CN113415373B - Power-assisted vehicle energy recovery method and device, electronic equipment and storage medium - Google Patents

Power-assisted vehicle energy recovery method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113415373B
CN113415373B CN202110776061.7A CN202110776061A CN113415373B CN 113415373 B CN113415373 B CN 113415373B CN 202110776061 A CN202110776061 A CN 202110776061A CN 113415373 B CN113415373 B CN 113415373B
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information
determining
energy recovery
moped
preset
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CN113415373A (en
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曾奇方
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Guangdong Gaobiao Intelligent Technology Co ltd
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Shenzhen Gobao Electronic Technology Co Ltd
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Priority to CN202110776061.7A priority Critical patent/CN113415373B/en
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Priority to PCT/CN2021/120245 priority patent/WO2023279539A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/80—Accessories, e.g. power sources; Arrangements thereof
    • B62M6/90—Batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a method and a device for recovering energy of a moped, electronic equipment and a storage medium. The method comprises the following steps: determining pedaling torque information corresponding to a pedaling crank and speed related information of the moped; determining a target grade to be recovered according to the treading torque information and the speed correlation information; if the target grade to be recovered reaches a preset energy recovery grade, acquiring battery pack information; and if the battery pack information meets the preset energy recovery condition, performing energy recovery based on the battery pack. According to the technical scheme, when the energy recovery of the moped is carried out, the classification of the target to be recovered grade is realized by utilizing the treading torque information and the speed correlation information of the moped, so that the more accurate energy recovery is carried out on the moped, and the energy recovery utilization rate is improved.

Description

Power-assisted vehicle energy recovery method and device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the field of control of moped, in particular to a method and a device for recovering energy of a moped, electronic equipment and a storage medium.
Background
In the use of the current power-assisted vehicle, high requirements are required for the quality of a control system and a battery assembly, and especially the requirement for the power-assisted endurance time is longer and longer.
However, in the process of implementing the present invention, the inventors found that at least the following technical problems exist in the prior art: traditional method of improving helping hand continuation of journey often adopts and increases battery capacity, increases the inevitable increase weight of battery capacity to the sacrifice weight improves the continuation of journey, and after battery electric charge consumes totally, the vehicle using motor need charge the completion and just can continue to travel, has the poor and not good problem of user experience of continuation of journey ability. In order to improve the endurance, the vehicle can be continued by recovered energy, but the energy recovery needs to be carried out by means of an accelerator and a brake sensor, and the conventional moped does not have the above-mentioned devices, so that the energy recovery of the moped still cannot be realized based on an automobile energy recovery method, and the problem of poor endurance of the moped still exists.
Disclosure of Invention
The invention provides a method and a device for recovering energy of a moped, electronic equipment and a storage medium, which are used for recovering energy based on driving related information of the moped, so that the energy recovery efficiency is improved, and the universality is improved.
In a first aspect, an embodiment of the present invention provides a method for recovering energy of a power-assisted vehicle, including:
determining pedaling torque information corresponding to a pedaling crank and speed related information of the moped;
determining a target grade to be recovered according to the treading torque information and the speed correlation information;
if the target grade to be recovered reaches a preset energy recovery grade, acquiring battery pack information; and if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack.
In a second aspect, an embodiment of the present invention further provides an energy recovery device for a moped, including:
the information determining module is used for determining treading torque information corresponding to a treading crank and speed related information of the moped;
the grade determining module is used for determining a target grade to be recovered according to the treading torque information and the speed correlation information;
the energy recovery module is used for acquiring battery pack information if the target grade to be recovered reaches a preset energy recovery grade; and if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack.
In a third aspect, an embodiment of the present invention further provides a moped energy recovery apparatus, where the moped energy recovery apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for energy recovery of a moped according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the method for energy recovery of a moped according to any one of the embodiments of the present invention.
The invention relates to a method for determining pedaling torque information corresponding to a pedaling crank and speed related information of a moped; determining a target grade to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, battery pack information can be acquired, and then whether to carry out energy recovery is determined based on the battery pack information, so that the problem that when the capacity of the battery arranged on the moped is used up in the prior art is solved, the vehicle can continue to run after charging is finished, furthermore, the battery capacity is increased to improve the endurance capacity, the weight of the moped is increased, meanwhile, after the charge is consumed, the vehicle can continue to run only after the charge is finished, so that the problems of poor cruising ability and poor user experience exist, the vehicle can run according to the vehicle running related information in the vehicle running process, the target grade to be recovered is divided, and then dynamic energy recovery is realized based on the divided grade, so that the cruising ability of the moped is improved, the dynamic energy recovery is also realized, and the technical effect of user experience is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
FIG. 1 is a schematic flow chart illustrating a method for recovering energy of a moped according to an embodiment of the present invention;
FIG. 2 is a schematic view of a power-assisted vehicle according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for recovering energy of a moped according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for recovering energy of a moped according to a third embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a method for recovering energy of a moped according to a fourth embodiment of the present invention;
FIG. 6 is a block diagram of an energy recovery device for a moped according to a fifth embodiment of the present invention;
fig. 7 is a schematic structural view of an energy recovery device of a moped provided in a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of an energy recovery method for a moped according to an embodiment of the present invention, and this embodiment is applicable to a situation where energy is recovered according to driving related information of a vehicle (a moped) during a driving process of the vehicle, and the method may be implemented by an energy recovery device for a moped according to an embodiment of the present invention, where the device may be implemented by software and/or hardware, and may be configured in an energy recovery device for a moped to implement the energy recovery method for a moped according to an embodiment of the present invention.
Before the technical scheme is introduced, the structure of the moped to which the technical scheme is applied can be simply introduced. It should be noted that the moped is only named as an example, and any vehicle capable of implementing the technical solution is within the protection scope of the embodiment of the present invention, for example, a bicycle is provided with the components disclosed in the present invention, and energy recovery is implemented based on the technical solution, and is within the protection scope of the technical solution.
As shown in fig. 2, the structure of the power-assisted vehicle includes: the bicycle comprises a bicycle frame, a crank, a chain wheel, a flywheel, a middle shaft, a front wheel, a rear wheel, a battery and a motor, wherein the crank, the chain wheel, the flywheel, the middle shaft, the front wheel, the rear wheel, the battery and the motor are arranged on the bicycle frame. When a user uses the moped, the user can step on the pedals, so that the crank connected with the pedals can generate certain torque. The crank is connected with the middle shaft, and the torque generated by the crank enables the middle shaft to rotate. The chain wheel rotates along with the middle shaft, the chain winds the chain wheel to transmit the rotation of the chain wheel to the flywheel, and the rear wheel and the flywheel rotate coaxially, so that the moped moves forwards. The battery is a power source of the moped and provides electric energy for the rotation of the motor, and the motor is a driving motor and can convert the electric energy into mechanical energy to provide power for the driving of the moped. The driving of the moped under the action of each component is the mixture of manpower and electric power, namely the driving of the moped is realized by combining the modes of treading the foot handle and assisting the power by the motor, and at the moment, the problem that the power cannot be realized under the condition that the battery is not electrified still exists.
The technical solution of this embodiment may be seen in the following steps:
s110, treading torque information corresponding to the treading crank and speed related information of the moped are determined.
In this embodiment, the energy recovery of the power-assisted vehicle means that the energy which cannot be stored for reuse and is to be wasted is recovered for reuse, for example, the energy generated by pedaling when the user uses the power-assisted vehicle, the potential energy generated when the user goes down a slope, the energy over-speed and the like are converted into the electric energy to be stored for reuse.
The crank is a part connected with the treading foot handle, and the treading crank is the crank. When a user uses the moped, the user can step on the foot handle, so that the crank connected with the foot handle can generate certain torque information. The pedaling torque information may include, but is not limited to, parameters such as pedaling torque. The speed-related information may include, but is not limited to, a wheel speed value, an acceleration value, and angular velocities of front and rear wheels of the moped.
In this embodiment, the determination of the pedaling torque information and the speed-related information may be determined by, optionally, collecting the pedaling torque information when the crank is pedaled by the user based on a torque sensor disposed at a first target position of the moped; and acquiring speed related information of the moped based on a speed sensor arranged on the moped.
The first target position can be any position on the moped and can also be a position capable of accurately acquiring treading torque information when a user treads a crank; for example, the first target position may be any position on the crank, or any position connected to the crank. The torque sensor is also called as a torque sensor or a torsion sensor. Torque sensors are used to detect the perception of torsional moments on various rotating or non-rotating mechanical components. The torque sensor may include, but is not limited to, a contactless torque sensor, a strain gauge torque sensor, or a high-performance wireless torque sensor, and the present embodiment does not limit the type of the torque sensor. The torque sensor can convert the physical transformation of the torque into an accurate electric signal, has the advantages of high precision, strong reliability and long service life, can acquire torque information generated when a user tramples a crank by adopting the torque sensor, and further takes the torque information as one of factors for energy recovery. The position where the speed sensor is disposed may be any position on the vehicle as long as the running speed of the vehicle can be detected, and the position may be the tire outer side of the rear/front wheel group, the tire outer side of the front/rear wheel group, and the flywheel outer side or the sprocket outer side. The speed sensor may include, but is not limited to, a contact speed sensor and a non-contact speed sensor, and the present embodiment does not limit the type of the speed sensor. If the moped speed sensor adopts the non-contact speed sensor, the contact with parts of the moped is reduced, the service life of the speed sensor can be prolonged, and the speed measuring stability of the moped can be guaranteed.
Specifically, the torque sensor can convert physical changes of the crank torque force stepped by the user into accurate electric signals, and the electric signals are sent to a control module of the moped to generate stepping torque information. The speed sensor can convert the change of the speed into an accurate electric signal, and the electric signal is sent to a control module of the moped to generate speed related information.
Optionally, the first target position includes stepping on the crank, the rear hook claw or the middle shaft.
Wherein, torque sensor can trample the crank or epaxial torque moment detects of axis of rotation, tramples the position of crank, back collude claw or well axle position for the user tramples the production moment of torsion, installs torque sensor here, and is close with production moment of torsion position distance, and reducible torque moment's loss, and then improve the accuracy of the trample torque moment information of collection.
And S120, determining a target grade to be recovered according to the treading torque information and the speed related information.
In the present embodiment, the target level to be recovered may be understood as an energy recovery level finally determined from the pedaling torque information and the speed-related information. The grade to be recovered is used for representing the urgent need degree of energy recovery. Alternatively, the following may be used for determination: and determining the target grade to be recovered according to the corresponding relation between the grades to be recovered corresponding to the preset torque information and the preset speed information. For example, the torque information may be used as a head value of an excel table, the speed related information may be used as a head value of a line table of the excel table, an intersection point of the head value of the list and the head value of the line table is marked as a grade to be recovered, and after the actual treading torque information and the speed related information are collected correspondingly, a target grade to be recovered may be determined based on the above tables.
In this embodiment, the determining the target level to be recycled may further be: optionally, the energy recovery of the moped is graded by a preset grading method, the grading method may be a pre-established mapping relation table, and the target grade to be recovered of the treading torque information and the speed association information is determined according to the pre-established mapping relation table; the mapping relation table comprises target grades to be recovered corresponding to treading torque information to be matched and speed correlation information to be matched; the grading method can also be used for inputting the treading torque information and the speed correlation information into a pre-trained target grade determining model to be recovered to obtain a target grade to be recovered; the grading method can also be used for processing the treading torque information and the speed related information according to a preset target function to determine the target grade to be recovered. According to the embodiment of the invention, the energy recovery of the moped is graded, so that the energy recovery of the moped can be accurately controlled, and the utilization rate of the energy recovery is improved.
It should be noted that, in this embodiment, the reason and the purpose for determining the grade to be recovered are to recover the wasted energy as much as possible for subsequent use, so as to reduce the technical effects of resource waste and resource utilization.
For example, the mechanical power of the currently treaded crank or the central shaft can be determined according to the treading torque parameter in the treading torque information and the angular speed parameter in the speed correlation information, the mechanical power of the currently treaded crank or the central shaft is judged, the grade division is performed, and the target grade to be recovered is determined, for example, if the current mechanical power is far larger than the normal range, the target grade to be recovered is determined to be the highest grade.
And S130, if the target level to be recovered reaches a preset energy recovery level, acquiring battery pack information.
In this embodiment, the preset energy recovery level is a reference for determining whether the target level to be recovered reaches energy recovery, and may also be understood as an energy recovery urgent need level corresponding to the target level to be recovered determined by the user. Accordingly, the preset energy recovery level may be classified into a plurality of levels, for example, the preset energy recovery level may be classified into an emergency recovery, a medium recovery, and a slow recovery. The battery pack may be a plurality of battery cells. The battery pack information may include, but is not limited to, information such as a lifetime of each battery cell, a battery capacity, and a battery charge amount. The reasons and benefits of obtaining battery pack information are: because the purpose of energy recovery is mainly to charge the battery on the moped, the battery pack information can be acquired before energy recovery, so that whether energy recovery is needed or not can be determined according to the battery information. The problem that the battery pack is damaged due to overcharge caused by energy recovery under the condition that the capacity of the battery pack is close to the saturation state is effectively solved.
And S140, if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack.
In the present embodiment, the preset energy recovery condition is a preset judgment criterion for energy recovery, and the preset energy recovery condition may include, but is not limited to, a preset charge threshold, a preset capacity value, and the like. If the information of the battery pack meets the preset energy recovery condition, the driving motor is converted into a generator mode from a motor mode, kinetic energy is converted into electric energy in the generator mode, then the electric energy is stored into the battery pack, the driving motor is converted into the motor mode from the generator mode in the driving process, and the electric energy provided by the battery pack is converted into the kinetic energy to provide power assistance. Optionally, the driving motor may be a permanent magnet brushless dc motor, which has the advantages of small volume, light weight, large torque, and the like, and can save space and provide more durable power for the moped.
Optionally, the preset energy recovery condition includes a preset charge threshold, and if the battery pack information satisfies the preset energy recovery condition, performing energy recovery based on the battery pack includes: and if the charge value in the battery pack information is smaller than a preset charge threshold value, performing energy recovery based on the battery pack.
The preset charge threshold may be set according to a ratio of the remaining charge capacity of the battery pack to the charge capacity of the fully charged state of the battery pack, for example, when the ratio of the remaining charge capacity of the battery pack to the charge capacity of the fully charged state of the battery pack is less than 95%, the battery pack is subjected to energy recovery, that is, the battery pack is charged. This implementation has effectively prevented that the group battery from carrying out energy recuperation under the capacity is close to the saturated condition through setting up the electric charge threshold value, thereby leads to the battery to overcharge the problem that arouses the damage, has realized effectively carrying out energy recuperation's technological effect.
According to the technical scheme of the embodiment, the pedaling torque information corresponding to the pedaling crank and the speed related information of the moped are determined; determining a target grade to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, battery pack information can be acquired, and then whether to carry out energy recovery is determined based on the battery pack information, so that the problem that when the capacity of the battery arranged on the moped is used up in the prior art is solved, the vehicle can continue to run after charging is finished, furthermore, the battery capacity is increased to improve the cruising ability, the weight of the moped is increased, meanwhile, after the charge is consumed, the vehicle can continue to run only after the charge is finished, the problems of poor cruising ability and poor user experience still exist, the vehicle running process is realized according to the vehicle running related information, the target grade to be recovered is divided, and then dynamic energy recovery is realized based on the divided grade, so that the cruising ability of the moped is improved, the dynamic energy recovery is also realized, and the technical effect of user experience is further improved.
Example two
Fig. 3 is a flowchart of an energy recovery method for a power-assisted vehicle according to a second embodiment of the present invention, and based on the second embodiment, the "determining a target level to be recovered according to the pedaling torque information and the speed-related information" in the second embodiment may be further refined, and a specific implementation manner thereof may be described in detail with reference to information of the present technical solution. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.
As shown in fig. 3, the method of the embodiment of the present invention specifically includes the following steps:
s210, treading torque information corresponding to the treading crank and speed related information of the moped are determined.
And S220, determining the power-assisted information and the driving state information of the driving motor of the moped according to the treading torque information and the speed related information within the preset time length.
It should be noted that, in the practical application process, the pedaling torque information and the speed related information at an isolated time point may be used as reference to determine the driving motor power information and the driving state information of the moped, but in order to further improve the accuracy, corresponding information may be determined based on the pedaling torque information and the speed related information within a preset time period, so as to improve the reliability of subsequently determining the target grade to be recovered.
The preset time period may be 2S, 3S, etc., and the specific time period is not specifically limited herein. Of course, the corresponding sensors may also collect pedaling torque information and speed related information in real time or at intervals. The interval duration is far shorter than the preset duration so as to ensure that the pedaling torque information and the speed related information can be collected as much as possible in the preset duration, and then the assisting power information and the running state information of the driving motor are determined based on the processing of the pedaling torque information and the speed related information.
In the embodiment, the power assisting information and the driving state information of the driving motor of the moped are determined by collecting a plurality of treading torque information and a plurality of speed related information within a preset time period.
The maximum pedaling torque information and the maximum speed related information within the preset time period can be determined based on the plurality of pedaling torque information and the plurality of speed related information, or the average value of the pedaling torque information and the average value of the speed related information within the preset time period can be determined based on the plurality of pedaling torque information and the plurality of speed related information.
Illustratively, 5 time intervals are set in the preset time period, and at this time, the acquired five pieces of treading torque information 12N · m, 10N · m, 15N · m, 20N · m, and 18N · m may be processed, the maximum treading torque information in the preset time period is determined to be 20N · m, the average value of the treading torque information is 15N · m, and the drive motor assisting force information is determined based on the maximum treading torque information or the average value of the treading torque information. The five speed related information ratios obtained in the preset time length are 1m/s, 1.2m/s, 1.5m/s, 1.1m/s and 1.2m/s for processing, the maximum speed related information in the preset time length is determined to be 1.5m/s, the average value of the speed related information is 1.2m/s, and the running state information is determined based on the maximum speed related information or the average value of the speed related information.
The assistance information of the driving motor of the moped can be understood as a motor driving force value and can be determined through pedaling torque information. For example, when the pedaling torque in the pedaling torque information is larger, that is, the pedaling force of the user is larger, the driving force value of the power-assisted motor required to be provided by the driving motor of the power-assisted vehicle is smaller, and the pedaling torque information is inversely proportional to the power-assisted information of the driving motor; the driving state information refers to a motion state of the power-assisted vehicle during driving, and may include, but is not limited to, at least one of normal driving, fast driving, acceleration driving, deceleration driving, slow driving, and parking. In an optional implementation manner of the embodiment of the present application, the determining the driving motor assistance information and the driving state information of the moped according to the pedaling torque information and the speed related information within the preset time period includes: and if the treading torque information is smaller than a preset torque threshold value in a preset time length and the wheel speed value in the preset time length is larger than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a first power-assisted value and the driving state information is fast driving.
The first assistance value is a value obtained by dividing the magnitude of the motor driving force value in the assistance information of the driving motor, and can be understood as the motor driving force value when the driving force value does not exceed the normal driving force value. The first preset wheel speed threshold value is set according to a wheel speed value when the moped normally runs.
If the treading torque information is smaller than the preset torque threshold value in the preset time length, the treading torque is smaller or no treading torque at the moment, and the wheel speed value in the preset time length is larger than or equal to the first preset wheel speed threshold value, the moped is in a driving state with a higher speed. And determining the power value of the driving motor as a first power value according to the treading torque, and determining the driving state information as fast driving according to the wheel speed value.
For example, when the vehicle runs on a downhill road, the moped can slide freely, the running speed of the vehicle is high, the crank of the moped does not need to be stepped, the driving motor can stop providing power, and the driving speed of the moped can be increased by means of the potential energy of the downhill. And power is not required to be provided, the power value of the motor power information is zero at the moment, and the driving state information is quick driving at the moment.
Optionally, the speed related information further includes an acceleration value, and the driving motor assistance information and the driving state information of the moped are determined according to the pedaling torque information and the speed related information within the preset time period, including: and if the acceleration value is greater than a preset acceleration threshold value within the preset time, keeping the power-assisted information of the driving motor unchanged, and updating the driving state information into an accelerated driving state.
The preset acceleration threshold is set according to an acceleration of the moped during normal driving, for example, when the acceleration is zero during normal driving, the preset acceleration threshold is set to be zero.
For example, when a user runs on a downhill road section, the moped has inertia for walking forward and downhill potential energy, so that the moped generates acceleration, if the acceleration value is greater than a preset acceleration threshold value within a preset duration, the acceleration value may exceed the acceleration value during normal running, or the acceleration value may exceed the acceleration value capable of allowing the moped to freely slide, which is not limited in this embodiment. After the acceleration value is judged to be larger than the preset acceleration threshold value within the preset duration, the moped keeps the power-assisted information of the driving motor unchanged, and updates the driving state information into an acceleration driving state.
And S230, determining a target grade to be recovered based on the power-assisted information of the driving motor and the running state information.
In the implementation, the target grade to be recovered may be a target grade to be recovered for determining the power-assisted information of the driving motor and the driving state information according to a mapping relation table established in advance; the mapping relation table comprises target grades to be recovered corresponding to the power-assisted information of the driving motor to be matched and the power-assisted information of the driving motor to be matched; the grade division method can also be used for inputting the power-assisted information of the driving motor and the driving state information into a pre-trained target grade determining model to be recovered to obtain a target grade to be recovered; the grade division method can also be used for processing the power-assisted information of the driving motor and the driving state information according to a preset objective function and determining the target grade to be recovered.
For a clear understanding of how to determine the target grade to be recovered, reference may be made to the following three embodiments:
in a first embodiment, a mapping relation table may be established to determine the target to-be-recycled level according to the mapping relation table. The method comprises the steps of determining the energy urgent need recovery degree corresponding to each driving motor power value and each driving state information according to actual experience or theory, determining a corresponding mapping relation table of the grade to be recovered according to the energy urgent need recovery degree, determining the driving motor power information and the driving state information which are collected at present based on the mapping relation table, and determining the target grade to be recovered.
The second embodiment may be: the target grade to be recovered determination model may be trained first, and then the target grade to be recovered corresponding to the currently acquired information may be determined based on the target grade to be recovered determination module. The specific implementation mode can be as follows: acquiring a plurality of training samples, wherein each training sample comprises a driving motor power value, driving state information and an evaluation value corresponding to a preset output level; inputting training sample data into a grade recovery model to be trained to obtain an actually output evaluation value, determining a loss value of a loss function according to the actually output evaluation value and a preset evaluation value, and using the loss function convergence as a training target to train to obtain a target grade determination module to be recovered. Correspondingly, after the power-assisted information and the driving information of the driving motor are input into the target grade determination model to be recovered, a corresponding evaluation value can be output, the target grade to be recovered can be obtained based on the evaluation value, and optionally, the evaluation value and the grade to be recovered have a corresponding relation.
A third embodiment may be: presetting a function corresponding to the power-assisted information and the driving state information of the driving motor, and determining a target grade to be recovered based on the function, the power-assisted information of the driving motor collected at the current moment and the driving state information. The specific implementation mode can be as follows: and fitting each driving motor assistance information and each driving state information by theory to obtain weighted values corresponding to the driving motor assistance information and the driving state information respectively. After the current power-assisted information and the current driving state information of the driving motor are collected, a first intermediate value can be obtained by calculating the product of the power-assisted value of the driving motor and the weighted value of the driving motor, a second intermediate value is obtained by calculating the product of the driving state information and the corresponding weighted value, a target value is obtained based on the first intermediate value and the second intermediate value, and a target grade to be recovered can be determined based on the corresponding relation between target data and the grade to be recovered.
In the embodiment, the power-assisted information and the driving state information of the driving motor of the moped are determined according to the treading torque information and the speed associated information within the preset time length, so that the target grade to be recovered is accurately divided, and the energy recovery efficiency is ensured.
Optionally, the determining a target grade to be recovered based on the assist information of the driving motor and the vehicle driving state information includes: and if the power assisting information of the driving motor is a first power assisting value and the driving state information is a fast driving state or an acceleration driving state, determining that the target recovery grade is an urgent recovery grade.
Among them, it is urgent to wait for the recovery grade to indicate that the energy which can be recovered by the current moped is sufficient, and the energy needs to be recovered as soon as possible. For example, when the assist value of the assist information of the driving motor is zero and the driving state information is in the fast driving state, the current target recovery level is the recovery level to be demanded. Or when the assistance value of the driving motor assistance information is less than 5N · m and the driving state information is the acceleration driving state, the current target recovery level is the recovery level to be demanded.
Optionally, the determining, according to the pedaling torque information and the speed related information within the preset time period, the power-assisted information and the driving state information of the driving motor of the moped, includes: if the trampling torque information is greater than a preset torque threshold value in a preset time period and the wheel speed value in the preset time period is greater than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a second power-assisted value and the driving state information is normal driving; correspondingly, the determining the target grade to be recovered based on the power-assisted information of the driving motor and the driving state information of the vehicle comprises the following steps: and if the power-assisted information of the driving motor is the second power-assisted value and the driving state information is normal driving, determining that the target grade to be recovered is a common recovery grade.
The second assistance value is a value obtained by dividing the magnitude of the motor driving force value in the assistance information of the driving motor, and can be understood as the motor driving force value during normal driving. The ordinary recovery grade indicates that the energy that can be recovered by the current moped is general, and the energy recovery priority grade is inferior to the urgent recovery grade.
For example, when the vehicle runs on a gentle road section, the crank of the moped needs to be stepped on, and the driving motor can provide power according to stepping torque information. For example, the pedaling torque generated when the user pedals the moped is 15N · m, the preset torque threshold is 8N · m, the wheel speed value within the preset time period is 1.5m/s, the preset wheel speed threshold is 1m/s, the driving motor power value corresponding to the pedaling torque 15N · m and the wheel speed value 1.5m/s is 5N · m, then the pedaling torque information generated when the user pedals the moped is greater than the preset torque threshold within the preset time period, and the wheel speed value within the preset time period is greater than or equal to the preset wheel speed threshold, then the second power value is determined to be 5N · m and the driving state information is normal driving through the mapping relation of the pedaling torque, the wheel speed value and the driving motor power value, and the target grade to be recovered is determined to be the normal recovery grade.
Optionally, the preset energy recovery level includes an urgent recovery level to be recovered and a general recovery level, and if the target recovery level reaches the preset energy recovery level, the battery pack information is acquired, including: if the target recycling level is detected to be an urgent recycling level or a common recycling level, acquiring the battery pack information based on a control module; wherein, the battery pack is arranged on the moped.
Illustratively, the control module detects the target grade to be recovered, and if the target grade to be recovered is detected to be an urgent grade to be recovered or a normal grade to be recovered, the control module acquires the battery capacity information in the battery pack information.
And S240, if the target grade to be recovered reaches a preset energy recovery grade, acquiring battery pack information.
And S250, if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack.
According to the technical scheme of the embodiment, pedaling torque information corresponding to a pedaling crank and speed related information of the moped are determined in a preset time length; determining the power-assisted information and the driving state information of a driving motor of the power-assisted vehicle, and then determining the target grade to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, battery pack information can be acquired, and then whether to carry out energy recovery is determined based on the battery pack information, so that the problem that when the capacity of the battery arranged on the moped is used up in the prior art is solved, the vehicle can continue to run after charging is finished, furthermore, the battery capacity is increased to improve the endurance capacity, the weight of the moped is increased, meanwhile, after the charge is consumed, the vehicle can continue to run only after the charge is finished, the problems of poor cruising ability and poor user experience still exist, the vehicle running process is realized according to the vehicle running related information, the target grade to be recovered is divided, and then dynamic energy recovery is realized based on the divided grade, so that the cruising ability of the moped is improved, the dynamic energy recovery is also realized, and the technical effect of user experience is further improved.
EXAMPLE III
Fig. 4 is a flowchart of an energy recovery method for a moped according to a third embodiment of the present invention, on the basis of the third embodiment, further refinement may be performed on "if the battery pack information satisfies a preset energy recovery condition, energy recovery is performed based on the battery pack" in the above embodiment, and a specific implementation manner of the method may be described in detail with reference to information of the technical solution. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.
S310, treading torque information corresponding to the treading crank and speed related information of the moped are determined.
And S320, determining the power-assisted information and the driving state information of the driving motor of the moped according to the treading torque information and the speed associated information in the preset time length.
And S330, determining a target grade to be recovered based on the power-assisted information of the driving motor and the driving state information.
And S340, if the target level to be recovered reaches a preset energy recovery level, acquiring battery pack information.
And S350, if the battery pack information meets a preset energy recovery condition, determining an energy recovery value.
Before the energy recovery based on the battery pack if the battery pack information satisfies a preset energy recovery condition, the method further includes: determining an energy recovery value by at least one of; determining that the power information of the driving motor is a first power value or a second power value and the driving state information is an energy recovery value in a fast driving state or an acceleration driving state according to a pre-established mapping relation table; the mapping relation table comprises energy recovery values to be recovered corresponding to the power information of the driving motor to be matched and the driving state information to be matched; inputting the power-assisted information and the driving state information of the driving motor into a pre-trained energy recovery value determination model to obtain the energy recovery value; and (4) processing according to preset target function driving motor assistance information and running state information, and determining an energy recovery value.
In the mapping relation table, for example, the first assistance value corresponds to the energy recovery value to be recovered and is 50J, the second assistance value corresponds to the energy recovery value to be recovered and is 10J, the fast driving state corresponds to the energy recovery value to be recovered and is 30J, the accelerated driving state corresponds to the energy recovery value to be recovered and is 70J, and the energy recovery value to be recovered is determined by combination calculation according to the mapping and the mapping relation table. The energy recovery value determination model may be generated by training according to a machine learning algorithm, and the machine learning algorithm may specifically include, but is not limited to, an algorithm such as a support vector machine, a naive bayes classification, or a decision tree.
The method comprises the steps of processing power-assisted information of a driving motor according to a preset objective function and driving state information, and determining an energy recovery value. Specifically, the power of the driving motor is determined according to the motor torque and the motor angular speed in the power assisting information of the driving motor, and then the energy recovery value is determined according to the relation between the power and the energy.
In this embodiment, the advantage of determining the energy recovery value is that the specific energy recovery value can be determined according to the current driving information of the moped, so as to ensure that the redundant energy can be recovered in the normal driving state of the vehicle, improve the accuracy of energy recovery, and avoid the technical effect of resource waste.
And S360, performing energy recovery on the battery pack according to the determined energy recovery value.
The battery pack is subjected to energy recovery according to the determined energy recovery value, corresponding recovered energy can be provided for the battery pack in the state that the moped normally runs, normal running of the moped is guaranteed, and the technical effect that energy is not wasted is also guaranteed.
According to the technical scheme of the embodiment, pedaling torque information corresponding to a pedaling crank and speed related information of the moped are determined in a preset time length; determining the power-assisted information and the driving state information of a driving motor of the power-assisted vehicle, and then determining the target grade to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, battery pack information can be acquired, and then whether to carry out energy recovery is determined based on the battery pack information, the problem that when the capacity of the battery arranged on the moped is exhausted in the prior art is solved, the vehicle can continue to run after charging is finished, furthermore, the battery capacity is increased to improve the endurance capacity, the weight of the moped is increased, meanwhile, after the charge is consumed, the vehicle can continue to run only after the charge is finished, the problems of poor cruising ability and poor user experience still exist, the vehicle running process is realized according to the vehicle running related information, the target grade to be recovered is divided, and then dynamic energy recovery is realized based on the divided grade, so that the cruising ability of the moped is improved, the dynamic energy recovery is also realized, and the technical effect of user experience is further improved.
Example four
Fig. 5 is a flowchart of an energy recovery method for a power-assisted vehicle according to a fourth embodiment of the present invention, and based on the foregoing embodiment, further details of "determining a target level to be recovered according to the pedaling torque information and the speed-related information" in the foregoing embodiment may be further detailed, and specific implementation manners thereof may be described in detail with reference to information of the present technical solution. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.
And S410, determining treading torque information corresponding to the treading crank and speed related information of the moped.
S420, determining the power-assisted information and the running state information of the driving motor of the moped according to the treading torque information and the speed associated information within the preset time length, and correspondingly determining the target grade to be recovered based on the power-assisted information and the running state information of the driving motor.
Optionally, the determining, according to the pedaling torque information and the speed related information within the preset time period, the driving motor assistance information and the driving state information of the moped includes: if the stepping torque information is greater than a preset torque threshold value in a preset time period and the wheel speed value in the preset time period is less than a first preset wheel speed threshold value, the power-assisted information of the driving motor is a third power-assisted value and the driving state information is slow-speed driving; correspondingly, the determining the target grade to be recovered based on the power-assisted information of the driving motor and the driving state information of the vehicle comprises the following steps: and if the power-assisted information of the driving motor is a third power-assisted value and the driving state information is slow driving, determining that the target grade to be recovered is a non-recovery grade.
The third power value is a value obtained by dividing the motor driving force value in the power information of the driving motor, and can be understood as being larger than the motor driving force value in normal driving. The non-recovery level indicates that the current moped cannot perform energy recovery. For example, when the vehicle runs on an uphill road, the crank of the moped needs to be stepped, and the driving motor can provide power according to stepping torque information. For example, the pedaling torque generated when the user pedals the moped is 15N · m, the preset torque threshold is 8N · m, the wheel speed value in the preset time period is 0.8m/s, the preset wheel speed threshold is 1m/s, the driving motor power value corresponding to the pedaling torque 15N · m and the wheel speed value 0.8m/s is 10N · m, the pedaling torque information generated when the user pedals the moped is greater than the preset torque threshold in the preset time period and the wheel speed value in the preset time period is less than the preset wheel speed threshold, then the second power value is 10N · m and the driving state information is slow driving through the mapping relation of the pedaling torque, the wheel speed value and the driving motor power value, and the target level to be recovered is determined to be the non-recovery level.
Optionally, after determining that the target level to be recycled is a non-recycling level, the method further includes: and controlling the driving motor to output power-assisted information based on a control module so as to assist the moped to run.
Specifically, after the control module detects that the target grade to be recovered is a non-recovery grade, the control module controls the driving motor, the rotating speed of the driving motor is increased, and the moped is assisted to run forwards.
And S430, if the target level to be recovered reaches a preset energy recovery level, acquiring battery pack information.
S440, if the battery pack information meets a preset energy recovery condition, enabling the battery pack to recover energy according to the determined energy recovery value.
According to the technical scheme of the embodiment, pedaling torque information corresponding to a pedaling crank and speed related information of the moped are determined in a preset time length; determining the power-assisted information and the driving state information of a driving motor of the power-assisted vehicle, and then determining the target grade to be recovered; under the condition that the target level to be recovered reaches the preset energy recovery level, the battery pack information can be acquired, and then whether to carry out energy recovery is determined based on the battery pack information, so that the problem that when the capacity of the battery arranged on the moped is used up in the prior art is solved, the vehicle can continue to run after charging is finished, furthermore, the battery capacity is increased to improve the endurance capacity, the weight of the moped is increased, meanwhile, after the charge is consumed, the vehicle can continue to run only after the charge is finished, the problems of poor cruising ability and poor user experience still exist, the vehicle running process is realized according to the vehicle running related information, the target grade to be recovered is divided, and then dynamic energy recovery is realized based on the divided grade, so that the cruising ability of the moped is improved, the dynamic energy recovery is also realized, and the technical effect of user experience is further improved.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an energy recovery device for a moped according to an embodiment of the present invention, the device including: an information determination module 510, a rank determination module 520, and an energy recovery module 530.
The information determining module 510 is configured to determine pedaling torque information corresponding to a pedaling crank and speed related information of the moped; a grade determination module 520, configured to determine a target grade to be recovered according to the pedaling torque information and the speed correlation information; an energy recovery module 530, configured to obtain battery pack information if the target level to be recovered reaches a preset energy recovery level; and if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the information determining module 510 may include:
the pedaling torque information acquisition unit is used for acquiring pedaling torque information when a crank is pedaled by a user based on a torque sensor arranged at a first target position of the moped;
and the speed related information acquisition unit is used for acquiring the speed related information of the moped based on a speed sensor arranged on the moped.
Based on any optional technical solution in the embodiment of the present invention, optionally, the first target position includes on the pedal crank or on the middle shaft.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the grade determining module 520 may further include:
and the target grade determining unit is used for determining the grade to be recovered according to the treading torque information and the speed related information in the preset time length.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the target level determining unit may further include:
the moped information determining subunit is used for determining the power assisting information and the driving state information of a driving motor of the moped according to the treading torque information and the speed associated information within the preset time length;
and the target grade determining subunit is used for determining the target grade to be recovered based on the power-assisted information of the driving motor and the driving state information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the speed related information includes a wheel speed value, and the moped information determining subunit may be configured to:
and if the treading torque information is smaller than a preset torque threshold value in a preset time length and the wheel speed value in the preset time length is larger than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a first power-assisted value and the driving state information is fast driving.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the speed-related information further includes an acceleration value, and the moped information determining subunit may further be configured to:
and if the acceleration value is greater than a preset acceleration threshold value within the preset time, keeping the power-assisted information of the driving motor unchanged, and updating the driving state information into an accelerated driving state.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the target to-be-recovered level determining subunit may further be configured to:
and if the power assisting information of the driving motor is a first power assisting value and the driving state information is a fast driving state or an acceleration driving state, determining that the target recovery grade is an urgent recovery grade.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the moped information determining subunit is further configured to:
if the trampling torque information is greater than a preset torque threshold value in a preset time period and the wheel speed value in the preset time period is greater than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a second power-assisted value and the driving state information is normal driving;
correspondingly, the target level-to-be-recycled determining subunit is further configured to:
and if the power-assisted information of the driving motor is the second power-assisted value and the driving state information is normal driving, determining that the target grade to be recovered is a common recovery grade.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the preset energy recovery level includes an urgent recovery level and a general recovery level, and if the target recovery level reaches the preset energy recovery level, the battery pack information is acquired, and is specifically configured to:
if the target recycling level is detected to be an urgent recycling level or a common recycling level, acquiring the battery pack information based on a control module; wherein, the battery pack is arranged on the moped.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, before performing energy recovery based on the battery pack if the battery pack information satisfies a preset energy recovery condition, the method may further include:
determining an energy recovery value by at least one of;
determining that the power information of the driving motor is a first power value or a second power value and the driving state information is an energy recovery value in a fast driving state or an acceleration driving state according to a pre-established mapping relation table; the mapping relation table comprises energy recovery values to be recovered corresponding to the power information of the driving motor to be matched and the driving state information to be matched;
inputting the power-assisted information and the driving state information of the driving motor into a pre-trained energy recovery value determination model to obtain the energy recovery value;
and processing the motor power-assisted information and the driving state information according to a preset objective function, and determining an energy recovery value.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the preset energy recovery condition includes a preset charge threshold, and the energy recovery module 530 further includes:
and the charge judging unit is used for carrying out energy recovery based on the battery pack if the charge value in the battery pack information is smaller than a preset charge threshold value.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the charge determination unit is configured to:
and enabling the battery pack to perform energy recovery according to the determined energy recovery value.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the moped information determining subunit may further be configured to:
if the pedaling torque information is greater than a preset torque threshold value in a preset duration and the wheel speed value in the preset duration is less than a first preset wheel speed threshold value, the power-assisted information of the driving motor is a third power-assisted value and the driving state information is slow driving;
correspondingly, the target to-be-recycled level determining subunit may further include:
and the non-recovery grade determining subunit is configured to determine that the target grade to be recovered is a non-recovery grade if the driving motor assistance information is the third assistance value and the driving state information is slow driving.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, after the non-recovery level request determining subunit, the following may be further configured to:
and controlling the driving motor to output power-assisted information based on a controller so as to assist the moped to run.
The energy recovery device for the moped provided by the embodiment of the invention can execute the energy recovery method for the moped provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, the units and modules included in the system are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.
EXAMPLE six
Fig. 7 is a schematic structural view of an energy recovery device of a moped according to a sixth embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary electronic device 60 suitable for use in implementing embodiments of the present invention. The electronic device 60 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 7, the electronic device 60 is in the form of a general purpose computing device. The components of the electronic device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 that couples various system components including the system memory 602 and the processing unit 601.
Bus 603 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 60 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 60 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 602 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)604 and/or cache memory 605. The electronic device 60 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 606 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 603 by one or more data media interfaces. Memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 608 having a set (at least one) of program modules 607 may be stored, for example, in memory 602, such program modules 607 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. The program modules 607 generally perform the functions and/or methods of the described embodiments of the invention.
Electronic device 60 may also communicate with one or more external devices 609 (e.g., keyboard, pointing device, display 610, etc.), with one or more devices that enable a user to interact with electronic device 60, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 60 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 611. Also, the electronic device 60 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 612. As shown, the network adapter 612 communicates with the other modules of the electronic device 60 via the bus 603. It should be appreciated that although not shown in FIG. 7, other hardware and/or software modules may be used in conjunction with electronic device 60, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 601 executes various functional applications and data processing by running the program stored in the system memory 602, for example, implementing the energy recovery method for a moped provided by the embodiment of the present invention.
EXAMPLE seven
The seventh embodiment of the present invention further provides a storage medium containing computer executable instructions, which when executed by a computer processor, is configured to perform a method for recovering energy from a moped.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (15)

1. A method for recovering energy of a moped is characterized by comprising the following steps:
determining pedaling torque information corresponding to a pedaling crank and speed related information of the moped;
determining a target grade to be recovered according to the treading torque information and the speed correlation information;
if the target grade to be recovered reaches a preset energy recovery grade, acquiring battery pack information;
if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack;
the determining a target level to be recovered according to the pedaling torque information and the speed correlation information includes:
determining a target grade to be recovered according to the treading torque information and the speed correlation information within the preset time length;
the step of determining the target grade to be recovered according to the treading torque information and the speed correlation information within the preset time period comprises the following steps:
determining power-assisted information and driving state information of a driving motor of the moped according to treading torque information and speed associated information within a preset time length;
determining a target grade to be recovered based on the power-assisted information of the driving motor and the driving state information;
the speed associated information comprises wheel speed values, and the power assisting information and the running state information of the driving motor of the moped are determined according to the treading torque information and the speed associated information in the preset time period, and the method comprises the following steps of:
and if the treading torque information is smaller than a preset torque threshold value in a preset time length and the wheel speed value in the preset time length is larger than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a first power-assisted value and the driving state information is fast driving.
2. The method of claim 1, wherein determining pedaling torque information corresponding to a pedaling crank and speed-related information for the moped comprises:
acquiring pedaling torque information when a crank is pedaled by a user on the basis of a torque sensor arranged at a first target position of the moped;
and acquiring speed related information of the moped based on a speed sensor arranged on the moped.
3. The method of claim 2, wherein the first target position comprises pedaling on a crank, on a rear claw, or on a center shaft.
4. The method of claim 1, wherein the speed-related information further includes an acceleration value, and the determining the driving motor assistance information and the driving state information of the moped according to the pedaling torque information and the speed-related information within a preset time period comprises:
and if the acceleration value is greater than a preset acceleration threshold value within the preset time, keeping the power-assisted information of the driving motor unchanged, and updating the driving state information into an accelerated driving state.
5. The method of claim 4, wherein determining a target level to be recovered based on the drive motor assist information and the driving state information comprises:
and if the power assisting information of the driving motor is a first power assisting value and the driving state information is a fast driving state or an accelerated driving state, determining that the target grade to be recovered is an urgent grade to be recovered.
6. The method of claim 1, wherein determining the driving motor assistance information and the driving state information of the moped according to the pedaling torque information and the speed related information within the preset time period comprises:
if the trampling torque information is greater than a preset torque threshold value in a preset time period and the wheel speed value in the preset time period is greater than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a second power-assisted value and the driving state information is normal driving;
correspondingly, the determining the target grade to be recovered based on the power assisting information of the driving motor and the driving state information comprises the following steps:
and if the power-assisted information of the driving motor is the second power-assisted value and the driving state information is normal driving, determining that the target grade to be recovered is a common recovery grade.
7. The method according to claim 5 or 6, wherein the preset energy recovery levels include an urgent waiting recovery level and a normal recovery level, and the acquiring the battery pack information if the target waiting recovery level reaches the preset energy recovery level includes:
if the target grade to be recovered is detected to be an urgent grade to be recovered or a common grade to be recovered, acquiring the battery pack information based on a control module; wherein, the battery pack is arranged on the moped.
8. The method according to claim 7, before the energy recovery based on the battery pack if the battery pack information satisfies a preset energy recovery condition, further comprising:
determining an energy recovery value by at least one of;
determining that the power information of the driving motor is a first power value or a second power value and the driving state information is an energy recovery value in a fast driving state or an acceleration driving state according to a pre-established mapping relation table; the mapping relation table comprises energy recovery values to be recovered corresponding to the power information of the driving motor to be matched and the driving state information to be matched;
inputting the power-assisted information and the driving state information of the driving motor into a pre-trained energy recovery value determination model to obtain the energy recovery value;
and processing the power assisting information of the driving motor and the driving state information according to a preset objective function, and determining an energy recovery value.
9. The method of claim 1, wherein the preset energy recovery condition comprises a preset charge threshold, and wherein if the battery pack information satisfies the preset energy recovery condition, performing energy recovery based on the battery pack comprises:
and if the charge value in the battery pack information is smaller than a preset charge threshold value, performing energy recovery based on the battery pack.
10. The method of claim 8, wherein the recovering energy based on the battery pack comprises:
and enabling the battery pack to perform energy recovery according to the determined energy recovery value.
11. The method of claim 1, wherein determining the driving motor assistance information and the driving state information of the moped according to the pedaling torque information and the speed related information within the preset time period comprises:
if the pedaling torque information is greater than a preset torque threshold value in a preset duration and the wheel speed value in the preset duration is less than a first preset wheel speed threshold value, the power-assisted information of the driving motor is a third power-assisted value and the driving state information is slow driving;
correspondingly, the determining the target grade to be recovered based on the power assisting information of the driving motor and the driving state information comprises the following steps:
and if the power-assisted information of the driving motor is a third power-assisted value and the driving state information is slow driving, determining that the target grade to be recovered is a non-recovery grade.
12. The method of claim 11, after determining that the target level to be recycled is a non-recycling level, further comprising:
and controlling the driving motor to output power-assisted information based on a control module so as to assist the moped to run.
13. An energy recovery device for a moped, comprising:
the information determining module is used for determining treading torque information corresponding to a treading crank and speed related information of the moped;
the grade determining module is used for determining a target grade to be recovered according to the treading torque information and the speed correlation information;
the energy recovery module is used for acquiring battery pack information if the target grade to be recovered reaches a preset energy recovery grade; if the battery pack information meets a preset energy recovery condition, performing energy recovery based on the battery pack;
the target grade determining unit is used for determining a target grade to be recovered according to the treading torque information and the speed correlation information within the preset time length;
the moped information determining subunit is used for determining the power assisting information and the driving state information of a driving motor of the moped according to the treading torque information and the speed associated information within the preset time length;
the target grade determining subunit is used for determining a target grade to be recovered based on the power-assisted information of the driving motor and the driving state information;
the speed-related information includes a wheel speed value, and the moped information determining subunit is operable to:
and if the treading torque information is smaller than a preset torque threshold value in a preset time length and the wheel speed value in the preset time length is larger than or equal to a first preset wheel speed threshold value, determining that the power-assisted information of the driving motor is a first power-assisted value and the driving state information is fast driving.
14. The utility model provides a vehicle using motor energy recuperation equipment which characterized in that, vehicle using motor energy recuperation equipment includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of energy recovery for a moped of any of claims 1-12.
15. A storage medium containing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are configured to perform the method of energy recovery for a moped according to any one of claims 1-12.
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