Automatic transmission method with feed-forward adaptive control
By setting riding routes on electronic maps to establish a gear database, and combining feedforward and adaptive control, the problem of low efficiency in automatic gear shifting on bicycles is solved, providing an efficient and safe gear shifting strategy suitable for riders of different skill levels.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CYCLING & HEALTH TECH IND R & D CENT
- Filing Date
- 2024-11-01
- Publication Date
- 2026-05-08
AI Technical Summary
Existing bicycle shifting technology suffers from inefficiency in automatic shifting and poor timing for beginners, which can easily lead to wasted energy and safety hazards.
By pre-setting riding routes on electronic maps and establishing a riding gear database, the system uses a feedforward adaptive control method to segment sections based on gradient, climb length, and curvature, providing the optimal gear shifting strategy in real time. Combined with adaptive control modes such as average cadence and power input, the system drives the electronic gearbox to shift gears.
It achieves efficient automatic gear shifting under different riding conditions, reduces physical exertion, and improves riding safety and efficiency, making it especially suitable for beginners and professional riders.
Smart Images
Figure CN121990101A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an automatic shifting method with feedforward adaptive control, and more particularly to a bicycle automatic shifting technology that can obtain road conditions in advance from map data and simulate shifting suggestions to build a database to provide a better automatic shifting strategy for riding routes with similar or identical road conditions. Background Technology
[0002] The gearbox on a bicycle is mainly used to shift gears into different positions (gears arranged according to various combinations of gear ratios). This not only meets the needs of cyclists for long-distance riding, but also allows for manual or automatic gear shifting to achieve the required gear ratios depending on road conditions (such as flat roads, uphill, downhill, or curves). As a result, bicycle riding competitions have become more professional and diverse, leading to an increasing number of cycling enthusiasts joining the ranks of cyclists.
[0003] When a rider needs to shift gears, the derailleur moves the chain to different sprockets by changing its position. Because the sprockets are different sizes, the pressure applied during pedaling varies, thus achieving the effect of shifting gears. Specifically, most front and rear derailleurs have a push-to-shift button or a manual lever. When the front derailleur pulls the inner cable to allow the chain to move to a larger sprocket, it's called shifting up; when the rear derailleur loosens the inner cable to allow the chain to shift to a smaller sprocket, it's called shifting down. The front derailleur controls the chain's movement on the large sprockets, which generally have 1-3 sprockets. The pressure applied during pedaling varies more, and because the sprockets are spaced further apart, the chain is pre-shifted to a smaller sprocket before entering an uphill climb to prevent damage to the derailleur or chain breakage due to slow pedaling and heavy pedaling. In addition, the rear derailleur drives the chain to different sprockets. Each sprocket has about 8 to 11 sprockets. The pedaling force of each sprocket changes little, mainly to fine-tune the slight undulations of the terrain. The appropriate pedaling force can be adjusted at any time. The smaller the gear ratio (such as 0.745, which is called low gear), the lighter the pedaling force and the slower the speed; the larger the gear ratio (such as 3.455, which is called high gear), the heavier the pedaling force and the faster the speed.
[0004] Generally, riders seeking speed will adjust the front derailleur to the largest chainring on flat roads, while adjusting the rear derailleur's sprocket size according to slight terrain undulations or wind conditions. On long uphill sections, most riders will initially adjust the front derailleur to the smallest chainring, and then fine-tune the rear derailleur based on road conditions. This results in lighter pedaling effort, conserving muscle energy, but requiring higher revs to achieve speed. On downhill sections, gravity propels the bicycle forward quickly. If in a lighter pedaling gear, the pedaling speed will not keep up with the rear wheel speed. Therefore, riders will place the front derailleur's largest chainring on the largest chainring and the sprocket on the smallest chainring, using heavier pedaling gears to enhance handling and maintain speed.
[0005] As mentioned above, while conventional bicycle derailleurs can achieve the function of manual gear shifting, beginner riders often lack experience, leading to poor timing and wasted energy, and in more serious cases, even accidents. To address these shortcomings, relevant technology companies have developed the following patent precedents:
[0006] 1. Patent No. I802933, entitled "Electric Vehicle, Method for Driving the Vehicle, and Computer-Readable Medium," comprises: a frame; at least one front wheel and at least one rear wheel coupled to the frame; one or more pedals coupled to the frame for operation of the electric vehicle by a user via pedaling; and a controller configured to output one or more drive signals in response to the pedaling of the one or more pedals. The electric vehicle further comprises: a first electric motor coupled to and used to drive one of the front and rear wheels; and a first drive unit coupled to the first electric motor and configured to adjust the output to the first electric motor in response to the one or more drive signals. While this patent has the function of recording the rider's gear shifting information during the riding route and establishing it in a database, this invention uses electronic map data to set the riding route and obtain riding route map data information to establish a riding gear shifting database. When the rider selects the actual riding route, it compares the same or similar riding routes from the riding gear shifting database to obtain the riding gear shifting parameters as the optimal gear shifting information for the actual riding route. It can be seen that the two are not only different in terms of technical means, but also in terms of the functions and purposes they produce.
[0007] 2. The patent disclosed in Invention Announcement No. I800361, "Automatic Control System for Bicycles," includes a host computer connected to the electric actuator and input device of the bicycle. The electric actuator uses a controller to cause the motor to drive the mechanical structure to generate displacement. The input device receives input parameters manually from the cyclist or senses external information. Each time the bicycle is ridden on a predetermined path, the host computer records the input parameters of the electric actuator when the motor is driven by the controller, along with the completion time of the ride, as riding information. The host computer selects the input parameter with the shortest completion time as an automatic control parameter, which is used by the host computer to control the electric actuator when the bicycle is ridden on the predetermined path again. This allows the cyclist to focus on the movement when repeatedly riding on the predetermined path without having to think about when to control the bicycle. While this patent has the function of recording the rider's gear shifting information during the riding route and establishing it in a database, the present invention uses electronic map data to set the riding route and obtain riding route map data information to establish a riding gear shifting database. When the rider selects the actual riding route, it compares the same or similar riding routes from the riding gear shifting database to obtain the riding gear shifting parameters as the optimal gear shifting information for the actual riding route. It can be seen that the two are not only different in terms of technical means, but also in terms of the functional effects and purposes they produce.
[0008] 3. Chinese Invention Patent CN112158285, "Real-time Gear Recommendation System for Mountain Bikes," includes a motion detection module, a data processing module, a power supply module, a storage module, a communication module, and a human-computer interaction module. The motion detection module, storage module, communication module, and human-computer interaction module are connected to the data processing module, and the power supply module connects to each module, providing power to the entire system. While this patent has the function of recording the rider's gear shifting information during the riding route and establishing it in a database, this invention uses electronic map data to set the riding route and obtain riding route map data information to establish a riding gear shifting database. When the rider selects an actual riding route, it compares the riding gear shifting database with similar or identical riding routes to obtain the optimal gear shifting information for the actual riding route. Therefore, the two inventions differ not only in their technical means but also in the functional effects and purposes they produce.
[0009] Given that current known bicycle gear shifting technology and these patents are indeed not perfect in terms of automatic shifting efficiency, there is still a need for further improvement; therefore, the inventors have actively invested in research and development, drawing on their years of rich experience in intelligent beekeeping research and design, and through continuous design, trial production and testing, the research and development results of this invention have finally been produced. Summary of the Invention
[0010] The primary objective of this invention is to provide an automatic shifting method with feedforward adaptive control. This method primarily involves pre-setting riding routes on an electronic map to obtain riding route map data. This data is then used to simulate riding shifting states and establish a riding shifting database. When a rider selects an actual riding route, the method compares the selected route with similar or identical routes to obtain the optimal shifting gear information. The technical solution to achieve this primary objective involves establishing riding route map data files in the riding shifting database and dividing the riding route into multiple segments based on its gradient, climb length, and curvature. Each segment is configured with shifting gear information and positioning information. A riding gear control module is established within the information device. Upon startup, the gear setting interface is displayed on the information device. This interface includes a feedforward control interface. Upon startup, a riding route generation interface is displayed on the screen, allowing input of the start-to-destination or destination command. This causes the screen to display a directory of similar or identical riding route map files. The riding gear control module then sequentially reads the gear position information and location information for each segment of the selected riding route map file. The location module obtains immediate addressing information and compares it with the location information to identify the bicycle's location. The information device then sequentially transmits the gear position information through the signal transmission module for each segment, and the main controller receives the real-time gear position information as the basis for driving the electronic gear shifter.
[0011] The second objective of this invention is to provide an automatic shifting method with feedforward adaptive control, which improves shifting control efficiency by providing adaptive control functionality. The technical solution to achieve this second objective involves establishing a riding route map data file in a riding shifting database, dividing the riding route into multiple segments based on its gradient, climb length, and curvature. Each segment is configured with shift gear information and positioning information. A riding shifting control module is established in an information device. Upon startup, a shifting setting interface is displayed on the information device. This interface includes a feedforward control interface. Upon startup, a riding route generation interface is displayed on the screen to input commands from the starting point to the destination or the destination itself. This causes the screen to display a directory of similar or identical riding route map data files. The riding shifting control module then sequentially reads the shift gear information and positioning information from each segment of the selected riding route map data file. The positioning module obtains immediate addressing information and compares it with various positioning information to identify the bicycle's location. The information device then sequentially transmits gear information through the signal transmission module in each segment, and the main controller receives the real-time gear information as the basis for driving the electronic gearbox to shift gears. The gear setting interface further includes an adaptive control interface for executing adaptive control mode. When the adaptive control interface is activated, it displays an average cadence input interface, an average power input interface, and a maximum power input interface for the rider to select and set. When the average cadence input interface sets an average cadence value, the information device outputs an average cadence control signal and transmits it to the main controller through the signal transmission module, causing the main controller to drive the electronic gearbox to perform the corresponding gear shift based on the average cadence value. When the average power input interface... When the average power value is set, the information device outputs an average power control signal and transmits it to the main controller via the signal transmission module, so that the main controller drives the electronic transmission to perform corresponding gear shifting actions based on the average power value. When the maximum power input interface sets the maximum power value per unit time, the information device outputs a maximum power control signal and transmits it to the main controller via the signal transmission module, so that the main controller drives the electronic transmission to perform corresponding gear shifting actions based on the maximum power value per unit time. Attached Figure Description
[0012] Figure 1 This is a schematic diagram illustrating the implementation of the basic architecture of this invention.
[0013] Figure 2 This is a schematic diagram illustrating the specific architecture of the present invention.
[0014] Figure 3 This is a schematic diagram illustrating the operational flow of the adaptive control mode of the present invention.
[0015] Figure 4 This is a schematic diagram showing the speed setting interface and riding path generation interface of the present invention.
[0016] Figure 5 This is a functional block diagram of the basic architecture of the present invention.
[0017] Figure 6 This is a schematic diagram of the speed-changing strategy based on the correspondence between slope and cadence in this invention.
[0018] Figure 7 This is a schematic diagram of the speed-changing strategy based on the correspondence between pedaling force and pedaling frequency in this invention.
[0019] Figure 8 This is a schematic diagram showing the wattage required for different constant-speed climbing gradients from 0 to 12 degrees according to the present invention. Detailed Implementation
[0020] To enable those skilled in the art to further understand the overall technical features of the present invention and the technical solutions for achieving the objectives of the present invention, specific embodiments are described in detail below with reference to the accompanying drawings:
[0021] Please refer to the following: Figures 1-2 and Figures 4-5The first embodiment shown, which achieves the first objective of the present invention, includes a riding gear database 11 and at least one bicycle 20. The riding gear database 11 establishes multiple riding route map files. Each riding route map file is divided into multiple segments according to the gradient, climb length, and curvature of its respective riding route. Each segment is assigned corresponding gear information, and a location information (such as latitude and longitude signals) is set at the beginning of each segment. The at least one bicycle 20 includes an information device 30 (such as a smartphone), a signal transmission module 40 (such as a Bluetooth communication module; but not limited thereto), an electronic gear selector 21, a main controller 50, and a power supply module 51 for supplying the required power. The information device 30 is linked to the main controller 50 via the signal transmission module 40. The information device 30 establishes a riding gear control module 31 (such as a riding gear control program APP). When the riding gear control module 31 is activated, a gear setting interface 310 is displayed on the display screen 32 of the information device 30. The gear setting interface 310 includes a feedforward control interface 311 for executing the feedforward control mode. When the feedforward control interface 311 is activated, a riding route generation interface 313 is displayed on the display screen 32. The riding route generation interface 313 inputs the command from the starting point to the destination or the destination, causing the display screen 32 to display a directory of at least one riding route map data file that is the same as or similar to the riding gear database 11. When the rider selects one of the directories, the riding gear control module 31 sequentially reads the gear position information and positioning information of each segment of the selected riding route map data file in the riding gear database 11. The information device 30 uses a built-in positioning module (such as a combination of a built-in GPS positioning module 31 and a Google Maps program) to obtain immediate addressing information (latitude and longitude signals obtained by simultaneously opening the navigation mode of the Google Maps program). The immediate addressing information is compared with the positioning information of each section to identify the real-time location of the bicycle 20 on the riding path. The information device 30 then transmits gear information (such as 1 to 12 gears arranged from low to high speed) sequentially in each section through the signal transmission module 40. The main controller 50 receives the real-time gear information through the signal transmission module 40 and uses the gear information as the basis for driving the electronic gearbox 21 to make corresponding gear changes.
[0022] For example, the gear selection information can be used in the following ways: on flat roads, use gears requiring more pedaling force (e.g., 10-12 are high gears); on uphill roads, use gears requiring less pedaling force (e.g., 1-3 are low gears); on downhill roads, use gears requiring more pedaling force (e.g., 10-12); and on curves, use gears requiring less pedaling force (e.g., 1-3); but this is not a limitation.
[0023] Please refer to the following: Figures 1-2 and Figures 4-5 As shown, this embodiment is the first specific embodiment of the present invention, which mainly defines the location of the establishment of the riding gear database 11. In addition to the overall technical content of the first embodiment described above, the riding gear database 11 is established on a cloud server 10 (or may be located in the information device 30; but not limited thereto). The cloud server 10 is linked to the information device 30 via a network communication system 60 (such as a 4G or 5G mobile communication system; or an Ethernet network system). The information device 30 includes a riding record module 33, which is used to record the gear shift information and positioning information of each section of the riding route actually ridden by professional riders or riders themselves as riding route map data files, so that the information device 30 can upload the riding route map data files to the riding gear database 11 through the network communication system 60 to establish or update the riding route map data files.
[0024] Please refer to the following: Figures 4-5 As shown, this embodiment is the second specific embodiment of the present invention, which mainly defines the setting and operation of the riding path generation interface 313. In addition to the overall technical content of the first specific embodiment, when the riding path generation interface 313 inputs the command from the starting point to the destination, or the destination, the information device 30 uploads the command to the cloud server 10 through the network communication system 60. After the cloud server 10 interprets and processes the command, it transmits the directory names of at least one identical or similar riding path map data file to the information device 30 for display through the network communication system 60. When the rider selects one of the directories, the riding gear control module 31 outputs a second command to download the content data of the directory, and uploads the second command to the cloud server 10 through the network communication system 60. This allows the cloud server 10 to sequentially read the gear shift information and positioning information of each segment of the selected riding path map data file in the riding gear database 11, and transmit them to the information device 30 through the network communication system 60.
[0025] Please refer to the following: Figures 3-4As shown, this embodiment is the third specific embodiment of the present invention, mainly defining the specific technical content of the first adaptive control mode. In addition to including the overall technical content of the first embodiment, this embodiment further includes an adaptive control interface 310 for executing the adaptive control mode. When the adaptive control interface is activated, the display screen 32 shows an average cadence input interface, an average power input interface, and a maximum power input interface for the rider to select and set. When the average cadence input interface sets an average cadence value, the information device 30 outputs an average cadence control signal and transmits it to the main controller 50 through the signal transmission module 40, so that the main controller 50 can... The electronic transmission 21 is driven to perform corresponding gear shifting actions based on the average cadence value. When the average power input interface sets the average power value, the information device 30 outputs an average power control signal and transmits it to the main controller 50 through the signal transmission module 40, so that the main controller 50 drives the electronic transmission 21 to perform corresponding gear shifting actions based on the average power value. When the maximum power input interface sets the maximum power value per unit time, the information device 30 outputs a maximum power control signal and transmits it to the main controller 50 through the signal transmission module 40, so that the main controller 50 drives the electronic transmission 21 to perform corresponding gear shifting actions based on the maximum power value per unit time.
[0026] As mentioned above, average power refers to the average power output during riding, measured in watts (representing the energy used by the pedals). A power meter is typically mounted on the bicycle's crank, bottom bracket, or rear wheel to continuously and accurately measure the watts produced by the rider's pedaling, i.e., power. If a power meter is unavailable, pedaling power can be calculated from the rider's weight, speed, and altitude changes. This pedaling power is a crucial output indicator for bicycle riding, reflecting the combined performance of the rider's pedaling force and pedal speed (pedal speed). It is usually calculated as the product of pedaling torque and pedal speed (P = τ × ω); in other words, increasing pedaling power can be achieved by increasing pedaling force, increasing pedal speed, or both simultaneously. Because pedaling power is affected by both force and speed, it is applicable to riding at different gear ratios and gradients. For example, when riding with a heavy gear ratio (such as a high gear), although the pedaling force is greater, the relative speed is lower; while when riding with a low gear ratio (such as a low gear), although the pedaling force is less, the speed is relatively higher; both can achieve similar power output. The same applies to riding at different gradients; regardless of gear ratio, gradient, or speed, pedaling power only varies due to pedaling force and speed. Since pedaling power reflects the rider's output performance, it can reflect not only the physical load (higher power means a greater load) but also the rider's athletic ability (higher average power means better ability). Therefore, pedaling power can be widely used for monitoring training load, racing pacing, and evaluating riding ability.
[0027] Please refer to the following: Figure 3 As shown, this embodiment is the fourth specific embodiment of the present invention. It mainly defines the second adaptive control mode as a technical implementation of fuzzy logic. In addition to the overall technical content of the first embodiment, this embodiment further includes an adaptive control interface 312 for executing the adaptive control mode in the gear setting interface 310. The riding gear control module 31 includes a first fuzzy logic module 312a that can input the speed parameter value and average cadence value or average power value of the bicycle 20. When the adaptive control interface is executed, the first fuzzy logic module 312a performs defuzzification calculations based on the speed parameter value, average cadence value, or average power value, and the default knowledge base and rule base, to deduce the corresponding predicted gear information. Specifically, the speed parameter value can be calculated from the gear / real-time cadence upper and lower limits; the average cadence value or average power value is calculated from the real-time cadence upper and lower limits; or from the power upper and lower limits.
[0028] This embodiment is the fifth specific embodiment of the present invention. It mainly defines the calculation formula of fuzzy parameters. In addition to the overall technical content of the fourth specific embodiment mentioned above, the riding gear control module 31 further includes default complex fuzzy parameters. Each fuzzy parameter definition corresponds to a gear position information. The corresponding fuzzy parameter is calculated from the known speed parameter value, real-time cadence and formula. Then, the gear position information that can be used as the predicted gear position information is obtained from the fuzzy parameters. The formula is: speed parameter value = fuzzy parameter × real-time cadence / 1000. The speed parameter value needs to be detected and calculated in real time.
[0029] As shown in Table 1, the gear information includes 12 gears distributed sequentially from low gear to high gear; that is, the lower the gear, the slower the speed (i.e., low gear), and the higher the gear, the faster the speed (i.e., high gear). The gear ratios corresponding to gears 1 to 12 are 3.455 to 0.745 respectively.
[0030] Table 1:
[0031]
[0032] As shown in Table 2, the fuzzy parameters corresponding to levels 1 to 12 are as follows: 103, 117, 135, 160, 188, 220, 251, 278, 310, 352, 406, 480.
[0033] Table 2:
[0034]
[0035] On the other hand, the present invention has a correction mode. If the wheel is replaced, resulting in a different gear ratio, the relevant fuzzy parameters can be obtained from the correction mode. The parameters of the fuzzy rule base can be derived from the vehicle speed, cadence, and gear position of the electronic transmission 21 to infer the gear ratio and fuzzy parameters.
[0036] As shown in Table 3, the fuzzy parameters corresponding to levels 1 to 12 are as follows: 100, 117, 133, 167, 200, 217, 250, 267, 300, 333, 417, 507.
[0037] Table 3:
[0038]
[0039] Table 4 below shows the power wattage required to climb different gradients at a constant speed. Assuming a rider weight of 70kg and a bike weight of 20kg, the calculated values are approximately 360W for climbing a 5-degree gradient at a speed of 15km / hr. Values below 200W shown in Table 4 are generally easier for most riders to achieve. 200W to 300W represents higher load (W) riding, 300W to 500W represents professional-level riding, and 500W to 1000W represents professional-level instantaneous riding. Values above 1000W are practically impossible to achieve.
[0040] Table 4:
[0041]
[0042] also, Figure 6 The diagram illustrates the shifting strategy of this invention based on the correspondence between slope and cadence. Figure 7 The diagram illustrates the shifting strategy of this invention based on the correspondence between pedal force and pedal frequency. Figure 8 The box shown indicates the speed and power range (<500W) used when climbing hills, with the speed also falling below 20km / hr.
[0043] Please refer to the following: Figure 3 , 5 As shown, this embodiment is the sixth specific embodiment of the present invention, which mainly defines the technical content of the subtractor 312b and the second fuzzy calculation module 312c. In addition to including the overall technical content of the fourth specific embodiment mentioned above, this embodiment further includes a subtractor 312b and a second fuzzy calculation module 312c. The subtractor 312b can be input with predicted gear information and current gear information (which can be obtained from the signal returned by the electronic gearbox 21), and outputs gear difference information after subtraction. The second fuzzy calculation module 312c can be input with gear difference information and the average cadence value or average power value set or adjusted by the rider. The second fuzzy calculation module 312c performs defuzzification calculation based on the knowledge base and rule base to deduce the corresponding gear variable information.
[0044] Please refer to the following: Figure 3As shown, this embodiment is the seventh specific embodiment of the present invention, which mainly defines the technical content of the third fuzzy calculation module 312d. In addition to the overall technical content of the sixth specific embodiment mentioned above, this embodiment further includes a third fuzzy calculation module 312d in the riding gear control module 31. The third fuzzy calculation module 312d can be used to input gear position variable information and real-time slope information (such as measured by a slope meter; or obtained by opening the navigation mode of the Google Maps program). The third fuzzy calculation module 312d performs defuzzification calculation based on the knowledge base and rule base to deduce the final gear position information, so that the main controller uses the final gear position information as the basis for driving the electronic transmission 21 to make gear shifting actions.
[0045] Specifically, such as Figure 1 , 5 As shown, this invention can obtain road conditions, gradients, and curves for multiple riding routes using the Google Maps program built into the Google Maps server system 70 and information device 30. Gradients are then categorized according to inclination and climb length; or curves are categorized according to curvature, to simulate the optimal automatic shifting strategy under different gradients, climb lengths, or curve levels. In this way, even without prior riding of the route, if the gradient and curve conditions of the route have been simulated in the riding shifting database 11, the optimal shifting strategy can be automatically generated. The shifting logic is determined by average riding power, average cadence, or maximum power per unit time, learning adaptive shifting and riding. Each riding route can be divided into different segments, allowing different segments to update different shifting strategies according to the current riding state. During riding, manual intervention in shifting can be performed externally to correct the shifting database in real time, and the quality of the shifting logic is determined by the number of manual interventions. It records all gear shifting information during the ride, including shift position, gear, torque, cadence, speed, and power, providing this information to a gear database. This information is uploaded to the cloud for collection, comparison, and updates of gear shifting strategies, and the accumulated riding gear shifting information is used to optimize the shifting.
[0046] In other words, the road conditions of the riding route are obtained in advance from map data, and a riding gear database 11 is established based on the simulated gear shifting suggestions according to the road conditions. Automatic gear shifting strategies are provided for riding situations with similar or identical road conditions. The system accumulates and optimizes gear shifting strategies for corresponding gradients, climb lengths, and different curves based on the user's own riding gear database 11; alternatively, it can learn riding techniques from the gear shifting information of favorite professional cyclists. This invention can transfer gear shifting data and riding information from the actual riding route to an indoor environment, generate and replay the relevant route's gear shifting data and corresponding resistance data from the actual route.
[0047] Therefore, through the detailed description of the above specific embodiments, the present invention does indeed have the following characteristics:
[0048] 1. This invention can indeed obtain riding route map information by setting the riding route in advance on the electronic map, and establish a riding gear database to simulate riding gear shifting state. When the rider selects the actual riding route, it compares the same or similar riding routes and then obtains the gear shifting information as the best gear shifting strategy.
[0049] 2. This invention does indeed possess an adaptive control function for riding gear shifting, thereby improving the control performance of automatic transmission.
[0050] The above description is merely a feasible embodiment of the present invention and is not intended to limit the patent scope of the present invention. All equivalent implementations based on the content, features, and spirit of the claims should be included within the patent scope of the present invention. The structural features specifically defined in the claims are not found in similar articles and are practical and progressive, thus meeting the requirements for an invention patent. Therefore, this application is filed in accordance with the law.
Claims
1. An automatic transmission method with feedforward adaptive control, characterized in that, It includes: Provided is a riding gear database and at least one bicycle; wherein, the riding gear database has multiple riding route map files, each riding route map file is divided into multiple segments according to the gradient, climbing length and curvature of the respective riding route, each segment is set with corresponding gear information, and a positioning information is set at the beginning of each segment; and the at least one bicycle is equipped with an information device, a signal transmission module, an electronic gearbox and a main controller; A riding gear shifting control module is established in the information device. When the riding gear shifting control module is started, a gear setting interface is displayed on a screen of the information device. The gear setting interface includes a feedforward control interface for executing the feedforward control mode. When the feedforward control interface is started, a riding path generation interface is displayed on the screen. When a command to the starting point or destination is input on the riding route generation interface, the display screen shows a directory of at least one riding route map file that is the same as or similar to the riding gear database. When one of the directories is selected, the riding gear control module sequentially reads the gear position information and positioning information of each segment of the selected riding route map file in the riding gear database; and The information device has a built-in positioning module that obtains immediate addressing information and compares it with the positioning information of each segment to identify the real-time location of at least one bicycle on the riding path. The information device then transmits the gear shift information sequentially through the signal transmission module in each segment. The main controller receives the real-time gear shift information through the signal transmission module and uses the gear shift information as the basis for driving the electronic gearbox to perform the corresponding gear shifting action.
2. The automatic transmission method with feedforward adaptive control as described in claim 1, characterized in that, The riding gear database is built on a cloud server, which is linked to the information device via a network communication system. The information device includes a riding record module, which records the gear information and location information of each section of the riding route actually ridden by a professional rider or cyclist as a riding route map file. The information device then uploads the riding route map file to the riding gear database through the network communication system to create or update the riding route map file.
3. The automatic transmission method with feedforward adaptive control as described in claim 2, characterized in that, When the riding route generation interface inputs the instruction from the starting point to the destination, or the destination, the information device uploads the instruction to the cloud server via the network communication system. After the cloud server interprets and processes the instruction, it transmits the directory names of at least one identical or similar riding route map data file to the information device for display via the network communication system. When one of the directories is selected, the riding gear control module outputs a second instruction to download the content data of that directory and uploads the second instruction to the cloud server via the network communication system. This allows the cloud server to sequentially read the gear position information and positioning information of each segment of the selected riding route map data file in the riding gear database and transmit them to the information device via the network communication system.
4. The automatic transmission method with feedforward adaptive control as described in claim 1, characterized in that, The gear setting interface further includes an adaptive control interface for executing adaptive control mode. When the adaptive control interface is activated, the display shows an average cadence input interface, an average power input interface, and a maximum power input interface for the rider to select and set. When the average cadence input interface is set to an average cadence value, the information device outputs an average cadence control signal and transmits it to the main controller via the signal transmission module, so that the main controller drives the electronic gearbox to perform corresponding gear shifting actions based on the average cadence value. When the average power input interface is set to an average cadence value, the information device outputs an average cadence control signal and transmits it to the main controller via the signal transmission module, so that the main controller drives the electronic gearbox to perform corresponding gear shifting actions based on the average cadence value. When the average power value is set, the information device outputs an average power control signal and transmits it to the main controller through the signal transmission module, so that the main controller drives the electronic transmission to perform corresponding gear shifting actions based on the average power value. When the maximum power input interface sets the maximum power value per unit time, the information device outputs a maximum power control signal and transmits it to the main controller through the signal transmission module, so that the main controller drives the electronic transmission to perform corresponding gear shifting actions based on the maximum power value per unit time.
5. The automatic transmission method with feedforward adaptive control as described in claim 1, characterized in that, The gear setting interface further includes an adaptive control interface for executing the adaptive control mode. The riding gear control module includes a first fuzzy calculation module that allows input of the bicycle's speed parameter value and average cadence value or average power value. When the adaptive control interface is executed, the first fuzzy calculation module performs defuzzification calculation based on the speed parameter value, average cadence value or average power value, and a default knowledge base and rule base to infer the corresponding predicted gear information.
6. The automatic transmission method with feedforward adaptive control as described in claim 5, characterized in that, The riding gear control module also includes a default complex fuzzy parameter. Each fuzzy parameter definition corresponds to a gear position information. The corresponding fuzzy parameter is calculated from the known speed parameter value, real-time cadence and formula. The gear position information that can be used as the predicted gear position information is obtained from the fuzzy parameter. The formula is: speed parameter value = fuzzy parameter × real-time cadence / 1000.
7. The automatic transmission method with feedforward adaptive control as described in claim 6, characterized in that, The riding gear control module further includes a subtractor and a second fuzzy calculation module. The subtractor can be input with the predicted gear position information and the current gear position information, and outputs the gear position difference information after subtraction. The second fuzzy calculation module can be input with the gear position difference information and the average cadence value or average power value set by the rider. The second fuzzy calculation module performs defuzzification calculation based on the knowledge base and the rule base to deduce the corresponding gear position variable information.
8. The automatic transmission method with feedforward adaptive control as described in claim 7, characterized in that, The riding gear control module further includes a third fuzzy calculation module. The third fuzzy calculation module can be used to input the gear position variable information and real-time slope information. The third fuzzy calculation module performs defuzzification calculation based on the knowledge base and the rule base to deduce the final gear position information, so that the main controller uses the final gear position information as the basis for driving the electronic gearbox to perform gear shifting actions.
9. An automatic transmission system with feedforward adaptive control, characterized in that, It includes: A riding gear database contains multiple riding route map files. Each riding route map file is divided into multiple segments based on the gradient, climb length, and curvature of its respective riding route. Each segment is assigned corresponding gear information, and a positioning information is set at the beginning of each segment; and At least one bicycle is equipped with an information device, a signal transmission module, an electronic gear selector, and a main controller. The information device is linked to the main controller via the signal transmission module. The information device establishes a riding gear control module. When the riding gear control module is activated, a gear setting interface is displayed on a screen of the information device. The gear setting interface includes a feedforward control interface for executing a feedforward control mode. When the feedforward control interface is activated, a riding route generation interface is displayed on the screen. The riding route generation interface inputs a command from the starting point to the destination or the destination itself, causing the screen to display a route map file that is the same as or similar to at least one of the riding route map files in the riding gear database. When one of the directories is selected, the riding gear control module sequentially reads the gear position information and positioning information of each segment of the selected riding route map data file in the riding gear database; obtains immediate addressing information using a positioning module built into the information device, and compares the immediate addressing information with the positioning information of each segment to identify the real-time location of at least one bicycle on the riding route; the information device sequentially transmits the gear position information through the signal transmission module in each segment, and the main controller receives the real-time gear position information through the signal transmission module, and then uses the gear position information as the basis for driving the electronic gearbox to make the corresponding gear shift.