CN114510005B

CN114510005B - Control method and device of riding equipment and riding equipment

Info

Publication number: CN114510005B
Application number: CN202210018152.9A
Authority: CN
Inventors: 杨磊; 佟林府; 杜新; 蒋健伟; 孙佳炜
Original assignee: Shanghai Junzheng Network Technology Co Ltd
Current assignee: Shanghai Junzheng Network Technology Co Ltd
Priority date: 2022-01-07
Filing date: 2022-01-07
Publication date: 2024-06-25
Anticipated expiration: 2042-01-07
Also published as: CN114510005A

Abstract

The specification provides a control method and device of riding equipment and the riding equipment. Based on the method, in a scene that a user pushes the riding equipment, such as pushing the shoulder on the riding equipment, and additional assistance is needed, the user can actively initiate a target assistance instruction; the riding equipment can respond to the target power-assisting instruction, and the motor module is controlled to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment. Therefore, matched assistance can be provided for the user in time in a scene that the user pushes the riding equipment and additional assistance is needed, so that the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

Description

Control method and device of riding equipment and riding equipment

Technical Field

The specification belongs to the technical field of electric vehicles, and particularly relates to a control method and device of riding equipment and the riding equipment.

Background

In general, when riding an electric vehicle, the user mostly selects to get off and push the electric vehicle in order to protect riding safety when the electric vehicle encounters road conditions such as an ascending slope, a road shoulder and the like.

But based on the prior art, users are troublesome and laborious in the process of pushing the electric vehicle. For example, when a user needs to push an electric vehicle on a road shoulder, the user needs to spend a great deal of effort to push the electric vehicle on the road shoulder; in addition, accidents such as vehicle fleeing and the like are easy to occur in the process of pushing the electric vehicle, so that the use experience of a user is relatively poor.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The specification provides a control method and a control device for riding equipment, and the riding equipment, wherein the control method and the control device can respond to a target power-assisting instruction initiated by a user in a scene that the user pushes the riding equipment and needs additional power assistance, so that matched power assistance is provided for the user in time, the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, risks such as vehicle shifting and the like can be effectively avoided, the pushing safety of the user is protected, and the user obtains better use experience.

The embodiment of the specification provides a control method of a riding device, which is applied to the riding device and comprises the following steps: receiving a target power-assisted instruction; and responding to the target power-assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The embodiment of the specification also provides a control method of the riding device, which is applied to the terminal device and comprises the following steps: receiving and responding to user operation, and generating a target power-assisted instruction aiming at riding equipment; providing the target assist command to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The embodiment of the specification also provides a control device of the riding equipment, which comprises: the receiving module is used for receiving the target power-assisted instruction; and the control module is used for responding to the target power-assisting instruction and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The embodiment of the specification also provides a riding device, at least comprising: the motor comprises a T-Box module, a motor module and a controller, wherein the T-Box module receives a target power-assisted instruction; the controller responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The embodiments of the present specification also provide a terminal device including a processor and a memory for storing instructions executable by the processor, the processor implementing relevant steps of a control method of a riding device when executing the instructions.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, perform the relevant steps of a method of controlling a riding device.

Based on the control method and device of the riding equipment and the riding equipment provided by the specification, in the scene that a user pushes the riding equipment such as pushing a road shoulder on the riding equipment and additional assistance is needed, the user can actively initiate a target assistance instruction according to the needs; the riding equipment can respond to the target power-assisting instruction, and the motor module is controlled to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment. Therefore, matched proper power assistance can be provided for the user in time in a scene that the user pushes the riding equipment and additional power assistance is needed, so that the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure, the drawings that are required for the embodiments will be briefly described below, and the drawings described below are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

FIG. 1 is a schematic view of one embodiment of a structural composition of a riding device to which the control method of the riding device provided by the embodiments of the present specification is applied;

FIG. 2 is a flow chart of a method of controlling a riding device according to one embodiment of the present disclosure;

FIG. 3 is a schematic view of one embodiment of a control method of a riding device to which the embodiments of the present disclosure are applied, in one example of a scenario;

FIG. 4 is a schematic view of an embodiment of a control method of a riding device to which the embodiments of the present disclosure are applied, in one example of a scenario;

FIG. 5 is a schematic view of an embodiment of a control method of a riding device to which the embodiments of the present disclosure are applied, in one example of a scenario;

FIG. 6 is a schematic view of one embodiment of a control method of a riding device to which the embodiments of the present disclosure are applied, in one example of a scenario;

FIG. 7 is a flow chart of a method of controlling a riding device according to one embodiment of the present disclosure;

Fig. 8 is a schematic structural composition diagram of a terminal device provided in an embodiment of the present specification;

fig. 9 is a schematic structural composition of a control device of the riding apparatus provided in one embodiment of the present specification;

fig. 10 is a schematic diagram of an embodiment of a control method of a riding device to which the embodiments of the present specification are applied, in one example of a scene.

Detailed Description

In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.

Considering that based on the existing method, when a user pushes the riding equipment in the face of road conditions such as an uphill road and a road shoulder, the user is often troublesome and laborious, accidents such as vehicle channeling and the like are easy to occur, risks are caused to the safety of the user, and the use experience of the user is affected.

In order to solve the above-mentioned problems, referring to fig. 1, the present specification provides a riding apparatus. Based on the riding equipment, the operation difficulty of the user can be effectively reduced, so that the user with small strength can still easily and conveniently push the riding equipment to move forward when facing the road condition scene; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the safety of a user is protected, and the user obtains better use experience.

Specifically, the riding device may at least include: a T-Box module, a motor module and a controller, wherein,

The T-Box module can be particularly used for receiving a target power-assisted instruction;

The controller can be specifically used for responding to the target power-assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

Specifically, the controller may specifically obtain a reference pushing speed of the riding device by responding to the target power assisting instruction by the user; determining the reference pushing speed of the riding equipment as the upper limit speed of the riding equipment; correspondingly, the motor module can be specifically used for running according to a preset control strategy and the upper limit speed of the riding equipment so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In some embodiments, the riding device may be an electric vehicle, or may be a riding device with a built-in motor module, such as an electric motorcycle, and the power energy is provided by the motor module.

In some embodiments, the T-Box (TELEMATICS BOX, or TBox) module may be configured to establish a data connection with a cloud server and a terminal device outside the riding device in advance based on a corresponding communication protocol, so as to support related data interaction with the cloud server and the terminal device; in addition, the T-Box module is connected with electronic equipment in the riding equipment through a bus (for example, canbus bus), and can realize the transmission interaction of instructions and information.

In some embodiments, other communication modules may be used to replace the T-Box module to receive the target assist command according to circumstances.

The terminal equipment can specifically comprise a client which is applied to a user side and can realize functions of data acquisition, data transmission and the like. Specifically, the terminal device may be, for example, an electronic device such as a tablet computer, a smart phone, a smart watch, or the like. Or the terminal device may be a software application capable of running in the electronic device described above. For example, there may be XX sharing electric car APP running on a smartphone, etc.

The cloud server specifically may include a background server applied to one side of a network platform (for example, XX sharing electric vehicle cloud service platform) and capable of realizing functions such as data transmission and data processing. Specifically, the cloud server may be, for example, an electronic device having a data operation, a storage function, and a network interaction function. Or the cloud server can also be a software program which runs in the electronic equipment and provides support for data processing, storage and network interaction. In this embodiment, the number of servers included in the cloud server is not particularly limited. The cloud server may be one server, or may be several servers, or a server cluster formed by several servers.

The terminal equipment and the cloud server can perform related data interaction through a network.

In some embodiments, the T-Box module may specifically establish a bluetooth connection with a terminal device held by a user, and implement data communication with the terminal device based on the bluetooth connection. The T-Box module can specifically establish network connection with the cloud server, and realize data communication with the cloud server based on the network connection.

In some embodiments, the above-described motor module, which may also be referred to as a motor, is used to provide the power and energy source required for the riding device.

In some embodiments, the controller may be specifically connected to the motor module through a bus, and the controller may be configured to control specific operations of the motor module according to the instructions and information received by the T-Box module. In addition, the controller may also obtain operational status information of the motor module.

In some embodiments, the target power-assisted command may be specifically understood as command data, which is actively initiated by a user when the user faces a pushing riding device and requires an additional power-assisted scene, and is used for requesting the riding device to provide corresponding power assistance, so that the motor module operates in a low-speed high-torque operation mode. The low-speed high-torque operation mode will be described later.

The driving riding device and the scene requiring additional assistance can specifically include any one of the following road conditions: a scene of pushing the riding device up a slope, a scene of pushing the riding device up a road shoulder, a scene of pushing the riding device across an obstacle, and the like. Of course, it should be noted that the above-listed road condition scenarios are only illustrative. In specific implementation, the scenario of pushing the riding device and requiring additional assistance may further include other types of scenarios that require the riding device to provide assistance according to specific situations. The present specification is not limited to this.

Accordingly, the target assist command may specifically include at least one of: a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a slope, a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a road shoulder, a target power-assisted instruction initiated by a user in a scene of pushing the riding device across an obstacle, and the like.

In some embodiments, the riding device may further be provided with a hall sensor, a speed PID regulator, and the like. In particular, the device can be utilized to monitor the speed change data of the riding device. The speed PID controller (PID regulating) can be understood as a rotational speed detection device based on a linear regulation with proportional, integral and derivative action.

The riding equipment can receive and respond to a target power-assisting instruction which is actively initiated by a user when needed, and the motor module is controlled to enter a low-speed high-torque operation mode, so that matched power assistance is timely provided for the user in a scene that the user pushes the riding equipment and additional power assistance is needed, the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

Referring to fig. 2, the embodiment of the present disclosure further provides a control method of the riding device. The method is particularly applicable to one side of a riding device, and can comprise the following when embodied.

S201: and receiving a target power assisting instruction.

S202: and responding to the target power-assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In some embodiments, the target instruction may be specifically understood as instruction data of a user in a scenario of pushing the riding device and needing additional assistance, the user requests the riding device to provide corresponding assistance through the terminal device, so that the motor module operates in a low-speed high-torque operation mode.

In some embodiments, the target assist command may specifically include at least one of: a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a slope, a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a road shoulder, a target power-assisted instruction initiated by a user in a scene of pushing the riding device across an obstacle, and the like.

In some embodiments, for example, as shown in FIG. 3, a current user pushes a riding device on a road and wants to push the riding device up a shoulder on the right side of the road in a right push direction. At this time, referring to fig. 4, the user may perform corresponding operations in the assistance instruction setting interface in the XX shared electric vehicle APP on the smart phone. Correspondingly, the terminal equipment can receive and respond to the user operation through the assistance instruction setting interface, and generate a target assistance instruction aiming at the riding equipment.

For example, referring to FIG. 4, a user may select and click on the "push road shoulder" option in the assist command setting interface to initiate the desired target assist command.

In some embodiments, receiving the target assist instruction, when implemented, may include: receiving a target power-assisted instruction sent by a user through terminal equipment; or receiving a target power-assisted instruction sent by a cloud server; the cloud server receives a target power assisting instruction sent by the terminal equipment and forwards the target power assisting instruction to the riding equipment.

Specifically, a target power-assisted instruction sent by a user through terminal equipment can be received through a T-Box module of the riding equipment; or receiving a target power-assisted instruction sent by the cloud server through the T-Box module.

In some embodiments, referring to fig. 5, a bluetooth connection may be established between a terminal device held by a user and a T-Box module of a riding device, and accordingly, the terminal device may directly send a target power-assisting instruction to the T-Box module through the bluetooth connection.

In some embodiments, referring to fig. 5, the terminal device may further send the target power assisting instruction to the cloud server through the internet; the cloud server can forward the target power assisting instruction to the T-Box module of the corresponding riding equipment through network connection with the T-Box.

Specifically, the target power assisting instruction sent by the terminal device to the cloud server may carry a user identifier of a user holding the terminal device. The cloud server can query a use database of the riding equipment according to the user identification, and determine the riding equipment currently used by the user; and then the target power-assisted instruction is sent to a T-Box module of the riding equipment according to a corresponding communication protocol.

In some embodiments, the controlling the operation of the motor module according to the preset control strategy in response to the target power-assisted command may include the following when implemented: acquiring a reference pushing speed of riding equipment; using the reference pushing speed of the riding equipment as the upper limit speed of the riding equipment; and controlling the operation of the motor module according to the preset control strategy and the upper limit speed of the riding equipment.

In some embodiments, the controlling the operation of the motor module according to the preset control strategy and the upper limit speed of the riding device may include the following when implemented: according to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed high-torque operation mode is an operation mode in which the speed is smaller than or equal to a preset speed threshold value and the torque is larger than or equal to a preset first torque threshold value.

In some embodiments, the method may further include the following when implemented: dynamically adjusting the running current of the motor module to control the speed of the riding equipment within a preset safe speed range; the preset safe speed range is determined according to the upper speed of the riding equipment.

In some embodiments, after receiving the target power-assist instruction, the T-Box module may send the target power-assist instruction to the controller according to a preset hardware communication protocol. The preset hardware communication protocol may specifically include RS485 protocol, can protocol, and the like.

In some embodiments, the controller may first obtain a reference propulsion speed of the riding device in response to the target assist command.

The reference pushing speed of the riding device can be a speed with a smaller value, and based on the speed, a user can feel easier when pushing the riding device, and meanwhile accidents such as vehicle shifting and the like can not occur.

In some embodiments, the reference pushing speed of the riding device may specifically include: the user can define the preset pushing speed, the average value calculated by the cloud server based on the historical pushing speeds of a plurality of riding devices, or the current pushing speed of the riding devices.

Accordingly, before using the reference propulsion speed of the riding device as the upper speed limit of the riding device, the method further comprises: acquiring a user-defined pushing speed as a reference pushing speed of the riding equipment; or, the current pushing speed of the riding equipment is collected and used as the reference pushing speed of the riding equipment. In addition, a default speed stored locally on the riding device is obtained as a reference pushing speed, wherein the default speed can be an average value calculated by the cloud server based on the historical pushing speeds of the plurality of riding devices.

In some embodiments, specifically, the user may also combine the walking speed and the pushing habit of the user while initiating the target power assisting instruction through the terminal device, and set the reference pushing speed of the riding device in a user-defined manner.

For example, referring to fig. 6, a user may click on a custom push speed option in a boost command setting interface in the XX shared electric vehicle APP on a smartphone to enter the speed custom interface. In the speed custom interface, a user can set 4km/h as a reference pushing speed of the riding equipment according to the walking speed when the user pushes the riding equipment currently. Accordingly, the terminal device may receive the reference pushing speed of the riding device and provide the reference pushing speed of the riding device to the riding device together with the target power assisting instruction.

In some embodiments, the cloud server may collect historical pushing speeds of a plurality of riding devices affiliated to the platform when the method is implemented; calculating the average value of the historical pushing speeds of a plurality of riding devices through statistics to obtain the reference pushing speed of the riding device; and the reference pushing speed of the riding equipment is sent to each riding equipment in advance to serve as a default reference pushing speed.

In some embodiments, in specific implementation, the controller may further collect a current pushing speed of the riding device when the user pushes the riding device currently in response to the target power assisting instruction, and determine the current pushing speed of the riding device as the reference pushing speed of the riding device.

In some embodiments, the controller may determine the reference push speed of the riding device as an upper limit speed of the riding device in a subsequent low speed high torque mode of operation.

In some embodiments, the preset control policy specifically includes a plurality of operation control rules for the motor module. The motor module can be controlled to enter a low-speed high-torque operation mode based on the preset control strategy. The low-speed high-torque operation mode is an operation mode in which the speed is smaller than or equal to a preset speed threshold value and the torque is larger than or equal to a preset first torque threshold value. The operation control rules may in particular comprise current control rules of the motor module.

Specifically, when the motor module operates in the operation mode based on the low-speed high torque, more reasonable power and torque can be provided, so that the riding equipment can smoothly finish processes such as road shoulder pushing, obstacle crossing or slope top pushing on the premise of not requiring effort of a user; meanwhile, when the mode is based on the mode operation, the riding equipment can be kept to move forward at a smaller speed matched with the walking speed when the user pushes the riding equipment, so that accidents such as the user cannot catch up with the riding equipment or scurry are avoided.

In some embodiments, the low-speed high-torque operation mode may further be an operation mode in which the speed is equal to or less than a preset speed threshold, the torque is equal to or greater than a preset first torque threshold, and the torque is equal to or less than a preset second torque threshold

In some embodiments, the preset speed threshold may be specifically 5km/h; the preset first torque threshold value may be specifically 15 nm; the preset second torque threshold may specifically be 21 nm.

Of course, it should be noted that the above listed preset speed threshold, preset first torque threshold, preset second torque threshold are only illustrative. In specific implementation, the preset speed threshold, the preset first torque threshold and the preset second torque threshold may be set to other suitable values according to the specific model and the application requirement of the motor module.

In some embodiments, the preset control policy may specifically be a control policy that is pre-generated by the cloud server and sent to each riding device and stored in a local area of each riding device.

In some embodiments, the preset control policy may specifically include a plurality of preset control policies corresponding to a plurality of scene types, respectively. Wherein the scene type includes at least one of: a scene of pushing the riding device up a slope, a scene of pushing the riding device up a road shoulder, a scene of pushing the riding device across an obstacle, and the like.

In some embodiments, the cloud server may collect historical performance records of a plurality of riding devices prior to implementation. The history pushing record of each riding device at least comprises scene environment characteristics of the riding device at the moment, running current of the motor module in the pushing process and evaluation feedback of a user on the pushing process. And determining the scene type corresponding to the history pushing record of each riding device according to the scene environment characteristics in the history pushing record of the riding device. Dividing historical pushing records of a plurality of riding devices into a plurality of record data sets; wherein each record data group corresponds to a scene type. And respectively learning the plurality of record data sets to construct a plurality of preset control strategies corresponding to the plurality of scene types.

In some embodiments, during implementation, the controller may collect the current environmental characteristics of the user through a sensor, a camera and other devices, and determine the current scene type according to the environmental characteristics; and screening out a preset control strategy matched with the current scene type from a plurality of preset control strategies stored locally to serve as a preset control strategy to be used currently.

In some embodiments, for example, in the case of an upper limit speed of 4km/h, the operating current of the motor module may be increased to 18A, the power of the motor module may be increased to 400W motor, and the torque may be increased to 21 nm according to a preset control strategy. Based on the operating current, power and torque described above, the user can easily push the riding device up a roof, push the riding device up a shoulder, or push the riding device across an obstacle.

In some embodiments, during implementation, the tolerance error may be determined according to a preset control policy; and determining a preset safe speed range by using the tolerance error and the upper limit speed of the riding equipment. For example, the tolerance error is 1km/h, the upper limit speed is 4km/h, and according to a preset control strategy, the corresponding preset safe speed range can be determined as follows: [0, (4+1) km/h ].

In some embodiments, the controller may generate a corresponding trigger instruction and send the trigger instruction to the motor module via a bus (e.g., a control bus) when implemented. The motor module receives and responds to the trigger instruction, and controls the operation of the motor module by adjusting the operation current according to the preset control strategy and the upper limit speed in the mode, so that the motor module enters a low-speed high-torque operation mode.

In some embodiments, the dynamically adjusting the running current of the motor module to control the speed of the riding device within a preset safe speed range may include the following when implemented:

S1: acquiring pulse change data and current change data;

s2: and adjusting the running current of the motor module according to the pulse change data and the current change data.

The pulse change data may specifically be change data of a pulse signal acquired by a hall sensor. The real-time speed of the riding device can be reflected by the pulse change data. The current change data may be change data of an operating current when the motor module is operated. The current change data can be used for reflecting the real-time running state of the motor module. For example, the real-time power, the real-time torque, etc. of the motor module may be reflected, and the real-time speed of the riding device may be indirectly reflected from another level based on the real-time operating state of the motor module.

In some embodiments, after entering a low-speed high-torque operation mode, the motor module may acquire pulse change data through the hall sensor in real time according to a preset control strategy, and simultaneously acquire current change data of the motor module; determining the real-time speed of the riding equipment according to the acquired pulse change data and current change data; and then according to the real-time speed, the running current is purposefully adjusted to provide matched proper power assistance, so that the speed of the riding equipment is always in a preset safe speed range. Therefore, the real-time speed of the riding equipment can be determined more accurately by comprehensively utilizing the pulse change data and the current change data, and the running current of the motor module can be correspondingly adjusted timely and accurately based on the real-time speed, so that accidents such as too high speed and even vehicle shifting and the like of the riding equipment in the pushing process can be effectively avoided, and the pushing safety of a user can be protected.

Specifically, for example, according to a preset control strategy, when it is detected that the actual speed of the riding device is greater according to the pulse change data and the current change data, and the actual speed exceeds a preset safe speed range, the running current can be adaptively reduced, so that the speed of the riding device falls back into the preset safe speed range.

In some embodiments, the operation current of the motor module may be adjusted according to the pulse change data or the current change data alone.

In some embodiments, the rotational speed of the motor module may also be obtained through a speed PID regulator when implemented. And adjusting the running current of the motor module according to the pulse change data and/or the rotating speed of the motor module. The rotating speed of the motor module can reflect the running state of the motor module and the real-time speed of the riding equipment to a certain extent.

In some embodiments, the method may further include the following when implemented: determining an execution result of the target power assisting command according to the pulse change data and the current change data; and sending the execution result to the terminal equipment. In specific implementation, the execution result can be sent to the terminal device through a T-Box module of the riding device.

In some embodiments, the controller may obtain pulse change data via the hall sensor when implemented; simultaneously acquiring current change data of the motor module; and detecting whether the motor module normally executes a corresponding trigger instruction or not according to the pulse change data and the current change data, and whether the motor module enters a low-speed high-torque operation mode or not.

Under the condition that the motor module is determined to normally execute the trigger instruction and enter the low-speed high-torque operation mode, an execution result representing successful execution can be generated, and the execution result is sent to the terminal equipment through the T-Box module. And the terminal equipment can prompt the user that the target power-assisted instruction is successfully executed according to the execution result.

In contrast, under the condition that the motor module does not normally execute the trigger instruction and does not enter the low-speed high-torque operation mode, an execution result representing the execution failure can be generated, and the execution result is sent to the terminal equipment through the T-Box module. The terminal device can prompt the user that the target power-assisted instruction fails to be executed according to the execution result, and further can prompt the user to re-operate so as to re-initiate the target power-assisted instruction.

In some embodiments, the corresponding execution result may also be determined according to the pulse change data and/or the rotation speed of the motor module when the method is implemented. Wherein the execution result is used for representing whether the target power assisting instruction is successfully executed

In some embodiments, the controller may further feed back the execution result to the cloud server for storage, so as to facilitate backtracking query of the subsequent user.

In some embodiments, after the motor module is controlled to operate according to a preset control strategy and an upper limit speed of the riding device, the method may further include the following when implemented:

S1: detecting whether a mode exit instruction is received;

S2: and under the condition that the mode exit command is received, controlling the motor module to exit the low-speed high-torque operation mode.

In some embodiments, the mode exit command may be initiated when the user pushes the riding device to the top of the slope, or pushes the riding device to the shoulder, or pushes the riding device across an obstacle. The mode exit command may be specifically understood as command data indicating that the motor module exits the low-speed high-torque operation mode.

In some embodiments, the mode exit instruction may specifically include: a mode exit instruction sent by the user through the terminal equipment, or a mode exit instruction initiated by the user through pinching a brake, and the like.

In some embodiments, when in implementation, the user may perform corresponding operations on the terminal device. The terminal equipment receives and responds to the operation and generates a mode exit instruction; and sending the mode exit instruction to a T-Box module of the riding device through Bluetooth connection, or forwarding the mode exit instruction to the T-Box module of the riding device through a cloud server.

Correspondingly, after receiving a mode exit instruction of a user through the T-Box module, the controller can generate a corresponding trigger instruction and send the trigger instruction to the motor module through the bus so that the motor module exits from a low-speed high-torque operation mode.

In some embodiments, the brakes of the riding device may also be provided with pressure sensors when embodied. The pressure sensor can collect pressure data received by the brake in real time and transmit the pressure data to the controller. When the controller determines that a user has an operation of pinching the brake according to the pressure data, a corresponding mode exit instruction can be generated, and the motor module is controlled to exit the low-speed high-torque operation mode according to the mode exit instruction.

In some embodiments, after exiting the low speed, high torque mode of operation, the motor module may revert to a normal push mode before receiving further user initiated instructions. Specifically, the electronic control of the riding device may control the motor module to stop running, or run with a running current having a smaller value and being stable (providing a smaller assistance for the user to assist the user in pushing under normal conditions), so as to restore to the normal pushing mode, so that the pushing state when the user pushes the riding device normally may be maintained.

As can be seen from the above-mentioned examples of the scenario, according to the control method of the riding device provided in the embodiments of the present disclosure, in a scenario where a user pushes the riding device, such as pushing a shoulder on the riding device, and additional assistance is required, the user may actively initiate a target assistance instruction; the riding equipment can respond to the target power-assisted instruction, and the reference pushing speed of the riding equipment is obtained and used as the upper speed limit of the riding equipment; and controlling the operation of the motor module according to a preset control strategy and the upper limit speed of the riding equipment so as to provide matched power assistance for a user in the process of pushing the riding equipment. Therefore, matched assistance can be provided for the user in time in a scene that the user pushes the riding equipment and additional assistance is needed, so that the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

Referring to fig. 7, an embodiment of the present disclosure provides a method for controlling a riding device, where the method is specifically applied to a terminal device side. In particular implementations, the method may include the following:

s701: receiving and responding to user operation, and generating a target power-assisted instruction aiming at riding equipment;

S702: providing the target assist command to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In some embodiments, when the user finds that the front road condition is a scene that the user needs to push the riding device, such as pushing an uphill road, pushing a road shoulder, or pushing across an obstacle, and additional assistance is needed, the corresponding operation can be performed on the held terminal device, so as to generate a corresponding target assistance instruction for the riding device through the terminal device. See in particular fig. 4.

In some embodiments, the terminal device may establish a bluetooth connection with a riding device currently used by the user, and accordingly, the terminal device may send the target power assisting instruction to the riding device through the bluetooth connection.

In some embodiments, the terminal device may also send the target power assisting instruction to the cloud server first; and the cloud server forwards the target power assisting instruction to the corresponding riding equipment through the network.

In the implementation, the terminal device or the cloud server may send the target power assisting instruction to the T-Box module of the riding device. In some embodiments, the method may further include the following when implemented:

S1: displaying a speed custom interface;

s2: receiving the speed input by the user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment;

S3: and providing the reference pushing speed of the riding device to the riding device.

In some embodiments, referring to fig. 6, while the user operates on the terminal device to generate the target power assisting instruction, the user may also set, by using the terminal device, the reference pushing speed of the riding device matched with the user's own individual according to the walking speed and habit of the user.

Specifically, the terminal device may present a speed customization interface to the user. A default reference push speed may be further presented in the speed customization interface. The default reference pushing speed may specifically be an average value calculated by the cloud server based on historical pushing speeds of a plurality of riding devices, or a current pushing speed acquired by the riding devices. The user may directly choose to confirm the default reference push speed as the reference push speed of the riding device. If the user feels that the default reference pushing speed is not matched with the user, the matched speed meeting the personalized requirements of the user can be input into the input box again to serve as the reference pushing speed of the riding equipment.

Correspondingly, the terminal equipment can acquire the reference pushing speed of the riding equipment which is set by user definition through the express custom interface; and the reference pushing speed of the riding equipment is provided for the riding equipment by directly sending the reference pushing speed to a T-Box module of the riding equipment through Bluetooth connection or by forwarding through a cloud server.

And then can make the equipment of riding with the higher speed of degree of matching with the user, control motor module operation in combination with the control strategy who presets to for the user provides the helping hand of relative more matching in the in-process of pushing the equipment of riding, satisfy user's diversified individual demand, further improve user's use experience.

The embodiment of the specification also provides a terminal device, which comprises a processor and a memory for storing instructions executable by the processor, wherein the processor can execute the following steps according to the instructions when being implemented: receiving and responding to user operation, and generating a target power-assisted instruction aiming at riding equipment; providing the target assist command to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In order to more accurately complete the above instructions, referring to fig. 8, another specific terminal device is provided in this embodiment of the present disclosure, where the terminal device includes a network communication port 801, a processor 802, and a memory 803, and the above structures are connected by an internal cable, so that each structure may perform specific data interaction.

The network communication port 801 may be specifically configured to receive and respond to a user operation, and generate a target power assisting instruction for the riding device.

The processor 802 may be specifically configured to provide the target power assist instruction to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The memory 803 may be used for storing a corresponding program of instructions.

In this embodiment, the network communication port 801 may be a virtual port that binds with different communication protocols, so that different data may be sent or received. For example, the network communication port may be a port responsible for performing web data communication, a port responsible for performing FTP data communication, or a port responsible for performing mail data communication. The network communication port may also be an entity's communication interface or a communication chip. For example, it may be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it may also be a Wifi chip; it may also be a bluetooth chip.

In this embodiment, the processor 802 may be implemented in any suitable manner. For example, a processor may take the form of, for example, a microprocessor or processor, and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application SPECIFIC INTEGRATED Circuits (ASICs), programmable logic controllers, and embedded microcontrollers, among others. The description is not intended to be limiting.

In this embodiment, the memory 803 may include a plurality of layers, and in a digital system, the memory may be any memory as long as it can hold binary data; in an integrated circuit, a circuit with a memory function without a physical form is also called a memory, such as a RAM, a FIFO, etc.; in the system, the storage device in physical form is also called a memory, such as a memory bank, a TF card, and the like.

The embodiments of the present specification also provide a computer storage medium storing computer program instructions that when executed implement the method for controlling a riding device described above: receiving a target power-assisted instruction; and responding to the target power-assisting instruction, and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

The embodiments of the present specification also provide another computer storage medium based on the control method of the above-mentioned riding device, the computer storage medium storing computer program instructions that when executed implement: receiving and responding to user operation, and generating a target power-assisted instruction aiming at riding equipment; providing the target assist command to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In the present embodiment, the storage medium includes, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), a Cache (Cache), a hard disk (HARD DISK DRIVE, HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.

In this embodiment, the functions and effects of the program instructions stored in the computer storage medium may be explained in comparison with other embodiments, and are not described herein.

Referring to fig. 9, on a software level, the embodiment of the present disclosure further provides a control device for a riding device, where the device may specifically include the following structural modules:

The receiving module 901 may be specifically configured to receive a target power assisting instruction;

The control module 902 may specifically be configured to respond to the target power-assisting instruction, and control the motor module to operate according to a preset control policy, so as to provide matched power assistance for a user in the process of pushing the riding device.

In some embodiments, the apparatus may specifically further include a processing module, which may specifically be configured to obtain a reference pushing speed of the riding device; using the reference pushing speed of the riding equipment as the upper limit speed of the riding equipment;

correspondingly, the control module 902 may specifically be configured to control the operation of the motor module according to a preset control strategy and an upper limit speed of the riding device, so as to provide matched assistance for a user in the process of pushing the riding device.

In some embodiments, the target assist command includes at least one of: a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a slope, a target power-assisted instruction initiated by a user in a scene of pushing the riding device up a road shoulder, a target power-assisted instruction initiated by a user in a scene of pushing the riding device across an obstacle, and the like.

In some embodiments, the receiving module 901 may receive the target assist command as follows: receiving a target power-assisted instruction sent by terminal equipment; or receiving a target power-assisted instruction sent by a cloud server; the cloud server receives a target power assisting instruction sent by the terminal equipment and sends the target power assisting instruction to the riding equipment.

In some embodiments, when the control module 903 is specifically implemented, the motor module may be controlled to operate according to a preset control strategy and an upper limit speed of the riding device in the following manner: according to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed high-torque operation mode is an operation mode in which the speed is smaller than or equal to a preset speed threshold value and the torque is larger than or equal to a preset first torque threshold value.

In some embodiments, the control module 903 may be further configured to dynamically adjust an operating current of the motor module to control a speed of the riding device within a preset safe speed range when the control module is implemented; the preset safe speed range is determined according to the upper speed of the riding equipment.

In some embodiments, the control module 903, when implemented, may dynamically adjust the operating current of the motor module to control the speed of the riding device within a preset safe speed range as follows: acquiring pulse change data and current change data; and adjusting the running current of the motor module according to the pulse change data and the current change data.

In some embodiments, the device may be configured to determine, based on the pulse change data and the current change data, an execution result regarding the target assist command when the device is in practice; and sending the execution result to the terminal equipment through a T-Box module.

In some embodiments, after the motor module is controlled to operate according to a preset control strategy and an upper limit speed of the riding device, the device can be further used for detecting whether a mode exit command is received when the device is implemented; and under the condition that the mode exit command is received, controlling the motor module to exit the low-speed high-torque operation mode.

The embodiment of the specification also provides a control device of another riding device, which specifically can comprise the following structural modules: the generation module is particularly used for receiving and responding to user operation and generating a target power-assisted instruction aiming at the riding equipment; the processing module can be used for providing the target power assisting instruction for the riding equipment; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment.

In some embodiments, the apparatus may also be used to present a speed customization interface when embodied; receiving the speed input by the user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment; and providing the reference pushing speed of the riding device to the riding device.

It should be noted that, the units, devices, or modules described in the above embodiments may be implemented by a computer chip or entity, or may be implemented by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when the present description is implemented, the functions of each module may be implemented in the same piece or pieces of software and/or hardware, or a module that implements the same function may be implemented by a plurality of sub-modules or a combination of sub-units, or the like. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

From the above, based on the control device of the riding device provided by the embodiment of the present disclosure, matched assistance can be provided for the user in time in a scene where the user pushes the riding device and additional assistance is needed, so that the user can push the riding device easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

In a specific scene example, the control method of the riding equipment provided by the specification can be applied to adjust the running state of the motor of the electric vehicle in a user-triggered mode, so that the electric vehicle can be automatically matched with different running state modes under different road condition scenes. Therefore, suitable assistance is provided for the conditions of pushing uphill, pushing under road shoulder obstacle and the like, and the speed of the electric vehicle is kept consistent with the walking speed, so that the problem of labor saving of a user when pushing the vehicle under different road conditions is solved, and meanwhile, the pushing safety can be ensured. A specific implementation process may be shown with reference to fig. 10, including the following.

Referring to fig. 10, the whole system is at least built with a T-Box module, a controller (or electronic controller), an electric vehicle with a motor (or motor module), a server (or cloud server), and a handheld mobile terminal (or terminal device).

The controller can control the motor through a communication protocol. The controller can judge the running state of the motor through the motor running signal returned by the motor in real time; and according to the running state of the motor, parameters such as power, torque, speed and the like of the motor can be controlled in real time so as to dynamically adjust the power, torque and speed of the motor. In addition, the controller can also provide the running state of the motor for the T-Box module in real time.

The motor module can acquire motor operation information through a Hall sensor of the motor module, and the controller can detect the motor operation state in real time.

The T-Box module can send the running state information of the motor received from the controller to the mobile terminal or the server through the built-in network or the Bluetooth connection and other media, and is used for checking and monitoring the running state of the motor in real time. Meanwhile, the T-Box module can also send the instruction received from the server or the terminal to the controller through a hardware communication protocol, and then the instruction is sent to the motor through the controller, so that the mobile terminal or the server can adjust the running state of the motor.

The handheld mobile terminal can support the user to actively send out a command, allow the user to send out a corresponding command under a special road condition scene, finally send the command to the controller through the server or the T-Box module, and control the motor to operate under a corresponding mode state (for example, a low-speed high-torque operation mode).

The server and the mobile terminal held by the user can perform data interaction with the T-Box module. Specifically, the service end and the mobile terminal can collect the running state of the motor through the T-Box module, and analyze the running state of the motor and specific road condition scenes through technologies such as big data.

Taking the example of road shoulder crossing, the system can specifically operate in the following manner:

s1: the user can send a control instruction through a mobile terminal such as a mobile phone, for example, a "road shoulder mode" instruction (target power assisting instruction), and the instruction can be forwarded to a T-Box module (hereinafter abbreviated as T-Box) through a server side of a network, or can be directly sent to the T-Box through bluetooth. The T-Box of the electric vehicle is in butt joint with the handheld mobile terminal and/or the server in advance to ensure smooth sending, receiving and identifying of the instruction.

S2: the T-Box receives the instruction and sends the instruction to the controller via a hardware communication protocol (e.g., RS485, can protocol, etc.).

S3: the controller receives the command and sends the command to the motor via the motor control bus.

S4: the motor module receives the instruction and starts to execute the road shoulder mode instruction. Specifically, the speed of the electric vehicle can be matched to the walking speed (for example, about 4 km/h), and meanwhile, the power of the motor is increased (the electric vehicle enters a low-speed high-torque running mode) so as to help the electric vehicle climb a road shoulder or cross an obstacle and the like, and meanwhile, the danger caused by the too high speed of the electric vehicle can be avoided.

Specifically, after the instruction is executed, the running state of the motor can be changed, and under the running mode of low speed and large torque, the controller can judge the executing result of the motor through pulse change, running current change and the like of a Hall sensor on the motor; synchronously transmitting the execution result back to the controller through a communication protocol; and finally, the controller returns the execution result and the running state of the motor to the mobile terminal such as a mobile phone and the like through the T-Box.

Specifically, under the running mode of low speed and large torque, the climbing force of the electric vehicle can be effectively increased, so that the electric vehicle can smoothly cross road shoulders or climb slopes; meanwhile, the speed of the electric vehicle is limited in the mode, so that the electric vehicle still keeps stable speed in the mode, accidents such as vehicle fleeing and the like caused by road shoulder crossing are avoided, and the pushing safety of a user is protected.

Through the scene example, the control method of the riding equipment provided by the specification is verified to be capable of responding to the target power-assisting instruction initiated by the user in time in the scene that the user pushes the riding equipment and additional power assistance is needed, so that matched power assistance can be provided for the user, the user can push the riding equipment easily and conveniently, and the operation difficulty of the user in the scene is reduced; meanwhile, accidents such as vehicle shifting and the like can be effectively avoided, the pushing safety of a user is protected, and the user obtains better use experience.

Although the present description provides method operational steps as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an apparatus or client product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment). The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element. The terms first, second, etc. are used to denote a name, but not any particular order.

Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller can be regarded as a hardware component, and means for implementing various functions included therein can also be regarded as a structure within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

From the above description of embodiments, it will be apparent to those skilled in the art that the present description may be implemented in software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present specification may be embodied essentially in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and include several instructions to cause a computer device (which may be a personal computer, a mobile terminal, a server, or a network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments of the present specification.

Various embodiments in this specification are described in a progressive manner, and identical or similar parts are all provided for each embodiment, each embodiment focusing on differences from other embodiments. The specification is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

Although the present specification has been described by way of example, it will be appreciated by those skilled in the art that there are many variations and modifications to the specification without departing from the spirit of the specification, and it is intended that the appended claims encompass such variations and modifications as do not depart from the spirit of the specification.

Claims

1. A control method of a riding device, characterized by being applied to the riding device, comprising:

receiving a target power-assisted instruction; the target power assisting instruction is instruction data initiated under a road condition that pushing riding equipment is faced and additional power assisting is needed;

Responding to the target power-assisting instruction, and controlling the operation of the motor module according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment; the preset control strategies comprise a plurality of preset control strategies corresponding to various scene types respectively; the scene type includes at least one of: a scene of pushing the riding equipment to ascend, a scene of pushing the riding equipment to ascend a road shoulder, and a scene of pushing the riding equipment to cross an obstacle; correspondingly, the controlling the operation of the motor module according to the preset control strategy comprises the following steps: determining and utilizing preset control strategies matched with the current scene type from a plurality of preset control strategies to control the operation of the motor module;

the preset control strategy is constructed by collecting and utilizing historical pushing records of a plurality of riding devices, distinguishing different scene types and performing grouping learning.

2. The method of claim 1, wherein controlling operation of the motor module in response to the target assist command according to a preset control strategy comprises:

Acquiring a reference pushing speed of riding equipment;

Using the reference pushing speed of the riding equipment as the upper limit speed of the riding equipment;

and controlling the operation of the motor module according to the preset control strategy and the upper limit speed of the riding equipment.

3. The method of claim 2, wherein controlling operation of the motor module according to the preset control strategy and an upper speed limit of the riding device comprises:

According to a preset control strategy and the upper limit speed of the riding equipment, increasing the running current of the motor module to increase the power and the torque of the motor module, so that the motor module enters a low-speed high-torque running mode; the low-speed high-torque operation mode is an operation mode in which the speed is smaller than or equal to a preset speed threshold value and the torque is larger than or equal to a preset first torque threshold value.

4. A method according to claim 3, characterized in that the method further comprises:

dynamically adjusting the running current of the motor module to control the speed of the riding equipment within a preset safe speed range; the preset safe speed range is determined according to the upper speed of the riding equipment.

5. The method of claim 4, wherein dynamically adjusting the operating current of the motor module to control the speed of the riding device within a preset safe speed range comprises:

Acquiring pulse change data and current change data;

And adjusting the running current of the motor module according to the pulse change data and the current change data.

6. The method of claim 5, wherein the method further comprises:

Determining an execution result of the target power assisting command according to the pulse change data and the current change data;

And sending the execution result to the terminal equipment.

7. The method of claim 1, wherein the receiving the target assist command comprises:

Receiving a target power-assisted instruction sent by terminal equipment;

Or alternatively, the first and second heat exchangers may be,

Receiving a target power-assisted instruction sent by a cloud server; the cloud server receives a target power assisting instruction sent by the terminal equipment and sends the target power assisting instruction to the riding equipment.

8. The method of claim 2, wherein after controlling operation of the motor module according to a preset control strategy, the method further comprises:

Detecting whether a mode exit instruction is received;

And under the condition that the mode exit command is received, controlling the motor module to exit the low-speed high-torque operation mode.

9. A control method of a riding device, characterized by being applied to a terminal device, comprising:

Receiving and responding to user operation, and generating a target power-assisted instruction aiming at riding equipment; the target power assisting instruction is instruction data initiated under a road condition that pushing riding equipment is faced and additional power assisting is needed;

Providing the target assist command to the riding device; the riding equipment responds to the target power-assisting instruction, and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment; the preset control strategies comprise a plurality of preset control strategies corresponding to various scene types respectively; the scene type includes at least one of: a scene of pushing the riding equipment to ascend, a scene of pushing the riding equipment to ascend a road shoulder, and a scene of pushing the riding equipment to cross an obstacle; correspondingly, the riding device determines from a plurality of preset control strategies and controls the operation of the motor module by utilizing the preset control strategy matched with the current scene type;

10. The method according to claim 9, wherein the method further comprises:

Displaying a speed custom interface;

receiving the speed input by the user through the speed custom interface, and taking the speed as the reference pushing speed of the riding equipment;

and providing the reference pushing speed of the riding device to the riding device.

11. A control device for a riding apparatus, comprising:

The receiving module is used for receiving the target power-assisted instruction; the target power assisting instruction is instruction data initiated under a road condition that pushing riding equipment is faced and additional power assisting is needed;

The control module is used for responding to the target power-assisting instruction and controlling the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment; the preset control strategies comprise a plurality of preset control strategies corresponding to various scene types respectively; the scene type includes at least one of: a scene of pushing the riding equipment to ascend, a scene of pushing the riding equipment to ascend a road shoulder, and a scene of pushing the riding equipment to cross an obstacle; correspondingly, the control module determines from a plurality of preset control strategies and controls the operation of the motor module by utilizing the preset control strategy matched with the current scene type;

12. A riding device comprising at least: a T-Box module, a motor module and a controller, wherein,

The T-Box module receives a target power-assisted instruction; the target power assisting instruction is instruction data initiated under a road condition that pushing riding equipment is faced and additional power assisting is needed;

The controller responds to the target power-assisting instruction and controls the motor module to operate according to a preset control strategy so as to provide matched power assistance for a user in the process of pushing the riding equipment; the preset control strategies comprise a plurality of preset control strategies corresponding to various scene types respectively; the scene type includes at least one of: a scene of pushing the riding equipment to ascend, a scene of pushing the riding equipment to ascend a road shoulder, and a scene of pushing the riding equipment to cross an obstacle; correspondingly, the controller determines from a plurality of preset control strategies and controls the operation of the motor module by utilizing the preset control strategy matched with the current scene type;

13. A terminal device comprising a processor and a memory for storing processor-executable instructions, which processor, when executing the instructions, implements the steps of the method of any one of claims 9 to 10.

14. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any of claims 1 to 8, or 9 to 10.