Gear shifting control methods, assist device, movable vehicle and storage medium

Abstract

A gear shifting control method for a movable vehicle, the method comprising: in response to detecting a gear shifting action of a gear shifting device of a movable vehicle with respect to a transmission device, controlling an assist device of the movable vehicle to output an assist torque to the transmission device (S201); and, in response to completion of the gear shifting action, controlling the assist device to stop outputting the assist torque (S202). The method improves the convenience and intelligence of gear shifting of movable vehicles.

Description

Transmission control methods, power assist devices, mobile vehicles, and storage media Technical Field

[0001] This application relates to the field of mobile vehicles, and more particularly to a transmission control method, a power assist device, a mobile vehicle, and a storage medium. Background Technology

[0002] Currently, transmission and power steering technologies in mobile vehicles have matured. Power steering systems typically provide assistance torque based on the user's torque input to give the user a feeling of effortless driving. However, the transmission and power steering systems in current mobile vehicles are not well coupled, resulting in a lack of correlation between the transmission and power steering processes. The power steering system cannot autonomously provide the necessary assistance during transmission. Summary of the Invention

[0003] Based on this, embodiments of this application provide a gear shifting control method, a power assist device, a mobile vehicle, and a storage medium, specifically providing a gear shifting control method for a bicycle, a gear shifting control method for a mobile vehicle, a power assist device, a mobile vehicle, and a storage medium.

[0004] In a first aspect, embodiments of this application provide a method for controlling the gear shifting of a bicycle. The method includes: in response to detecting a derailleur action of the bicycle's derailleur on the chain, controlling the bicycle's power assist device to output power assist torque to the chain, so that the gear shifting action corresponding to the derailleur action is completed, wherein the power assist device is further configured to output power assist torque to the chain in response to a user's driving action on the chain; and in response to the completion of the gear shifting action corresponding to the derailleur action, controlling the bicycle's power assist device to stop outputting power assist torque.

[0005] Secondly, embodiments of this application also provide a transmission control method for a mobile vehicle, the method comprising: in response to detecting a transmission device of the mobile vehicle performing a transmission change action on a transmission device, controlling a power assist device of the mobile vehicle to output power assist torque to the transmission device, the power assist device being further configured to output power assist torque to the transmission device in response to a user's driving action on the transmission device; and in response to the completion of the transmission change action, controlling the power assist device to stop outputting power assist torque.

[0006] Thirdly, embodiments of this application also provide a method for controlling the gear shifting of a bicycle. The method includes: acquiring at least one gear shifting signal associated with the gear shifting device of the bicycle, the gear shifting signal being triggered based on a user's gear shifting command, the gear shifting signal being used to indicate that the gear shifting device of the bicycle has started to perform a gear shifting action, the gear shifting signal including different types indicating acceleration and deceleration; if the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type being equal to a preset threshold, controlling the gear shifting device to no longer respond to the user's gear shifting command before the gear shifting action is completed.

[0007] Fourthly, embodiments of this application also provide an assist device, which includes an assist motor, a memory, and a processor; the assist motor is used to output assist torque; the memory is used to store a computer program; and the processor is used to execute the computer program and, when executing the computer program, implement the speed control method described in any one of the embodiments of this application.

[0008] Fifthly, embodiments of this application also provide a mobile vehicle, including:

[0009] A transmission device for transmitting power to drive the movable vehicle;

[0010] A transmission device, connected to the transmission device, is used to perform a speed-changing action on the transmission device to adjust the speed gear of the movable vehicle;

[0011] An assist device, connected to the transmission device, is used to output assist torque to the transmission device;

[0012] A control device, connected to the transmission device and the power assist device, is used to implement the transmission control method described in any one of the embodiments of this application.

[0013] Sixthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the speed control method for a mobile vehicle as described above.

[0014] This application provides a speed control method for a mobile vehicle. In response to detecting a speed change action of the vehicle's transmission device against the drive system, the method controls the power assist device of the mobile vehicle to output assist torque to the drive system; in response to the completion of the speed change action, the method controls the power assist device to stop outputting assist torque. Therefore, the power assist device can automatically output assist torque during speed change, improving the coupling between the power assist device and the transmission device, reducing the reliance on user-driven speed change actions, and thus greatly improving the convenience and intelligence of speed change in the mobile vehicle.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 is a structural schematic diagram of a mobile vehicle provided in an embodiment of this application;

[0018] Figure 2 is a schematic flowchart of the steps of a bicycle gear shifting control method provided in an embodiment of this application;

[0019] Figure 3 is a schematic flowchart of the steps of a speed control method for a mobile vehicle provided in an embodiment of this application;

[0020] Figure 4 is a schematic flowchart of a speed control method for a mobile vehicle provided in an embodiment of this application;

[0021] Figure 5 is a schematic flowchart of another bicycle gear shifting control method provided in an embodiment of this application;

[0022] Figure 6 is a schematic flowchart of a bicycle gear shifting control method provided in an embodiment of this application;

[0023] Figure 7 is a schematic block diagram of an assistive device provided in an embodiment of this application;

[0024] Figure 8 is a schematic block diagram of a mobile vehicle provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0027] The transmission and power steering technologies for mobile vehicles have gradually matured. However, the transmission and power steering systems of mobile vehicles are not currently well coupled, resulting in a lack of correlation between the transmission and power steering processes. Consequently, the power steering system cannot autonomously provide the necessary assistance during transmission.

[0028] To address the aforementioned problems, this application provides a transmission control method, a power assist device, and a mobile vehicle, enabling the power assist system of the mobile vehicle to autonomously provide assistance based on the transmission system's transmission actions, thereby allowing the transmission system to complete the transmission process more quickly. Simultaneously, the power assist system can also provide assistance based on the user's torque input, thus conserving the user's input torque.

[0029] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0030] Please refer to Figure 1, which is a structural schematic diagram of a mobile vehicle provided in an embodiment of this application. As shown in Figure 1, the mobile vehicle is explained using a bicycle as an example.

[0031] In practical applications, a mobile vehicle refers to a device or structure capable of carrying personnel and / or goods and moving on land or water. This mobile vehicle may include power-assisted vehicles, which are vehicles partially driven by human power and partially powered by electric motors or other auxiliary power systems.

[0032] For example, mobile vehicles may include, but are not limited to, bicycles, tricycles, unicycles, trolleys / wheelbarrows, wheelchairs, scooters, electric balance bikes, sailboats, jet skis, kayaks / canoes, surfboards, hot air balloons, paragliders, walking machines (such as robots or mechanical exoskeletons that can walk or run), etc.

[0033] The movable vehicle 100 shown in Figure 1 may include a control device 110, a transmission device 120, a gear shifting device 130, and an assist device 140. The control device 110 is connected to the gear shifting device 130 and the assist device 140, and can be used to implement the gear shifting control method in this embodiment. The transmission device 120 transmits power to drive the movable vehicle 100; the gear shifting device 130 is connected to the transmission device 120 and performs gear shifting actions on the transmission device 120 to adjust the gear position of the movable vehicle 100. The assist device 140 is connected to the transmission device 120 and outputs assist torque to the transmission device 120.

[0034] It should be noted that the control device 110 can be set up independently or integrated into other components of the movable vehicle 100. For example, the control device 110 can be set up in the power assist device 140. The gear shifting device 130 may include, but is not limited to, a mechanical derailleur, an electronic derailleur, an internal derailleur hub, a continuously variable transmission (CVT), etc. The transmission device 120 may include, but is not limited to, chain + gear, belt + gear, multi-axis + gear transmission, hydraulic transmission, etc. The gear shifting action can directly or indirectly act on the transmission device 120, and the gear shifting action can directly or indirectly change the mechanical coupling relationship between the gear shifting device 130 and the transmission device 120. The power assist device 140 may include a power assist motor, which can output assist torque to the transmission device 120. The power assist device 140 may also include a power supply device, which can provide power to the power assist motor and also provide power to the gear shifting device 130.

[0035] In one embodiment, the assist device 140 is further configured to output assist torque to the transmission device 120 in response to a user's driving action on the transmission device 120. This driving action may include the action of pressing a pedal. For example, the transmission device 120 includes a chain; the user's pressing of the pedal can cause the chain to rotate, and simultaneously, the assist motor in the assist device 140 rotates to drive the chain to rotate, thereby outputting assist torque to the chain and thus providing additional power.

[0036] It is understandable that, in practical applications, the mobile vehicle 100 may also include other components such as a braking system, a regenerative braking system (including a device for recovering energy during braking), a guidance system, a sensing system (used to detect information such as the frequency of the user's driving actions and the speed of the vehicle), a circuit system, and load devices (such as horns, lights, and displays).

[0037] In one embodiment, the mobile vehicle 100 may further include a gear shift controller 150, which may include control buttons, such as shift buttons located on the handlebars of a bicycle. The control buttons may be configured to receive user input and output gear shifting commands, which may be transmitted to the gear shifting device 130 via wired or wireless means to cause the gear shifting device 130 to perform a gear shifting action.

[0038] In one embodiment, the control device 110 may include a memory and a processor. The memory stores pre-programmed computer programs, and the processor controls the assist device 140 in the mobile vehicle 100 according to the pre-programmed computer programs. In some embodiments, the memory and processor in the control device 110 may be integrated into a component such as the assist device 140.

[0039] For example, in response to detecting a gear shifting action of the transmission device 130 of the movable vehicle 100 to the transmission device 120, the assist device 140 of the movable vehicle 100 is controlled to output assist torque to the transmission device 120; wherein, the assist device 140 is further configured to output assist torque to the transmission device 120 in response to a user's driving action to the transmission device 120; and to stop outputting assist torque in response to the completion of the gear shifting action corresponding to the derailleur action.

[0040] The upstream of the e-bike industry mainly includes manufacturers of multiple components. These components and functional systems are relatively independent and cannot be well coupled. In the traditional e-bike shifting process, the user needs to pedal to drive the chain to complete the shifting, so the convenience of shifting gears is not high.

[0041] For example, when the mobile vehicle 100 is a bicycle, the transmission device 120 may include a chain, and the gear shifting device 130 may include a derailleur. In response to detecting a derailleur action on the chain by the bicycle's derailleur, the bicycle's power assist device 140 is controlled to output power assist torque to the chain, so that the gear shifting action corresponding to the derailleur action is completed. The power assist device 140 is also configured to output power assist torque to the chain in response to the user's driving action on the chain; and to stop outputting power assist torque in response to the completion of the gear shifting action corresponding to the derailleur action.

[0042] For example, when the mobile vehicle 100 is a bicycle, at least one shift signal associated with the bicycle's gear shifting device 130 is acquired. The shift signal is triggered based on the user's shifting command and is used to indicate that the bicycle's gear shifting device 130 has started to perform a shifting action. The shift signal includes different types indicating acceleration and deceleration. If the shifting action is not completed, in response to the number of consecutively acquired shifting signals of the same type being equal to a preset threshold, the gear shifting device 130 is controlled to stop responding to the user's shifting command until the shifting action is completed.

[0043] The following will describe in detail the gear shifting control method (specifically, the gear shifting control method for bicycles and the gear shifting control method for mobile vehicles) provided in the embodiments of this application with reference to Figure 1. It should be noted that the scenario in Figure 1 is only used to explain the gear shifting control method provided in the embodiments of this application, but does not constitute a limitation on the application scenarios of the gear shifting control method provided in the embodiments of this application.

[0044] Please refer to Figure 2, which is a schematic flowchart of the steps of a bicycle gear shifting control method provided in an embodiment of this application.

[0045] As shown in Figure 2, the gear shifting control method of the bicycle may include steps S101 to S102.

[0046] Step S101: In response to detecting the derailleur's action on the chain, control the bicycle's power assist device to output assist torque to the chain so that the gear shifting action corresponding to the derailleur action is completed.

[0047] The derailleur can include, but is not limited to, mechanical derailleurs and electronic derailleurs. The power assist device can include a power assist motor and a battery; the power assist device outputs assist torque to the chain, thereby providing additional power to drive the bicycle. It should be noted that the chain can be rotated by either the motor in the power assist device or by the user's driving action on the chain.

[0048] For example, an assist motor is typically mounted on the bicycle's wheel hub (front or rear wheel), bottom bracket, or pedals to provide power assistance to the rider. The battery is usually installed under the frame to power the assist motor. Common battery types include lithium-ion batteries and lead-acid batteries.

[0049] In one embodiment, the assist device is further configured to output an assist torque to the chain in response to a user's driving action on the chain. This driving action can include pedaling, or other actions that can drive the chain to rotate. For example, a user's pedaling action can cause the chain to rotate. In response to the user's driving action on the chain, the assist motor in the assist device is controlled to rotate, thereby driving the chain to rotate and outputting an assist torque to the chain. Therefore, the assist device can provide additional power.

[0050] In related technologies, after the user presses the control button on the gear shifter, they need to pedal to rotate the chain until the chain is fully engaged with the corresponding sprocket to complete the gear shifting process. Other devices on the bicycle cannot sense this gear shifting process, nor can they help to achieve it.

[0051] In this embodiment, in response to detecting the derailleur's action on the chain, the bicycle's power assist device can be controlled to output assist torque to the chain. This assist device helps complete the chain's gear shifting, causing the chain to rotate and automatically completing the shifting process without the user needing to pedal, thus improving the convenience of bicycle gear shifting. Simultaneously, the power assist device, derailleur, and chain can be linked, allowing the bicycle to sense and assist the shifting process, enhancing the intelligence of bicycle gear shifting. For example, when the user is coasting / lifting the rear wheel, pressing the control button on the gear controller allows for gear shifting via the power assist motor without pedaling.

[0052] In one embodiment, the derailleur is an electronic derailleur, and the method further includes: acquiring an input current signal of the electronic derailleur; and determining that the shifting device has started to perform a shifting action in response to the absolute value of the input current signal of the electronic derailleur being greater than or equal to a static current threshold.

[0053] In one embodiment, the derailleur is a mechanical derailleur, and the method further includes: acquiring tension information of the derailleur's shift cable; determining that the shifting device has started to perform a shifting action in response to the tension value of the electronic derailleur's shift cable being greater than or equal to a preset tension threshold; or determining that the shifting device has started to perform a shifting action in response to the tension change value of the electronic derailleur's shift cable being greater than or equal to a preset tension change threshold.

[0054] In one embodiment, the bicycle includes a power supply unit configured to power a shifting device; the method further includes: acquiring the load current of the power supply unit; and determining that the shifting device has started shifting in response to the load current of the power supply unit being greater than or equal to a static current threshold. It is understood that the load current of the power supply unit may exhibit the same trend as the input current of the electronic derailleur. In some cases, the load current of the power supply unit may be equal to the input current of the electronic derailleur. Therefore, both load current detection of the power supply unit and input current detection of the electronic derailleur can be used to determine whether shifting has started.

[0055] Step S102: In response to the completion of the gear shifting action corresponding to the derailleur action, control the bicycle's power assist device to stop outputting power assist torque.

[0056] The shifting action of a bicycle can include derailleur operation and chain rotation. Derailleur operation refers to the process by which the derailleur drives the chain to move axially along the sprockets in the bicycle's drivetrain. For example, a bicycle's drivetrain may include multiple coaxially distributed sprockets of different diameters. Derailleur operation can be the process by which the derailleur adjusts the chain from engaging with a large sprocket to engaging with a small sprocket, or vice versa.

[0057] It should be understood that derailleur operation can adjust only the engagement position of a portion of the chain with different sprockets, thus requiring a shorter time. In some scenarios, the derailleur operation can be completed in tens or hundreds of milliseconds. However, shifting gears requires adjusting the entire chain from one sprocket to another, necessitating further chain rotation. The power assist device can output assist torque upon detecting derailleur operation, driving the chain to rotate and thus completing the bicycle's shifting process. In some embodiments, the assist torque can act on the sprockets, causing them to rotate, which in turn drives the chain to rotate, thereby completing the shift. It is understood that the multiple sprockets mentioned above can also be replaced by other transmission structures in the drivetrain, as long as they can drive the chain and achieve gear ratio changes.

[0058] It should be noted that once the chain shifting action corresponding to the chain shifting action of the derailleur is completed, it indicates that the chain has completed the shifting. Therefore, the power assist device can be controlled to stop outputting the assist torque, thereby ending the power assist device's auxiliary shifting.

[0059] In one embodiment, the method further includes: detecting the rotation angle of the bicycle's drive wheel; and determining the completion of a gear shift corresponding to the derailleur action when the rotation angle of the drive wheel is greater than or equal to a preset angle threshold. The drive wheel is connected to the chain and rotates due to the chain's movement. The rotation angle of the drive wheel indicates the degree of chain displacement, which in turn allows for the determination of whether a gear shift has been completed.

[0060] In one embodiment, the method further includes: detecting the degree of change in the chain's gear ratio; if the detected degree of change in the chain's gear ratio is less than a preset threshold, then determining that the shifting action corresponding to the derailleur action has been completed. The degree of change in the gear ratio can refer to the difference in the chain's gear ratio at adjacent moments. The chain's gear ratio can be determined based on the rotation angle of the bicycle wheels and the rotation angle of the bicycle pedals.

[0061] The bicycle gear shifting control method provided in the above embodiments controls the bicycle's power assist device to output power assist torque to the chain in response to the detection of the derailleur's derailleur action on the chain. The power assist device is also configured to output power assist torque to the chain in response to the user's driving action on the chain so that the gear shifting action corresponding to the derailleur action is completed. In response to the completion of the gear shifting action corresponding to the derailleur action, the power assist device is controlled to stop outputting power assist torque. The power assist device can automatically output power assist torque during gear shifting, which improves the coupling degree between the power assist device and the gear shifting device and reduces the dependence on the user to drive the bicycle to complete the gear shifting. Therefore, it greatly improves the convenience and intelligence of bicycle gear shifting.

[0062] Please refer to Figure 3, which is a schematic flowchart of another speed control method for a mobile vehicle provided in an embodiment of this application.

[0063] As shown in Figure 3, the speed control method for the mobile vehicle may include steps S201 to S203.

[0064] Step S201: In response to detecting the gear shifting action of the transmission device of the movable vehicle on the transmission device, control the power assist device of the movable vehicle to output power assist torque to the transmission device.

[0065] The assist device is also configured to output assist torque to the transmission device in response to the user's driving action on the transmission device. For example, as shown in FIG1, the user's driving action on the transmission device 120 is, for example, the action of pressing a pedal. The assist motor in the assist device 140 responds to the action of pressing the pedal and outputs assist torque to the chain in the transmission device 120, thereby driving the chain to rotate.

[0066] The gear-shifting action can act directly or indirectly on the transmission device, thereby changing the mechanical coupling relationship between the gear-shifting device and the transmission device. For example, the transmission device includes a chain, the gear-shifting device includes a derailleur, and the gear-shifting action can include the derailleur's action of shifting the chain, thereby changing the chain's gear position.

[0067] In one embodiment, the method further includes: acquiring detection information related to the shifting device; and determining, based on the detection information, whether the shifting device performs a shifting action. It should be noted that whether the shifting device performs a shifting action can be determined using detection information related to the shifting device. For example, the shifting device includes a derailleur, and the detection information includes information related to the derailleur. Based on the information related to the derailleur, it is possible to determine in a timely and accurate manner whether the derailleur performs a shifting action.

[0068] For example, the derailleur is a mechanical derailleur, and the detection information includes detection information on the shift cable acting on the derailleur. This shift cable detection information may include the tension information and tension change information of the shift cable. When the derailleur is a mechanical derailleur, the detection information from the shift cable can determine in a timely and accurate manner whether the shifting device is performing a shifting action.

[0069] For example, if the tension value of the shift cable in the electronic derailleur is greater than or equal to a preset tension threshold, it is determined that the shifting device has started to perform a shifting action. Alternatively, if the tension change information of the shift cable in the electronic derailleur is greater than or equal to a preset tension change threshold, it is determined that the shifting device has started to perform a shifting action.

[0070] For example, the derailleur is an electronic derailleur, and the detection information includes the electrical signal information of the electronic derailleur. This electrical signal information may include information such as input current signal, input voltage signal, and input power. When the derailleur is electronic, the electrical signal information of the electronic derailleur can be used to determine in a timely and accurate manner whether the shifting device is performing a shifting action.

[0071] In one embodiment, the electrical signal information includes the absolute value of the input current signal of the electronic derailleur; determining whether the shifting device has performed a shifting action based on the detection information includes: determining that the shifting device has started to perform a shifting action in response to the absolute value of the input current signal of the electronic derailleur being greater than or equal to a static current threshold.

[0072] The static current threshold can be set according to the actual situation of the electronic derailleur. For example, the static current threshold can be set based on the current consumed by the electronic derailleur in the non-activated state, or it can be set based on the sum of the current other than the load current and the current consumed by the electronic derailleur itself. When the absolute value of the input current signal is greater than or equal to the static current threshold, it can be determined in a timely and accurate manner that the shifting device has started to perform a shifting action.

[0073] In one embodiment, the assist device includes an assist motor and a power supply device, the power supply device being configured to supply power to the assist motor and / or the transmission device. That is, the power supply device can supply power to the assist motor or the transmission device alone, or it can supply power to both the assist motor and the transmission device simultaneously.

[0074] When the power supply device is configured to supply power to the speed change device, the detection information related to the speed change device is obtained, including: obtaining the load current of the power supply device; and determining whether the speed change device is performing a speed change action based on the detection information, including: determining that the speed change device has started performing a speed change action in response to the load current of the power supply device being greater than or equal to the static current threshold.

[0075] It should be noted that when the power supply is configured to power the transmission, the detection information related to the transmission can also include the load current of the power supply. This load current can be essentially equivalent to the input current signal of the electronic derailleur. When the load current of the power supply is greater than or equal to the static current threshold, it can be determined promptly and accurately that the transmission has begun to perform a gear shift.

[0076] Step S202: In response to the completion of the gear shifting action, control the power assist device to stop outputting power assist torque.

[0077] It should be noted that once the gear shifting action of the transmission is completed, it indicates that the transmission has finished shifting. Therefore, the power assist device can be controlled to stop outputting assist torque, thus ending the power assist device's assisted shifting. Thus, the power assist device can automatically output assist torque during shifting, improving the coupling between the power assist device and the gear shifting device, reducing the reliance on the user to manually drive the bicycle to shift gears, and greatly enhancing the convenience and intelligence of shifting gears in mobile vehicles.

[0078] In one embodiment, controlling the power assist device to stop outputting assist torque in response to the completion of the gear shifting action includes: determining that the gear shifting action has been completed in response to detecting that the movement displacement of the transmission device is greater than or equal to a preset threshold; and controlling the power assist device to stop outputting assist torque.

[0079] It should be noted that the transmission device of the mobile vehicle, in relation to the speed change action of the transmission device, can alter the displacement of at least some components in the transmission device. Exemplary descriptions of the speed change action can be found in the foregoing corresponding embodiments, and will not be repeated here.

[0080] In one embodiment, controlling the power assist device to stop outputting power assist torque in response to the completion of the gear shifting action includes: determining that the gear shifting action has been completed in response to detecting that the rotation angle of the drive wheel of the movable vehicle is greater than or equal to a preset angle threshold, wherein the drive wheel is connected to the transmission device to rotate by the movement of the transmission device; and controlling the power assist device to stop outputting power assist torque.

[0081] It should be noted that the rotation angle of the drive wheel of a movable vehicle can typically characterize the degree of completion of the transmission's gear-changing action. For example, after the derailleur operates on the chain, the movable vehicle can obtain the rotation angle of the drive wheel. When the rotation angle of the drive wheel reaches 60 degrees, the chain connected to that drive wheel can complete the gear change. Therefore, when the rotation angle of the drive wheel of the movable vehicle is detected to be greater than or equal to a preset angle threshold, it can be determined in a timely and accurate manner that the gear-changing action has been completed. Thus, the power assist device can be controlled to stop outputting assist torque, thereby ending the power assist device's assisted gear-changing.

[0082] In one embodiment, in response to the completion of the gear shifting action, controlling the power assist device to stop outputting assist torque includes: in response to detecting that the degree of change in the transmission ratio of the transmission device is less than a preset threshold, determining that the gear shifting action has been completed; and controlling the power assist device to stop outputting assist torque.

[0083] It should be noted that during the speed change process of a transmission, the degree of change in the transmission ratio can generally characterize the degree of completion of the speed change action. For example, when the transmission first initiates a speed change, the degree of change in the transmission ratio is relatively large, then the degree of change gradually decreases, and finally tends to stabilize. Therefore, when the degree of change in the transmission ratio is detected to be less than a preset threshold, it can be determined in a timely and accurate manner that the speed change action has been completed, and thus the power assist device can be controlled to stop outputting assist torque.

[0084] For example, the mobile vehicle is a bicycle, and the transmission ratio of the transmission device is determined based on the rotation angles of the bicycle's wheels and pedals within the same time period. For instance, if the same time period is a preset unit of time, the wheel rotation angle is deltaθ1, and the pedal rotation angle is deltaθ2, then the transmission ratio can be calculated as deltaθ1 / deltaθ2. The formula for calculating the degree of change in the transmission ratio, deltak, is deltak = k1 - k2, where k1 is the transmission ratio detected at the previous moment and k2 is the transmission ratio detected at the next moment. If deltak is less than a certain preset threshold, the transmission ratio is considered stable, i.e., deltak is less than the preset threshold. The interval between the previous and next moments can be set according to actual needs and is not limited here.

[0085] In some examples, the gear ratio can be determined based on the rotation angle of the bicycle wheel and the angle through which the assist motor rotates within the same time period. For example, if the wheel rotation angle is deltaθ1 and the assist motor rotation angle is deltaθ3, the gear ratio can be calculated as deltaθ1 / deltaθ3. The formula for calculating the degree of gear ratio change, deltak, is deltak = k1 - k2, where k1 is the gear ratio detected at the previous moment and k2 is the gear ratio detected at the next moment. If deltak is less than a certain preset threshold several times consecutively, the gear ratio is considered stable, i.e., deltak is less than the preset threshold.

[0086] In one embodiment, after controlling the power assist device to stop outputting assist torque in response to the completion of the gear shifting action, the method further includes: in response to detecting a failure of the gear shifting action, controlling the power assist device to stop outputting assist torque. If a failure of the gear shifting action is detected, controlling the power assist device to stop outputting assist torque avoids damage to components such as the transmission device caused by the assist torque output by the power assist device, thereby improving the safety and reliability of gear shifting in the mobile vehicle.

[0087] The method of controlling the power assist device to stop outputting assist torque in response to detecting a failed gear shift includes: in response to detecting that the rotational speed of the wheel is less than a preset speed threshold, and / or that the rotational angle of the wheel is less than a preset angle threshold, determining that the gear shift has failed; and controlling the power assist device to stop outputting assist torque.

[0088] It should be noted that the preset speed threshold and preset angle threshold can be set according to actual conditions. If the wheel rotation speed is detected to be less than the preset speed threshold, or the wheel rotation angle is less than the preset angle threshold, it indicates that the power assist torque output by the power assist device is not effectively driving the wheel, which may cause the mobile vehicle to fail to change gears. Therefore, it can be determined that the gear change action has failed, and it is necessary to control the power assist device to stop outputting power assist torque to prevent damage to parts.

[0089] The method of controlling the power assist device to stop outputting assist torque in response to the detection of a failed gear shift includes: in response to the detection of an abnormal operating state of the transmission device, determining that the gear shift has failed; and controlling the power assist device to stop outputting assist torque.

[0090] It should be noted that abnormal operating conditions can include chain derailment, gear shifting timeout, etc. When the transmission device malfunctions, it indicates an abnormality in the gear shifting process of the mobile vehicle, requiring troubleshooting before safe assisted gear shifting can proceed. Therefore, in this situation, the gear shifting action can be considered a failure, and the power assist device needs to be controlled to stop outputting assist torque, thereby improving the safety and reliability of the mobile vehicle's gear shifting. Gear shifting timeout can be determined by detecting whether the gear ratio of the mobile vehicle is within a preset range within a preset time period. Specifically, if the gear ratio of the mobile vehicle does not stabilize within the preset range within the preset time period, it can be judged as gear shifting timeout. The preset range can correspond to the target speed or target speed gear for the gear shifting operation.

[0091] In one embodiment, the method further includes: outputting a corresponding prompt message in response to detecting a failed gear shift. The prompt message can be at least one of text, icons, or voice. For example, the mobile vehicle includes a display screen, which can display text and icon information indicating a failed gear shift in response to detecting a failed gear shift.

[0092] Understandably, in practical applications, corresponding prompts can be output in response to the detection of user-issued gear shifting commands, gear shifting actions, and gear shifting completion. The gear shifting command can be a bicycle speed gear adjustment command. Specifically, the gear shifting command can be generated based on the user's input to the control buttons on the gear shifter and transmitted to the gear shifter via wired or wireless means, causing the gear shifter to perform the gear shifting action.

[0093] In one embodiment, in response to detecting a gear shifting action of the transmission device of the mobile vehicle toward the transmission device, controlling the power assist device of the mobile vehicle to output power assist torque to the transmission device includes: in response to detecting a driving action of the user toward the transmission device, acquiring a driving torque; and adjusting the output of the power assist torque based on the driving torque.

[0094] The changes in drive torque and assist torque are negatively correlated. That is, when the drive torque increases, the assist torque decreases, and vice versa. For example, by setting a maximum torque that a transmission device can handle, the output of the assist torque is equal to the difference between this maximum torque and the drive torque, thus enabling dynamic adjustment of the assist torque.

[0095] It should be noted that during the gear shifting process of a mobile vehicle, the torque of the transmission device comes from two sources: the user's driving torque and the motor's assist torque. Therefore, adjusting the output of the assist torque based on the driving torque can prevent excessive assist torque from causing excessive chain tension during gear shifting, thereby preventing damage to the transmission device or gear shifting mechanism.

[0096] For example, the mobile vehicle is a bicycle, and the driving torque is determined based on the pressure information of the bicycle pedals. Specifically, the chain needs to provide torque to rotate when switching between sprockets. The driving torque is determined based on the user's pedal pressure information, thereby dynamically limiting the assist torque output by the assist motor. This prevents excessive assist torque from causing excessive chain tension during gear shifting, which could lead to chain breakage or damage to the gear shifting device.

[0097] In one embodiment, the gear shifting action includes different types of indicating acceleration and deceleration, and the method further includes: if the gear shifting action is not completed, in response to detecting that the gear shifting device of the movable vehicle performs continuous gear shifting actions of the same type on the transmission device within a preset time period, and the number of gear shifting actions of the same type is greater than or equal to a preset threshold, controlling the gear shifting device to no longer respond to the user's gear shifting command.

[0098] The preset threshold is, for example, 3, and the same type of gear shifting action can be either acceleration or deceleration. To prevent damage to the transmission or gear shifting device due to excessive gear changes in a single shift before the shifting action is completed, such as to prevent chain jamming or breakage during switching, shifting actions of the same type beyond the preset gear level are not allowed during a single gear shift. By controlling the gear shifting device to no longer respond to the user's gear shifting commands, the safety and reliability of gear shifting in mobile vehicles can be improved.

[0099] In one embodiment, controlling the transmission device to no longer respond to the user's shift command includes: controlling the power supply device to stop supplying power to the transmission device. It should be noted that the transmission device can be powered by the power supply device; therefore, controlling the power supply device to stop supplying power to the transmission device can prevent the transmission device from responding to the user's shift command.

[0100] In one embodiment, the method further includes: in response to detecting the completion of the last consecutive shifting action of the same type, restoring the transmission's response to the user's shifting command. It should be noted that after the transmission stops responding to the user's shifting command, if the last consecutive shifting action of the same type is completed, there will be no situation where the gear shift is too large at once, and it will not cause damage to the transmission or shifting device. Therefore, the transmission's response to the user's shifting command can be restored.

[0101] For example, when a user uses the shifter to switch to the same 3rd gear or more at once, the control device will cut off the power to the electronic rear derailleur (shifting device), so that the electronic rear derailleur does not respond to this gear switch, and the power supply to the electronic rear derailleur will be restored after the shift is completed.

[0102] The speed control method for a mobile vehicle provided in the above embodiments controls the power assist device of the mobile vehicle to output power assist torque to the transmission device in response to detecting the speed change action of the speed change device of the mobile vehicle to the transmission device; and controls the power assist device to stop outputting power assist torque in response to the completion of the speed change action. Therefore, the speed change of the transmission device can be completed without relying on user drive, thus greatly improving the convenience and intelligence of speed change of the mobile vehicle.

[0103] For example, as shown in Figures 1 and 4, the power supply device in the assist device 140 supplies power to the electronic rear derailleur (a component of the derailleur 130, such as the aforementioned derailleur), and monitors the load current of the electronic rear derailleur in real time. When the load current exceeds the static current threshold, it indicates that the rear derailleur motor (another component of the derailleur 130 used to drive the electronic rear derailleur to perform derailleur actions) has activated, i.e., the user presses the button on the derailleur controller 150. At this time, the assist motor in the assist device 140 outputs a small torque to drive the chain to rotate, ensuring that the transmission device 120 is tightly engaged. Then, based on the assist motor's speed, cadence, and other information, the transmission ratio from the bottom bracket to the rear wheel is calculated in real time. The transmission ratio changes dynamically during the shifting process. When the transmission ratio stabilizes or the rear wheel rotates beyond a certain angle, it ensures that the chain has engaged the new sprocket, thus determining that the shifting is complete, and the assist motor output stops. When it is detected that the rear wheel cannot rotate freely, or when it is determined that the shifting time has expired, the shifting fails, and the assist motor output also stops. In other words, the user only needs to press the shift button on the shift controller 150, and when the rear wheel can rotate freely (lifting the rear wheel / riding while coasting), the power assist device 140 will help the user complete the entire shifting process without relying on the user to drive.

[0104] Please refer to Figure 5, which is a schematic flowchart of the steps of another speed control method for a mobile vehicle provided in an embodiment of this application.

[0105] As shown in Figure 5, the bicycle's gear shifting control method may include steps S301 to S302.

[0106] Step S301: Obtain at least one shift signal associated with the bicycle's gear shifting mechanism, the shift signal being triggered based on the user's shift command.

[0107] The shift signal indicates that the bicycle's gear system has initiated a gear shift. Shift signals include different types indicating acceleration and deceleration. It should be noted that when a user triggers a shift command, at least one shift signal associated with the bicycle's gear system is generated. This shift signal can be, for example, an electrical signal or a force signal from the gear system. Since shift commands can include different types indicating acceleration and deceleration, the shift signals also include different types indicating acceleration and deceleration.

[0108] Different types of transmission signals are determined based on their average value over one cycle. It's important to note that different types of transmission signals have different manifestations. For example, the average value over one cycle differs for different types indicating acceleration and deceleration. Therefore, using the average value of the transmission signal over one cycle allows for accurate identification of different transmission signal types.

[0109] In one embodiment, acquiring at least one shift signal associated with the bicycle's gearshift mechanism includes: acquiring an input current signal of the gearshift mechanism; and determining one or more shift signals based on changes in the input current signal. It should be noted that each time a user triggers a shift command, the input current signal of the gearshift mechanism changes accordingly, and the changes differ for shift commands indicating acceleration and deceleration. Therefore, one or more shift signals can be accurately determined based on changes in the input current signal.

[0110] In one embodiment, a pulse change in the input current signal corresponds to a speed change signal, where the pulse change is a change in the absolute value of the input current signal that is greater than or equal to a static current threshold. It should be noted that the pulse change in the input current signal can be obtained through filtering, such as moving average filtering. When the pulse change is a change in the absolute value of the input current signal that is greater than or equal to the static current threshold, a single pulse change in the input current signal corresponds to a speed change signal.

[0111] For example, each time a user presses a button on the transmission controller, a shift command is triggered. This command can be sent to the transmission via wired or wireless means to control the transmission to perform a shift. When the transmission performs a shift, it requires a larger input current; therefore, a pulse current is detected in the input current signal. The absolute value of the input current signal differs when upshifting and downshifting. The change in amplitude determines the gear shift, and the number of pulses determines the number of gears changed. One or more shift signals can correspond to one or more pulse signals.

[0112] In one embodiment, the bicycle also includes an assist device, which includes an assist motor and a power supply device. The assist motor is configured to output assist torque to the transmission in response to a user's driving action on the transmission, and the power supply device supplies power to the assist motor and / or the gear transmission.

[0113] For example, the bicycle includes a torque sensor that can acquire the pedal torque generated by the user pedaling the pedal assembly. In response to detecting that the pedal torque generated by the user pedaling the pedal is greater than or equal to a torque threshold, the assist motor is controlled to output assist torque, thereby saving the user effort.

[0114] In one embodiment, when the power supply device supplies power to the gear shifting device, acquiring at least one shifting signal associated with the gear shifting device of the bicycle includes: acquiring a load current signal of the power supply device; and determining one or more shifting signals based on changes in the load current signal.

[0115] It should be noted that when the power supply unit supplies power to the transmission unit, the change in the load current signal of the power supply unit can indicate the change in the input current signal of the transmission unit. Therefore, one or more transmission signals can be accurately determined based on the change in the load current signal.

[0116] Step S302: If the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type being equal to a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command before the gear shifting action is completed.

[0117] The preset threshold can be 3, and the same type of gear shifting action can be either an acceleration or deceleration action. To prevent damage to the transmission or gear shifting device due to excessive gear shifting before the shifting process is completed (e.g., to prevent chain jamming or breakage during switching), gear shifting actions of the same type exceeding the preset gear level are not allowed during a single gear shift. In this case, by controlling the gear shifting device to stop responding to the user's gear shifting command before the gear shifting action is completed, the safety and reliability of gear shifting in mobile vehicles can be improved.

[0118] In one embodiment, the same type of shift signal includes a shift signal indicating deceleration. During the shifting process of a bicycle, the shift signal indicating deceleration corresponds to the chain switching from the small chainring to the large chainring, a process that is prone to chain slippage and jamming. Therefore, in response to the number of consecutive shift signals indicating deceleration being received equal to a preset threshold, the shifting device can be controlled to stop responding to the user's shifting command until the shifting action is completed. For example, when three shift signals indicating deceleration are detected, the shifting device is controlled to stop responding to the user's shifting command until the shifting action is completed.

[0119] In one embodiment, when the power supply device supplies power to the transmission device, controlling the transmission device to no longer respond to the user's gear shifting command includes: controlling the power supply device to stop supplying power to the transmission device. It should be noted that when the power supply device supplies power to the transmission device, controlling the power supply device to stop supplying power to the transmission device, thereby controlling the transmission device to no longer respond to the user's gear shifting command, can reduce safety issues caused by the transmission device continuing to perform gear shifting operations when the speed gear changes too drastically, thereby improving the safety and reliability of gear shifting in mobile vehicles.

[0120] In one embodiment, the method further includes: in response to the completion of the shifting action corresponding to the last shifting signal of the same type, restoring the shifting device's response to the user's shifting command. It should be noted that after the shifting device stops responding to the user's shifting command, if the last shifting action of the same type is completed, there will be no situation where the single shifting action is too large, thus preventing damage to the transmission or shifting device, and therefore the shifting device's response to the user's shifting command can be restored.

[0121] For example, when a user uses the shifter to switch to the same 3rd gear or more at once, the control device will cut off the power to the electronic rear derailleur, so that the electronic rear derailleur does not respond to this gear switch, and the power supply to the electronic rear derailleur will be restored after the shift is completed.

[0122] The gear shifting control method for a mobile vehicle provided in the above embodiments acquires at least one gear shifting signal associated with the bicycle's gear shifting device. This gear shifting signal is triggered based on a user's gear shifting command and indicates that the bicycle's gear shifting device has begun performing a gear shifting action. The gear shifting signal includes different types indicating acceleration and deceleration. If the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type equaling a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command until the gear shifting action is completed. This reduces safety issues caused by the gear shifting device continuing to perform gear shifting actions based on the user's commands when the speed gear changes too drastically due to multiple consecutive gear shifting commands input by the user, thereby improving the safety and reliability of gear shifting in mobile vehicles.

[0123] For example, as shown in Figures 1 and 6, the power assist device 140 determines how many times the bicycle has shifted up / down gears based on the load current characteristics of the electronic rear derailleur during each shift. The electronic rear derailleur is, for example, an SRAM electronic derailleur. Each time the user presses the shift button, the load current detects a pulse current. The amplitude of the pulse current differs when shifting up and down. The change in amplitude determines whether the shift has occurred, and the number of pulses determines how many shifts have been made. The electronic rear derailleur can be the derailleur of the shifting device mentioned in the above embodiments.

[0124] Specifically, if the absolute value of the load current of the electronic rear derailleur exceeds the static current threshold, it indicates the presence of a pulse current, meaning the electronic rear derailleur has begun to perform derailleur operation. At this point, the output of the assist motor can be reduced, and the pulse current can be filtered using a moving average to identify changes in its amplitude and determine the number of gear shifts. If the number of gear shifts exceeds a given threshold, it is determined whether the user has triggered an acceleration or deceleration. If three consecutive decelerations are detected, or if a shift timeout or other abnormality occurs, indicating the shift is incomplete, the power supply to the derailleur is cut off. After confirming the shift is complete, the power supply to the derailleur is restored. Regardless of whether the user has triggered an acceleration or deceleration, the output of the assist motor can be restored after the shift is confirmed.

[0125] (1) Upper limit of gear change: To prevent the chain from jamming or breaking due to excessive gear change in one go before the gear change is completed, the number of gear changes in one switch is not allowed to exceed the preset threshold. For example, in the actual solution, when the user switches to the same gear more than 3 times at a time using the gear shift button of the gear controller 150, the control device 110 will cut off the power to the electronic rear derailleur, so that the electronic rear derailleur will not respond to the gear change, and the power supply to the electronic rear derailleur will be restored after the gear change is completed.

[0126] (2) Gearbox switching output limit: During gear shifting, the chain needs to provide torque to rotate when switching between gearboxes. The torque comes from two sources: the user's pedaling torque and the motor's assist torque. The assist torque of the motor is dynamically limited based on the user's pedaling torque to prevent excessive assist torque from the motor from causing excessive chain tension during gear shifting, which could lead to chain breakage or damage to the gear shifting device.

[0127] Please refer to Figure 7, which is a schematic block diagram of an assistive device provided in an embodiment of this application.

[0128] As shown in Figure 7, the assist device 400 includes a processor 410 and a memory 420, which are connected via a bus 430, such as an I2C (Inter-integrated Circuit) bus. The assist device 400 also includes an assist motor 440, which is used to output assist torque, such as outputting assist torque to a transmission device.

[0129] Specifically, the processor 410 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0130] Specifically, the memory 420 can be a Flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0131] In one embodiment, the processor 410 is configured to run a computer program stored in the memory 420, and to perform the following steps when executing the computer program:

[0132] In response to detecting a chain shifting action by the derailleur of the bicycle, the power assist device of the bicycle is controlled to output power assist torque to the chain so that the gear shifting action corresponding to the chain shifting action is completed. The power assist device is further configured to output power assist torque to the chain in response to the user's driving action on the chain.

[0133] In response to the completion of the gear shifting action corresponding to the derailleur action, the power assist device of the bicycle is controlled to stop outputting power assist torque.

[0134] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described power-assist device can be referred to the corresponding process in the aforementioned bicycle gear shift control method embodiment, and will not be repeated here.

[0135] In one embodiment, the processor 410 is configured to run a computer program stored in the memory 420, and to perform the following steps when executing the computer program:

[0136] In response to detecting a gear shifting action of the transmission device of the mobile vehicle toward the transmission device, the power assist device of the mobile vehicle is controlled to output power assist torque to the transmission device, and the power assist device is further configured to output power assist torque to the transmission device in response to a driving action of the user toward the transmission device.

[0137] In response to the completion of the gear shift, the power assist device is controlled to stop outputting power assist torque.

[0138] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described assist device can be referred to the corresponding process in the aforementioned embodiment of the speed control method for mobile vehicles, and will not be repeated here.

[0139] In one embodiment, the processor 410 is configured to run a computer program stored in the memory 420, and to perform the following steps when executing the computer program:

[0140] Acquire at least one shift signal associated with the bicycle's gearshift mechanism, the shift signal being triggered based on a user's shift command, the shift signal indicating that the bicycle's gearshift mechanism has begun performing a shift action, the shift signal including different types indicating acceleration and deceleration;

[0141] If the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type being equal to a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command before the gear shifting action is completed.

[0142] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described power-assist device can be referred to the corresponding process in the aforementioned bicycle gear shift control method embodiment, and will not be repeated here.

[0143] Please refer to Figure 8, which is a schematic block diagram of a mobile vehicle provided in an embodiment of this application.

[0144] As shown in Figure 8, the movable vehicle 500 includes:

[0145] Transmission device 510, used to transmit power to drive the movable vehicle 500;

[0146] The transmission device 520 is connected to the transmission device 510 and is used to perform a speed change action on the transmission device 510 to adjust the speed gear of the movable vehicle 500.

[0147] The assist device 530 is connected to the transmission device 510 and is used to output assist torque to the transmission device 510;

[0148] The control device 540 is connected to the speed change device 520 and the power assist device 530, and is used to implement the speed change control method described in any one of the embodiments of this application.

[0149] In one embodiment, the mobile vehicle includes a bicycle, and the control device 540 is used to perform the following steps:

[0150] In response to detecting a chain shifting action by the derailleur of a bicycle, the assist device of the bicycle is controlled to output assist torque to the chain so that the gear shifting action corresponding to the chain shifting action is completed. The assist device is also configured to output assist torque to the chain in response to the user's driving action on the chain.

[0151] In response to the completion of the gear shifting action corresponding to the derailleur action, the power assist device of the bicycle is controlled to stop outputting power assist torque.

[0152] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the mobile vehicle described above can be referred to the corresponding process in the aforementioned bicycle gear shift control method embodiment, and will not be repeated here.

[0153] In one embodiment, the control device 540 is used to perform the following steps:

[0154] In response to detecting a gear shifting action of the transmission device of the mobile vehicle toward the transmission device, the power assist device of the mobile vehicle is controlled to output power assist torque to the transmission device, and the power assist device is further configured to output power assist torque to the transmission device in response to a driving action of the user toward the transmission device.

[0155] In response to the completion of the gear shift, the power assist device is controlled to stop outputting power assist torque.

[0156] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the mobile vehicle described above can be referred to the corresponding process in the aforementioned embodiments of the speed control method for mobile vehicles, and will not be repeated here.

[0157] In one embodiment, the mobile vehicle includes a bicycle, and the control device 540 is used to perform the following steps:

[0158] Acquire at least one shift signal associated with the bicycle's gearshift mechanism, the shift signal being triggered based on a user's shift command, the shift signal indicating that the bicycle's gearshift mechanism has begun performing a shift action, the shift signal including different types indicating acceleration and deceleration;

[0159] If the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type being equal to a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command before the gear shifting action is completed.

[0160] It should be noted that those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the mobile vehicle described above can be referred to the corresponding process in the aforementioned bicycle gear shift control method embodiment, and will not be repeated here.

[0161] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and a processor executing the program instructions to implement the steps of the speed control method for a mobile vehicle provided in the above embodiments.

[0162] The computer-readable storage medium can be an internal storage unit of the power-assisted device or mobile vehicle described in any of the foregoing embodiments, such as a hard disk or memory of the power-assisted device or mobile vehicle. The computer-readable storage medium can also be an external storage device of the power-assisted device or mobile vehicle, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the power-assisted device or mobile vehicle.

[0163] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0164] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0165] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the gear shift of a bicycle, characterized in that, The method includes: In response to detecting a chain shifting action by the derailleur of the bicycle, the power assist device of the bicycle is controlled to output power assist torque to the chain so that the gear shifting action corresponding to the chain shifting action is completed. The power assist device is further configured to output power assist torque to the chain in response to the user's driving action on the chain. In response to the completion of the gear shifting action corresponding to the derailleur action, the power assist device of the bicycle is controlled to stop outputting power assist torque.

2. A method for speed control of a mobile vehicle, characterized in that, The method includes: In response to detecting a gear shifting action of the transmission device of the mobile vehicle toward the transmission device, the power assist device of the mobile vehicle is controlled to output power assist torque to the transmission device, and the power assist device is further configured to output power assist torque to the transmission device in response to a driving action of the user toward the transmission device. In response to the completion of the gear shift, the power assist device is controlled to stop outputting power assist torque.

3. The speed control method according to claim 2, characterized in that, The method further includes: Obtain detection information related to the transmission device; Based on the detection information, it is determined whether the transmission device performs the transmission action.

4. The speed control method according to claim 3, characterized in that, The gear shifting device includes a derailleur, and the detection information includes information related to the derailleur.

5. The speed control method according to claim 4, characterized in that, The derailleur is an electronic derailleur, and the detection information includes the electrical signal information of the electronic derailleur.

6. The speed control method according to claim 5, characterized in that, The electrical signal information includes the absolute value of the input current signal of the electronic derailleur; determining whether the transmission device performs the transmission shifting action based on the detection information includes: In response to the absolute value of the input current signal of the electronic derailleur being greater than or equal to the static current threshold, it is determined that the gear shifting device has started to perform the gear shifting action.

7. The speed control method according to claim 4, characterized in that, The derailleur is a mechanical derailleur, and the detection information includes detection information of the speed change cable acting on the derailleur.

8. The speed control method according to claim 3, characterized in that, The assist device includes an assist motor and a power supply device, the power supply device being configured to supply power to the assist motor and / or the transmission device.

9. The speed control method according to claim 8, characterized in that, When the power supply device is configured to supply power to the transmission device, the acquisition of detection information related to the transmission device includes: Obtain the load current of the power supply device; Determining whether the transmission device performs the transmission action based on the detection information includes: In response to the load current of the power supply device being greater than or equal to the static current threshold, it is determined that the transmission device has started to perform the transmission action.

10. The speed control method according to any one of claims 2-9, characterized in that, The step of controlling the power assist device to stop outputting assist torque in response to the completion of the gear shifting action includes: In response to detecting that the motion displacement of the transmission device is greater than or equal to a preset displacement threshold, it is determined that the speed change action has been completed; Control the power assist device to stop outputting power assist torque.

11. The speed control method according to any one of claims 2-9, characterized in that, The step of controlling the power assist device to stop outputting assist torque in response to the completion of the gear shifting action includes: In response to detecting that the rotation angle of the drive wheel of the movable vehicle is greater than or equal to a preset angle threshold, it is determined that the speed change action has been completed, wherein the drive wheel is connected to the transmission device to rotate by the movement of the transmission device; Control the power assist device to stop outputting power assist torque.

12. The speed control method according to any one of claims 2-9, characterized in that, The step of controlling the power assist device to stop outputting assist torque in response to the completion of the gear shifting action includes: In response to detecting that the change in the transmission ratio of the transmission device is less than a preset threshold, it is determined that the speed change action has been completed; Control the power assist device to stop outputting power assist torque.

13. The speed control method according to claim 12, characterized in that, The mobile vehicle is a bicycle, and the transmission ratio of the transmission device is determined based on the rotation angle of the bicycle wheel and the rotation angle of the bicycle pedal within the same time period.

14. The speed control method according to any one of claims 2-9, characterized in that, After responding to the completion of the gear shifting action and controlling the power assist device to stop outputting power assist torque, the method further includes: In response to the detection of a failure in the gear shifting action, the power assist device is controlled to stop outputting assist torque.

15. The speed control method according to claim 14, characterized in that, The step of controlling the power assist device to stop outputting assist torque in response to detecting a failure of the gear shifting action includes: In response to detecting that the rotational speed of the wheel is less than a preset speed threshold, and / or that the rotational angle of the wheel is less than a preset angle threshold, it is determined that the gear shifting action has failed. Control the assist device to stop outputting the assist torque.

16. The speed control method according to claim 14, characterized in that, The step of controlling the power assist device to stop outputting power assist torque in response to detecting a failure of the gear shifting action includes: determining that the gear shifting action has failed in response to detecting an abnormal operating state of the transmission device; Control the assist device to stop outputting the assist torque.

17. The speed control method according to claim 14, characterized in that, The method further includes: In response to the detection of a failed speed change, a corresponding prompt message is output.

18. The speed control method according to any one of claims 2-9, characterized in that, The step of controlling the power assist device of the mobile vehicle to output assist torque to the transmission device in response to detecting a gear shifting action of the transmission device of the mobile vehicle includes: In response to detecting the user's driving action on the transmission device, the driving torque is obtained; Based on the driving torque, the output of the assist torque is adjusted.

19. The speed control method according to claim 18, characterized in that, The changes in the driving torque and the assist torque are negatively correlated.

20. The speed control method according to claim 18, characterized in that, The movable vehicle is a bicycle, and the driving torque is determined based on the pressure information of the bicycle's pedals.

21. The speed control method according to any one of claims 2-9, characterized in that, The gear shifting action includes different types of acceleration and deceleration indications, and the method further includes: If the gear shifting action is not completed, in response to the detection that the gear shifting device of the movable vehicle performs continuous gear shifting actions of the same type on the transmission device within a preset time period, and the number of such gear shifting actions is greater than or equal to a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command.

22. The speed control method according to claim 21, characterized in that, The control of the transmission device to no longer respond to the user's transmission command includes: Control the power supply device to stop supplying power to the speed change device.

23. The speed control method according to claim 21, characterized in that, The method further includes: In response to the detection of the completion of the last consecutive shifting action of the same type, the shifting device resumes its response to the user's shifting command.

24. A method for controlling the gear shift of a bicycle, characterized in that, The method includes: Acquire at least one shift signal associated with the bicycle's gearshift mechanism, the shift signal being triggered based on a user's shift command, the shift signal indicating that the bicycle's gearshift mechanism has begun performing a shift action, the shift signal including different types indicating acceleration and deceleration; If the gear shifting action is not completed, in response to the number of consecutively acquired gear shifting signals of the same type being equal to a preset threshold, the gear shifting device is controlled to stop responding to the user's gear shifting command before the gear shifting action is completed.

25. The speed control method according to claim 24, characterized in that, The acquisition of at least one gear shift signal associated with the bicycle's gear shift mechanism includes: Obtain the input current signal of the transmission device; Based on the changes in the input current signal, one or more of the speed change signals are determined.

26. The speed control method according to claim 25, characterized in that, One pulse change in the input current signal corresponds to one speed change signal, and the pulse change is the change in the absolute value of the input current signal being greater than or equal to the static current threshold.

27. The speed control method according to claim 24, characterized in that, The bicycle also includes an assist device, which includes an assist motor and a power supply device. The assist motor is configured to output assist torque to the transmission in response to a user's driving action on the transmission, and the power supply device supplies power to the assist motor and / or the transmission.

28. The speed control method according to claim 27, characterized in that, When the power supply device supplies power to the gear shifting device, acquiring at least one gear shifting signal associated with the gear shifting device of the bicycle includes: Obtain the load current signal of the power supply device; Based on the changes in the load current signal, one or more of the speed change signals are determined.

29. The speed control method according to claim 27, characterized in that, When the power supply device supplies power to the transmission device, controlling the transmission device to no longer respond to the user's transmission command includes: Control the power supply device to stop supplying power to the speed change device.

30. The speed control method according to any one of claims 24-29, characterized in that, The different types of the speed change signals are determined based on the average value of the speed change signals over one cycle.

31. The speed control method according to any one of claims 24-29, characterized in that, The same type of speed change signal includes a speed change signal used to indicate a reduction in speed.

32. The speed control method according to any one of claims 24-29, characterized in that, The preset threshold is 3.

33. The speed control method according to any one of claims 24-29, characterized in that, The method further includes: In response to the completion of the shift action corresponding to the last shift signal of the same type, the shift device resumes its response to the user's shift command.

34. An assistive device, characterized in that, The assist device includes an assist motor, a memory, and a processor; The assist motor is used to output assist torque; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the speed control method according to any one of claims 1-33.

35. A mobile vehicle, characterized in that, include: A transmission device for transmitting power to drive the movable vehicle; A transmission device, connected to the transmission device, is used to perform a speed-changing action on the transmission device to adjust the speed gear of the movable vehicle; An assist device, connected to the transmission device, is used to output assist torque to the transmission device; A control device, connected to the transmission device and the power assist device, is used to implement the transmission control method according to any one of claims 1-33.

36. The mobile vehicle according to claim 35, characterized in that, The mobile vehicle includes bicycles.

37. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the speed control method according to any one of claims 1-33.

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