JP2008044409A - Power-assisted bicycle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a power-assisted bicycle for changing motion load strength by adding an operator's feeling, when using for increasing physical strength, in the power-assisted bicycle having an assisting function. <P>SOLUTION: This power-assisted bicycle uses manpower driving force by stepping force of the operator and assisting force of a motor for assisting travel and generating electric power. The power-assisted bicycle is characterized by having a pedal, a stepping force detecting part for detecting the stepping force applied to the pedal, a biological information detecting part having a sensor for detecting biological information on the operator, and a control part having a feeling estimating part for estimating the feeling of the operator from information by calculating the information on two factors in the comfortable axis direction and the awakening axis direction from a detecting result of the biological information detecting part and controlling the assisting force of the motor or controlling whether or not to use the motor as a generator, based on a determining result of whether or not the estimated feeling is included in a predetermined range and a detecting result of the stepping force detecting part. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric bicycle, and is particularly suitable when the electric bicycle is used as a health device that can change the exercise load intensity and the like by estimating the operator's senses.

  Recently, an electric bicycle equipped with an electric motor and reducing the intensity of exercise load (hereinafter referred to as exercise load intensity) by, for example, ½ by an assist force from the electric motor in the case of climbing or the like has been used. It is becoming.

On the other hand, the idea of using an electric bicycle having the auxiliary function for increasing physical strength by increasing the exercise load intensity to the operator has also been proposed (Patent Document 1). In the electric bicycle, increase / decrease in exercise load intensity is controlled according to information such as the heart rate of the operator.
Patent No. 3086475

  However, when the electric bicycle having the auxiliary function is used for physical strength enhancement, according to the conventional technique, it is possible to control the increase / decrease of the exercise load intensity according to the information such as the heart rate of the operator. The increase / decrease of the exercise load intensity cannot be controlled in consideration of the psychological state of the operator (hereinafter referred to as the operator's feeling). Depending on the condition of the operator, effective aerobic exercise may not be performed, and an electric bicycle that takes into account the operator's feeling has been desired.

  Therefore, an object of the present invention is to provide an electric bicycle that changes the exercise load intensity in consideration of an operator's sense when used to increase physical strength in an electric bicycle having an auxiliary function.

  The electric bicycle according to the present invention is an electric bicycle that can be run while controlling the exercise load intensity by adding the assisting force of a motor that assists the manpower driving force to the manpower driving force by the stepping force of the operator. From the detection results of the pedal, the pedaling force detection unit that detects the pedaling force applied to the pedal, the biological information detection unit that detects the biological information of the operator, and the detection result of the biological information detection unit, Information about two factors of the comfortable axis direction and the wakefulness axis direction, and having a sensory estimator that estimates the operator's sensation from the information, the estimated sensation and the detection result of the pedaling force detector And a control unit that controls the exercise load intensity by controlling the auxiliary force of the motor.

  The control of the exercise load intensity performed by the control unit includes control of the load applied to the human driving force by using the motor as a generator in addition to the control of the auxiliary force to the human driving force by the motor. But you can.

  In the electric bicycle, the sensor may be at least one of a sensor that detects an electrocardiogram as biometric information, or a sensor that detects a pulse, skin temperature, and skin electrical reflection.

  In addition, the sensor is a sensor that detects a cardiac potential as biological information, and the control unit is configured to determine a time interval characteristic of a peak interval of each maximum value portion R of the operator's cardiac potential waveform within a predetermined period. Calculating a power value at a predetermined frequency value calculated from a change gradient of the peak interval and a result of frequency analysis, and calculating a comfort level C and a wakefulness level A relating to two factors of the comfortable axis direction and the wakefulness axis direction, For the first threshold value Lc in the comfort axis direction and the second threshold value La in the wakefulness axis direction and the third threshold value H that is larger than the second threshold value, the comfort level C is the first threshold value. When it is less than Lc, the exercise load intensity is weakened. When the arousal level A is less than the second threshold value La, the exercise load intensity is increased. When the arousal level A exceeds the third threshold value H, the exercise load intensity is reduced. 2 factor control to weaken Good.

  In the electric bicycle, a mode in which the assisting force to the operator is reduced as time elapses, a mode in which the assisting force to the operator is maintained constant, and the operation to the operator as time elapses. A mode for increasing the auxiliary force, and each mode has at least a strong and a weak exercise load intensity. In each mode, as a result of the two-factor control of the control unit, In addition, a strong / weak switching unit that switches between strong and weak exercise load intensity may be provided.

  According to the present invention, in an electric bicycle having an auxiliary function, it is possible to provide an electric bicycle that changes the exercise load intensity in consideration of an operator's sense when used for physical strength enhancement.

  The significance or effect of the present invention will become more apparent from the following description of embodiments.

  However, the following embodiment is merely one embodiment of the present invention, and the meaning of the term of the present invention or each constituent element is not limited to that described in the following embodiment. Absent.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, FIG. 1 shows a schematic diagram of a configuration of an electric bicycle 100 according to the embodiment. FIG. 2 is a functional block diagram of the control system of the electric bicycle 100.

  According to the figure, an electric bicycle 100 includes a pedal 1 that an operator riding on the bicycle steps on to obtain a propulsive force, a pedaling force detection unit 2 that detects the pedaling force of the operator applied to the pedal, a front wheel 8, and a rear wheel. The driving wheel 7, the electric assisting / generating motor 3, a handle, a saddle, and the like are included. The battery 4 is connected to the motor 3, serves as a power source when the motor 3 assists the operator's stepping force, and is an object of power storage during power generation. FIG. 1 illustrates the case where the motor 3 is mounted on the rear wheel.

  Reference numeral 5 denotes a sensor (biological information detection unit) that detects the biological information of the operator, and the detection result is input to the sensory estimation unit 6A. As will be described later, the sensory estimation unit 6A calculates information on two factors of the comfortable axis direction and the wakefulness axis direction in the operator's sense from the detection result of the sensor, and estimates the operator's sense from the information. .

  The control unit 6 includes a sensory estimation unit 6A and a controller 6B. The controller 6B is a controller that controls the motor 3 and controls the exercise load intensity by controlling the assisting force of the motor 3 based on the estimated operator's sense and the detection result of the pedaling force detection unit 2. . Note that the control includes control of a load applied to the human driving force by using the motor as a generator. In this case, the assisting force is a force (loading force) that imposes a load on the operator. These will be described in detail later.

  The control unit 6 includes a CPU, a memory, and the like, and performs other calculations, control, determination, and the like in addition to the above.

  The pedaling force detector 2 uses a force sensor such as a magnetostrictive element. Although FIG. 1 illustrates the case where the pedal is mounted at the position of the pedal receiving shaft and detects the pedaling force of the operator, the position of the pedaling force detection unit 2 is not limited thereto.

  Only one motor 3 is mounted on the electric bicycle 100, and functions as a drive machine when used for electric assistance, and as a generator when used for power generation. When going uphill, it is used as a drive machine to reduce the burden on the operator, and when going downhill, it is used as a generator from the viewpoint of effective use of the kinetic energy of the downhill and the braking effect. In addition, when used for physical strength enhancement (hereinafter referred to as training) as described later, it may be used as a generator in cases where it should be used as a drive unit in order to impose an exercise load on the operator. . FIG. 2 clearly shows that the motor 3 has the two functions.

  The sensor 5 represents at least one of sensors that detect at least a pulse, a heartbeat, a cardiac potential, a skin temperature, and a skin electrical reflection as biological information. In the following examples and the like, the distinction of the sensor is clearly indicated depending on the case. In FIG. 1 and FIG. 2, it is clearly shown as an electrocardiographic sensor. The electrocardiogram is measured from the palms of both hands of the operator using electrocardiogram sensors (two or more electrodes) attached to the handle / grip.

  The electric bicycle 100 according to the present embodiment uses the assisting force and the load force of the motor that performs the assisting of the manpower driving and the power generation for the manpower driving force by the pedaling force of the operator using the pedal 1 and the chain as described above. In addition, it is an electric bicycle that can be run while controlling the exercise load intensity for the operator. Furthermore, the electric bicycle 100 has not only an auxiliary function for the operator but also a training function that can be used to improve physical fitness. In this training, the operator's sense is estimated and taken into account. It has a function to change exercise load intensity.

  Next, the above-described two factors of the comfortable axis direction and the awakening axis direction and the sensory estimation of the operator will be described.

  In psychology, a two-factor approach of a comfortable axis direction (pleasant-unpleasant) and an arousal axis direction (excited [arousal level high] -sedation [low arousal level]) is known as a sensory expression method. For example, comfort includes relaxed comfort (sedated state) and exhilarating comfort (excited state), and discomfort is boring discomfort (sedated state) and frustrating. As with discomfort (excited state), there is a qualitative difference between comfort and discomfort. Psychological research to date has found that human sensation can be estimated with greater accuracy by focusing on this qualitative difference (“Objective measurement and evaluation of comfort” measurement and control 41 (10), 696-701 2002 Yoshiyuki Yoshida).

  In the following, an example of an electric bicycle that changes the exercise load intensity by estimating the operator's feeling and taking the estimation result into consideration when using an electric bicycle having an auxiliary function for training will be described. . Specifically, two examples using different biological information are given, and a specific method for estimating an operator's sense and a method for controlling the motor 3 for changing the exercise load intensity will be described.

  The electric bicycle 100 according to the present embodiment has a warm-up mode in which the assisting force to the operator is reduced as time passes or a load is applied to the operator using a motor as a generator, and the assisting to the operator An aerobic exercise mode in which aerobic exercise is performed to impose an exercise load equivalent to 60 to 70% of the maximum oxygen intake, and to the operator as time passes. There are three modes of cooling down mode to increase the auxiliary power or stop using the motor as a generator, each mode has three exercise load strengths of strong, middle and weak Yes. The aerobic exercise mode is an example of a mode in which the assisting force to the operator is kept constant, and the mode in which the assisting force to the operator is kept constant is not limited to the aerobic exercise mode. The controller 6B includes a strength switching unit 6C that switches exercise load intensity in each mode.

  In the present embodiment, as a specific example, attention is paid to a waveform of an electrocardiogram affected by an autonomic nervous system including a sympathetic nervous system and a parasympathetic nervous system that change according to a human sense. That is, in this embodiment, the sensor 5 is an electrocardiographic sensor, and the detection result is used.

FIG. 3 shows a schematic electrocardiographic waveform (electrocardiogram). FIG. 5A is an enlarged view of the waveform diagram in FIG. In the present embodiment, the peak interval (hereinafter referred to as RRI [RR interval]) of the maximum value portion R (hereinafter referred to as R wave) of the electrocardiographic waveform shown in FIG. : [Delta] mSec]) is measured, and two factors of the comfortable axis direction and the wakefulness axis direction are calculated from the change gradient of RRI ([unit: [Delta] mSec / s]) and the result of frequency analysis, and the sensory estimation of the operator is performed. As for the RRI change gradient, paying attention to the tendency of increase / decrease of each RRI for 20 seconds (solid line waveform in FIG. 3D) as will be described later, the frequency analysis result is FFT (as shown in FIG. 3C). Attention is focused on a power value in the vicinity of 0.3 Hz in the frequency domain calculated from the result of the fast Fourier transform (hereinafter referred to as HF [unit: ms ² / Hz]). The frequency domain waveform shown in FIG. 6C is obtained by calculating the RRI of the cardiac potential shown in FIG. A broken line curve shown in FIG. 4D represents a frequency component in the vicinity of a low frequency component of 0.1 Hz included in the solid line waveform in FIG. As shown in FIG. 3C, the solid line waveform in FIG. 3D has frequency distribution in two places, a low frequency component near 0.1 Hz and a high frequency component near 0.3 Hz (HF). Yes. Since the HF directly reflects the parasympathetic nerve activity as described later, the power value is focused as described above.

On the other hand, the trend (change gradient) of each RRI in 20 seconds is, for example, the slope of a straight line obtained by the least square method between times T ₁ and T ₂ (= T ₁ +20 sec) in FIG. . Note that when the RRI at the times T ₁ and T ₂ is RRI ₁ and RRI ₂ , the value obtained by the calculation formula “(RRI ₂ −RRI ₁ ) / 20” may be used as the tendency. Further, may be used an average value of each RRI value between times T _1, T ₂ as the trend, it may be used in combination with such as the aforementioned equation.

  FIG. 4A shows the operator's sense (psychological state) on the above-described comfort axis (horizontal axis) -wake axis (vertical) plane. The comfort axis indicates the comfort level, the comfort level increases in the right direction of the axis, and the comfort level decreases and the discomfort increases in the left direction. The wakefulness axis indicates the degree of wakefulness, the upward direction has a high wakefulness level and the degree of excitement increases, and the downward direction has a low wakefulness level and an increased degree of sedation. From FIG. 5A, when comfort and sedation are high, it is a relaxed comfort state, and when comfort and excitement are high, it is an uplifting and comfortable comfort state. Moreover, when the discomfort and excitement level are high, it is a frustrating discomfort state.

  FIG. 4B shows the region and efficiency in which the operator can exercise efficiently when the operator performs an aerobic exercise using the electric bicycle 100 for the purpose of improving physical fitness on the comfortable axis (horizontal axis) -wake axis (vertical) plane. The low area is shown. By combining FIG. 4 (a) and FIG. 4 (b), the correspondence relationship between the operator's feeling and the region where the aerobic exercise can be efficiently performed can be understood as described later.

  Now, the relationship between the RRI change gradient obtained from the electrocardiogram waveform and HF and the two factors shown in FIG. 4 in the comfort axis direction and the arousal axis direction will be described. The present inventors have found that the comfort feeling is higher as the change gradient of RRI increases, and the discomfort is higher as it decreases. Furthermore, the present inventors have found that the greater the HF, the higher the sedation level and the lower the HF, the higher the excitement level. The reason is that when a person feels comfortable, the RRI increases and the heart rate decreases, and because HF directly reflects parasympathetic activity, the increase or decrease in HF represents an increase or decrease in sedation. .

  FIG. 5 illustrates a configuration diagram of the control unit 6 in the present embodiment and the second embodiment. FIG. 5A shows the control unit 6 according to this embodiment. The sensory estimation unit 6A receives a signal from the electrocardiographic sensor 5 and calculates an RRI gradient and HF obtained from the electrocardiographic waveform.

  The controller 6B determines whether the RRI change gradient of the operator and HF are included in a region where the aerobic exercise can be efficiently performed on the comfortable axis-wake axis plane. As a result, the exercise load intensity, that is, the magnitude of the auxiliary force to the operator of the motor 3 is determined, or whether the motor 3 is used as a generator (used as an exercise load) is determined. That is, when it is desired to reduce the exercise load intensity, the assist force is increased, and when it is desired to increase the exercise load intensity, the assist force is decreased. When it is desired to increase the exercise load intensity even when the auxiliary force becomes zero, the motor 3 can be used as a load force by using the motor 3 as a generator, and the exercise load intensity can be increased. This means that, for example, when the controller 6B performs control to increase the exercise load intensity when the vehicle is climbing up with an auxiliary force from the motor 3, the auxiliary force from the motor 3 is reduced. It is shown that there is also a control that makes the power generator function as a generator.

  Since the strength switching unit 6C switches the exercise load intensity, the controller 6B controls the auxiliary force and the load force in consideration of the change of the exercise load intensity.

  The above operation will be described with reference to the flowchart of FIG. In the case of the flowchart, the area where efficient aerobic exercise can be performed in FIG. 4B is the awakening level (A) and the comfort level (C) are predetermined threshold values La (second threshold value). , Lc (first threshold value), and H (third threshold value), the processing is performed assuming that La ≦ A ≦ H and Lc ≦ C.

  When the power source of the electric bicycle 100 is turned on, the process proceeds to step 1.

  In step S <b> 1, the operator's electrocardiogram is measured by the sensor 5.

  In step S2, the sensory estimation unit 6A calculates an RRI change gradient from the measured electrocardiographic waveform and performs frequency analysis.

  In step S3, the comfort level (C) and the arousal level (A) of the operator are calculated by the sensory estimation unit 6A using the FFT, the least square method, or the like as described above.

  In step S4, the controller 6B determines whether or not the arousal level (A) is greater than a predetermined threshold value H. If larger, it is estimated from FIG. 4B that the current operator's psychological state is not included in a region where efficient aerobic exercise is possible, and the process proceeds to step S5. Otherwise, the process proceeds to step S6. Transition.

  In step S5, the exercise load intensity is weakened to reduce the arousal level. By reducing the exercise load intensity, the excitement due to the exercise stimulus is reduced, so that the arousal level is reduced. If the exercise load intensity has reached the assumed lower limit value, the exercise load intensity is in a so-called bottom-out state, and the exercise load intensity is not changed. As described above, the exercise load intensity by the motor 3 is determined by the magnitude of the assisting force to the operator or whether the motor 3 is used as a generator (used as an exercise load). Then, it returns to step S1.

  In step S6, the controller 6B determines whether or not the arousal level (A) is smaller than a predetermined threshold value La. If it is smaller, it is assumed from FIG. 4B that the current operator's psychological state is not included in a region where efficient aerobic exercise is possible, and the process proceeds to step S7. Otherwise, the process proceeds to step S8. Transition.

  In step S7, the exercise load intensity is increased to increase the arousal level. Since the excitement due to the exercise stimulus is increased by increasing the exercise load intensity, the arousal level is increased. If the exercise load intensity has reached the assumed upper limit value, the exercise load intensity is in a so-called peak state, and the exercise load intensity is not changed. Then, it returns to step S1.

  In step S8, the controller 6B determines whether the comfort level (C) is smaller than a predetermined threshold Lc. If it is smaller, it is assumed from FIG. 4B that the current operator's psychological state is not included in a region where efficient aerobic exercise is possible, and the process proceeds to step S9. Otherwise, the process proceeds to step S10. Transition.

  In step S9, the exercise load intensity is weakened to increase the comfort level. By reducing the exercise load intensity, discomfort caused by excessive exercise stimulation is reduced, and an increase in comfort is achieved. If the exercise load intensity has reached the assumed lower limit value, the exercise load intensity is in a so-called bottom-out state, and the exercise load intensity is not changed. Then, it returns to step S1.

  In step S10, it is estimated from FIG. 4B that the psychological state of the current operator is included in a region where efficient aerobic exercise is possible, and the exercise load intensity by the motor 3 is not changed. . Then, it returns to step S1.

  Note that the threshold values La, Lc, and H can be calculated by performing cluster analysis on the exercise load intensity and autonomic nervous system index data obtained in the subject experiment. You can ask. Specifically, an experiment is performed on a plurality of subjects, and exercise load intensity and electrocardiographic waveform data are sampled. For example, values of -10 and 70 (no unit) are used for the thresholds La and H, and values of -40 (no unit) are used for the threshold Lc. The comfort level (C) and the arousal level (A) are given by, for example, the following expressions.

C = Com × 10
A = (200−Aro) / 2
(Com: RRI change gradient value, Aro: HF value)
FIG. 7 is a diagram for explaining the operation of the control unit 6 with respect to an example of the training menu using the three modes and the three exercise load intensities when the training function is used. In addition, since description will become complicated if the case where it climbs in the middle and the case where it goes downhill is included, in a present Example, it demonstrates in the case of a flat ground. In cases where climbing or downhill is included in the middle, simply, the exercise load intensity may be reduced in the former compared to the flat ground, and the exercise load intensity may be increased in the latter compared with the flat ground. Whether the operator is climbing uphill or downhill is determined from the detection value (and the history thereof) of the pedaling force detection unit 2. For example, using the past history of the detection value of the treading force detection unit 2, if the treading force tends to increase and becomes a constant value near the maximum value, it is in an uphill state, and if the treading force tends to decrease and becomes a constant value near the minimum value It is in a downhill state.

  In the figure, the horizontal axis represents the elapsed time of training, and the vertical axis represents exercise load intensity (auxiliary force or load force due to power generation). As described above, the exercise load intensity depends on the magnitude of the assisting force for the operator and whether or not the motor 3 is used as a generator. Since the exercise load intensity increases downward in the vertical axis in the figure, the assist force of the motor 3 decreases. When the assist force becomes zero, the exercise load intensity can be increased by using the motor 3 as a generator. It can be further increased (shaded portion in FIG. 5A).

Time 0 (training start time) to time T ₁ is the warm-up mode is applied, the time T _{1 to} time T ₂ is subject to the aerobic exercise mode, the time T _{2 to} time T _{3 (training} end time) is cooling down The mode is applied. Each mode has three levels of exercise load intensity: weak, medium and strong. These three modes are related so that the exercise load intensity curve becomes a broken line as shown in FIG. There are three exercise load intensity curves corresponding to the exercise load intensity. The strength switching unit 6C switches between the three levels of exercise load intensity. In addition, the value of exercise load intensity at time T ₁ , time T ₂ and each time is stored in, for example, a memory (not shown), and the strength switching unit 6C reads out the information from the memory.

  A specific change in exercise load intensity during training will be described with reference to FIG. In the initial state, the exercise load intensity curve is set to the medium curve.

Time 0 Time T ₁ is the warm-up mode, exercise intensity increases with time. Along with that, the state of the operator also changes.

At time T _4, because it was estimated by the aforementioned estimation methods is low is high or comfort alertness in the psychological state of the operator, exercise intensity is decreased by one rank, exercise intensity curve is switched to that of the weak. Thereafter, at time T _5, the results of the psychological state of the operator is estimated to be low degree arousal, exercise intensity is increased by one rank, exercise intensity curve is switched to that of the inside.

From time T ₁ to time T ₂ is an aerobic exercise mode, and the exercise load intensity is a constant value with respect to time.

At time T _6, the results of the psychological state of the operator is estimated to be low degree arousal, exercise intensity is increased by one rank, exercise intensity curve is switched to that of strong. In this case, even if the auxiliary force of the motor 3 is set to zero, the predetermined exercise load strength is not obtained, so that the exercise load is further increased by using the motor 3 as a generator. At time T _7, the results of the psychological state of the operator is estimated to be low is higher or comfort of wakefulness, exercise intensity is decreased by one rank, exercise intensity curve is switched to that of the inside. In this case, the use of the motor 3 as a generator is stopped, the motor 3 is used as a drive machine, and the exercise load is weakened by applying an auxiliary force. At time T _8, the results of the psychological state of the operator is estimated to be low is higher or comfort of wakefulness, exercise intensity is decreased by one rank, exercise intensity curve is switched to that of the weak.

From time T ₂ to time T ₃ is a cooling-down mode, and the exercise load intensity decreases with time.

At time T _9, a result of the state of mind of the operator is estimated to be low degree arousal, exercise intensity is increased by one rank, exercise intensity curve is switched to that of the inside. At time T _10, the results of the psychological state of the operator is estimated to be low is higher or comfort of wakefulness, exercise intensity is decreased by one rank, exercise intensity curve is switched to that of the weak.

  Note that even if the arousal level (A) is larger than the predetermined value H, a state where the comfort level (C) is high (for example, a so-called runners high state) can be considered, but there is a possibility that the operator may break the body. Therefore, this is not considered in this embodiment.

  As described above, the operator's sense can be estimated by calculating two factors of the comfortable axis direction and the wakefulness axis direction from the RRI change gradient obtained from the electrocardiogram waveform and the frequency analysis result, and the estimation result, that is, the calculation By determining whether or not the result is included in a region where the aerobic exercise can be performed efficiently, the exercise load intensity to the operator is determined. As a result, in the electric bicycle 100 having the auxiliary function according to the present embodiment, when used for improving physical fitness, the electric bicycle that estimates the operator's feeling and changes the exercise load intensity by taking it into account. Can be provided.

  In this example, as shown in FIG. 5 (b), the skin electrical response (GSR: Galvanic Skin Response) of the operator affected by the autonomic nerve activity that changes according to the sense, peripheral skin temperature (T), An example of calculating the comfort level and the arousal level using the sensor 5 that detects the pulse (P) as biological information will be described. Except for the difference in the biometric information to be used, the second embodiment is the same as the first embodiment, and the description thereof will be omitted in this embodiment, and only the difference will be described.

  Specifically, the gradient of GSR, skin temperature T, and pulse P for 20 seconds is measured, and from these gradients, “pleasant-uncomfortable (comfort axis)”, “sedation-excited (wakefulness axis)” Two factors are calculated. The method of obtaining the change gradient is the same as in RRI. In general, the pulse waveform gives different data from the heartbeat waveform (the heartbeat and the pulse count are basically the same).

  GSR is attracting attention as a sensitive indicator of emotion such as excitement and sedation psychologically, sweat gland cells are excited by unpleasant stimuli, etc., and skin resistance decreases with a latency of 1 to 2 seconds. A phenomenon in which the reaction rises temporarily. This directly reflects the sympathetic nerve activity in the peripheral part such as the palm, which is the site of mental sweating. The peripheral skin temperature T decreases when the skin sympathetic nerve is activated, causing contraction of the skin blood vessels, and the amount of heat transported to the skin portion decreases. Peripheral skin temperature temporarily decreases in response to tension and stress stimulation, and conversely, when parasympathetic nerves are significant, such as during sleep, the skin temperature increases. The pulse P is antagonized by the cardiac sympathetic nerve and the cardiac parasympathetic nerve. Due to physical and mental load. Heart rate and pulse rate increase when cardiac sympathetic nerve activation or parasympathetic nerve decline occurs. An increase in pulse is used as an indicator of excess workload, an increase in pulse indicates an increase in discomfort, and a decrease in pulse indicates an increase in relaxation.

  As described above, by using biological information of the autonomic nervous system, it is possible to satisfactorily determine the quality of comfort and arousal.

  Here, FIG. 5B will be described.

  Sensory estimation unit 6A receives signals from each sensor 5 of the pulse sensor, skin temperature sensor, and GSR sensor. As described above, the degree of discomfort increases as the pulse P increases, and the degree of relaxation increases due to the decrease in the pulse. Therefore, the pulse P is mainly used for calculating comfort. GSR is mainly used to calculate wakefulness because it directly reflects sympathetic nerve activity closely related to the degree of wakefulness of the subject, and whether skin temperature T is in tension or stress Since it can be used as an index, it is supplementarily used to calculate the arousal level and plays a complementary role in the calculation from the GSR. From the above, the detected values of the pulse sensor, skin temperature sensor, and GSR sensor are converted into the comfortable axis-wake axis plane. FIG. 8 shows an example of actual measurement waveforms of GSR, pulse, and skin temperature in order from the top.

  In the controller 6B, as in the first embodiment, it is determined whether or not the coordinates on the comfortable axis-wake axis plane are included in the region where the aerobic exercise can be efficiently performed. Other operations and control are the same as those in the first embodiment.

  As described above, in the electric bicycle 100 having the auxiliary function according to the present embodiment, when used for physical strength enhancement, an electric bicycle that estimates an operator's feeling and changes the exercise load intensity in consideration thereof is provided. can do.

  Note that the sensory estimator in the present embodiment can be realized in hardware by a CPU, memory, or other LSI of an arbitrary computer. The software is realized by a program having a sensory estimation function loaded in a memory. 1 and 2 show functional blocks realized by hardware and software. However, it goes without saying that these functional blocks can be realized in various forms such as hardware only, software only, or a combination thereof.

  The embodiments of the present invention can be appropriately modified in various ways within the scope of the technical idea shown in the claims.

It is a mimetic diagram of the composition of the electric bicycle concerning an embodiment. It is a functional block diagram of the control system of the electric bicycle which concerns on embodiment. It is an electrocardiogram according to the embodiment. It is a figure which shows the operator's sense in the comfortable axis-wakefulness axis plane which concerns on embodiment. It is a figure explaining the control part which concerns on embodiment. It is a flowchart concerning an embodiment. It is a figure explaining an example of the training menu using the exercise load intensity | strength which concerns on embodiment. It is a measurement waveform of GSR, a pulse, and skin temperature concerning an embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Pedal 2 Treading force detection part 3 Motor 4 Battery 5 Sensor 6 Control part 6A Feeling estimation part 6B Controller 6C Strength switching part 7 Drive wheel 8 Front wheel 100 Electric bicycle

Claims (5)

An electric bicycle that is capable of running by controlling the exercise load intensity for the operator by adding the assist force of the motor that assists the manpower driving force to the manpower driving force by the operator's stepping force,
Pedal,
A pedaling force detection unit for detecting the pedaling force applied to the pedal;
A biological information detector having a sensor for detecting the biological information of the operator;
From the detection result of the biological information detection unit, calculating information on two factors of the comfortable axis direction and the awakening axis direction in the operator's sense, and having a sensory estimation unit that estimates the operator's sense from the information, An electric bicycle comprising: a control unit that controls the exercise load intensity by controlling the assist force of the motor based on the estimated feeling and the detection result of the pedaling force detection unit. The exercise load intensity control performed by the control unit includes control of the load applied to the human power driving force by using the motor as a generator in addition to the control of the auxiliary force to the human power driving force by the motor. It is characterized by that. 3. The sensor according to claim 1, wherein the sensor is at least one of a sensor that detects an electrocardiogram as biological information, or a sensor that detects a pulse, skin temperature, and skin electrical reflex. Electric bicycle. The sensor is a sensor that detects a cardiac potential as biological information,
The controller is
In the characteristic in the time axis direction of the peak interval of each maximum value portion R of the operator's electrocardiographic waveform within the predetermined period, the power value at the predetermined frequency value calculated from the change gradient of the peak interval and the result of the frequency analysis is Calculating a comfort level C and a wakefulness level A for two factors of the comfort axis direction and the wakefulness axis direction,
For the first threshold value Lc in the comfort axis direction, the second threshold value La in the wakefulness axis direction, and the third threshold value H that is larger than the second threshold value,
When the comfort level C is less than the first threshold value Lc, the exercise load intensity is reduced,
When the arousal level A is less than the second threshold La, the exercise load intensity is increased,
4. The electric bicycle according to claim 3, wherein when the arousal level A exceeds the third threshold value H, two-factor control for weakening the exercise load intensity is performed. A mode in which the assisting force to the operator is decreased over time, a mode in which the assisting force to the operator is kept constant, and the assisting force to the operator is increased over time. Each mode has at least strong and weak exercise load intensity,
5. The electric bicycle according to claim 4, further comprising: a strong / weak switching unit that switches between strong and weak exercise load intensity over time as a result of the two-factor control of the control unit in each mode. .

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