CN111907623A

CN111907623A - Electric bicycle

Info

Publication number: CN111907623A
Application number: CN202010564548.4A
Authority: CN
Inventors: 靳洪都; 王阳
Original assignee: Mobai Beijing Information Technology Co Ltd
Current assignee: Beijing Mobike Technology Co Ltd; Mobai Beijing Information Technology Co Ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2020-11-10

Abstract

The present disclosure relates to an electric bicycle, including a motion state detection device for detecting a motion state of the electric bicycle and a controller, the motion state detection device being connected to the controller to output motion state information reflecting the motion state to the controller; the controller is arranged to perform the steps of: acquiring the motion state information of the electric bicycle in a set state, wherein the set state represents that the electric bicycle is in a non-riding state; and performing set exception handling when the motion state information meets set conditions, wherein the set conditions are conditions reflecting motion events of the electric bicycle.

Description

Electric bicycle

Technical Field

The embodiment of the disclosure relates to the technical field of vehicles, in particular to an electric bicycle.

Background

At present, the bicycle sharing trip becomes a emerging trip mode in a city, and the trip requirement of urban crowds can be effectively solved. The existing shared bicycles comprise a manual bicycle running by depending on pedal power applied by a user, an electric bicycle running by depending on the pedal power and the assistance of a motor and the like.

At present, the monitoring of the electric bicycle by the shared vehicle platform is mainly performed on the control of the switch lock, and whether the abnormal motion event occurs to the electric bicycle cannot be effectively monitored, for example, when the abnormal motion event occurs to the electric bicycle due to theft, the background server and the vehicle cannot perform corresponding processing, so that there is a need to provide an electric bicycle capable of detecting the abnormal motion event.

Disclosure of Invention

It is an object of embodiments of the present disclosure to provide an electric bicycle capable of detecting an abnormal motion event.

According to a first aspect of the present invention, there is provided an electric bicycle including a motion state detection device for detecting a motion state of the electric bicycle and a controller, the motion state detection device being connected to the controller to output motion state information reflecting the motion state to the controller; the controller is arranged to perform the steps of:

acquiring the motion state information of the electric bicycle in a set state, wherein the set state represents that the electric bicycle is in a non-riding state;

and performing set exception processing when the motion state information meets set conditions, wherein the set conditions are conditions reflecting motion events of the electric bicycle.

Optionally, the motion state detecting device includes at least one of a wheel motion detector for detecting a wheel motion state of the electric bicycle and an acceleration sensor for detecting an acceleration of the electric bicycle in a set direction.

Optionally, the motion state information meeting the set condition includes:

the motion state information reflects that the vibration amplitude of the electric bicycle in a set direction exceeds a set threshold value.

Optionally, the electric bicycle comprises a motor, the motor is connected with the controller, and the motor is used for outputting torque to the wheels of the electric bicycle according to the control of the controller;

the motion state information satisfying the set condition includes: the motion state information reflects the rotation of the wheels of the electric bicycle;

the set exception handling includes:

controlling the motor to output a reverse torque, wherein the reverse torque is a torque opposite to a rotation direction of the wheel.

Optionally, the performing set exception handling further includes:

acquiring a first time length of the motor outputting the reverse torque;

and under the condition that the first time length reaches a first set time length, controlling the motor to stop outputting the reverse torque.

Optionally, the controller is further configured to: after controlling the motor to stop outputting the reverse torque, executing the following steps:

acquiring a second time length for the motor to stop outputting the reverse torque;

and under the condition that the second time length reaches a second set time length, executing the step of acquiring the motion state information of the electric bicycle in the first state again.

Optionally, the performing set exception handling further includes:

in the case where a power supply circuit of the motor is in an off state, the power supply circuit is turned on before the motor is controlled to output a reverse torque.

Optionally, the controller includes a first controller and a second controller, the first controller is connected to the second controller, the motion state detection device is connected to the first controller, and the motor is connected to the second controller;

the acquiring the motion state information of the electric bicycle in a set state includes:

the first controller acquires the motion state information of the electric bicycle in a set state;

the abnormal processing for setting when the motion state information meets the setting condition comprises the following steps:

the first controller sends a control instruction to the second controller under the condition that the motion state information meets set conditions;

and the second controller controls the motor to output reverse torque according to the control command.

Optionally, the exception handling for setting includes at least one of:

the first item is used for controlling an alarm device of the electric bicycle to alarm for abnormity;

and secondly, sending an alarm message indicating that the abnormal motion event occurs to the electric bicycle to a server.

Optionally, the abnormality alarm includes at least one of an audible alarm and a light flashing alarm.

Optionally, the electric bicycle further comprises a motor, the motor is connected with the controller, and the motor is used for outputting torque to the wheels of the electric bicycle according to the control of the controller;

the controller is further configured to perform the steps of:

under the condition that the motor is in an output torque state, judging whether the motor is in a locked-rotor state or not;

and under the condition that the motor is in a locked-rotor state, controlling the motor to stop outputting the torque.

Optionally, the electric bicycle further comprises a handle bar voltage detection circuit, and the handle bar voltage detection circuit is connected with the controller to output a handle bar voltage signal to the controller;

the controller is further configured to perform the steps of:

and determining whether the motor is in an output torque state or not according to the handle voltage signal.

One beneficial effect of the disclosed embodiment is that the electric bicycle of the embodiment can detect whether a motion event occurs in a non-riding set state of the electric bicycle according to the motion state information provided by the motion state detection device, and perform set exception handling under the condition that the motion event occurs, so as to improve the self-safety of the electric bicycle.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 shows a schematic structural diagram of a shared vehicle system of a usage scenario of an electric bicycle;

FIG. 2 is a block schematic diagram of a control system architecture of an electric bicycle in accordance with one embodiment;

fig. 3 is a block schematic diagram of a control system structure of an electric bicycle according to another embodiment;

FIG. 4 is a control flow diagram of an electric bicycle in accordance with one embodiment;

FIG. 5 is a schematic control flow diagram of an electric bicycle in accordance with one embodiment;

fig. 6 is a control flow diagram of an electric bicycle according to an example.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< shared vehicle System >

Fig. 1 is a system configuration diagram of a shared vehicle system to which an electric bicycle according to an embodiment is applied.

As shown in fig. 1, the shared vehicle system 100 includes a server 1000, a user terminal 2000, and an electric bicycle 3000.

The server 1000 and the user terminal 2000, and the server 1000 and the electric bicycle 3000 may be communicatively connected through a network 4000. The electric bicycle 3000 and the server 1000, and the network 4000 through which the user terminal 2000 and the server 1000 communicate with each other may be the same or different.

The server 1000 provides a service point for processes, databases, and communications facilities. The server 1000 may be a unitary server, a distributed server across multiple computers, a computer data center, a cloud server, or a cloud-deployed server cluster, etc. The server may be of various types, such as, but not limited to, a web server, a news server, a mail server, a message server, an advertisement server, a file server, an application server, an interaction server, a database server, or a proxy server. In some embodiments, each server may include hardware, software, or embedded logic components or a combination of two or more such components for performing the appropriate functions supported or implemented by the server. For example, a server, such as a blade server, a cloud server, etc., or may be a server group consisting of a plurality of servers, which may include one or more of the above types of servers, etc.

In one embodiment, the server 1000 may be as shown in fig. 1 and may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, and the like.

Processor 1100 is used to execute computer programs, which may be written in instruction sets of architectures such as x86, Arm, RISC, MIPS, SSE, and the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, various bus interfaces such as a serial bus interface (including a USB interface), a parallel bus interface, and the like. The communication device 1400 is capable of wired or wireless communication, for example.

In this embodiment, the memory 1200 of the server 1000 is used for storing a computer program for controlling the processor 1100 to perform operations for monitoring the electric bicycle and the like, including, for example: according to an unlocking request sent by the terminal device 2000 of the user, an unlocking instruction is sent to the electric bicycle, so that the electric bicycle is in a state of being ridden; according to a locking request sent by the terminal device 2000 of the user, a locking instruction is sent to the electric bicycle, so that the electric bicycle is in a non-riding state; and tracking the position of the electric bicycle according to the alarm information reported by the electric bicycle. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

In this embodiment, the user terminal 2000 is, for example, a mobile phone, a portable computer, a tablet computer, a palm computer, a wearable device, or the like.

The user terminal 2000 is installed with a vehicle-using application client, and a user can operate the vehicle-using application client to achieve the purpose of using the electric bicycle 3000.

As shown in fig. 1, the user terminal 2000 may include a processor 2100, a memory 2200, an interface device 2300, a communication device 2400, a display device 2500, an input device 2600, a speaker 2700, a microphone 2800, and the like.

The processor 2100 is used to execute a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, and so on. The memory 2200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 2300 includes, for example, a USB interface, a headphone interface, and the like. The communication device 2400 can perform wired or wireless communication, for example, the communication device 2400 may include at least one short-range communication module, for example, any module that performs short-range wireless communication based on a short-range wireless communication protocol such as a Hilink protocol, WiFi (IEEE 802.11 protocol), Mesh, bluetooth, ZigBee, Thread, Z-Wave, NFC, UWB, LiFi, and the like, and the communication device 2400 may also include a long-range communication module, for example, any module that performs WLAN, GPRS, 2G/3G/4G/5G long-range communication. The display device 2500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 2600 may include, for example, a touch screen, a keyboard, and the like. The user terminal 2000 may output an audio signal through the speaker 2700 and collect an audio signal through the microphone 2800.

In this embodiment, the memory 2200 of the user terminal 2000 is used to store a computer program for controlling the processor 2100 to operate to perform a method of using the electric bicycle, including, for example: acquiring a unique identifier of the electric bicycle 3000, generating an unlocking request for the electric bicycle, and sending the unlocking request to the server 1000; transmitting a lock closing request to a server for the electric bicycle 3000; and, bill calculation and the like are performed according to the charge settlement notice transmitted from the server 1000. A skilled person can design a computer program according to the solution disclosed in the present invention. How computer programs control the operation of the processor is well known in the art and will not be described in detail herein.

In this embodiment, the electric bicycle 3000 may be any type of bicycle having a motor for outputting torque to the wheels of the electric bicycle 3000 to provide a riding assistance to a user.

As shown in fig. 1, the control system of the electric bicycle 3000 may include a processor 3100, a memory 3200, an interface device 3300, a communication device 3400, an output device 3500, an input device 3600, a state detection device 3700, motors 3800, and the like.

The processor 3100 is for executing a computer program, which may be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The computer program is for controlling the processor 2100 to operate to perform at least the following steps: acquiring motion state information of the electric bicycle in a set state, wherein the set state represents that the electric bicycle is in a non-riding state; and performing a set abnormality process when the motion state information satisfies a set condition, wherein the set condition is a condition reflecting the occurrence of a motion event of the electric bicycle.

The electric bicycle 3000 may be provided with at least one processor 3100, and the at least one processor 3100 may be used as a controller of a control system. The processor 3100 may be, for example, a microprocessor MCU or the like.

The memory 3200 may comprise, for example, a ROM (read only memory), a RAM (random access memory), a non-volatile memory such as a hard disk, or the like.

The interface device 3300 may include at least one of a USB interface, an RJ45 interface, and an earphone interface, for example.

The communication device 3400 is capable of wired or wireless communication, for example, and is also capable of short-range and long-range communication, for example, and the communication module 340 may include at least one of a GSM module, a GPRS module, a 3G module, a 4G module, and a WLAN module.

The output device 3500 may include at least one of a display module, an audio output module, and a light output module. The display module is, for example, a liquid crystal display or a touch display. The audio output module may include at least one of a speaker and a buzzer, for example. The light output module includes, for example, various LED lamp indicating circuits and the like.

The input device 3600 may include at least one of an audio input module for inputting an audio signal, such as a touch panel, a physical key input circuit, and a microphone.

The state detecting device 3700 detects a corresponding state of the electric bicycle 3000 and outputs state information indicating the corresponding state, and the state detecting device 370 may output the state information by outputting an analog signal or a digital signal, which is not limited herein.

For example, the state detection device 3700 may include: at least one motion sensor, a positioning device such as a GPS, a wheel motion detector, a tread frequency detector, and the like.

For example, the state detector 3700 may include at least one of a battery power amount detection circuit, a handle voltage detection circuit, a stator voltage detection circuit of the assist motor, and the like.

Each motor 3800 includes at least a motor for providing ride assist.

It should be understood that although fig. 1 shows only one server 100, one user terminal 200, and one electric bicycle 3000, it is not meant to limit the respective numbers, and the shared vehicle system 100 may include a plurality of servers 1000, a plurality of user terminals 2000, a plurality of electric bicycles 3000, and the like.

< electric bicycle embodiment >

The present embodiment provides an electric bicycle, and as shown in fig. 2, the electric bicycle 4000 includes a exercise state detecting device 4710 and a controller 4100. The controller 4100 may be a processor such as an MCU.

In this embodiment, the exercise state detection device 4710 is used to detect an exercise state of the electric bicycle 4000 and output exercise state information reflecting the exercise state.

The motion state detection device 4710 may output the motion state information by an analog signal or a digital signal, which is not limited herein.

In the present embodiment, the motion state detection device 4710 is connected to the controller 4100 to output the motion state information to the controller 4100.

In this embodiment, the controller 4100 may be connected to the moving state detection device 4710 through a communication interface such as an input/output interface (I/O) or a serial port, according to a data transmission interface supported by the moving state detection device 4710, to acquire moving state information output by the moving state detection device 4710.

In one embodiment, the motion state detection means may comprise at least one of a wheel motion detector and an acceleration sensor.

The wheel motion detector is configured to detect a wheel motion state of the electric bicycle 4000 and output wheel motion state information reflecting the wheel motion state, and the controller 4100 can determine whether or not the wheels of the electric bicycle 4000 rotate based on the wheel motion state information. In this way, the controller 4100 can detect whether the electric bicycle 4000 is in a non-riding state and a motion event occurs according to whether the wheels of the electric bicycle 4000 are in wheel motion, and perform set exception handling to enhance the self-safety of the electric bicycle when the motion event occurs.

The wheel motion detector may have any structure capable of detecting the wheel motion state of the electric bicycle, and is not limited herein. For example, the wheel movement detection device includes a signal transmitter provided on a wheel and a signal receiver provided on a wheel frame for mounting the vehicle, so that when the wheel rotates, the signal receiver can periodically receive a signal transmitted by the signal transmitter and output periodically changing wheel movement state information, and when the wheel does not rotate, the signal receiver can always receive or cannot receive a signal transmitted by the signal transmitter and output constant wheel movement state information and the like.

The acceleration sensor is used as a motion sensor for detecting the acceleration of the electric bicycle 4000 in a set direction and outputting corresponding acceleration information. For example, the acceleration sensor is a three-axis acceleration sensor, and the acceleration sensor may be used to detect accelerations of the electric bicycle 4000 in three axis directions. In this way, the controller 4100 can detect whether the electric bicycle 4000 is in a non-riding state and a sport event occurs according to whether the acceleration of the electric bicycle 4000 exceeds a set threshold, and perform set exception handling to enhance the self-safety of the electric bicycle when the sport event occurs.

In another embodiment, the motion state detecting device may also include a detecting device for detecting other motion characteristics of the electric bicycle, for example, an angular velocity sensor for detecting an angular velocity of the electric bicycle, and the like, which is not limited herein.

In the present embodiment, as shown in fig. 4, the controller 4100 may be configured to execute the following steps S4100 to S4200:

in step S4100, motion state information of the electric bicycle 4000 in a set state is acquired, where the set state represents that the electric bicycle is in a non-riding state.

In this embodiment, the electric bicycle 4000 may not have the physical lock, and the controller 4100 determines the current state of the electric bicycle 4000 according to the state identifier, for example, when the state identifier is the first state identifier, it represents that the electric bicycle is in the non-riding state, and when the state identifier is the second state identifier, it represents that the electric bicycle is in the riding state, and so on.

In one embodiment, the electric bicycle 4000 may set the electric bicycle in a non-riding state, for example, set the state identifier as the first state identifier, and keep the state identifier as the first state identifier, until receiving the unlocking instruction, when receiving the locking instruction issued by the server 1000.

In one embodiment, the electric bicycle 4000 may set the electric bicycle to be in a state that the electric bicycle can be ridden when receiving the unlocking instruction issued by the server 1000, for example, modify the state identifier from the first state identifier to the second state identifier, and keep the state identifier as the second state identifier until receiving a new unlocking instruction.

In this embodiment, the controller 4100 acquires the motion state information output by the motion state detecting device in the setting state, so as to detect whether the motion event occurs in the electric bicycle according to the motion state information.

In this embodiment, since the electric bicycle 4000 should not generate the sport event in the setting state, if the electric bicycle 4000 generates the sport event in the setting state, the sport event is an abnormal sport event, and in this case, the controller 4100 is configured to perform the set abnormal process, so that the problem that the electric bicycle is stolen can be effectively avoided.

In step S4200, if the motion state information satisfies a set condition reflecting the occurrence of the motion event of the electric bicycle, the set condition is processed for abnormality.

In one embodiment, the motion state information satisfying the set condition may include: the motion state information reflects that the vibration amplitude of the electric bicycle in the set direction exceeds a set threshold value.

In this embodiment, the motion state information may include acceleration information, and the vibration amplitude of the electric bicycle in the set direction is represented by an acceleration value of the electric bicycle in the set direction.

In this embodiment, the vibration amplitude may also be represented by other physical quantities such as a displacement value, a speed value, a force applied to the electric bicycle in the corresponding direction, which is not limited herein.

In this embodiment, by setting the setting condition that the vibration amplitude of the electric bicycle in the setting direction exceeds the setting threshold, it can be determined whether the abnormal motion event such as being carried occurs in the electric bicycle from the first dimension of whether the electric bicycle vibrates, and the accuracy of the determination is improved.

In one embodiment, the motion state information satisfying the set condition also includes: the motion state information reflects the rotation of the wheels of the electric bicycle.

In one embodiment, the motion state information satisfying the set condition may further include: the motion state information reflects that the wheels of the electric bicycle rotate and reflects that the vibration amplitude of the electric bicycle in the set direction exceeds a set threshold value.

In this embodiment, whether the set condition includes whether the wheel of the electric bicycle rotates or not is set, and whether the pushed abnormal motion event occurs or not is determined from the second dimension of whether the wheel of the electric bicycle rotates or not, so that the accuracy of determination is improved.

In one embodiment, the exception handling set in step S4200 may include at least one of:

first, the alarm device of the electric bicycle 4000 is controlled to give an abnormality alarm.

In this embodiment, the alarm device is connected to the controller 4100 so that the alarm device can perform an abnormality alarm according to the control of the controller 4100.

In this embodiment, the alarm device is controlled to alarm for an abnormality, and the purpose of warning surrounding persons of attention to the electric bicycle can be achieved, so that the electric bicycle can be protected when an abnormal motion event such as theft of the electric bicycle occurs.

The alarm device includes, for example, at least one of an audible alarm device and a light alarm device.

The sound alarm device is, for example, a speaker and/or a buzzer. Correspondingly, the abnormal alarm can comprise an audible alarm implemented by an audible alarm device, so that surrounding personnel can be reminded of the abnormal motion event of the electric bicycle through the audible alarm, and the purpose of requesting the surrounding personnel to take measures for protecting the electric bicycle is further achieved.

The light alarm device is, for example, an LED light emitting circuit. Correspondingly, the abnormal alarm can comprise a light flashing alarm implemented by a light alarm device so as to remind surrounding personnel of paying attention to the abnormal motion event of the electric bicycle in a light flashing mode, and further achieve the purpose of requesting the surrounding personnel to take measures for protecting the electric bicycle.

And the second item is to send an alarm message indicating that the abnormal motion event occurs to the electric bicycle 4000 to the server.

The controller 4100 may trigger the server to perform a set operation of protecting the electric bicycle by sending an alarm message indicating that the abnormal motion event occurs to the electric bicycle 4000 to the server, including, for example, acquiring location information of the electric bicycle and sending the location information to an account of an operation and maintenance person and/or to an alarm system to request the operation and maintenance person and/or police and the like to retrieve the electric bicycle.

In one embodiment, in the case where the motion state information does not satisfy the set condition, the exception processing is not performed, and the current detection is ended. In this embodiment, the controller 4100 may start the next detection at a set time interval or based on an external interrupt trigger, etc., which is not limited herein.

In one embodiment, as shown in fig. 2, the electric bicycle includes a motor 4810, the motor 4810 is connected to a controller 4100, and the motor 4810 is configured to output torque to wheels of the electric bicycle 4000 according to the control of the controller 4100.

In this embodiment, the motion state information satisfying the setting condition includes: the motion state information reflects the rotation of the wheels of the electric bicycle 4000.

In this embodiment, the exception handling performed in step S4200 may include: the control motor 4810 outputs a reverse torque, which is a torque opposite to the rotation direction of the wheels.

In this embodiment, when the motion state information reflects that the wheels of the electric bicycle 4000 rotate, it is described that the electric bicycle 4000 has an abnormal motion event in which the wheels rotate in a non-riding state, at this time, the setting controller 4100 controls the motor 4810 to output a reverse torque, which applies a resistance to the wheels to prevent the electric bicycle from continuing to travel, and prevents another person from forcibly pushing the electric bicycle 4000 from a parking position without permission.

In one embodiment, as shown in fig. 3, the controller 4100 can comprise a first controller 4110 and a second controller 4120, wherein the first controller 4110 is connected with the second controller 4120 for data and/or instruction transmission.

In this embodiment, the motion state detecting device 4710 is connected to the first controller 4110, and the motor 4810 is connected to the second controller 4120.

In this embodiment, the acquiring the motion state information of the electric bicycle in the set state in step S4100 may include: the first controller 4110 acquires motion state information of the electric bicycle in a set state.

In this embodiment, when the motion state information satisfies the setting condition in step S4200, the performing of the set exception processing may include: the first controller 4110 sends a control instruction to the second controller 4120 when the motion state information satisfies a set condition; and the second controller 4210 controls the motor to output a reverse torque in accordance with the control command.

In this embodiment, the first controller 4110 may be communicatively connected to the server through a communication device. For example, the first controller 4110 transmits an alarm message indicating the occurrence of an abnormal motion event of the electric bicycle 4000 to the server. For another example, the first controller 4110 receives a lock-off command transmitted from the server 100 through the communication connection, sets the state of the electric bicycle to a non-riding state, and notifies the second controller 4120 to turn off the power supply circuit of the motor 4810.

In this embodiment, the second controller 4120 is connected to the motor 4810 to control the operation of the motor 4810 through the second controller 4120.

In this embodiment, the electric bicycle 4000 may be provided with two controllers, and the first controller 4110 performs overall control of the electric bicycle 4000, and the second controller 4120 performs control of the motor 4810, so as to separate at least partial power control from the overall control, so that when one of the controllers fails, the other controller can still perform related processing for handling the failure, which is beneficial to improving the safety of the electric bicycle. Moreover, with such an arrangement, the second controller 4120 may enter the sleep state when the electric bicycle is in the non-riding state, and wake up according to the triggering of the first controller 4110, so as to achieve the purpose of reducing the power consumption.

In one embodiment, since the long-time control of the motor 4810 to output a reverse torque may cause motor damage, in order to protect the motor 4810 from damage, the step S4200 for performing the set exception processing further includes: acquiring a first time period during which the motor 4810 outputs the reverse torque; and controlling the motor 4810 to stop outputting the reverse torque in a case where the first time period reaches a first set time period.

In this embodiment, the controller 4100 may be configured to start a timer or start counting according to a clock signal when controlling the motor 4810 to output the reverse torque, and determine the first time length for the motor 4810 to output the reverse torque according to the counted time.

The first set time period may be set in conjunction with the performance of the motor, the detection interval, and the like, and may be set to 5s to 15s, and the like, for example. In one example, the first set time period may be set to 10 s.

In one embodiment, after the occurrence of the abnormal motion event of the electric bicycle is detected according to step S4200 at the present time and the set abnormality process is performed based on the detection result at the present time, in order to determine whether the abnormality process is valid, the process flow according to steps S4100 and S4200 above may be started again to realize the continuous detection of the electric bicycle.

In this embodiment, the controller 4100 may be further configured to execute the following steps S4300 to S4400 after controlling the motor to stop outputting the reverse torque:

in step S4300, a second time period during which the motor 4810 stops outputting the reverse torque is acquired.

In this embodiment, the controller 4100 may be configured to start a timer or start counting according to a clock signal when the motor 4810 is controlled to stop outputting the reverse torque, and determine the second time length during which the motor 4810 stops outputting the reverse torque according to the counted time.

The second set time period may be set according to the requirement of the detection interval, and may be set to 1s to 5s, for example. In one example, the first set time period may be set to 2 s.

In step S4400, in the case that the second time length reaches the second set time length, step S4100 of acquiring the motion state information of the electric bicycle in the first state is executed again.

As can be seen from step S4400, when the second time duration reaches the second set time duration, step S4100 is executed again, and step S4200 is executed according to the motion state information obtained again, so as to continuously detect the electric bicycle.

In one embodiment, in the case that the motion state information acquired in step S4100 reflects the rotation of the wheel of the electric bicycle 4000, the exception processing set in step S4200 may further include: in the case where the power supply circuit of the motor is in the off state, the power supply circuit is turned on before the motor is controlled to output the reverse torque.

In this embodiment, when the electric bicycle is in a non-riding state, the controller 4100 may keep the power supply circuit of the motor 4810 in a disconnected state, so as to ensure that the motor 4810 does not output torque in this state, which may save electric energy on one hand, and may avoid abnormal starting of the motor on the other hand; when the electric bicycle is in a state of being ridden, the power supply circuit can be kept in a connected state to ensure that the motor 4810 can output torque.

In this embodiment, the controller 4100 can switch the power supply circuit of the motor 4810 when receiving the lock-off instruction, and switch the power supply circuit of the motor 4810 when receiving the lock-off instruction.

In this embodiment, if it is detected that the motion state information acquired in step S4100 satisfies the set condition, the power supply circuit of the motor may be first turned on to perform an operation of controlling the motor to output a reverse torque if the power supply circuit is in an off state.

In this embodiment, if it is detected that the motion state information acquired in step S4100 does not satisfy the setting condition, the power supply circuit of the motor may be turned off when the power supply circuit is in an on state.

As can be seen from the electric bicycle shown in fig. 2, electric bicycle 4000 of the present embodiment can detect whether or not a sporting event has occurred in a non-riding setting state of electric bicycle 4000 based on the sporting state information provided by sporting state detecting device 4710, and perform a set abnormality process when a sporting event has occurred, so as to improve the safety of electric bicycle itself.

In this embodiment, the electric bicycle 4000 may be the electric bicycle 3000 of fig. 1, for which the controller 4100 is the processor 3100 of fig. 1 and the exercise state detecting device 4710 is at least a part of the state detecting device 3700 of fig. 1. In this embodiment, the electric bicycle 4000 may be an electric bicycle having another structure, which is not limited herein.

In one embodiment, as shown in fig. 2, the electric bicycle further includes a motor 4810, the motor 4810 is connected to the controller 4100, and the motor 4810 is configured to output torque to the wheels of the electric bicycle 4000 according to the control of the controller 4100.

In this embodiment, as shown in fig. 5, the controller 4100 may also be configured to perform the following steps S5100 to S5200:

in step S5100, when the motor 4810 is in the output torque state, it is determined whether or not the motor 3810 is in the locked state.

In this embodiment, the step S5100 may further include: when the electric bicycle is in a state in which the electric bicycle can be ridden and the motor 4810 is in a torque output state, it is determined whether the motor 4810 is in a locked state.

In this embodiment, when the electric bicycle is in a state of being ridden, it may be detected whether the motor 4810 is in a locked-rotor state according to the phase current of the motor 4810, that is, when the phase current exceeds a set value, it may be determined that the motor 4810 is in the locked-rotor state.

In one embodiment, the electric bicycle 4000 may further include a twist grip voltage detecting circuit connected to the controller 4100 to output a twist grip voltage signal to the controller 4100.

In this embodiment, the controller 4100 can control the motor 4810 to output a torque matching with the handle bar voltage according to the handle bar voltage signal, so as to achieve the purpose that the user can adjust the wheel speed by rotating the handle bar of the electric bicycle. Thus, in this embodiment, the controller may be further configured to perform the steps of: and determining whether the motor is in an output torque state or not according to the handle voltage signal.

In the embodiment, whether the motor is in the output torque state or not is judged according to the handle-rotating voltage signal, and the control of the motor and the detection of the motor state can be simultaneously carried out according to the handle-rotating voltage signal, so that the simplification of control logic is facilitated.

In further embodiments, the controller may also be configured to: and determining whether the motor is in an output torque state according to at least one of the motor state flag bit, the value of the motor control parameter, the phase line current value of the motor, the signal state of a control port of the controller, and the like, which is not limited herein.

The motor state flag bit is used for indicating the working state of the motor.

The control port is a port through which the controller outputs a control signal to the motor.

In step S5200, the motor is controlled to stop outputting the torque when the motor is in the locked state.

In this embodiment, in the case where the motor 4810 is not in the locked state, the motor 4810 is controlled to output a torque matching the rotor handle voltage signal.

In this embodiment, after step S5200, the process may return to step S5100 for the next detection.

In this embodiment, if the motor is in the locked-rotor state while the electric bicycle is in the riding state, it indicates that the electric bicycle may be locked by an obstacle, so that the speed of the electric bicycle is surely 0 in the case where the motor outputs a torque, that is, so that the motor is in the locked-rotor state. In this case, if the motor is in the locked state for a long time, the motor will be damaged, and therefore, in this embodiment, it is detected whether the above condition occurs through this step S5100, so that when the condition occurs, the motor is controlled to stop outputting the torque according to the step S5200 to protect the motor from being damaged.

Fig. 6 is a flowchart illustrating an abnormal motion process performed by the electric bicycle according to an example.

As shown in fig. 6, the controller of the electric bicycle may be configured to perform the following steps S6100 to S6600:

in step S6100, the motion state information of the electric bicycle in the set state is obtained, and then step S6200 is performed.

In step S6100, the set state represents a non-riding state.

In step S6200, it is determined whether the motion state information satisfies a set condition, if yes, step S6300 is executed, and if no, step S6100 is returned to.

The motion state information satisfying the setting condition at least includes: the motion state information reflects the rotation of the wheels of the electric bicycle.

Step S6300, controlling the motor of the electric bicycle to output a reverse torque, and calculating a first time period during which the motor outputs the reverse torque, followed by performing step S6400.

In this example, when the motion state information satisfies the set condition, at least one of controlling an alarm device of the electric bicycle to alarm for an abnormality and transmitting an alarm message indicating occurrence of an abnormal motion event to the server may be further performed.

And step S6400, judging whether the first time length reaches a first set time length, if so, executing step S6500, and if not, returning to step S6300.

And step S6500, controlling the motor to stop outputting the reverse torque, calculating a second time length for the motor to stop outputting the reverse torque, and then executing step S6600.

In step S6600, it is determined whether the second time length reaches the second set time length, if yes, go back to step S6100, otherwise, go back to step S6500.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: 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), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions 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). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. An electric bicycle comprises a motion state detection device and a controller, wherein the motion state detection device is used for detecting the motion state of the electric bicycle, and the motion state detection device is connected with the controller so as to output motion state information reflecting the motion state to the controller; the controller is arranged to perform the steps of:

2. The electric bicycle according to claim 1, wherein the motion state detecting means includes at least one of a wheel motion detector for detecting a wheel motion state of the electric bicycle and an acceleration sensor for detecting an acceleration of the electric bicycle in a set direction.

3. The electric bicycle according to claim 1, wherein the motion state information satisfying a set condition includes:

4. The electric bicycle according to claim 1, wherein the electric bicycle includes a motor connected to the controller, the motor being configured to output a torque to a wheel of the electric bicycle according to control of the controller;

the set exception handling includes:

5. The electric bicycle according to claim 4, wherein the performing of the set abnormality processing further includes:

acquiring a first time length of the motor outputting the reverse torque;

6. The electric bicycle of claim 5, wherein the controller is further configured to: after controlling the motor to stop outputting the reverse torque, executing the following steps:

7. The electric bicycle according to claim 4, wherein the set exception handling further comprises:

8. The electric bicycle according to claim 4, wherein the controller includes a first controller and a second controller, the first controller is connected with the second controller, the motion state detection device is connected with the first controller, and the motor is connected with the second controller;

9. The electric bicycle according to claim 1, wherein the set exception handling includes at least one of:

10. The electric bicycle of claim 9, wherein the abnormality alarm includes at least one of an audible alarm and a light flashing alarm.

11. The electric bicycle according to claim 1, wherein the electric bicycle further comprises a motor connected to the controller, the motor being configured to output a torque to a wheel of the electric bicycle according to control of the controller;

the controller is further configured to perform the steps of:

12. The electric bicycle of claim 11, wherein the electric bicycle further comprises a handlebar voltage detection circuit connected to the controller to output a handlebar voltage signal to the controller;

the controller is further configured to perform the steps of: