after the power-assisted bicycle maintains balance, in response to a user's operation, controlling the power-assisted assembly to continuously output a power-assisted torque within a preset time period, the user's operation including the user's pedaling on a pedal of the power-assisted bicycle or the user's triggering of a pushcart mode of the power-assisted bicycle.

[0013] In a third aspect, the present application also provides a control method of an assisted bicycle, the assisted bicycle comprising an assisting assembly, a pedaling assembly, a transmission assembly and a wheel, the assisting assembly and the pedaling assembly being connected with the wheel through the transmission assembly, the transmission assembly comprising a first transmission member and a second transmission member in transmission cooperation with the first transmission member, a transmission virtual position being present between the first transmission member and the second transmission member, the method further comprising:

[0014] in response to a user's pedaling on the pedaling assembly, controlling the assisting assembly to output an engagement torque to reduce or eliminate the transmission virtual position; and

[0015] after the assisting assembly outputs the engagement torque, controlling the assisting assembly to output the assisting torque.

[0016] In a fourth aspect, the present application also provides an assisting assembly of an assisted bicycle, the assisting assembly comprising an assisting motor and one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to jointly act to cause the assisting assembly to perform the following steps:

[0017] obtaining power information applied to the assisted bicycle by an external force;

[0018] determining a response speed of the assisting assembly according to the power information; and

[0019] adjusting relevant information of the assisting torque output by the assisting assembly according to the response speed.

[0020] In a fifth aspect, the present application also provides an assisting assembly of an assisted bicycle, the assisting assembly comprising an assisting motor and one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to jointly act to cause the assisting assembly to perform the following steps:

[0021] in response to the assisted bicycle being in an uphill state and a vehicle speed of the assisted bicycle being less than or equal to a preset vehicle speed, controlling the assisting assembly to output a balance torque, the balance torque being used to prevent the assisted bicycle from coasting downhill to maintain balance; and

[0022] after the assisted bicycle maintains balance, in response to a user's operation, controlling the assisting assembly to continuously output an assisting torque within a preset time period, the user's operation comprising the user's pedaling on a pedal of the assisted bicycle or the user's triggering of a stroller mode of the assisted bicycle.

[0023] In a sixth aspect, the present application also provides an assistive assembly of an assistive bicycle, the assistive assembly comprising an assistive motor and one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to collectively cause the assistive assembly to perform the following steps:

[0024] in response to a user pedaling the pedaling assembly, controlling the assistive assembly to output an engagement torque to reduce or eliminate the transmission virtual displacement; and

[0025] after the assistive assembly outputs the engagement torque, controlling the assistive assembly to output the assistive torque.

[0026] In a seventh aspect, the present application also provides an assistive bicycle, the assistive bicycle comprising an assistive assembly, a pedaling assembly, a transmission assembly and a wheel, the assistive assembly and the pedaling assembly being connected to the wheel through the transmission assembly;

[0027] the assistive bicycle further comprises one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to collectively cause the assistive bicycle to perform the following steps:

[0028] obtaining power information of an external force applied to the assistive bicycle;

[0029] determining a response speed of the assistive assembly according to the power information; and

[0030] adjusting relevant information of the assistive torque output by the assistive assembly according to the response speed.

[0031] In an eighth aspect, the present application also provides an assistive bicycle, the assistive bicycle comprising an assistive assembly, a pedaling assembly, a transmission assembly and a wheel, the assistive assembly and the pedaling assembly being connected to the wheel through the transmission assembly;

[0032] the assistive bicycle further comprises one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to collectively cause the assistive bicycle to perform the following steps:

[0033] in response to the assistive bicycle being in an uphill state and a speed of the assistive bicycle being less than or equal to a preset speed, controlling the assistive assembly to output a balance torque, the balance torque being used to prevent the assistive bicycle from sliding downhill to maintain balance; and

[0034] After the power-assisted bicycle is balanced, the power-assisted assembly is controlled to continuously output the power-assisted torque for a preset time period in response to an operation of a user, the operation of the user including pedaling of a pedal of the power-assisted bicycle by the user or triggering of a stroller mode of the power-assisted bicycle.

[0035] In a ninth aspect, the present application also provides a power-assisted bicycle, the power-assisted bicycle comprising a power-assisted assembly, a pedal assembly, a transmission assembly and a wheel, the power-assisted assembly and the pedal assembly being connected with the wheel through the transmission assembly;

[0036] The power-assisted bicycle further comprises one or more processors and one or more memories storing computer program codes, wherein the one or more processors and the one or more memories storing computer program codes are configured to jointly cause the power-assisted bicycle to perform the following steps:

[0037] In response to pedaling of the pedal assembly by a user, the power-assisted assembly is controlled to output an engagement torque to reduce or eliminate the transmission virtual displacement; and

[0038] After the power-assisted assembly outputs the engagement torque, the power-assisted assembly is controlled to output the power-assisted torque. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0040] FIG. 1 is a flow diagram of a control method of a power-assisted bicycle according to an embodiment of the present application;

[0041] FIG. 2 is a schematic diagram of determining a power-assisted torque according to an embodiment of the present application;

[0042] FIG. 3 is a schematic diagram of determining a power-assisted ratio according to an embodiment of the present application;

[0043] FIG. 4 is a schematic diagram of determining a target gear ratio and / or gear according to an embodiment of the present application;

[0044] FIG. 5 is a schematic diagram of reducing or eliminating transmission virtual displacement according to an embodiment of the present application;

[0045] FIG. 6 is a schematic diagram of a stuck start mode according to an embodiment of the present application;

[0046] FIG. 7 is a schematic diagram of a stroller mode according to an embodiment of the present application;

[0047] FIG. 8 is a flowchart of a control method of an assisted bicycle according to another embodiment of the present application;

[0048] FIG. 9 is a flowchart of a control method of an assisted bicycle according to yet another embodiment of the present application;

[0049] FIG. 10 is a schematic block diagram of an assisting assembly according to an embodiment of the present application;

[0050] FIG. 11 is a schematic block diagram of an assisted bicycle according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0052] The flowcharts shown in the drawings are only illustrative, and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the order described. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order can be changed according to the actual situation.

[0053] The embodiments of the present application provide a control method of an assisted bicycle, an assisting assembly and an assisted bicycle. Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0054] Please refer to FIG. 1, which is a flowchart of a control method of an assisted bicycle according to an embodiment of the present application.

[0055] The control method of the assisted bicycle provided by the embodiments of the present application can be used for an assisted bicycle. The assisted bicycle is a bicycle that provides additional assistive torque to assist the user in pedaling. The assisted bicycle can be an assisted mountain bike, an assisted cargo bike, an assisted city bike, etc.

[0056] The assisted bicycle can be an electric assisted bicycle (Ebicycle), but is not limited thereto. For example, it can be a fuel assisted bicycle, a natural gas assisted bicycle, a hydrogen assisted bicycle, or a hybrid assisted bicycle (such as an electric assisted and fuel assisted bicycle). For ease of illustration, the embodiments of the present application mainly take an electric assisted bicycle as an example for illustration. For example, the assisted bicycle can be an electric assisted mountain bike (E-MTB), an electric assisted cargo bike (e-Cargo Bike), an electric assisted city bike (e-City Bike), etc.

[0057] The power-assisted bicycle is provided with a power-assisted component, for example, the power-assisted component of an electric power-assisted bicycle includes a power-assisted motor, and the power-assisted component of a fuel power-assisted bicycle includes a fuel internal combustion engine. The electric power-assisted bicycle further includes a battery, which is the energy source of the power-assisted motor and can provide a large-power current output for the power-assisted motor; the electric power-assisted bicycle further includes a charger or can be connected to a charger, which can provide renewable energy for the battery, and the charger can convert alternating current from a power grid into direct current to charge the battery; the charger can support a fast charging function to shorten the preparation time for riding.

[0058] The power-assisted component is coupled with the wheel transmission of the power-assisted bicycle, such as direct transmission coupling and indirect transmission coupling. The power-assisted torque output by the power-assisted component is applied to the wheel to drive the wheel to rotate. Alternatively, the power-assisted component can be arranged on the wheel, such as a hub power-assisted component; or the power-assisted component can be connected to the wheel through a transmission component, and the power-assisted component is arranged at the sprocket of the power-assisted bicycle, which can be referred to as a mid-mounted power-assisted component.

[0059] As shown in FIG. 1, the control method of the power-assisted bicycle includes steps S110 to S130.

[0060] Step S110, acquiring power information applied to the power-assisted bicycle by an external force.

[0061] Step S120, determining the response speed of the power-assisted component according to the power information.

[0062] Step S130, adjusting the related information of the power-assisted torque output by the power-assisted component according to the response speed.

[0063] In the prior art, the response speed of the power-assisted component is generally a constant value, but the user's expectation of the response speed may change in different situations, so if the response speed of the power-assisted component can be adjusted based on the power information of the power-assisted bicycle, the power-assisted bicycle can be more intelligent to meet the user's needs and enhance the user's overall experience.

[0064] Please refer to step S110 first, acquiring power information applied to the power-assisted bicycle by an external force.

[0065] Specifically, the power-assisted component of the power-assisted bicycle is configured to output a power-assisted torque in response to receiving power applied to the power-assisted bicycle by an external force.

[0066] For example, the power applied to the power-assisted bicycle by an external force can include at least one of the following: power applied to the pedal assembly of the power-assisted bicycle by a user, pushing force or pulling force applied to the power-assisted bicycle, and power applied to the power-assisted bicycle by gravity.

[0067] For example, when the power applied to the power-assisted bicycle by the outside world makes the power-assisted bicycle move or have a tendency to move, the power-assisted assembly outputs the power-assisted torque to make the power-assisted bicycle maintain the moving state or start moving; at this time, the power-assisted assembly outputs the power-assisted torque to assist the user's power output, so as to save the user's power output.

[0068] In some embodiments, the power-assisted bicycle comprises a pedal assembly, and the power information comprises power information of the user acting on the pedal assembly. Of course, the power information is not limited to this, and for example, the power information can comprise pulling force, pushing force or gravity acting on the power-assisted bicycle to move the power-assisted bicycle, for example, the power information comprises the speed of the power-assisted bicycle when the user pushes the power-assisted bicycle, which can be obtained by a speed sensor, for example, the speed sensor comprises a Hall sensor or a reed tube installed on the rear wheel frame, and the speed of the power-assisted bicycle can be calculated by detecting the rotation speed of the magnet on the wheel by the Hall sensor or the reed tube.

[0069] For example, the power information of the user acting on the pedal assembly comprises the pedaling frequency and / or the pedaling torque of the user.

[0070] For example, the power-assisted bicycle comprises a pedaling frequency sensor, and the pedaling frequency of the user pedaling the pedal assembly can be obtained by the pedaling frequency sensor; for example, the power-assisted bicycle comprises a torque sensor, and the pedaling torque of the user pedaling the pedal assembly can be obtained by the torque sensor. The pedaling frequency sensor and / or the pedaling frequency sensor can be arranged on the pedal assembly.

[0071] For example, the power information comprises the pedaling frequency, and the method further comprises: in response to the pedaling frequency being greater than or equal to a pedaling frequency threshold, controlling the power-assisted assembly to output the power-assisted torque. When the pedaling frequency of the user pedaling the pedal assembly is greater than or equal to the pedaling frequency threshold, for example, greater than 5 revolutions per second, it can be determined that the user has a pedaling behavior, and the power-assisted torque and the pedaling force of the user are transmitted to the wheel together by controlling the power-assisted assembly to output the power-assisted torque, so as to achieve the power-assisted amplification effect and save the user's power output.

[0072] Optionally, the method further comprises: in response to the pedaling frequency being less than the pedaling frequency threshold, controlling the power-assisted assembly to stop outputting the power-assisted torque. When the pedaling frequency is less than the pedaling frequency threshold, it can be determined that the user does not have a pedaling behavior or the pedaling behavior is not obvious, for example, the user expects to stop, and by controlling the power-assisted assembly to stop outputting the power-assisted torque, the power-assisted bicycle can be prevented from being unstable and the power-assisted bicycle can be facilitated to stop.

[0073] For example, the power-assisted assembly can be controlled to output the power-assisted torque when the pedaling torque of the user pedaling the pedal assembly is greater than or equal to a torque threshold, so as to save the user's power output.

[0074] For example, the power information includes the pedal frequency, and further includes a pedaling torque. The controlling the power assisting component to output the power assisting torque in response to the pedal frequency being greater than or equal to a pedal frequency threshold value includes: controlling the power assisting component to output the power assisting torque in response to the pedal frequency being greater than or equal to the pedal frequency threshold value and the pedaling torque being greater than or equal to a pedaling torque threshold value. That is, only when the pedal frequency is greater than or equal to the pedal frequency threshold value and the pedaling torque is greater than or equal to the pedaling torque threshold value, it is determined that the user has pedaling behavior, which can prevent the power assisting component from outputting the power assisting torque when the user does not need assistance, causing the power assisting bicycle to move unexpectedly for the user, resulting in a safety hazard.

[0075] In step S120, a response speed of the power assisting component is determined according to the power information.

[0076] In step S130, related information of the power assisting torque output by the power assisting component is adjusted according to the response speed.

[0077] For example, the related information of the power assisting torque can include at least one of a power of the power assisting motor, a voltage of the power assisting motor, a current of the power assisting motor, and a rotating speed of the power assisting motor, but is not limited thereto.

[0078] By adjusting the corresponding response speed according to the power information to control the power assisting component, compared with controlling the power assisting component according to the power information at a fixed preset time, the power assisting component can output the power assisting torque at a more appropriate time, improving the intelligent degree of assistance and user experience, for example, the stability of the power assisting bicycle can be improved to improve safety and / or improve the assistance effect and user experience.

[0079] In some embodiments, the response speed is used to represent the length of the time interval between the power assisting component outputting the power assisting torque and detecting the power information applied to the power assisting bicycle by the outside world.

[0080] For example, when the response speed is fast, the power assisting component can output the corresponding power assisting torque more quickly in response to the power information applied to the power assisting bicycle by the outside world; for example, the user can feel the assistance effect of the power assisting component more quickly when pedaling, for example, the power assisting bicycle is more sensitive and accelerates faster.

[0081] For example, when the response speed is slow, the power assisting component can output the corresponding power assisting torque more slowly in response to the power information applied to the power assisting bicycle by the outside world, improving the stability of the power assisting bicycle, for example, it can prevent the user from being uncomfortable due to sudden large changes in the power assisting torque.

[0082] For example, the power information includes the pedal frequency, and the lower the pedal frequency, the faster the response speed; the higher the pedal frequency, the slower the response speed.

[0083] When the pedaling frequency is low, increasing the response speed can provide the user with faster power assistance feedback and ensure higher stability. For example, when the pedaling frequency is low when the power-assisted bicycle is climbing uphill, the user can be identified as needing faster power assistance to complete the uphill process. Therefore, the power-assisted bicycle can quickly output power assistance torque when the pedaling frequency of the user is low, so as to more sensitively assist the user in climbing uphill.

[0084] When the pedaling frequency is high, slower response to external power information applied to the power-assisted bicycle can improve the stability of the power-assisted bicycle. For example, when the pedaling frequency of the user is high, it can be considered that the user is in a relatively stable state. Reducing the response speed can prevent the rapid mutation of the power assistance torque from bringing discomfort to the user.

[0085] In some embodiments, the method further comprises: obtaining a power assistance ratio of the power-assisted bicycle, the power assistance ratio being used to indicate a ratio of the power assistance torque provided by the power assistance assembly to the pedaling torque of the user. Referring to FIG. 2, the power assistance torque provided by the power assistance assembly can be determined according to the obtained power assistance ratio and the pedaling torque of the user.

[0086] The power assistance torque provided by the power assistance assembly can be determined according to the product of the pedaling torque of the user and the power assistance ratio. By determining the power assistance torque provided by the power assistance assembly according to the pedaling torque of the user and the power assistance ratio, the power assistance assembly can output a power assistance torque of an appropriate size, and the power assistance torque can be more in line with the needs of the user, thereby improving the user experience.

[0087] For example, step S130 adjusts the information related to the power assistance torque output by the power assistance assembly according to the response speed, including adjusting the information related to the power assistance torque output by the power assistance assembly according to the response speed and the power assistance ratio. The power assistance torque of an appropriate size can be output at an appropriate time to improve the user experience.

[0088] For example, the obtaining of the power assistance ratio of the power-assisted bicycle can include: obtaining a slope of an environment in which the power-assisted bicycle is currently located; and determining the power assistance ratio of the power-assisted bicycle according to the slope. For example, referring to FIG. 2, the greater the slope, the greater the corresponding power assistance ratio. Of course, the upper limit of the power assistance ratio can also be limited. For example, the slope when climbing uphill is greater than the slope when climbing downhill, for example, the slope when climbing uphill is greater than zero, and the slope when climbing downhill is less than zero.

[0089] For example, the slope is determined according to at least one of the following information: attitude information of the power-assisted bicycle, map information of an environment in which the power-assisted bicycle is currently located, and environment sensor information of the power-assisted bicycle.

[0090] For example, the power-assisted bicycle further comprises a posture sensor, such as an IMU (Inertial Measurement Unit) sensor; the posture information of the power-assisted bicycle, such as the pitch angle, can be obtained through the posture sensor; and the slope can be determined according to the posture information of the power-assisted bicycle.

[0091] For example, the power-assisted bicycle further comprises a positioning device, the map information of the current environment is obtained according to the position information determined by the positioning device, and the slope is determined in the map information.

[0092] For example, the power-assisted bicycle further comprises an environmental sensor, such as a visual sensor and / or a radar, the slope is determined according to the environmental information sensed by the environmental sensor and the pre-built environmental information map.

[0093] By adjusting the power-assisted bicycle to correspond to the current slope, the power-assisted torque output by the power-assisted component can correspond to the slope; for example, a larger power-assisted torque can be provided without the user needing to increase the pedaling torque, the user is more labor-saving, and the relative stability of the speed of the power-assisted bicycle can be maintained when the power-assisted bicycle climbs, and the power-assisted bicycle can be prevented from sliding backward.

[0094] In some embodiments, the power-assisted bicycle comprises an automatic power-assisted mode and / or a fixed power-assisted mode. For example, the power-assisted mode of the power-assisted bicycle can be determined according to user operation, or the power-assisted mode of the power-assisted bicycle can also be automatically adjusted according to the current environment of the power-assisted bicycle and / or the state of the power-assisted bicycle. For example, when the slope of the current environment of the power-assisted bicycle is greater than or equal to a slope threshold, it is determined that the power-assisted bicycle is in the automatic power-assisted mode.

[0095] For example, in response to the power-assisted bicycle being in the automatic power-assisted mode, the power-assisted ratio of the power-assisted bicycle is determined according to the slope.

[0096] For example, the power-assisted bicycle comprises a fixed power-assisted mode, in response to the power-assisted bicycle being in the fixed power-assisted mode, the power-assisted ratio is a fixed value. The power-assisted ratio of the power-assisted bicycle is obtained by: obtaining the fixed power-assisted mode; and determining the power-assisted ratio according to the fixed power-assisted mode.

[0097] For example, the power-assisted ratios corresponding to at least two fixed power-assisted modes are different. For example, the power-assisted mode of the power-assisted bicycle can be determined according to user operation to be which fixed power-assisted mode, or the power-assisted bicycle can also be automatically adjusted to correspond to the fixed power-assisted mode according to the current environment of the power-assisted bicycle and / or the state of the power-assisted bicycle.

[0098] For example, the fixed assist modes include a first fixed assist mode and a second fixed assist mode, and the fixed values include a first fixed value and a second fixed value; in response to the power-assisted bicycle being in the first fixed assist mode, the assist ratio is the first fixed value; in response to the power-assisted bicycle being in the second fixed assist mode, the assist ratio is the second fixed value; wherein the first fixed value and the second fixed value are different, and the first fixed value and the second fixed value are different.

[0099] Optionally, the fixed assist mode is determined to be the first fixed assist mode or the second fixed assist mode according to the terrain of the environment in which the power-assisted bicycle is located. For example, when the slope of the environment in which the power-assisted bicycle is currently located is greater than or equal to a first slope threshold and less than a second slope threshold, it is determined that the power-assisted bicycle is in the first fixed assist mode; when the slope is greater than or equal to the second slope threshold, it is determined that the power-assisted bicycle is in the second fixed assist mode, wherein the second fixed value is greater than the first fixed value. By adjusting the fixed assist mode of the power-assisted bicycle, the corresponding assist ratio can be adjusted, so that the assist torque output by the assist assembly corresponds to the terrain of the environment in which the bicycle is located.

[0100] In some embodiments, referring to FIG. 3, the obtaining of the assist ratio of the power-assisted bicycle can include: obtaining preset riding information of the user, the preset riding information including at least one of a preset riding distance, a preset riding road condition, and a current power of the power-assisted bicycle; and determining the assist ratio to be a first assist ratio according to the preset riding information. The preset riding distance can be determined according to a riding route between a current location and a target location.

[0101] For example, the power management function can be activated according to user operation. The power management during riding can be planned according to riding distance, road condition, and the like. When the user inputs corresponding distance and road condition on the application, the power-assisted bicycle can automatically adjust the assist ratio to ensure that the user obtains the most suitable assist experience on the basis of the power meeting the riding distance. For example, the road condition can be divided into flat road and mountain road, and the power-assisted bicycle automatically selects a larger assist ratio when the user selects the mountain road to ensure the comfort of the user during riding. For another example, when the user inputs a longer preset riding distance, the assist ratio can be appropriately reduced to ensure that the assist assembly has energy output during the entire riding of the user, because in the case of a large assist ratio, the consumption of the assist assembly will be greater even if the user rides the same distance.

[0102] For example, the power management method can further include: in response to estimating that the remaining battery power after completing the preset riding distance is greater than a battery power threshold, determining the assist ratio to be a second assist ratio; and in response to estimating that the remaining battery power after completing the preset riding distance is less than the battery power threshold, determining the assist ratio to be a third assist ratio; wherein the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio. For example, the remaining battery power after completing the preset riding distance can be estimated one or more times during the riding process, and the estimated remaining battery power each time is compared with the battery power threshold, and the assist ratio is automatically adjusted according to the comparison result.

[0103] For example, the power management method can further include: in response to estimating that the remaining battery power after completing the preset riding distance is greater than a battery power threshold, determining the assist ratio to be a second assist ratio; and in response to estimating that the remaining battery power after completing the preset riding distance is less than the battery power threshold, determining the assist ratio to be a third assist ratio; wherein the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio. For example, the remaining battery power after completing the preset riding distance can be estimated one or more times during the riding process, and the estimated remaining battery power each time is compared with the battery power threshold, and the assist ratio is automatically adjusted according to the comparison result.

[0104] For example, the power management method can further include: in response to estimating that the remaining battery power after completing the preset riding distance is greater than a battery power threshold, determining the assist ratio to be a second assist ratio; and in response to estimating that the remaining battery power after completing the preset riding distance is less than the battery power threshold, determining the assist ratio to be a third assist ratio; wherein the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio. For example, the remaining battery power after completing the preset riding distance can be estimated one or more times during the riding process, and the estimated remaining battery power each time is compared with the battery power threshold, and the assist ratio is automatically adjusted according to the comparison result.

[0105] For example, the power management method can further include: in response to estimating that the remaining battery power after completing the preset riding distance is greater than a battery power threshold, determining the assist ratio to be a second assist ratio; and in response to estimating that the remaining battery power after completing the preset riding distance is less than the battery power threshold, determining the assist ratio to be a third assist ratio; wherein the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio. For example, the remaining battery power after completing the preset riding distance can be estimated one or more times during the riding process, and the estimated remaining battery power each time is compared with the battery power threshold, and the assist ratio is automatically adjusted according to the comparison result.

[0106] In some embodiments, referring to FIG. 2, the method further comprises: obtaining a slope of an environment in which the power-assisted bicycle is currently located; and determining an upper limit of power-assisted power of the power-assisted assembly according to the slope. For example, the power-assisted power of the power-assisted motor is always less than or equal to the upper limit of power-assisted power, preventing the power-assisted motor from overheating. For example, the greater the slope, the greater the upper limit of power-assisted power, so as to provide greater power-assisted power when climbing uphill, preventing the power-assisted bicycle from rolling backward.

[0107] In some embodiments, referring to FIG. 2, the method further comprises: obtaining a slope of an environment in which the power-assisted bicycle is currently located; and determining an upper limit of power-assisted torque of the power-assisted assembly according to the slope. For example, the power-assisted torque of the power-assisted motor is always less than or equal to the upper limit of power-assisted torque, preventing the power-assisted motor from overheating. For example, the greater the slope, the greater the upper limit of power-assisted torque, so as to provide greater power-assisted torque when climbing uphill, preventing the power-assisted bicycle from rolling backward.

[0108] In some embodiments, referring to FIG. 2, the method further comprises: obtaining a gear ratio of the power-assisted bicycle; and determining an upper limit of power-assisted torque of the power-assisted assembly according to the gear ratio.

[0109] For example, the gear ratio can be determined according to a gear of the power-assisted bicycle, for example, according to a current gear of a derailleur. Of course, the present disclosure is not limited thereto, and will be described below.

[0110] For example, the greater the gear ratio, the greater the upper limit of power-assisted torque, which can enable the power-assisted torque to provide sufficient power-assisted effect when transmitted to the wheel.

[0111] In some embodiments, referring to FIG. 2, the method further comprises: obtaining a speed of the power-assisted bicycle; and in response to the speed of the power-assisted bicycle being greater than a speed threshold, controlling the power-assisted assembly to stop outputting the power-assisted torque. Stopping outputting the power-assisted torque when the speed is high can prevent the speed from being too fast, ensuring the safety of riding. For example, the power-assisted assembly stops outputting the power-assisted torque when the speed is greater than 25 KM / H, ensuring safety while also increasing the fun of riding for the user.

[0112] In some embodiments, the method further comprises: in response to a user triggering a trigger, increasing the upper limit of power-assisted power and / or the upper limit of power-assisted torque of the power-assisted assembly. The trigger is, for example, provided at a handle of the power-assisted bicycle. For example, when the user needs to accelerate urgently or climb a steeper slope, the user can operate the trigger to increase the upper limit of power-assisted power and / or the upper limit of power-assisted torque of the power-assisted assembly, so that the power-assisted assembly provides greater power-assisted torque to adapt to the urgent acceleration or the steeper slope.

[0113] For example, in response to the user triggering the trigger, the upper limit of the power assistance of the power assistance assembly and / or the upper limit of the torque assistance of the power assistance assembly is increased within a preset time. For example, after the time of increasing the upper limit of the power assistance of the power assistance assembly and / or the upper limit of the torque assistance of the power assistance assembly reaches the preset time, such as 30 seconds, the original upper limit of the power assistance of the power assistance assembly and / or the upper limit of the torque assistance of the power assistance assembly is restored, for example, to prevent the power assistance motor from overheating.

[0114] In some embodiments, referring to FIG. 4, the method further comprises: obtaining the current gear ratio of the power-assisted bicycle; and outputting prompt information for adjusting the current gear ratio according to the state information of the power assistance assembly to prompt the user to adjust the current gear ratio and / or control the power-assisted bicycle to adjust the current gear ratio.

[0115] By adjusting the current gear ratio of the power-assisted bicycle according to the current state of the power assistance assembly, the adjusted gear ratio can make the working state of the power assistance assembly more optimal.

[0116] For example, for the power assistance motor, when the speed and / or torque of the power assistance motor is within the corresponding preset range, the power utilization rate of the power assistance motor is higher, and / or the heat generation is smaller, and / or the tension of the chain in the transmission assembly is appropriate. By adjusting the current gear ratio of the power-assisted bicycle according to the speed and / or torque of the power assistance motor, the power utilization rate of the motor can be improved and / or the heat generation of the power assistance motor can be reduced and / or the tension of the chain can be reduced.

[0117] For example, referring to FIG. 4, in response to the speed of the power assistance assembly being outside the speed interval and / or in response to the torque assistance of the power assistance assembly being outside the torque assistance interval, prompt information for adjusting the current gear ratio can be outputted to prompt the user to adjust the current gear ratio and / or control the power-assisted bicycle to adjust the current gear ratio.

[0118] For example, when the speed of the power assistance assembly is 2000-3500 revolutions per hour and the torque assistance is 50-100 newton-meters, the power assistance assembly is in a high-efficiency assistance state; when the speed and / or torque assistance of the power assistance assembly is outside the corresponding interval, the efficiency of the power assistance assembly is lower, and the efficiency of the power assistance assembly can be improved by gear shifting.

[0119] For example, during uphill, if the current gear ratio is high, the power assistance assembly will work in a high-speed and high-torque low-efficiency interval, the battery endurance time is short, and the chain bears a large tension; by adjusting the current gear ratio, such as guiding the user to reduce the gear position, the power assistance assembly can be made to approach the high-efficiency working area, and the chain tension can be reduced.

[0120] In some embodiments, the power-assisted bicycle comprises a wheel and a crank for transmitting pedaling torque of a user to drive the wheel, for example, a pedal assembly of the power-assisted bicycle comprises a crank and a pedal connected to the crank; the power-assisted assembly comprises a power-assisted motor for outputting the power-assisted torque to drive the wheel, for example, the power-assisted motor outputs the power-assisted torque to drive the wheel through a transmission assembly.

[0121] For example, the current gear ratio of the power-assisted bicycle is determined according to the rotation speed of the power-assisted motor and the rotation speed of the wheel; and / or the current gear ratio of the power-assisted bicycle is determined according to the rotation speed of the crank and the rotation speed of the wheel.

[0122] For example, the current gear ratio of the power-assisted bicycle is determined according to the rotation speed of the power-assisted motor and the rotation speed of the wheel in response to the power-assisted motor outputting the power-assisted torque. For example, the greater the ratio of the rotation speed of the wheel to the rotation speed of the power-assisted motor, the greater the current gear ratio.

[0123] For example, the current gear ratio of the power-assisted bicycle can be determined according to the rotation speed of the crank and the rotation speed of the wheel when the power-assisted motor does not output the power-assisted torque. For example, the greater the ratio of the rotation speed of the wheel to the rotation speed of the crank, the greater the current gear ratio.

[0124] By determining the current gear ratio in a corresponding manner according to whether the power-assisted motor outputs the power-assisted torque, the accuracy of the gear ratio can be improved. Of course, it is not limited thereto, for example, the current gear ratio can be determined based on a preset corresponding relationship between the rotation speed of the power-assisted motor, the rotation speed of the crank, the rotation speed of the wheel and the gear ratio.

[0125] Optionally, as shown in FIG. 4, the method further comprises outputting the gear ratio of the power-assisted bicycle and / or the gear corresponding to the gear ratio. For example, the gear ratio and / or the gear corresponding to the gear ratio can be displayed on a display screen mounted on the power-assisted bicycle, for example, mounted on the handlebar of the power-assisted bicycle; the user does not need to look back to observe the state of the hub to know the gear ratio and / or the gear corresponding to the gear ratio, thereby improving the convenience of riding. For example, the gear ratio and / or the gear corresponding to the gear ratio of the power-assisted bicycle can also be broadcast through a loudspeaker.

[0126] For example, the prompt information for adjusting the current gear ratio can also be output through the display screen and / or the loudspeaker. Optionally, the target gear ratio and / or the target gear can also be output to prompt the user to adjust the current gear ratio to the target gear ratio and / or the gear to the target gear. The target gear ratio and / or the target gear can be determined according to the state information of the assist assembly, for example, it is determined that the target gear is one gear higher or one gear lower than the current gear, or it is determined that the target gear is a specific gear.

[0127] In some embodiments, referring to FIG. 2, the embodiment of the application can at least acquire at least one of the information of the pedal frequency, the pedaling torque, the slope, the gear ratio, etc. of the user through at least one of various sensors, such as a vehicle speed sensor, a pedal frequency sensor, a torque sensor, a posture sensor, a visual sensor, an environmental sensor, etc. The assist bicycle is controlled according to the acquired information; for example, sensor data fusion is performed on the algorithm strategy, and the result is applied to the control; the intelligent degree of the assist and the user experience can be improved. The information of the whole vehicle angle posture, the pedal angle, and the vehicle speed, etc. is fused to realize better intelligent assist function of riding. For example, the rider can be maintained in a more comfortable pedal frequency interval through automatic adjustment of the assist ratio size and the response speed of the assist assembly. When the pedal frequency of the rider is faster, the response speed of the assist assembly can be reduced so that the rider can reduce the pedal frequency according to the feedback of the pedal feeling.

[0128] In some embodiments, referring to FIG. 5, the assist bicycle further comprises a pedal assembly, a transmission assembly, and a wheel, and the assist assembly and the pedal assembly are connected with the wheel through the transmission assembly.

[0129] Among them, the transmission assembly comprises a first transmission member and a second transmission member in transmission cooperation with the first transmission member, and there is a transmission virtual position or transmission gap between the first transmission member and the second transmission member.

[0130] For example, referring to FIG. 5, the transmission assembly comprises a toothed disc, a chain, and a hub, for example, the first transmission member comprises the toothed disc, and the second transmission member comprises the hub. The transmission virtual position comprises a virtual position between the toothed disc and the chain and / or a virtual position between the toothed disc and the hub.

[0131] The inventor of the present application finds that due to the transmission virtual position between the first transmission member and the second transmission member, when the user starts pedaling, it is necessary to pedal for a period of time to rotate the toothed disc so as to tension the chain between the toothed disc and the hub, and then pedal to make the wheel start rotating, which is not very good in pedaling feeling and slow in starting. If the assistive torque is output when the user starts pedaling, it will cause a great impact on the transmission assembly, and the starting of riding is not smooth enough, and the user experience is not very good. Based on this, the embodiments of the present application can also improve the experience of starting riding by controlling the assistive assembly.

[0132] In some embodiments, referring to FIG. 5, the method can further include: in response to the user pedaling the pedal assembly, controlling the assistive assembly to output an engagement torque to reduce or eliminate the transmission virtual position; and after the assistive assembly outputs the engagement torque, assisting the user in riding by controlling the assistive assembly to output the assistive torque. For example, the assistive assembly includes an assistive motor for providing the engagement torque.

[0133] For example, the pedaling of the user on the pedal assembly can be detected by a pedaling frequency sensor and / or a torque sensor. When the pedaling action of the user is detected, the assistive assembly is controlled to output an engagement torque to reduce or eliminate the transmission virtual position, for example, the engagement torque is smaller than the assistive torque; and after the transmission virtual position is reduced or eliminated, the user is assisted in riding by outputting the assistive torque, which can reduce the impact of the assistive torque on the transmission assembly, and the assistive torque and the pedaling torque of the user together drive the wheel to rotate, so that the starting of riding is faster and smoother.

[0134] For example, referring to FIG. 5, the engagement torque can include a first engagement torque and a second engagement torque, and the method further includes: in response to the transmission assembly having the transmission virtual position, controlling the assistive motor to output the first engagement torque to reduce or eliminate the transmission virtual position; and in response to the transmission virtual position being reduced or eliminated, controlling the assistive motor to output the second engagement torque to maintain the current state of the transmission assembly; wherein the first engagement torque is different from the second engagement torque. By controlling the assistive assembly to output different engagement torques in different states of the transmission assembly, the transmission virtual position can be better eliminated, and the user experience can be improved.

[0135] For example, the first engagement torque is greater than the second engagement torque. A greater first engagement torque is outputted when the transmission virtual position is large, so as to reduce the transmission virtual position more quickly; a smaller second engagement torque is outputted when the transmission virtual position is small, so as to maintain the transmission virtual position small enough, for example, to maintain the chain tension but the second engagement torque does not drive the wheel to rotate; the power-assisted component outputs the power-assisted torque when the user continues to pedal after the transmission virtual position is eliminated, for example, when the pedal frequency is greater than or equal to a pedal frequency threshold, so as to make the intervention of the power-assisted torque more smooth when the user starts to ride.

[0136] For example, referring to FIG. 5, the method further comprises: determining whether the transmission virtual position is reduced or eliminated according to the rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle; and controlling the power-assisted motor to output the engagement torque or the power-assisted torque according to the determination result.

[0137] For example, the transmission virtual position is determined to be eliminated in response to the rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle satisfying a preset engagement condition. For example, when the transmission virtual position is eliminated, i.e., the transmission assembly has been engaged, the rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle are usually in a constant relationship; when the currently detected rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle satisfy the constant relationship, it can be determined that the transmission virtual position is eliminated, and the power-assisted motor is controlled to output the second engagement torque to maintain the current state of the transmission assembly in response to the transmission virtual position being eliminated.

[0138] For example, the transmission virtual position is determined to be not eliminated in response to the rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle not satisfying the preset engagement condition. When the currently detected rotation speed of the power-assisted motor, the rotation speed of the wheel and the gear ratio of the power-assisted bicycle do not satisfy the constant relationship, for example, the rotation speed of the wheel is too slow, it can be determined that the transmission virtual position is not eliminated, and the power-assisted motor is controlled to output the first engagement torque to reduce or eliminate the transmission virtual position.

[0139] In some embodiments, the method further comprises: in response to the power-assisted bicycle being in an uphill state and a speed of the power-assisted bicycle being less than or equal to a preset speed, controlling the power-assisted assembly to output a balance torque for preventing the power-assisted bicycle from rolling downhill to maintain balance. For example, the preset speed is less than or equal to 0.5 m / s when the power-assisted bicycle is in a stationary or starting state or stops on an uphill. It should be noted that the user can ride on the power-assisted bicycle or can push the power-assisted bicycle at this time. By outputting the balance torque to prevent the power-assisted bicycle from rolling downhill to maintain balance when the power-assisted bicycle is in an uphill state and is stationary or is about to start or stops on an uphill, the safety can be improved.

[0140] For example, referring to FIG. 6, when the user rides on the power-assisted bicycle, the power-assisted bicycle can automatically enter a stuck-starting mode or enter the stuck-starting mode according to the user's operation when it is determined that the power-assisted bicycle is in an uphill state according to the slope of the environment where the power-assisted bicycle is currently located and the speed of the power-assisted bicycle is less than or equal to a preset speed; in the stuck-starting mode, the power-assisted assembly outputs a balance torque for preventing the power-assisted bicycle from rolling downhill to maintain balance.

[0141] For example, referring to FIG. 7, when the user does not ride on the power-assisted bicycle, for example, pushes the power-assisted bicycle, the power-assisted bicycle can automatically enter a pushing mode or enter the pushing mode according to the user's operation of pressing a pushing key when it is determined that the power-assisted bicycle is in an uphill state according to the slope of the environment where the power-assisted bicycle is currently located and the speed of the power-assisted bicycle is less than or equal to a preset speed; in the pushing mode, the power-assisted assembly outputs a balance torque for preventing the power-assisted bicycle from rolling downhill to maintain balance.

[0142] For example, the method further comprises: in response to the user riding on the power-assisted bicycle, determining the balance torque according to the slope of the environment where the power-assisted bicycle is located, the mass of the power-assisted bicycle and the mass of the user. For example, the greater the slope, the greater the balance torque, the greater the mass of the power-assisted bicycle, the greater the balance torque, and the greater the mass of the user, the greater the balance torque. Optionally, the mass of the user can be input by the user in advance. Of course, it is not limited thereto, for example, when the user releases the brake and stops pedaling to load the body weight on the power-assisted bicycle, the power-assisted assembly adjusts the output torque to maintain the balance of the power-assisted bicycle, and the balance torque can be obtained.

[0143] For example, the method further comprises: in response to the user not riding on the power-assisted bicycle, determining the balance torque according to the slope of the environment where the power-assisted bicycle is located and the mass of the power-assisted bicycle. For example, the greater the slope, the greater the balance torque, and the greater the mass of the power-assisted bicycle, the greater the balance torque.

[0144] For example, the method further comprises: in response to an operation of the user, controlling the assist assembly to continuously output the assist torque for a preset time period after the power-assisted bicycle is balanced, the operation of the user including pedaling of the user on a pedal of the power-assisted bicycle or triggering of a cart mode of the power-assisted bicycle.

[0145] As shown in FIG. 6, in response to an operation of the user starting pedaling, the assist assembly is controlled to output an assist torque to assist starting; by continuously outputting the assist torque for a preset time period, the assist torque may, for example, compensate for 30%-99% of the torque required by the power-assisted bicycle to climb uphill, so that the power-assisted bicycle generates an initial speed, the requirement for the pedaling torque of the user can be reduced, the user can pay more attention to balancing the power-assisted bicycle at a low speed, the rider can restore the riding state on the slope, the starting success rate can be improved, and starting failure, such as imbalance of the power-assisted bicycle, rear wheel slip, or front wheel tilting, can be prevented.

[0146] For example, the preset time period includes a first time period and a second time period, the external force applied to the power-assisted bicycle is present in the first time period, such as the pedaling torque of the user; the external force applied to the power-assisted bicycle is not present in the second time period, and the control of the assist assembly to continuously output the assist torque for a preset time period includes: controlling the assist assembly to output the assist torque in both the first time period and the second time period. By continuing to output the assist torque for a second time period, such as 1 second, when the user stops pedaling, starting failure of the power-assisted bicycle when the user stops pedaling for a short time can be prevented.

[0147] For example, the control of the assist assembly to continuously output the assist torque for a preset time period includes: controlling the assist assembly to continuously output the assist torque for a preset time period according to the speed of the power-assisted bicycle. As shown in FIG. 6, in the case that the speed of the power-assisted bicycle is low, such as less than or equal to 6 kilometers per hour (km / h), after starting successfully, the assist assembly is controlled to continuously output the assist torque for a preset time period to increase the speed, so that the speed meets the riding demand of the user, such as greater than 6 kilometers per hour.

[0148] Optionally, as shown in FIG. 6, in response to the power-assisted bicycle being in an uphill state and the speed of the power-assisted bicycle being less than or equal to a preset speed, the method further comprises: determining a target gear ratio of the power-assisted bicycle according to the slope of the environment in which the power-assisted bicycle is located. For example, the greater the slope, the smaller the target gear ratio.

[0149] For example, the speed ratio adjustment prompt information can be outputted through a display screen and / or a loudspeaker.

[0150] For example, after the speed ratio of the power-assisted bicycle is adjusted to the target speed ratio, in the case that the pedaling frequency is small when starting, the small power torque and pedaling torque can also drive the wheels to rotate, so as to improve the starting success rate.

[0151] For example, after the speed ratio of the power-assisted bicycle is adjusted to the target speed ratio, in the case that the pedaling frequency is small when starting, the small power torque and pedaling torque can also drive the wheels to rotate, so as to improve the starting success rate.

[0152] For example, after the speed ratio of the power-assisted bicycle is adjusted to the target speed ratio, in the case that the pedaling frequency is small when starting, the small power torque and pedaling torque can also drive the wheels to rotate, so as to improve the starting success rate.

[0153] For example, after the speed ratio of the power-assisted bicycle is adjusted to the target speed ratio, in the case that the pedaling frequency is small when starting, the small power torque and pedaling torque can also drive the wheels to rotate, so as to improve the starting success rate.

[0154] As shown in FIG. 7, when the speed of the power-assisted bicycle is low, such as less than or equal to 6 km / h, the power-assisted assembly continuously outputs the power-assisted torque in a preset time period to increase the speed of the bicycle to meet the user's demand; when the speed of the bicycle is greater than 6 km / h, the output of the power-assisted torque is stopped to ensure the safety of the pushing. For example, when the speed of the bicycle reaches 6 km / h, the power-assisted torque can be gradually reduced to a smaller value or even to zero. Optionally, the power-assisted torque can be reduced after the bicycle is pushed for a period of time, for example, the speed of the bicycle can be maintained at 4 km / h, which can improve the experience and safety of the user when walking for a long time.

[0155] Optionally, when the speed of the bicycle does not exceed the pushing speed threshold, the closer the speed of the bicycle is to the pushing speed threshold, the smaller the power-assisted torque is. The large power-assisted torque can be prevented from causing the speed of the bicycle to rise above the pushing speed threshold in a short time, which can affect the user's experience and even safety.

[0156] In some embodiments, referring to FIG. 7, when the pushing mode is entered, the power-assisted motor outputs a balance torque to prevent the power-assisted bicycle from sliding backward; after the user presses the pushing key for a long time or pushes the power-assisted bicycle, the power-assisted motor outputs a power-assisted torque to assist the user in pushing the bicycle forward. Optionally, the current gear ratio of the power-assisted bicycle and the target gear ratio can be obtained, and a gear ratio adjustment prompt information is outputted to prompt the user to adjust the gear ratio of the power-assisted bicycle to the target gear ratio or to adjust the gear ratio of the power-assisted bicycle according to the target gear ratio to the target gear ratio, so that the adjusted gear ratio is more suitable for the pushing scene, and the user experience is improved. Optionally, the current gear ratio of the power-assisted bicycle can be obtained, and the power-assisted torque of the power-assisted motor is adjusted according to the current gear ratio, so that the speed of assisting the user to push the bicycle forward can reach about 4 km / h.

[0157] In some embodiments, the control method of the power-assisted bicycle can determine the state of the power-assisted bicycle through a vibration sensor, a posture sensor, a positioning device, etc. For example, when the power-assisted bicycle is turned off, the anti-theft state is entered. In the anti-theft state, the state of the vehicle is always monitored. When the vibration or movement of the vehicle exceeds a certain threshold, the alarm mode is entered; for example, at least one of the display screen, the loudspeaker, the buzzer, and the power-assisted motor can output corresponding alarms, such as controlling the power-assisted motor to vibrate to produce a buzzer, which can realize a high-pitched alarm sound. The alarm information can also be sent to the remote server through the communication module such as the 4G module, and the user is prompted to pay attention to the safety of the vehicle on the user terminal. The movement track in the alarm state can also be recorded to the server side to help the user find the vehicle. Optionally, with the help of remote connection function, the user can also directly issue alarm instructions to the vehicle through the server. The anti-theft function and remote tracking function can be realized.

[0158] In some embodiments, the control method of the power-assisted bicycle can also provide a richer display of cycling motion data. For example, real-time cycling data such as the state of the power-assisted component, user cycling information, environmental information, health information, and accessory information can be obtained in real time; the user can set the type of data displayed on the display screen through a mobile phone or other user terminal, and can effectively obtain the information of interest during cycling. More convenient networking and social sharing functions can also be provided: with the user's authorization, the user's cycling motion data can be recorded each time, the user can conveniently record the moments of interest, and the cycling data can be synchronized to the cloud or a mobile terminal through a mobile network, establishing a cycling data archive for the user; the user can also review the cycling trajectory, speed, health information, and other content through a mobile terminal or other terminal, and can create and share secondary works.

[0159] The control method of the power-assisted bicycle provided in the above embodiments, the power-assisted bicycle is provided with a power-assisted component configured to output a power-assisted torque in response to receiving power applied to the power-assisted bicycle from the outside, the method comprising: obtaining power information applied to the power-assisted bicycle from the outside; determining the response speed of the power-assisted component according to the power information; and adjusting the related information of the power-assisted torque output by the power-assisted component according to the response speed. By adjusting the corresponding response speed according to the power information to control the power-assisted component, the power-assisted component outputs the power-assisted torque at a more appropriate time, which can improve the intelligence of the power assistance and the user experience.

[0160] Please refer to FIG. 8 in combination with the foregoing embodiments, which is a flowchart of a control method of a power-assisted bicycle according to another embodiment of the present application. The power-assisted bicycle is provided with a power-assisted component.

[0161] Please refer to FIG. 6 or FIG. 7 in combination with FIG. 8, the control method of the power-assisted bicycle comprises steps S210 and S220.

[0162] Step S210, in response to the power-assisted bicycle being in an uphill state and the speed of the power-assisted bicycle being less than or equal to a preset speed, controlling the power-assisted component to output a balance torque, the balance torque being used to prevent the power-assisted bicycle from rolling downhill to maintain balance.

[0163] Step S220, after the power-assisted bicycle maintains balance, in response to the user's operation, controlling the power-assisted component to continuously output a power-assisted torque within a preset time period, the user's operation including the user's pedaling on the pedal of the power-assisted bicycle or the user's triggering of the power-assisted bicycle in a pushcart mode.

[0164] In some embodiments, the preset time period includes a first time period in which the external power is applied to the power-assisted bicycle and a second time period in which the external power is not applied to the power-assisted bicycle, and the controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period includes controlling the power-assisted assembly to output the power-assisted torque in both the first time period and the second time period.

[0165] In some embodiments, the method further includes determining the balance torque according to a slope of an environment in which the power-assisted bicycle is located, a mass of the power-assisted bicycle, and a mass of the user in response to the user riding on the power-assisted bicycle.

[0166] In some embodiments, the method further includes determining a target gear ratio of the power-assisted bicycle according to a slope of an environment in which the power-assisted bicycle is located.

[0167] In some embodiments, the method further includes outputting a gear ratio adjustment prompt information to prompt the user to adjust the gear ratio of the power-assisted bicycle to the target gear ratio according to the target gear ratio or adjusting the gear ratio of the power-assisted bicycle to the target gear ratio according to the target gear ratio.

[0168] In some embodiments, the method further includes determining the balance torque according to a slope of an environment in which the power-assisted bicycle is located and a mass of the power-assisted bicycle in response to the user not riding on the power-assisted bicycle.

[0169] In some embodiments, the controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period in response to the user's operation after the power-assisted bicycle is balanced includes controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period in response to the user pushing the power-assisted bicycle or in response to the user triggering a control of a stroller mode.

[0170] In some embodiments, the controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period includes controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period according to a speed of the power-assisted bicycle.

[0171] In some embodiments, the controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period according to the speed of the power-assisted bicycle includes controlling the power-assisted assembly to continuously output the power-assisted torque for a preset time period in response to the speed not exceeding a stroller speed threshold and controlling the power-assisted assembly to stop outputting the power-assisted torque in response to the speed exceeding the stroller speed threshold.

[0172] For example, when the vehicle speed does not exceed the trolley speed threshold, the smaller the vehicle speed is to the trolley speed threshold, the smaller the assist torque is.

[0173] The embodiment of the present application can improve safety by outputting a balance torque to prevent the assist bicycle from sliding downhill to maintain balance when the assist bicycle is in an uphill state and is stationary or is preparing to start or is stopped on an uphill.

[0174] Referring to FIG. 9, which is a flowchart of a control method of an assist bicycle according to another embodiment of the present application.

[0175] Referring to FIG. 5 in combination with FIG. 9, the assist bicycle includes an assist assembly, a pedal assembly, a transmission assembly, and a wheel, the assist assembly and the pedal assembly are connected with the wheel through the transmission assembly, the transmission assembly includes a first transmission member and a second transmission member in transmission cooperation with the first transmission member, and a transmission virtual position exists between the first transmission member and the second transmission member.

[0176] The control method of the assist bicycle includes step S310 and step S320.

[0177] Step S310: in response to pedaling of the pedal assembly by a user, controlling the assist assembly to output an engagement torque to reduce or eliminate the transmission virtual position; and

[0178] Step S320: after the assist assembly outputs the engagement torque, controlling the assist assembly to output the assist torque.

[0179] In some embodiments, the transmission assembly includes a toothed disc, a chain, and a hub, and the transmission virtual position includes a virtual position between the toothed disc and the chain and / or a virtual position between the toothed disc and the hub.

[0180] In some embodiments, the assist assembly includes an assist motor, the assist motor is configured to provide the engagement torque, and the method further includes determining whether the transmission virtual position is reduced or eliminated according to a rotation speed of the assist motor, a rotation speed of the wheel, and a gear ratio of the assist bicycle.

[0181] For example, the determining whether the transmission virtual position is reduced or eliminated according to the rotation speed of the assist motor, the rotation speed of the wheel, and the gear ratio of the assist bicycle comprises: determining that the transmission virtual position is eliminated in response to the rotation speed of the assist motor, the rotation speed of the wheel, and the gear ratio of the assist bicycle satisfying a preset meshing condition; and determining that the transmission virtual position is not eliminated in response to the rotation speed of the assist motor, the rotation speed of the wheel, and the gear ratio of the assist bicycle not satisfying the preset meshing condition.

[0182] In some embodiments, the meshing torque comprises a first meshing torque and a second meshing torque, and the method further comprises: controlling the assist motor to output the first meshing torque to reduce or eliminate the transmission virtual position in response to the transmission assembly having the transmission virtual position; and controlling the assist motor to output the second meshing torque to maintain a current state of the transmission assembly in response to the transmission virtual position being reduced or eliminated; wherein the first meshing torque is different from the second meshing torque.

[0183] For example, the first meshing torque is greater than the second meshing torque.

[0184] The embodiments of the present application can detect the pedaling of the user on the pedal assembly through the pedaling frequency sensor and / or the torque sensor. When the pedaling action of the user is detected, the assist assembly is controlled to output the meshing torque to reduce or eliminate the transmission virtual position, for example, the meshing torque is less than the assist torque; and the assist torque is output to assist the user in riding after the transmission virtual position is reduced or eliminated, which can reduce the impact of the assist torque on the transmission assembly. The assist torque and the pedaling torque of the user together drive the wheel to rotate, so that the starting of riding is faster and smoother.

[0185] Please refer to FIG. 10 in combination with the foregoing embodiments, which is a schematic block diagram of an assist assembly of an assist bicycle according to an embodiment of the present application.

[0186] The assist assembly of the assist bicycle is configured in the assist bicycle and is used to perform the control method of the assist bicycle.

[0187] As shown in FIG. 10, the assist assembly of the assist bicycle comprises an assist motor 11 and one or more processors 12 and one or more memories 13 storing computer program codes, wherein the one or more processors 12 and the one or more memories 13 storing computer program codes are configured to jointly act to cause the assist assembly 11 to perform the steps of the control method according to any one of the foregoing embodiments.

[0188] In some embodiments, the one or more processors 12 and the one or more memories 13 storing computer program codes are configured to act in concert to cause the assistive component 11 to perform the following steps:

[0189] acquiring power information applied to the assistive bicycle by an external force;

[0190] determining a response speed of the assistive component according to the power information; and

[0191] adjusting, according to the response speed, related information of the assistive torque output by the assistive component.

[0192] In some embodiments, the one or more processors 12 and the one or more memories 13 storing computer program codes are configured to act in concert to cause the assistive component 11 to perform the following steps:

[0193] controlling the assistive component to output a balance torque for preventing the assistive bicycle from coasting to maintain balance, in response to the assistive bicycle being in an uphill state and a vehicle speed of the assistive bicycle being less than or equal to a preset vehicle speed; and

[0194] controlling the assistive component to continuously output an assistive torque within a preset time period, in response to an operation of a user after the assistive bicycle maintains balance, the operation of the user including pedaling of the user on pedals of the assistive bicycle or triggering of a stroller mode of the assistive bicycle by the user.

[0195] In some embodiments, the one or more processors 12 and the one or more memories 13 storing computer program codes are configured to act in concert to cause the assistive component 11 to perform the following steps:

[0196] controlling the assistive component to output an engagement torque to reduce or eliminate the transmission virtual displacement, in response to pedaling of the user on the pedal assembly; and

[0197] controlling the assistive component to output the assistive torque after the assistive component outputs the engagement torque.

[0198] The specific principles and implementation manners of the assistive component provided by the embodiments of the present application are similar to the control method of the foregoing embodiments, and thus will not be described herein.

[0199] Please refer to FIG. 11 in combination with the foregoing embodiments, which is a schematic block diagram of an assistive bicycle provided by an embodiment of the present application.

[0200] The power-assisted bicycle comprises a power-assisted assembly 101, a pedal assembly 102, a transmission assembly 103, and a wheel 104, wherein the power-assisted assembly 101 and the pedal assembly 102 are connected to the wheel 104 through the transmission assembly 103.

[0201] The power-assisted bicycle further comprises one or more processors 22 and one or more memories 23 storing computer program codes, wherein the one or more processors 22 and the one or more memories 23 storing computer program codes are configured to jointly act to cause the power-assisted bicycle to perform the steps of the control method of any of the preceding embodiments.

[0202] In some embodiments, the one or more processors 22 and the one or more memories 23 storing computer program codes are configured to jointly act to cause the power-assisted bicycle to perform the following steps:

[0203] obtaining power information applied to the power-assisted bicycle by an external force;

[0204] determining a response speed of the power-assisted assembly according to the power information; and

[0205] adjusting, according to the response speed, information related to the power-assisted torque output by the power-assisted assembly.

[0206] In some embodiments, the one or more processors 22 and the one or more memories 23 storing computer program codes are configured to jointly act to cause the power-assisted bicycle to perform the following steps:

[0207] in response to the power-assisted bicycle being in an uphill state and a vehicle speed of the power-assisted bicycle being less than or equal to a preset vehicle speed, controlling the power-assisted assembly to output a balance torque for preventing the power-assisted bicycle from rolling downhill to maintain balance; and

[0208] after the power-assisted bicycle maintains balance, in response to a user operation, controlling the power-assisted assembly to continuously output a power-assisted torque within a preset time period, wherein the user operation includes a user's pedaling on a pedal of the power-assisted bicycle or a user's triggering of a stroller mode of the power-assisted bicycle.

[0209] In some embodiments, the one or more processors 22 and the one or more memories 23 storing computer program codes are configured to jointly act to cause the power-assisted bicycle to perform the following steps:

[0210] in response to a user's pedaling on the pedal assembly, controlling the power-assisted assembly to output an engagement torque to reduce or eliminate the transmission virtual displacement; and

[0211] After the engagement torque is output by the assist assembly, the assist torque is controlled to be output by the assist assembly.

[0212] The specific principles and implementation manners of the power-assisted bicycle provided in the embodiments of the present application are similar to the control method of the foregoing embodiments, and thus are not described herein again.

[0213] It should be explained that, for the convenience and brevity of description, the specific working processes of the apparatuses and the modules and units described above can be understood by those skilled in the art, and the corresponding processes in the foregoing method embodiments can be referred to, which are not described herein again.

[0214] The method of the present application can be used in a plurality of general or special computer system environments or configurations. For example: handheld devices or portable devices, multi-processor systems, microprocessor-based systems, programmable consumer electronics, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment, in which tasks are performed by remote processing devices connected by a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0215] For example, the foregoing method and apparatus can be implemented in the form of a computer program, which can run on a power-assisted bicycle, for example, on an assist assembly of a power-assisted bicycle.

[0216] Those skilled in the art can understand that the structure shown in FIG. 10 or FIG. 11 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the power-assisted bicycle or the assist assembly to which the scheme of the present application is applied. The specific power-assisted bicycle or assist assembly can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0217] It should be appreciated that a processor can be a central processing unit (CPU), a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general purpose processor can be a microprocessor or the processor can be any conventional processor.

[0218] It should be noted that the specific working process of the power-assisted bicycle or the power-assisted assembly can be clearly understood by those skilled in the art, and for the convenience and brevity of description, reference can be made to the corresponding process in the foregoing embodiment of the control method of the power-assisted bicycle, which will not be repeated here.

[0219] The embodiments of the present application further provide a computer readable storage medium, and the computer readable storage medium stores a computer program. The method realized by the computer program executed by the processor can refer to each embodiment of the control method of the power-assisted bicycle.

[0220] The computer readable storage medium can be an internal storage unit of the power-assisted assembly or the power-assisted bicycle, such as a hard disk or a memory of the power-assisted bicycle. The computer readable storage medium can also be an external storage device of the power-assisted assembly or the power-assisted bicycle, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, or the like.

[0221] It should be understood that the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms as well.

[0222] It should also be understood that, in the specification and the appended claims, the terms "and / or" is used to mean one or more of the associated listed items, as well as any combination of any of the associated listed items. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0223] The above-mentioned embodiment serial numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for an electric bicycle, the electric bicycle being provided with an assist component, the assist component being configured to output assist torque in response to receiving power applied to the electric bicycle from an external source, characterized in that, The method includes: Obtain power information applied to the electric bicycle from the outside; The response speed of the power assist component is determined based on the power information; and The relevant information regarding the assist torque output by the assist component is adjusted based on the response speed.

2. The method according to claim 1, characterized in that, The electric bicycle includes a pedal assembly, and the power information includes power information of the user acting on the pedal assembly.

3. The method according to claim 2, characterized in that, The power information includes the user's cadence and / or pedaling torque.

4. The method according to claim 3, characterized in that, The power information includes the cadence, and the method further includes: In response to the pedal frequency being greater than or equal to a pedal frequency threshold, the power assist component is controlled to output the power assist torque.

5. The method according to claim 4, characterized in that, The method further includes: In response to the pedal frequency being less than the pedal frequency threshold, the power assist component is controlled to stop outputting the power assist torque.

6. The method according to claim 4, characterized in that, The power information also includes the pedaling torque, and the stepping torque control of the assist component in response to the pedal frequency being greater than or equal to a pedal frequency threshold includes: In response to the pedal frequency being greater than or equal to a pedal frequency threshold and the pedaling torque being greater than or equal to a pedaling torque threshold, the power assist component is controlled to output the power assist torque.

7. The method according to claim 3, characterized in that, The power information includes the cadence; the lower the cadence, the faster the response speed; the higher the cadence, the slower the response speed.

8. The method according to claim 1, characterized in that, The response speed is used to characterize the length of time between when the power assist component outputs the power assist torque and when it detects the power information applied to the power assist bicycle from the outside.

9. The method according to any one of claims 2-8, characterized in that, The method further includes: The assist ratio of the electric bicycle is obtained, and the assist ratio is used to indicate the ratio of the assist torque provided by the assist component to the user's pedaling torque; The information related to adjusting the assist torque output by the assist component according to the response speed includes: The relevant information regarding adjusting the assist torque output by the assist component based on the response speed and the assist ratio.

10. The method according to claim 9, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the slope of the environment in which the electric bicycle is currently located; The assist ratio of the electric bicycle is determined based on the slope.

11. The method according to claim 10, characterized in that, The slope is determined based on at least one of the following: the posture information of the electric bicycle, the map information of the current environment of the electric bicycle, and the environmental sensor information of the electric bicycle.

12. The method according to claim 9, characterized in that, The electric bicycle includes a fixed assist mode. In response to the electric bicycle being in the fixed assist mode, the assist ratio is a fixed value. Obtaining the assist ratio of the electric bicycle includes: Obtain the fixed assist mode; The assist ratio is determined based on the fixed assist mode.

13. The method according to claim 12, characterized in that, The fixed assist mode includes a first fixed assist mode and a second fixed assist mode, and the fixed value includes a first fixed value and a second fixed value; In response to the electric bicycle being in the first fixed assist mode, the assist ratio is the first fixed value; In response to the electric bicycle being in the second fixed assist mode, the assist ratio is the second fixed value; Wherein, the first fixed value and the second fixed value are different.

14. The method according to claim 13, characterized in that, The fixed assist mode is determined to be either the first fixed assist mode or the second fixed assist mode based on the terrain of the environment in which the electric bicycle is located.

15. The method according to claim 9, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the user's preset cycling information, which includes at least one of the following: preset cycling distance, preset cycling road conditions, and the current battery level of the electric bicycle; The assist ratio is determined as the first assist ratio based on the preset riding information.

16. The method according to claim 15, characterized in that, The method further includes: In response to the estimation that the remaining battery power after completing the preset riding distance using the current battery level is greater than a battery threshold, the assist ratio is determined to be a second assist ratio; and In response to the fact that the remaining battery power after completing the preset riding distance is less than the estimated battery threshold, the assist ratio is determined to be the third assist ratio; Wherein, the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio.

17. The method according to claim 16, characterized in that, The power threshold includes a first power threshold and a second power threshold, wherein the first power threshold is greater than the second power threshold, and the power assist ratio is determined to be the second power assist ratio in response to the estimated remaining power after completing the preset riding distance with the current power being greater than the power threshold. In response to the estimated remaining battery level after completing the preset riding distance being less than the battery threshold, the assist ratio is determined to be a third assist ratio, including: In response to the fact that the remaining battery power after completing the preset riding distance is estimated to be greater than the first battery power threshold, the assist ratio is determined to be the second assist ratio; In response to the estimation that the remaining battery power after completing the preset riding distance is less than the second battery power threshold, the assist ratio is determined to be the third assist ratio; and In response to the estimated remaining battery level after completing the preset riding distance, which is greater than the second battery threshold, and If the power level is less than the first power threshold, the assist ratio is determined to be the first assist ratio.

18. The method according to claim 1, characterized in that, The power information includes information about the speed at which the electric bicycle is moved by pulling, pushing, or gravity.

19. The method according to claim 1, characterized in that, The method further includes: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist power of the assist component is determined based on the slope.

20. The method according to claim 1, characterized in that, The method further includes: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist torque of the assist component is determined based on the slope.

21. The method according to claim 1, characterized in that, The method further includes: Obtain the gear ratio of the electric bicycle; The upper limit of the assist torque of the assist component is determined based on the gear ratio.

22. The method according to claim 1, characterized in that, The method further includes: Obtain the speed of the electric bicycle; In response to the speed of the electric bicycle exceeding a speed threshold, the power assist component is controlled to stop outputting the power assist torque.

23. The method according to claim 1, characterized in that, The method further includes: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased.

24. The method according to claim 23, characterized in that, The step of increasing the upper limit of the assist power and / or the upper limit of the assist torque of the assist component in response to the user's triggering of the trigger includes: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased within a preset time period.

25. The method according to any one of claims 1-24, characterized in that, The method further includes: Obtain the current gear ratio of the electric bicycle; Based on the status information of the power assist component, a prompt message is output to adjust the current gear ratio, prompting the user to adjust the current gear ratio and / or controlling the power-assisted bicycle to adjust the current gear ratio.

26. The method according to claim 25, characterized in that, The status information includes the rotational speed and / or assist torque of the assist component.

27. The method according to claim 26, characterized in that, The step of outputting a prompt message to adjust the current gear ratio based on the status information of the power-assist component to prompt the user to adjust the current gear ratio and / or controlling the power-assist bicycle to adjust the current gear ratio includes: In response to the speed of the power assist component being outside the speed range and / or in response to the power assist torque being outside the power assist torque range, a prompt message for adjusting the current gear ratio is output to prompt the user to adjust the current gear ratio and / or to control the power-assisted bicycle to adjust the current gear ratio.

28. The method according to claim 25, characterized in that, The electric bicycle includes wheels and cranks, the power assist assembly includes a power assist motor, the cranks are used to transmit the user's pedaling torque to drive the wheels, and the power assist motor is used to output the power assist torque to drive the wheels. Obtaining the current gear ratio of the electric bicycle includes: The current gear ratio of the electric bicycle is determined based on the rotational speed of the power-assisted motor and the rotational speed of the wheels; and / or The current gear ratio of the electric bicycle is determined based on the rotational speed of the crank and the rotational speed of the wheel.

29. The method according to claim 28, characterized in that, Determining the current gear ratio of the electric bicycle based on the rotational speed of the power-assisted motor and the rotational speed of the wheel includes: In response to the power assist motor outputting the power assist torque, the current gear ratio of the power assist bicycle is determined based on the rotational speed of the power assist motor and the rotational speed of the wheel.

30. The method according to claim 25, characterized in that, The method further includes: outputting the gear ratio of the electric bicycle and / or the gear corresponding to the gear ratio.

31. The method according to any one of claims 1-30, characterized in that, The power-assisted bicycle further includes a pedal assembly, a transmission assembly, and a wheel. The power-assisted assembly and the pedal assembly are both connected to the wheel via the transmission assembly. The transmission assembly includes a first transmission member and a second transmission member that drives the first transmission member. There is a transmission play between the first transmission member and the second transmission member. The method includes: In response to the user pressing the pedal assembly, the power assist assembly is controlled to output engagement torque to reduce or eliminate the transmission play. After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

32. The method according to claim 31, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

33. The method according to claim 31, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the method further includes: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

34. The method according to claim 33, characterized in that, The step of determining whether the transmission play is reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

35. The method according to claim 31, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the method further includes: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the transmission assembly maintains its current state. The first meshing torque is different from the second meshing torque.

36. The method according to claim 35, characterized in that, The first engagement torque is greater than the second engagement torque.

37. The method according to any one of claims 1-36, characterized in that, The method further includes: In response to the fact that the electric bicycle is in an uphill state and the speed of the electric bicycle is less than or equal to a preset speed, the power assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling back downhill and to maintain balance.

38. The method according to claim 37, characterized in that, The method further includes: After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

39. The method according to claim 38, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

40. The method according to claim 37, characterized in that, The method further includes: In response to a user riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located, the mass of the electric bicycle, and the mass of the user.

41. The method according to claim 37, characterized in that, The method further includes: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

42. The method according to claim 41, characterized in that, The method further includes: Based on the target gear ratio, output a gear ratio adjustment prompt to remind the user to adjust the gear ratio of the electric bicycle to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

43. The method according to claim 37, characterized in that, The method further includes: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

44. The method according to claim 38, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

45. The method according to claim 44, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

46. ​​The method according to claim 45, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

47. The method according to claim 46, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

48. A control method for a power-assisted bicycle, wherein the power-assisted bicycle is provided with a power-assisting component, characterized in that, The method includes: In response to the electric bicycle being in an uphill position and its speed being less than or equal to a preset speed, the assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling backward and to maintain balance; and After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

49. The method according to claim 48, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

50. The method according to claim 47, characterized in that, The method further includes: In response to a user riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located, the mass of the electric bicycle, and the mass of the user.

51. The method according to claim 47, characterized in that, The method further includes: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

52. The method according to claim 51, characterized in that, The method further includes: Based on the target gear ratio, output a gear ratio adjustment prompt to remind the user to adjust the gear ratio of the electric bicycle to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

53. The method according to claim 47, characterized in that, The method further includes: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

54. The method according to claim 48, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

55. The method according to claim 54, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

56. The method according to claim 55, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

57. The method according to claim 56, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

58. A control method for a power-assisted bicycle, characterized in that, The electric bicycle includes an assist component, a pedal component, a transmission component, and a wheel. Both the assist component and the pedal component are connected to the wheel via the transmission component. The transmission component includes a first transmission member and a second transmission member that drives the first transmission member. There is a transmission play between the first transmission member and the second transmission member. The method further includes: In response to the user's pressure on the pedal assembly, the power assist component is controlled to output engagement torque to reduce or eliminate transmission play; and After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

59. The method according to claim 58, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

60. The method according to claim 58, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the method further includes: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

61. The method according to claim 60, characterized in that, The step of determining whether the transmission play is reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

62. The method according to claim 58, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the method further includes: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the transmission assembly maintains its current state. The first meshing torque is different from the second meshing torque.

63. The method according to claim 62, characterized in that, The first engagement torque is greater than the second engagement torque.

64. A power assist component for a power-assisted bicycle, characterized in that, The power assist component includes a power assist motor, one or more processors, and one or more memories storing computer program code, wherein the one or more processors and the one or more memories storing computer program code are configured to work together to cause the power assist component to perform the following steps: Obtain power information applied to the electric bicycle from the outside; The response speed of the power assist component is determined based on the power information; and The relevant information regarding the assist torque output by the assist component is adjusted based on the response speed.

65. The assist component according to claim 64, characterized in that, The electric bicycle includes a pedal assembly, and the power information includes power information of the user acting on the pedal assembly.

66. The assist component according to claim 65, characterized in that, The power information includes the user's cadence and / or pedaling torque.

67. The assist component according to claim 66, characterized in that, The power information includes the cadence, and the processor is further configured to: In response to the pedal frequency being greater than or equal to a pedal frequency threshold, the power assist component is controlled to output the power assist torque.

68. The assist component according to claim 67, characterized in that, The processor is also used for: In response to the pedal frequency being less than the pedal frequency threshold, the power assist component is controlled to stop outputting the power assist torque.

69. The assist component according to claim 67, characterized in that, The power information also includes the pedaling torque, and the stepping torque control of the assist component in response to the pedal frequency being greater than or equal to a pedal frequency threshold includes: In response to the pedal frequency being greater than or equal to a pedal frequency threshold and the pedaling torque being greater than or equal to a pedaling torque threshold, the power assist component is controlled to output the power assist torque.

70. The assist component according to claim 66, characterized in that, The power information includes the cadence; the lower the cadence, the faster the response speed; the higher the cadence, the slower the response speed.

71. The assist component according to claim 64, characterized in that, The response speed is used to characterize the length of time between when the power assist component outputs the power assist torque and when it detects the power information applied to the power assist bicycle from the outside.

72. The assist component according to any one of claims 65-71, characterized in that, The processor is also used for: The assist ratio of the electric bicycle is obtained, and the assist ratio is used to indicate the ratio of the assist torque provided by the assist component to the user's pedaling torque; The information related to adjusting the assist torque output by the assist component according to the response speed includes: The relevant information regarding adjusting the assist torque output by the assist component based on the response speed and the assist ratio.

73. The assist component according to claim 72, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the slope of the environment in which the electric bicycle is currently located; The assist ratio of the electric bicycle is determined based on the slope.

74. The assist component according to claim 73, characterized in that, The slope is determined based on at least one of the following: the posture information of the electric bicycle, the map information of the current environment of the electric bicycle, and the environmental sensor information of the electric bicycle.

75. The assist component according to claim 72, characterized in that, The electric bicycle includes a fixed assist mode. In response to the electric bicycle being in the fixed assist mode, the assist ratio is a fixed value. Obtaining the assist ratio of the electric bicycle includes: Obtain the fixed assist mode; The assist ratio is determined based on the fixed assist mode.

76. The assist component according to claim 75, characterized in that, The fixed assist mode includes a first fixed assist mode and a second fixed assist mode, and the fixed value includes a first fixed value and a second fixed value; In response to the electric bicycle being in the first fixed assist mode, the assist ratio is the first fixed value; In response to the electric bicycle being in the second fixed assist mode, the assist ratio is the second fixed value; Wherein, the first fixed value and the second fixed value are different.

77. The assist component according to claim 76, characterized in that, The fixed assist mode is determined to be either the first fixed assist mode or the second fixed assist mode based on the terrain of the environment in which the electric bicycle is located.

78. The assist component according to claim 72, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the user's preset cycling information, which includes at least one of the following: preset cycling distance, preset cycling road conditions, and the current battery level of the electric bicycle; The assist ratio is determined as the first assist ratio based on the preset riding information.

79. The assist component according to claim 78, characterized in that, The processor is also used for: In response to the fact that the remaining battery power after completing the preset riding distance is greater than the estimated battery power threshold, the assist ratio is determined to be the second assist ratio; as well as In response to the fact that the remaining battery power after completing the preset riding distance is less than the estimated battery threshold, the assist ratio is determined to be the third assist ratio; Wherein, the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio.

80. The assist component according to claim 79, characterized in that, The power threshold includes a first power threshold and a second power threshold, wherein the first power threshold is greater than the second power threshold, and the power assist ratio is determined to be the second power assist ratio in response to the estimated remaining power after completing the preset riding distance with the current power being greater than the power threshold. In response to the estimated remaining battery level after completing the preset riding distance being less than the battery threshold, the assist ratio is determined to be a third assist ratio, including: In response to the fact that the remaining battery power after completing the preset riding distance is estimated to be greater than the first battery power threshold, the assist ratio is determined to be the second assist ratio; In response to the estimation that the remaining battery power after completing the preset riding distance is less than the second battery power threshold, the assist ratio is determined to be the third assist ratio; and In response to the estimated remaining battery level after completing the preset riding distance being greater than the second battery level threshold and less than the first battery level threshold, the assist ratio is determined to be the first assist ratio.

81. The assist component according to claim 64, characterized in that, The power information includes information about the speed at which the electric bicycle is moved by pulling, pushing, or gravity.

82. The assist component according to claim 64, characterized in that, The processor is also used for: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist power of the assist component is determined based on the slope.

83. The assist component according to claim 64, characterized in that, The processor is also used for: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist torque of the assist component is determined based on the slope.

84. The assist component according to claim 64, characterized in that, The processor is also used for: Obtain the gear ratio of the electric bicycle; The upper limit of the assist torque of the assist component is determined based on the gear ratio.

85. The assist component according to claim 64, characterized in that, The processor is also used for: Obtain the speed of the electric bicycle; In response to the speed of the electric bicycle exceeding a speed threshold, the power assist component is controlled to stop outputting the power assist torque.

86. The assist component according to claim 64, characterized in that, The processor is also used for: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased.

87. The assist component according to claim 86, characterized in that, The step of increasing the upper limit of the assist power and / or the upper limit of the assist torque of the assist component in response to the user's triggering of the trigger includes: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased within a preset time period.

88. The assist component according to any one of claims 64-87, characterized in that, The processor is also used for: Obtain the current gear ratio of the electric bicycle; Based on the status information of the power assist component, a prompt message is output to adjust the current gear ratio, prompting the user to adjust the current gear ratio and / or controlling the power-assisted bicycle to adjust the current gear ratio.

89. The assist component according to claim 88, characterized in that, The status information includes the rotational speed and / or assist torque of the assist component.

90. The assist component according to claim 89, characterized in that, The step of outputting a prompt message to adjust the current gear ratio based on the status information of the power-assist component to prompt the user to adjust the current gear ratio and / or controlling the power-assist bicycle to adjust the current gear ratio includes: In response to the speed of the power assist component being outside the speed range and / or in response to the power assist torque being outside the power assist torque range, a prompt message for adjusting the current gear ratio is output to prompt the user to adjust the current gear ratio and / or to control the power-assisted bicycle to adjust the current gear ratio.

91. The assist component according to claim 88, characterized in that, The electric bicycle includes wheels and cranks, the power assist assembly includes a power assist motor, the cranks are used to transmit the user's pedaling torque to drive the wheels, and the power assist motor is used to output the power assist torque to drive the wheels. Obtaining the current gear ratio of the electric bicycle includes: The current gear ratio of the electric bicycle is determined based on the rotational speed of the power-assisted motor and the rotational speed of the wheels; and / or The current gear ratio of the electric bicycle is determined based on the rotational speed of the crank and the rotational speed of the wheel.

92. The assist component according to claim 91, characterized in that, Determining the current gear ratio of the electric bicycle based on the rotational speed of the power-assisted motor and the rotational speed of the wheel includes: In response to the power assist motor outputting the power assist torque, the current gear ratio of the power assist bicycle is determined based on the rotational speed of the power assist motor and the rotational speed of the wheel.

93. The assist component according to claim 88, characterized in that, The processor is also configured to: output the gear ratio of the electric bicycle and / or the gear corresponding to the gear ratio.

94. The assist component according to any one of claims 64-93, characterized in that, The electric bicycle further includes a pedal assembly, a transmission assembly, and a wheel. Both the power assist assembly and the pedal assembly are connected to the wheel via the transmission assembly. The transmission assembly includes a first transmission member and a second transmission member that drivesly engages with the first transmission member. A transmission play exists between the first transmission member and the second transmission member. The processor is further configured to: In response to the user pressing the pedal assembly, the power assist assembly is controlled to output engagement torque to reduce or eliminate the transmission play. After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

95. The assist component according to claim 94, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

96. The assist component according to claim 94, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the processor is further used to: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

97. The assist component according to claim 96, characterized in that, The step of determining whether the transmission play has been reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

98. The assist component according to claim 94, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the processor is further configured to: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the transmission assembly maintains its current state. The first meshing torque is different from the second meshing torque.

99. The assist component according to claim 98, characterized in that, The first engagement torque is greater than the second engagement torque.

100. The assist component according to any one of claims 64-99, characterized in that, The processor is also used for: In response to the fact that the electric bicycle is in an uphill state and the speed of the electric bicycle is less than or equal to a preset speed, the power assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling back downhill and to maintain balance.

101. The assist component according to claim 100, characterized in that, The processor is also used for: After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

102. The assist component according to claim 101, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

103. The assist component according to claim 100, characterized in that, The processor is also used for: In response to a user riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located, the mass of the electric bicycle, and the mass of the user.

104. The assist component according to claim 100, characterized in that, The processor is also used for: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

105. The assist component according to claim 104, characterized in that, The processor is also used for: Based on the target gear ratio, a gear ratio adjustment prompt message is output to remind the user to adjust the gears of the electric bicycle. Compared to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

106. The assist component according to claim 100, characterized in that, The processor is also used for: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

107. The assist component according to claim 101, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

108. The assist component according to claim 107, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

109. The assist component according to claim 108, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

110. The assist component according to claim 109, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

111. A power assist component for a power-assisted bicycle, characterized in that, The power assist component includes a power assist motor, one or more processors, and one or more memories storing computer program code, wherein the one or more processors and the one or more memories storing computer program code are configured to work together to cause the power assist component to perform the following steps: In response to the fact that the electric bicycle is in an uphill state and the speed of the electric bicycle is less than or equal to a preset speed, the power assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling downhill and to maintain balance. as well as After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

112. The assist component according to claim 111, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

113. The assist component according to claim 110, characterized in that, The processor is also used for: In response to a user riding the electric bicycle, the system adjusts the speed and power according to the slope of the environment in which the electric bicycle is located. The mass of the bicycle and the mass of the user determine the balancing torque.

114. The assist component according to claim 110, characterized in that, The processor is also used for: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

115. The assist component according to claim 114, characterized in that, The processor is also used for: Based on the target gear ratio, output a gear ratio adjustment prompt to remind the user to adjust the gear ratio of the electric bicycle to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

116. The assist component according to claim 110, characterized in that, The processor is also used for: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

117. The assist component according to claim 111, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

118. The assist component according to claim 117, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

119. The assist component according to claim 118, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

120. The assist component according to claim 119, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

121. A power assist component for a power-assisted bicycle, characterized in that, The power assist component includes a power assist motor, one or more processors, and one or more memories storing computer program code, wherein the one or more processors and the one or more memories storing computer program code are configured to work together to cause the power assist component to perform the following steps: In response to the user's pressure on the pedal assembly, the power assist component is controlled to output engagement torque to reduce or eliminate transmission play; and After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

122. The assist component according to claim 121, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

123. The assist component according to claim 121, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the processor is further used to: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

124. The assist component according to claim 123, characterized in that, The step of determining whether the transmission play is reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

125. The assist component according to claim 121, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the processor is further configured to: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the transmission assembly maintains its current state. The first meshing torque is different from the second meshing torque.

126. The assist component according to claim 125, characterized in that, The first engagement torque is greater than the second engagement torque.

127. A power-assisted bicycle, characterized in that, The electric bicycle includes an assist component, a pedal component, a transmission component, and a wheel. The assist component and the pedal component are both connected to the wheel through the transmission component. The electric bicycle also includes one or more processors and one or more memories storing computer program code, wherein the one or more processors and one or more memories storing computer program code are configured to work together to cause the electric bicycle to perform the following steps: Obtain power information applied to the electric bicycle from the outside; The response speed of the power assist component is determined based on the power information; and The relevant information regarding the assist torque output by the assist component is adjusted based on the response speed.

128. The assist component according to claim 127, characterized in that, The electric bicycle includes a pedal assembly, and the power information includes power information of the user acting on the pedal assembly.

129. The assist component according to claim 128, characterized in that, The power information includes the user's cadence and / or pedaling torque.

130. The assist component according to claim 129, characterized in that, The power information includes the cadence, and the processor is further configured to: In response to the pedal frequency being greater than or equal to a pedal frequency threshold, the power assist component is controlled to output the power assist torque.

131. The assist component according to claim 130, characterized in that, The processor is also used for: In response to the pedal frequency being less than the pedal frequency threshold, the power assist component is controlled to stop outputting the power assist torque.

132. The assist component according to claim 130, characterized in that, The power information also includes the pedaling torque, and the stepping torque control of the assist component in response to the pedal frequency being greater than or equal to a pedal frequency threshold includes: In response to the pedal frequency being greater than or equal to a pedal frequency threshold and the pedaling torque being greater than or equal to a pedaling torque threshold, the power assist component is controlled to output the power assist torque.

133. The assist component according to claim 129, characterized in that, The power information includes the cadence; the lower the cadence, the faster the response speed; the higher the cadence, the slower the response speed.

134. The assist component according to claim 127, characterized in that, The response speed is used to characterize the length of time between when the power assist component outputs the power assist torque and when it detects the power information applied to the power assist bicycle from the outside.

135. The assist component according to any one of claims 128-134, characterized in that, The processor is also used for: The assist ratio of the electric bicycle is obtained, and the assist ratio is used to indicate the ratio of the assist torque provided by the assist component to the user's pedaling torque; The information related to adjusting the assist torque output by the assist component according to the response speed includes: The relevant information regarding adjusting the assist torque output by the assist component based on the response speed and the assist ratio.

136. The assist component according to claim 135, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the slope of the environment in which the electric bicycle is currently located; The assist ratio of the electric bicycle is determined based on the slope.

137. The assist component according to claim 136, characterized in that, The slope is determined based on at least one of the following: the posture information of the electric bicycle, the map information of the current environment of the electric bicycle, and the environmental sensor information of the electric bicycle.

138. The assist component according to claim 135, characterized in that, The electric bicycle includes a fixed assist mode. In response to the electric bicycle being in the fixed assist mode, the assist ratio is a fixed value. Obtaining the assist ratio of the electric bicycle includes: Obtain the fixed assist mode; The assist ratio is determined based on the fixed assist mode.

139. The assist component according to claim 138, characterized in that, The fixed assist mode includes a first fixed assist mode and a second fixed assist mode, and the fixed value includes a first fixed value and a second fixed value; In response to the electric bicycle being in the first fixed assist mode, the assist ratio is the first fixed value; In response to the electric bicycle being in the second fixed assist mode, the assist ratio is the second fixed value; Wherein, the first fixed value and the second fixed value are different.

140. The assist component according to claim 139, characterized in that, The fixed assist mode is determined to be either the first fixed assist mode or the second fixed assist mode based on the terrain of the environment in which the electric bicycle is located.

141. The assist component according to claim 135, characterized in that, The process of obtaining the assist ratio of the electric bicycle includes: Obtain the user's preset cycling information, which includes at least one of the following: preset cycling distance, preset cycling road conditions, and the current battery level of the electric bicycle; The assist ratio is determined as the first assist ratio based on the preset riding information.

142. The assist component according to claim 141, characterized in that, The processor is also used for: In response to the fact that the remaining battery power after completing the preset riding distance is greater than the estimated battery power threshold, the assist ratio is determined to be the second assist ratio; as well as In response to the fact that the remaining battery power after completing the preset riding distance is less than the estimated battery threshold, the assist ratio is determined to be the third assist ratio; Wherein, the second assist ratio is greater than the first assist ratio, and the third assist ratio is less than the first assist ratio.

143. The assist component according to claim 142, characterized in that, The power threshold includes a first power threshold and a second power threshold, wherein the first power threshold is greater than the second power threshold, and the power assist ratio is determined to be the second power assist ratio in response to the estimated remaining power after completing the preset riding distance with the current power being greater than the power threshold. In response to the estimated remaining battery level after completing the preset riding distance being less than the battery threshold, the assist ratio is determined to be a third assist ratio, including: In response to the fact that the remaining battery power after completing the preset riding distance is estimated to be greater than the first battery power threshold, the assist ratio is determined to be the second assist ratio; In response to the estimation that the remaining battery power after completing the preset riding distance is less than the second battery power threshold, the assist ratio is determined to be the third assist ratio; and In response to the estimated remaining battery level after completing the preset riding distance being greater than the second battery level threshold and less than the first battery level threshold, the assist ratio is determined to be the first assist ratio.

144. The assist component according to claim 127, characterized in that, The power information includes information about the speed at which the electric bicycle is moved by pulling, pushing, or gravity.

145. The assist component according to claim 127, characterized in that, The processor is also used for: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist power of the assist component is determined based on the slope.

146. The assist component according to claim 127, characterized in that, The processor is also used for: Obtain the slope of the environment in which the electric bicycle is currently located; The upper limit of the assist torque of the assist component is determined based on the slope.

147. The assist component according to claim 127, characterized in that, The processor is also used for: Obtain the gear ratio of the electric bicycle; The upper limit of the assist torque of the assist component is determined based on the gear ratio.

148. The assist component according to claim 127, characterized in that, The processor is also used for: Obtain the speed of the electric bicycle; In response to the speed of the electric bicycle exceeding a speed threshold, the power assist component is controlled to stop outputting the power assist torque.

149. The assist component according to claim 127, characterized in that, The processor is also used for: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased.

150. The assist component according to claim 149, characterized in that, The step of increasing the upper limit of the assist power and / or the upper limit of the assist torque of the assist component in response to the user's triggering of the trigger includes: In response to the user's triggering of the trigger element, the upper limit of the assist power and / or the upper limit of the assist torque of the assist component is increased within a preset time period.

151. The assist component according to any one of claims 127-150, characterized in that, The processor is also used for: Obtain the current gear ratio of the electric bicycle; Based on the status information of the power assist component, a prompt message is output to adjust the current gear ratio, prompting the user to adjust the current gear ratio and / or controlling the power-assisted bicycle to adjust the current gear ratio.

152. The assist component according to claim 151, characterized in that, The status information includes the rotational speed and / or assist torque of the assist component.

153. The assist component according to claim 152, characterized in that, The step of outputting a prompt message to adjust the current gear ratio based on the status information of the power-assist component to prompt the user to adjust the current gear ratio and / or controlling the power-assist bicycle to adjust the current gear ratio includes: In response to the speed of the power assist component being outside the speed range and / or in response to the power assist torque being outside the power assist torque range, a prompt message for adjusting the current gear ratio is output to prompt the user to adjust the current gear ratio and / or to control the power-assisted bicycle to adjust the current gear ratio.

154. The assist component according to claim 151, characterized in that, The electric bicycle includes wheels and cranks, the power assist assembly includes a power assist motor, the cranks are used to transmit the user's pedaling torque to drive the wheels, and the power assist motor is used to output the power assist torque to drive the wheels. Obtaining the current gear ratio of the electric bicycle includes: The current gear ratio of the electric bicycle is determined based on the rotational speed of the power-assisted motor and the rotational speed of the wheels; and / or The current gear ratio of the electric bicycle is determined based on the rotational speed of the crank and the rotational speed of the wheel.

155. The assist component according to claim 154, characterized in that, Determining the current gear ratio of the electric bicycle based on the rotational speed of the power-assisted motor and the rotational speed of the wheel includes: In response to the power assist motor outputting the power assist torque, the current gear ratio of the power assist bicycle is determined based on the rotational speed of the power assist motor and the rotational speed of the wheel.

156. The assist component according to claim 151, characterized in that, The processor is also configured to: output the gear ratio of the electric bicycle and / or the gear corresponding to the gear ratio.

157. The assist component according to any one of claims 127-156, characterized in that, The electric bicycle further includes a pedal assembly, a transmission assembly, and a wheel. Both the power assist assembly and the pedal assembly are connected to the wheel via the transmission assembly. The transmission assembly includes a first transmission member and a second transmission member that drivesly engages with the first transmission member. A transmission play exists between the first transmission member and the second transmission member. The processor is further configured to: In response to the user pressing the pedal assembly, the power assist assembly is controlled to output engagement torque to reduce or eliminate the transmission play. After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

158. The assist component according to claim 157, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

159. The assist component according to claim 157, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the processor is further used to: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

160. The assist component according to claim 159, characterized in that, The step of determining whether the transmission play is reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

161. The assist component according to claim 157, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the processor is further configured to: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the transmission assembly maintains its current state. The first meshing torque is different from the second meshing torque.

162. The assist component according to claim 161, characterized in that, The first engagement torque is greater than the second engagement torque.

163. The assist component according to any one of claims 127-162, characterized in that, The processor is also used for: In response to the fact that the electric bicycle is in an uphill state and the speed of the electric bicycle is less than or equal to a preset speed, the power assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling back downhill and to maintain balance.

164. The assist component according to claim 163, characterized in that, The processor is also used for: After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

165. The assist component according to claim 164, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

166. The assist component according to claim 163, characterized in that, The processor is also used for: In response to a user riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located, the mass of the electric bicycle, and the mass of the user.

167. The assist component according to claim 163, characterized in that, The processor is also used for: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

168. The assist component according to claim 167, characterized in that, The processor is also used for: Based on the target gear ratio, output a gear ratio adjustment prompt to remind the user to adjust the gear ratio of the electric bicycle to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

169. The assist component according to claim 163, characterized in that, The processor is also used for: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

170. The assist component according to claim 164, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

171. The assist component according to claim 170, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

172. The assist component according to claim 171, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

173. The assist component according to claim 172, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

174. A power-assisted bicycle, characterized in that, The electric bicycle includes an assist component, a pedal component, a transmission component, and a wheel. The assist component and the pedal component are both connected to the wheel through the transmission component. The electric bicycle also includes one or more processors and one or more memories storing computer program code, wherein the one or more processors and one or more memories storing computer program code are configured to work together to cause the electric bicycle to perform the following steps: In response to the fact that the electric bicycle is in an uphill state and the speed of the electric bicycle is less than or equal to a preset speed, the power assist component is controlled to output a balancing torque, which is used to prevent the electric bicycle from rolling downhill and to maintain balance. as well as After the electric bicycle maintains its balance, in response to the user's operation, the assist component is controlled to continuously output assist torque for a preset time period. The user's operation includes the user pressing the pedals of the electric bicycle or the user triggering the push mode of the electric bicycle.

175. The assist component according to claim 174, characterized in that, The preset time period includes a first time period and a second time period. During the first time period, external power is applied to the electric bicycle, while during the second time period, no external power is applied to the electric bicycle. Controlling the power-assist component to continuously output assist torque during the preset time period includes: The assist component is controlled to output the assist torque during both the first time period and the second time period.

176. The assist component according to claim 173, characterized in that, The processor is also used for: In response to a user riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located, the mass of the electric bicycle, and the mass of the user.

177. The assist component according to claim 173, characterized in that, The processor is also used for: The target gear ratio of the electric bicycle is determined based on the slope of the environment in which the electric bicycle is located.

178. The assist component according to claim 177, characterized in that, The processor is also used for: Based on the target gear ratio, output a gear ratio adjustment prompt to remind the user to adjust the gear ratio of the electric bicycle to the target gear ratio; or Adjust the gear ratio of the electric bicycle to the target gear ratio.

179. The assist component according to claim 173, characterized in that, The processor is also used for: In response to a user not riding the electric bicycle, the balancing torque is determined based on the slope of the environment in which the electric bicycle is located and the mass of the electric bicycle.

180. The assist component according to claim 174, characterized in that, After the electric bicycle maintains its balance, in response to the user's operation, the step of controlling the power assist component to continuously output assist torque for a preset time period includes: In response to the user pushing the electric bicycle or in response to the user triggering the push mode control, the assist component is controlled to continuously output assist torque within a preset time period.

181. The assist component according to claim 180, characterized in that, The control of the assist component to continuously output assist torque within a preset time period includes: Based on the speed of the electric bicycle, the power assist component is controlled to continuously output power assist torque within a preset time period.

182. The assist component according to claim 181, characterized in that, The step of controlling the power assist component to continuously output assist torque within a preset time period based on the speed of the power-assisted bicycle includes: In response to the vehicle speed not exceeding the push speed threshold, the assist component is controlled to continuously output assist torque for a preset time period; and In response to the vehicle speed exceeding the pushcart speed threshold, the assist component is controlled to stop outputting the assist torque.

183. The assist component according to claim 182, characterized in that, If the vehicle speed does not exceed the push speed threshold, the closer the vehicle speed is to the push speed threshold, the smaller the assist torque.

184. A power-assisted bicycle, characterized in that, The electric bicycle includes an assist component, a pedal component, a transmission component, and a wheel. The assist component and the pedal component are both connected to the wheel through the transmission component. The electric bicycle also includes one or more processors and one or more memories storing computer program code, wherein the one or more processors and one or more memories storing computer program code are configured to work together to cause the electric bicycle to perform the following steps: In response to the user's pressure on the pedal assembly, the power assist component is controlled to output engagement torque to reduce or eliminate transmission play; and After the assist component outputs the engagement torque, the assist component is controlled to output the assist torque.

185. The assist component according to claim 184, characterized in that, The transmission assembly includes a geared disc, a chain, and a hub, and the transmission play includes the play between the geared disc and the chain and / or the play between the geared disc and the hub.

186. The assist component according to claim 184, characterized in that, The assist component includes an assist motor, the assist motor being used to provide the engagement torque, and the processor is further used to: Based on the rotational speed of the power-assisted motor, the rotational speed of the wheels, and the gear ratio of the power-assisted bicycle, it is determined whether the transmission play is reduced or eliminated.

187. The assist component according to claim 186, characterized in that, The step of determining whether the transmission play is reduced or eliminated based on the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle includes: In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle meet the preset engagement conditions, it is determined that the transmission misalignment has been eliminated. In response to the fact that the rotational speed of the power-assisted motor, the rotational speed of the wheel, and the gear ratio of the power-assisted bicycle do not meet the preset engagement condition, it is determined that the transmission misalignment has not been eliminated.

188. The assist component according to claim 184, characterized in that, The meshing torque includes a first meshing torque and a second meshing torque, and the processor is further configured to: In response to the presence of transmission misalignment in the transmission assembly, the power assist motor is controlled to output the first engagement torque to reduce or eliminate the transmission misalignment; and In response to the reduction or elimination of the transmission misalignment, the power assist motor is controlled to output the second engagement torque so that the... The transmission components maintain their current state; The first meshing torque is different from the second meshing torque.

189. The assist component according to claim 188, characterized in that, The first engagement torque is greater than the second engagement torque.

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