CN119636986A - Automatic speed changing method and device for bicycle, terminal equipment and storage medium - Google Patents

Abstract

The application is suitable for the technical field of wireless electronic speed change of bicycles, and provides an automatic speed change method, a device, terminal equipment and a storage medium of a bicycle, which comprise the following steps: firstly, acquiring fuzzy control parameters, wherein the fuzzy control parameters comprise pedal frequency, previous speed change time and speed pedal frequency ratio, then, carrying out fuzzy reasoning on the fuzzy control parameters to acquire a gear shift result, and then, controlling the bicycle according to the gear shift result. Therefore, the decision is realized by the multidimensional parameter, the full-automatic speed change is realized by only depending on an externally added speed pedal frequency device, and the universality of a speed change system is improved.

Description

Automatic speed changing method and device for bicycle, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of wireless electronic speed change of bicycles, and particularly relates to an automatic speed change method and device of a bicycle, terminal equipment and a storage medium.

Background

Conventional mechanical transmission systems have the advantages of reliability and cost effectiveness, but are low in degree of intelligence and humanization, require a driver to have a rich shift experience, and require periodic adjustment to maintain optimal performance. With the development of technology, electronic transmission systems have evolved to provide a more accurate, faster shift experience and reduced chain wear. However, electronic transmission systems on the market are expensive and difficult to popularize. In addition, although the existing electronic speed changing system realizes basic speed changing function, the aspects of intellectualization, automation and user experience still need to be improved.

The existing intelligent automatic speed change scheme depends on an expensive vehicle-mounted moment detection assembly and a precise vehicle-mounted gyroscope, and meanwhile, the intelligent automatic speed change scheme also needs assistance of a pedal frequency and speed measurement device, so that the intelligent automatic speed change scheme can only be applied to electric power-assisted bicycles, and the popularization degree of the intelligent automatic speed change scheme is greatly limited.

Disclosure of Invention

The embodiment of the application provides an automatic speed change method, an automatic speed change device, terminal equipment and a storage medium of a bicycle, which can solve the problem of low popularity caused by the fact that the existing intelligent automatic speed change scheme depends on an expensive vehicle-mounted moment detection component and a precise vehicle-mounted gyroscope.

In a first aspect, an embodiment of the present application provides an automatic speed change method for a bicycle, including obtaining a fuzzy control parameter, where the fuzzy control parameter includes a pedal frequency, a previous speed change time, and a speed pedal frequency ratio, performing fuzzy reasoning on the fuzzy control parameter to obtain a shift result, and controlling the bicycle according to the shift result.

In a possible implementation manner of the first aspect, the performing fuzzy reasoning on the fuzzy control parameter to obtain a shift result includes:

Obtaining the membership of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter;

and obtaining a gear shifting result according to the membership degree of each fuzzy control parameter and a plurality of preset control rules.

Alternatively, in another possible implementation manner of the first aspect, the preset control rules include that the shift result is unchanged when the previous shift time is a non-shift, that the previous shift time is a shift, that the speed step-in ratio is a non-upshift, that the step-in ratio is a non-shift, that the shift result is a downshift, that the previous shift time is a shift, that the speed step-in ratio is a non-upshift, that the step-in ratio is a non-shift, that the step-in ratio is a non-upshift, that the step-in ratio is an upshift, that the shift result is an upshift, that the previous shift time is a shift, that the speed step-in ratio is an upshift, that the step-in ratio is a downshift, that the shift result is an upshift, that the previous shift time is a shift, that the speed step-in ratio is an upshift, that the step-in ratio is a non-shift, that the step-in ratio is an upshift, and that the step-in ratio is an upshift.

Optionally, in another possible implementation manner of the first aspect, the obtaining a shift result according to the membership degree of each fuzzy control parameter and a plurality of preset control rules includes:

substituting membership degree of each fuzzy control parameter into a plurality of preset control rules respectively to generate corresponding activation of each control rule;

and determining a control rule corresponding to the maximum activation degree, and determining a shift result corresponding to the control rule as a shift result.

Alternatively, in another possible implementation manner of the first aspect, the shift result is determined as unchanged when there are a plurality of maximum degrees of activation.

Alternatively, in another possible implementation manner of the first aspect, when the shift result is an upshift or a downshift, the previous shift time is reset to zero and timing is restarted.

In a second aspect, an embodiment of the application provides an automatic speed change device of a bicycle, which comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring fuzzy control parameters, the fuzzy control parameters comprise pedal frequency, previous speed change time and speed pedal frequency ratio, the second acquisition module is used for carrying out fuzzy reasoning on the fuzzy control parameters to acquire a gear change result, and the control module is used for controlling the bicycle according to the gear change result.

In a third aspect, embodiments of the present application provide a bicycle comprising an automatic transmission, a speed pedal, a front-to-rear shift receiving actuator, and a bicycle body structure of the bicycle.

In a fourth aspect, an embodiment of the present application provides a terminal device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements an automatic shifting method of a bicycle as described above when executing the computer program.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements an automatic shifting method of a bicycle as previously described.

According to the technical scheme, fuzzy control parameters are acquired firstly, the fuzzy control parameters comprise pedal frequency, previous speed change time and speed pedal frequency ratio, fuzzy reasoning is carried out on the fuzzy control parameters, a gear shift result is acquired, and then the bicycle is controlled according to the gear shift result. Therefore, the decision is realized by the multidimensional parameter, the full-automatic speed change is realized by only depending on an externally added speed pedal frequency device, and the universality of a speed change system is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating an automatic shifting method of a bicycle according to an embodiment of the present application;

FIG. 2 is a schematic diagram of membership functions corresponding to pedal frequency according to an embodiment of the present application;

FIG. 3 is a chart illustrating membership functions corresponding to previous shift times according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a membership function corresponding to a step-on-step ratio according to an embodiment of the present application;

FIG. 5 is a schematic view of an automatic transmission for a bicycle in accordance with an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The automatic shifting method, apparatus, bicycle, terminal device and storage medium for a bicycle according to the present application will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an automatic speed changing method of a bicycle according to an embodiment of the present application.

As shown in fig. 1, the automatic speed changing method of the bicycle includes the steps of:

step 101, obtaining fuzzy control parameters, wherein the fuzzy control parameters comprise pedal frequency, previous speed change time and speed pedal frequency ratio.

The speed pedal frequency ratio (the physical meaning is the ratio of the number of turns of the rear wheel to the current gear ratio when the rear wheel is pedal for one circle) is calculated through the speed and the pedal frequency.

In the embodiment of the present application, the "pedal frequency", "previous shift time", "speed pedal frequency ratio" is selected as input, and the "shift result" is selected as output. The speed step frequency is measured by a speed step frequency device by using a Hall sensing principle and is stored in a flash of a development board chip, the speed step frequency ratio is obtained by calculating parameters such as the measured step frequency and the gear ratio of the current gear, and the previous speed change time is measured by a timer carried by the development board chip, so that the time interval from the last gear change is measured.

And 102, performing fuzzy reasoning on fuzzy control parameters to obtain a gear shifting result.

Further, in an embodiment of the present application, the step 102 includes:

step 1021, obtaining the membership degree of each fuzzy control parameter through the membership degree function corresponding to each fuzzy control parameter.

In an embodiment of the present application, membership functions corresponding to the pedal frequency, the previous gear shift time and the speed pedal frequency ratio are shown in fig. 2, fig. 3 and fig. 4, respectively.

Step 1022, obtaining a gear shift result according to the membership degree of each fuzzy control parameter and a plurality of preset control rules.

The preset control rules may include that the shift result is unchanged when the previous shift time is not shift, that the shift result is upshift when the previous shift time is shift, that the speed/step ratio is not upshift, that the step frequency is downshift, that the shift result is downshift, that the previous shift time is shift, that the speed/step ratio is not upshift, that the step frequency is not change, that the shift result is unchanged, that the shift result is upshift when the previous shift time is shift, that the speed/step ratio is not upshift, that the step frequency is upshift, that the shift result is upshift, that the previous shift time is shift, that the speed/step ratio is upshift, that the step frequency is downshift, that the shift result is upshift, that the previous shift time is shift, that the speed/step ratio is upshift, and that the step frequency is upshift.

Further, in an embodiment of the present application, the step 1022 further includes:

substituting membership degree of each fuzzy control parameter into a plurality of preset control rules respectively to generate corresponding activation of each control rule;

and determining a control rule corresponding to the maximum activation degree, and determining a shift result corresponding to the control rule as a shift result.

Alternatively, in an embodiment of the present application, F indicates that the shift result is a recommended downshift, S indicates that the shift result is a recommended constant shift, and R indicates that the shift result is a recommended upshift. From this, it can be seen that there are 12 cases in total (3 steps for the step frequency, 2 steps for the previous shift time, 2 steps for the step frequency ratio, 3×2×2=12 in total), and three categories are recommended up-shift, down-shift, and unchanged. Since the final output of the system is fuzzy (upshift, downshift, unchanged), the step of anti-fuzzy in the traditional fuzzy control can be omitted, but the concept of 'maximum membership function method' is used. It follows that the last output decision must occur where the membership function value (ordinate) takes the maximum value. Therefore, according to the traditional method, after the maximum value of the similar conditions is obtained, the magnitude relation among the maximum values of the three conditions is directly compared, and the maximum value corresponding condition is output as a gear shifting result.

As one possible implementation, the shift result is determined to be unchanged when there are a plurality of maximum degrees of activation. If the corresponding maximum values of two or more kinds of cases are equal, the output gear shifting result is uniformly 'recommended unchanged' in view of actual riding safety "

When the shift result is an upshift or a downshift, the previous shift time is reset to zero and the timer is restarted. The gear shifting result output by the fuzzy control program is transmitted to the post-shifting program, and the post-shifting processing is calculated to directly control the steering engine to execute gear lifting or keep unchanged. If the result is an upshift or a downshift, the result is fed back to the counting program for calculating the "last shift time", and the counting is refreshed and restarted.

Step 103, controlling the bicycle according to the shift result.

The control of the bicycle according to the shift result is performed only at the moment when the crank of the bicycle is level with the ground, and this position is also a position most suitable for shifting in a general sense. The shift decision will control the front and rear bicycle shift receiving actuators to change among the overall gear positions of the full synchronous mode described above to traverse the minimum and maximum gear ratios achievable by the transmission system.

The application provides an automatic speed changing method of a bicycle, which is characterized in that a speed pedal frequency ratio and the previous speed changing time are calculated in a development board through speed and pedal frequency information measured by a speed pedal frequency device. The method comprises the steps of presetting a pedal frequency, a speed pedal frequency ratio, a previous speed change time and a membership function and control rule of a gear change signal, taking the pedal frequency, the speed pedal frequency ratio and the previous speed change time as fuzzy input, carrying out fuzzy reasoning by using a Mamdani reasoning method according to the set 7 control rules, calculating the maximum membership function combination, finding a fuzzy output value corresponding to the maximum membership function value, and directly taking the fuzzy output value as a gear change result without defuzzification. The gear shifting signal is directly used for controlling the steering engine to switch gears by the development board. Therefore, the decision is realized by the multidimensional parameter, the full-automatic speed change is realized by only depending on an externally added speed pedal frequency device, and the universality of a speed change system is improved.

As a possible implementation manner, in an embodiment of the present application, when the bicycle is running smoothly and normally on a flat road, the pedal frequency is maintained at a moderate state, the speed pedal frequency ratio is about 1, and the algorithm outputs a constant gear decision. When the bicycle starts from rest, the pedal frequency is slowly increased from 0, the algorithm identifies the starting behavior and properly outputs a downshift instruction, so that the bicycle is convenient to start. When the rider does not slide on a flat road or a downhill slope in a power-free manner or does not perform full-force pedaling, the speed-to-pedal frequency ratio is higher than 1, and the algorithm selects upshifting or unchanged according to the current pedal frequency. When a rider suddenly enters an ascending slope from a flat road, the stepping frequency of the rider naturally drops due to the increase of resistance, and the algorithm makes a downshift decision. After the downshift, the algorithm will make a shift decision based on the previous shift interval because the rider's pedaling frequency will not immediately rise. If the rider does not reduce the own pedal frequency when ascending a slope or suddenly increases the own pedal frequency on a level road to accelerate, the algorithm will make non-speed change and upshift decisions respectively according to the rider's own will.

The above conditions are all algorithm decisions under ideal conditions, the specific response of the algorithm is determined by three parameters of the pedal frequency, the speed pedal frequency ratio and the previous speed change time, and the algorithm carries out fuzzy decisions according to the calculated gear change probability in some intermediate states. Specific response modes, namely membership functions of three variables, can be packaged into multiple sets of specialized speed change trends, such as fluctuation road specification type, ping Lute type, long slope specification type, soil road specification type and the like, and user definition is carried out through APP. It should be noted that the above case is merely exemplary.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Corresponding to the automatic shifting method of the bicycle of the above embodiments, fig. 5 shows a block diagram of the automatic shifting apparatus of the bicycle provided by the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiment of the present application are shown.

Referring to fig. 5, the apparatus 500 includes:

A first obtaining module 501, configured to obtain fuzzy control parameters, where the fuzzy control parameters include a step frequency, a previous variable time, and a speed step frequency ratio;

the second obtaining module 502 is configured to perform fuzzy reasoning on the fuzzy control parameter to obtain a shift result;

a control module 503 for controlling the bicycle according to the shift result.

In actual use, the automatic transmission device of a bicycle provided by the embodiment of the application can be configured in any terminal equipment to execute the automatic transmission method.

The automatic speed variator for bicycle includes fuzzy control parameters including pedal frequency, previous speed change time and speed pedal frequency ratio, fuzzy reasoning to obtain shift result, and controlling bicycle based on the shift result. Therefore, the decision is realized by the multidimensional parameter, the full-automatic speed change is realized by only depending on an externally added speed pedal frequency device, and the universality of a speed change system is improved.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In order to achieve the above-described embodiments, the present application also proposes a bicycle comprising an automatic transmission device for a bicycle, a speed pedal, a front-rear shift receiving actuator, and a bicycle body structure, the automatic transmission device performing the aforementioned automatic transmission method.

In order to realize the embodiment, the application further provides terminal equipment.

Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

As shown in fig. 6, the terminal apparatus 200 includes:

The automatic speed changing method for the bicycle according to the embodiment of the present application is implemented by the memory 210 and at least one processor 220, and a bus 230 connecting different components (including the memory 210 and the processor 220), wherein the memory 210 stores a computer program, and the processor 220 executes the program.

Bus 230 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Terminal device 200 typically includes a variety of electronic device readable media. Such media can be any available media that is accessible by terminal device 200 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 210 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 240 and/or cache memory 250. Terminal device 200 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 260 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard disk drive"). Although not shown in fig. 6, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 230 via one or more data medium interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the application.

Program/utility 280 having a set (at least one) of program modules 270 may be stored in, for example, memory 210, such program modules 270 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 270 generally perform the functions and/or methods of the embodiments described herein.

Terminal device 200 can also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), one or more devices that enable a user to interact with the terminal device 200, and/or any device (e.g., network card, modem, etc.) that enables the terminal device 200 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 292. Also, terminal device 200 can communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, via network adapter 293. As shown, network adapter 293 communicates with other modules of terminal device 200 over bus 230. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with terminal device 200, including, but not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

The processor 220 executes various functional applications and data processing by running programs stored in the memory 210.

It should be noted that, the implementation process and the technical principle of the terminal device in this embodiment refer to the foregoing explanation of the automatic speed changing method of the bicycle in the embodiment of the present application, and are not repeated herein.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product enabling a terminal device to carry out the steps of the method embodiments described above when the computer program product is run on the terminal device.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above-described embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiments described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least any entity or device capable of carrying computer program code to a camera device/terminal equipment, a recording medium, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The foregoing embodiments are merely illustrative of the technical solutions of the present application, and not restrictive, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A method for automatically shifting a bicycle, comprising: Acquiring fuzzy control parameters, wherein the fuzzy control parameters include cadence, last speed change time, and speed-to-cadence ratio; Performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shift result; The bicycle is controlled according to the gear shifting result. 2. The method according to claim 2, characterized in that the step of performing fuzzy reasoning on the fuzzy control parameters to obtain the gear shift result comprises: Obtaining the membership of each fuzzy control parameter through the membership function corresponding to each fuzzy control parameter; The gear shift result is obtained according to the membership degree of each fuzzy control parameter and a plurality of preset control rules. 3. The method as claimed in claim 2 is characterized in that the preset multiple control rules include: if the previous speed change time is no speed change, the gear change result is unchanged; if the previous speed change time is speed change, the speed-cadence ratio is no upshift, and the cadence is downshift, the gear change result is downshift; if the previous speed change time is speed change, the speed-cadence ratio is no upshift, and the cadence is unchanged, the gear change result is unchanged; if the previous speed change time is speed change, the speed-cadence ratio is no upshift, and the cadence is upshift, the gear change result is upshift; if the previous speed change time is speed change, the speed-cadence ratio is no upshift, and the cadence is upshift, the gear change result is unchanged; if the previous speed change time is speed change, the speed-cadence ratio is upshift, and the cadence is downshift, the gear change result is unchanged; if the previous speed change time is speed change, the speed-cadence ratio is upshift, and the cadence is unchanged, the gear change result is upshift; if the previous speed change time is speed change, the speed-cadence ratio is upshift, and the cadence is unchanged, the gear change result is upshift; 4. The method according to claim 3, characterized in that the step of obtaining the gear shift result according to the degree of membership of each fuzzy control parameter and a plurality of preset control rules comprises: Substituting the membership degree of each of the fuzzy control parameters into the preset multiple control rules respectively to generate the activation degree corresponding to each control rule; A control rule corresponding to the maximum activation degree is determined, and a gear shift result corresponding to the control rule is determined as the gear shift result. 5 . The method according to claim 4 , wherein when there are multiple maximum activation degrees, the shift result is determined to be unchanged. 6. The method according to claim 4, characterized in that when the gear shift result is an upshift or a downshift, the previous gear shift time is reset to zero and the timing is restarted. 7. An automatic transmission device for a bicycle, comprising: A first acquisition module, used for acquiring fuzzy control parameters, wherein the fuzzy control parameters include cadence, last speed change time and speed-cadence ratio; A second acquisition module, used for performing fuzzy reasoning on the fuzzy control parameters to obtain a gear shift result; A control module is used to control the bicycle according to the gear shifting result. 8. A bicycle comprising the automatic transmission device for a bicycle according to claim 7, a speed cadence meter, front and rear speed change receiving actuators and a bicycle body structure. 9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the computer program. 10. A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 6 when executed by a processor.