JP2008044565A - Electric vehicle and electrically assisted bicycle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electrically assisted bicycle capable of certainly being switched to a regenerative state by a simple structure. <P>SOLUTION: The electrically assisted bicycle comprises a human power drive mechanism by a human driving force, and an electric drive mechanism driving a motor 32 by a driving force according to a value detected by a torque detecting portion 41 for detecting the human power torque of the human power drive mechanism. A tilting angle detecting portion 42 detecting a tilting angle of a traveling path is provided. When the tilting angle detecting portion 42 detects that the traveling path is a downward slope not smaller than a predetermined angle, the electric drive mechanism carries out regenerative charging. By this, a downward slope traveling state is determined by the tilting angle of the traveling path, so that the downward slope traveling state can be further correctly determined to carry out the regenerative charging regardless of the weight of a driver, a loading article, and the like. Therefore, a battery is charged, and a comfortable traveling property can be kept. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electric vehicle having an electric drive system for driving an electric motor, a human power drive system using human power driving force, and an electric power drive system for driving the electric motor with a driving force corresponding to the human power torque of the human power driving system. Regarding bicycles.

Conventionally, as this type of battery-assisted bicycle, for example, one that detects that a brake is applied on a downhill and generates a braking force on the motor has been proposed. (Patent Document 1)
In the configuration of Patent Document 1, the motor generates the braking force when it is detected that the brake is applied. Until the brake is applied, the motor cannot generate the braking force, It could not be regenerated.

Therefore, it has been proposed to detect the vehicle speed and the pedaling force, and when the pedal is light relative to the vehicle speed, determine that the vehicle is traveling downhill and charge the battery by controlling the motor to a regenerative state. (Patent Document 2)
Japanese Patent Laid-Open No. 4-100790 Japanese Patent Laid-Open No. 9-267790

  In Patent Document 2, the pedaling force required to travel on a flat road is determined in advance corresponding to the vehicle speed and stored as a regeneration determination value. When the actual pedaling force at a certain vehicle speed is smaller than the regeneration determination value, the motor is operated. It is configured to switch to the regenerative state.

  However, the pedaling force required to travel on a flat road must be obtained in advance corresponding to the vehicle speed and stored as a regeneration determination value, which causes a problem of complicated control. Furthermore, when the driver's weight is light, even when driving on a flat road, it is assumed that the actual pedaling force at a certain speed becomes smaller than the regeneration determination value and the motor is switched to the regeneration state. In addition, when traveling with heavy loads, the actual pedaling force at a certain speed does not become smaller than the regeneration judgment value even when traveling downhill, and the state should be switched to the regeneration state. Nevertheless, there is a problem that switching to the regenerative state is uncertain, for example, it is assumed that the regenerative state is not switched.

  In view of such a problem, an object of the present invention is to surely switch to a regenerative state with a simple configuration.

  The electric vehicle of the present invention includes an electric drive system that drives the electric motor, and is provided with an inclination angle detection unit that detects an inclination angle of the traveling road, and the inclination angle detection unit is a downhill whose traveling road is a predetermined angle or more. And a control means for performing regenerative charging with an electric drive system.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and when the speed detected by the speed detection unit is equal to or higher than a predetermined speed, the control unit performs regenerative charging with an electric drive system.

  A speed detection unit for detecting the traveling speed and a weight detection unit for detecting the loaded weight are provided, and the control means uses an electric drive system when the weight detected by the weight detection unit is lighter than a predetermined weight when the speed is equal to or higher than the first speed. In addition to performing regenerative charging, when the weight detected by the weight detection unit is equal to or greater than a predetermined weight, it is preferable to perform regenerative charging with an electric drive system when the speed is equal to or higher than a second speed lower than the first speed.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control unit controls the regenerative charge amount so that the amount of change in the vehicle speed becomes a predetermined value or less.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control unit performs control so that the regenerative charge amount increases as the change amount of the vehicle speed increases.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control means performs regenerative charging when the vehicle speed is equal to or higher than a certain speed.

  The battery-assisted bicycle according to the present invention includes a human power drive system using a human power drive force, and an electric drive system that drives the electric motor with a drive force corresponding to a detection value of a torque detection unit that detects a human power torque of the human power drive system. An inclination angle detecting means for detecting an inclination angle of the traveling road is provided, and a control means for performing regenerative charging by the electric drive system when the inclination angle detecting means detects that the traveling road is a downhill of a predetermined angle or more. It is characterized by having.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and when the speed detected by the speed detection unit is equal to or higher than a predetermined speed, the control unit performs regenerative charging with an electric drive system.

  A speed detection unit for detecting the traveling speed and a weight detection unit for detecting the loaded weight are provided, and the control means uses an electric drive system when the weight detected by the weight detection unit is lighter than a predetermined weight when the speed is equal to or higher than the first speed. In addition to performing regenerative charging, when the weight detected by the weight detection unit is equal to or greater than a predetermined weight, it is preferable to perform regenerative charging with an electric drive system when the speed is equal to or higher than a second speed lower than the first speed.

  A weight detection unit for detecting a loaded weight is provided, and the control unit is electrically driven when the weight detected by the weight detection unit is equal to or greater than a predetermined weight and the angle of the traveling path detected by the inclination angle detection unit is equal to or greater than a predetermined angle. It is preferable to increase the amount of assist in the system.

  A torque sensor for detecting a pedaling force applied to the pedal; and the control means compares the torque detected by the torque sensor with a predetermined torque when traveling on the traveling path of the angle detected by the inclination angle detecting means, When the torque detected by the torque sensor is higher than a predetermined torque by a predetermined value or more, it is preferable to increase the assist amount of the electric drive system.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control unit controls the regenerative charge amount so that the amount of change in the vehicle speed becomes a predetermined value or less.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control unit performs control so that the regenerative charge amount increases as the change amount of the vehicle speed increases.

  It is preferable that a speed detection unit for detecting a traveling speed is provided, and the control means performs regenerative charging when the vehicle speed is equal to or higher than a certain speed.

  According to the present invention, the inclination angle detection unit detects the inclination angle of the traveling road and determines the downhill running state based on the detection result, so regardless of the driver's weight, load, etc. It is possible to more accurately determine the downhill traveling state, perform regenerative charging, charge the battery, and maintain a comfortable traveling property.

  The embodiment of the present invention will be described in detail below based on the battery-assisted bicycle shown in FIGS.

  First, the overall configuration of the battery-assisted bicycle will be described with reference to FIG.

  Reference numeral 1 denotes a main frame, which is connected to a front tube 2 provided at the front and a seat tube 4 provided below from the saddle 3, and a pedal 5 is connected to a connecting portion where the main frame 1 and the seat tube 4 are connected. An attached crank 6 and a travel drive device 7 rotated by the crank 6 are attached.

  Reference numeral 8 denotes a handle provided at the upper end of the front pipe 2, and reference numeral 9 denotes a front wheel provided at the lower end of the front pipe 2, which has a hub 10 incorporating a motor (not shown) so that the front wheel 9 is driven to rotate by the motor. It constitutes an electric drive mechanism.

  Reference numeral 11 denotes a rear wheel, which is provided with a sprocket (not shown) in which a chain 12 is installed between the travel drive device 7 and the human power to step on the pedal 5 from the travel drive device 7 via the chain 12 to the sprocket. A human-powered drive mechanism that transmits and rotates the rear wheel 11 is configured.

  A battery 13 is detachably disposed between the seat tube 4 and the rear wheel 11, and a control box 14 is provided at a connecting portion between the main frame 1 and the seat tube 4 and has a built-in control circuit. The motor is driven and controlled by the electric power supplied from the battery 13 based on the output of the control circuit.

  In the following description, the “forward rotation direction” is the rotation direction when the pedal 5 is depressed to advance the battery-assisted bicycle, and the “reverse rotation direction” is the rotation opposite to the “forward rotation direction”. Direction.

  FIG. 5 shows a section of the traveling drive device 7 configured on the crankshaft 15 of the crank 6 that rotates when the pedal 5 is depressed. The travel drive device 7 is urged in the reverse rotation direction by a rotating body 16 and a compression coil spring 17 with respect to the rotating body 16, and rotates by the rotation of the rotating body 16 to rotate the rear wheel 11 via the chain 12. The sprocket 18 is constituted by a torque detecting means 19 for detecting rotational torque by a phase shift between the rotating body 16 and the sprocket 18, and a cover body 20 disposed so as to be rotatable integrally with the rotating body 16 with the sprocket 18 interposed therebetween. Is done.

  The rotating body 16 is formed in an annular shape, and an inner blade 21 is formed in the center hole. A gear 22 attached to an end of the crank 6 on the crankshaft 15 side meshes with the inner blade 21, and the crankshaft 15 and the rotating body 16 rotate integrally.

  The sprocket 18 is fixed by screws to a mounting member 24 that is rotatably supported by a bearing 23 with respect to the crankshaft 15, and a sprocket portion projects from the rotating body 16 to the outer peripheral side.

  The torque detection means 19 is fitted on the outer side of the ring-shaped stator 25 fixed to the mounting member 24 and the stator 25, and the axial direction of the crankshaft 15 is determined by the phase shift between the rotating body 16 and the sprocket 18. And a sensor 27 that detects the amount of axial movement of the movable ring 26 and sends a signal to the control circuit.

  The movable ring 26 is made of metal, specifically, aluminum or aluminum alloy. The movable ring 26 is biased toward the cover body 20 by a spring 28. As shown in FIG. 5, the movable ring 26 is formed with a raised portion 29, and the raised portion 29 is formed with a cam surface 30. The stator 25 is formed with a protrusion 31 that is in sliding contact with the cam surface 30 of the movable ring 26, and the raised portion 29 and the protrusion 31 constitute a cam portion. As will be described later, when a phase shift occurs between the rotating body 16 and the sprocket 18, the movable ring 26 rotates in the axial direction of the crankshaft 15 while rotating with the cam surface 30 slidingly contacting the protrusion 31 of the stator 25. Moving.

  The sensor 27 includes a winding coil (not shown) that surrounds the movable ring 26 within the range of movement of the movable ring 26 in the axial direction, and detects a change in inductance of the winding coil due to movement of the movable ring 26 in the axial direction. It is. In the sensor 27, as the amount of penetration of the movable ring 26 into the winding coil increases, the inductance of the winding coil increases. The control circuit detects this change in inductance and controls the drive of the motor based on the result.

  Next, the control circuit will be described based on the block diagram shown in FIG.

  Reference numeral 32 denotes a motor built in the hub 10 of the front wheel 9, which rotates the front wheel 9 by the electric power supplied from the battery 13 via the charge / discharge circuit 33 or uses the rotation of the front wheel 9 to generate electric power. Then, the battery 13 is charged through the charge / discharge circuit 33. Hereinafter, a state in which the front wheel 9 is rotated by the electric power supplied from the battery 13 is referred to as a “non-regenerative state”, and a state in which the battery 13 is charged by generating power by the rotation of the front wheel 9 is referred to as a “regenerative state”.

  Reference numeral 34 denotes a power switch provided in an operation unit attached in the vicinity of the handle 8, and reference numeral 35 denotes a mode setting switch provided in the operation unit, which selects either “standard” or “auto-eco” operation mode. ing. In addition to the power switch 34 and the mode setting switch 35, the operation unit includes a light lighting switch 36 for controlling lighting of a light serving as a headlight, a battery remaining amount display unit 37 for displaying the remaining amount of the battery 13, and the mode. A mode display unit 38 for displaying the operation mode selected by the setting switch 35 is provided.

  A brake detection unit 39 detects that the bicycle has been braked. When the brake is applied, the motor 32 is set to the “regenerative state” and the battery 13 is charged. Reference numeral 40 denotes a speed detection unit that detects the traveling speed of the bicycle based on the rotational speed of the motor 32. A torque detection unit 41 includes the sensor 27 and detects a change in inductance of the winding coil to detect a pedaling force applied to the pedal 5. Reference numeral 42 denotes an inclination angle detection unit that detects an inclination angle of the traveling road surface. Reference numeral 43 denotes a weight detection unit that detects a load applied to the bicycle including the luggage and the weight of the driver.

  Reference numeral 44 denotes a control device that receives signals from the power switch 34, mode setting switch 35, light lighting switch 36, brake detection unit 39, speed detection unit 40, torque detection unit 41, inclination angle detection unit 42, and weight detection unit 43. The input / output circuit 33 controls the charge / discharge circuit 33, the light on / off, the battery remaining amount display unit 37 and the mode display unit 38.

  Thus, when the driver depresses the pedal 5 to start traveling, the rotating body 16 linked to the pedal 5 via the crank 6 tries to rotate, but the chain 12 is erected and linked to the rear wheel 11. A large resistance acts on the sprocket 18 to be applied. For this reason, the rotating body 16 starts rotating first, the compression coil spring 17 is compressed between the rotating body 16 and the sprocket 18, and a phase difference occurs between the rotating body 16 and the sprocket 18.

  When the phase of the rotating body 16 advances from the sprocket 18, the movable ring 26 that can rotate integrally with the rotating body 16 and move in the axial direction of the crankshaft 15 slidably contacts the cam surface 30 with the protrusion 31 of the stator 25. Then, the sensor 27 moves in the direction of entering the winding coil of the sensor 27. The inductance of the winding coil of the sensor 27 increases due to the penetration of the movable ring 26, and the torque detector 41 detects a change in the inductance of the winding coil, and the control device 44 controls the driving of the motor 32 based on the result. The bicycle is run by applying the auxiliary power of the motor 32 to the pedaling force by human power.

  Next, the operation of the “auto eco” mode will be described based on the flowcharts shown in FIGS. 2 and 3. It is determined whether or not the “auto eco” mode is selected (step 1), and the “auto eco” mode is selected. Otherwise, regenerative charging is not performed (step 2). If the “auto eco” mode is selected, it is determined based on the output of the inclination angle detection unit 42 whether or not the traveling road is a downhill having a predetermined angle or more (step 3). In the present embodiment, the predetermined angle of the downhill is set to 2 degrees.

  In step 3, when the downhill inclination angle is less than the predetermined angle, the process proceeds to A. The routine A shows a flowchart in FIG. 3 and will be described in detail later.

  In step 3, when the inclination angle of the downhill is equal to or larger than the predetermined angle, the process proceeds to step 4, and after step 4, by performing regenerative charging according to various conditions, the travel distance can be increased, By braking, the increase in speed can be suppressed to obtain safety and comfortable running performance.

  In step 4, the load applied to the bicycle is detected based on the output of the weight detection unit 43 to determine whether or not the weight is equal to or greater than a predetermined weight. On the downhill, when the load applied to the bicycle is heavy, it accelerates faster than the light state, and it is difficult to decelerate even when the brake is applied. Therefore, the load applied to the bicycle is light according to Step 5 to Step 7 below. Regenerative charging is performed from a lower speed than in the case to suppress the increase in speed so that safety and comfortable running performance can be obtained. In the present embodiment, the predetermined weight is set to 80 kg, which includes the weight of the driver and the weight of the luggage.

  In step 4, when it is lighter than the predetermined weight, the process proceeds to step 5 to determine whether or not the traveling speed is equal to or higher than the first speed. In the present embodiment, the first speed is set to 7 Km / h. In step 5, when the traveling speed is slower than the first speed, the process proceeds to step 2 and regenerative charging is not performed. In step 5, when the traveling speed is equal to or higher than the first speed, the process proceeds to step 7.

  In step 4, when the load applied to the bicycle is equal to or greater than the predetermined weight, the process proceeds to step 6 to determine whether or not the traveling speed is equal to or higher than a second speed that is slower than the first traveling speed. In the present embodiment, the second speed is set to 5 Km / h. In step 4, when the traveling speed is slower than the second speed, the process proceeds to step 2 and regenerative charging is not performed. In step 4, when the traveling speed is equal to or higher than the second speed, the process proceeds to step 7 to determine whether or not regenerative charging is performed.

  If it is in the state which is not performing regenerative charge in step 7, it will transfer to step 8 and regenerative charge will be performed. In step 7, if regenerative charging is being performed, the process proceeds to step 9 to determine whether or not the vehicle is decelerating. In step 9, if not decelerating, the process proceeds to step 10 to increase the regenerative charge amount. By increasing the regenerative charge amount, the travel distance can be increased, and by increasing the braking amount, an increase in speed on the downhill can be suppressed to obtain safety and comfortable travelability.

  In step 9, if the vehicle is decelerating, the process proceeds to step 11 and it is determined whether or not the charge amount is the minimum value. In step 11, if the charge amount is the minimum value, the process proceeds to step 2, and the regenerative charge is stopped to suppress further deceleration. If the charge amount is not the minimum value, the process proceeds to step 12, and the regenerative charge amount is set. Decrease. By determining that the vehicle is decelerating due to braking by regenerative charging and reducing the amount of braking, comfortable running performance can be obtained. When the brake is applied, priority is given to regenerative charging by brake operation, and the regenerative charge amount is not reduced or stopped.

  Next, routine A will be described in detail based on the flowchart shown in FIG. 3. In step 13, it is determined based on the output of the inclination angle detection unit 42 whether or not the traveling road is an uphill of a predetermined angle or more. In the present embodiment, the predetermined angle of the uphill is set to 2 degrees.

  In step 13, if the inclination angle is an uphill with a predetermined angle or more, the process proceeds to step 14, and it is determined based on the output of the weight detection unit 43 whether the load applied to the bicycle is equal to or greater than the predetermined weight. In the present embodiment, the predetermined weight is set to 80 kg, which includes the weight of the driver and the weight of the luggage. In step 14, when the load applied to the bicycle is equal to or greater than the predetermined weight, the routine proceeds to step 15 where the assist amount is increased from the normal assist amount to reduce the burden on the driver, and the load applied to the bicycle is greater than the predetermined weight. If it is light, the process proceeds to a main routine for controlling the assist amount according to the pedaling force applied to the pedal.

  If it is determined in step 13 that the inclination angle is not an uphill of a predetermined angle or more, the vehicle is running on a substantially flat road, the process proceeds to step 16 and the pedaling force applied to the pedal based on the output of the torque detector 41 is obtained. Is determined to be greater than or equal to a predetermined torque. In the present embodiment, the predetermined torque is set to a value slightly larger than the torque corresponding to each speed by measuring in advance the relationship between each speed and torque when traveling on a flat road.

  In step 16, when the torque is equal to or greater than the predetermined torque, the vehicle is in a state where a pedaling force is required more than usual, for example, a head wind or a heavy object is loaded, even though the vehicle is traveling on a substantially flat road. Therefore, the process proceeds to step 15 to increase the assist amount. In step 16, when the pedal effort is smaller than the predetermined torque, the routine proceeds to the main routine.

  In step 4 to step 6, the load applied to the bicycle is detected and control is performed according to the load and the traveling speed. However, in step 3, the traveling path is inclined down a predetermined angle or more. The regenerative charging may be performed when the traveling speed is equal to or higher than a certain speed. At that time, the constant speed is preferably set to a speed at which a sufficient amount of charge can be obtained by regeneration, for example, 7 km / h.

  Although the present invention has been described in detail based on the embodiment adopted in the battery-assisted bicycle, the present invention may be used for an electric vehicle having no function of assisting human power such as an automatic guided vehicle.

It is a block circuit diagram showing one embodiment of the present invention. It is the same flowchart. It is the same flowchart. It is a side view of the battery-assisted bicycle. It is sectional drawing of the travel drive device. It is sectional drawing which shows the cam engagement part of the same stator and movable ring.

Explanation of symbols

DESCRIPTION OF SYMBOLS 13 Battery 32 Motor 40 Speed detection part 42 Inclination angle detection part 43 Weight detection part 44 Control apparatus

Claims (14)

  An electric drive system for driving the electric motor is provided, and an inclination angle detecting means for detecting the inclination angle of the traveling road is provided. When the inclination angle detecting means detects that the traveling road is a downhill of a predetermined angle or more, electric driving is performed. An electric vehicle comprising control means for performing regenerative charging in the system.   2. The speed detection unit for detecting a traveling speed is provided, and when the speed detected by the speed detection unit is equal to or higher than a predetermined speed, the control unit performs regenerative charging with an electric drive system. Electric car.   A speed detection unit for detecting the traveling speed and a weight detection unit for detecting the loaded weight are provided, and the control means uses an electric drive system when the weight detected by the weight detection unit is lighter than a predetermined weight when the speed is equal to or higher than the first speed. The regenerative charging is performed, and when the weight detected by the weight detection unit is equal to or greater than a predetermined weight, the regenerative charging is performed by the electric drive system when the weight is equal to or higher than a second speed lower than the first speed. Electric car.   2. The battery-assisted bicycle according to claim 1, further comprising a speed detection unit configured to detect a traveling speed, wherein the control unit controls the regenerative charge amount so that a change amount of the vehicle speed is equal to or less than a predetermined value.   2. The battery-assisted bicycle according to claim 1, further comprising a speed detection unit configured to detect a traveling speed, wherein the control unit performs control to increase the regenerative charge amount as the change amount of the vehicle speed increases.   2. The battery-assisted bicycle according to claim 1, further comprising a speed detection unit configured to detect a traveling speed, wherein the control unit performs regenerative charging when the vehicle speed is equal to or higher than a predetermined speed.   A human-powered driving system using a human-powered driving force and an electric driving system that drives the electric motor with a driving force according to a detection value of a torque detecting unit that detects the human-powered torque of the human-powered driving system, and detects the inclination angle of the travel path An electric motor comprising: an inclination angle detection means, and a control means for performing regenerative charging by an electric drive system when the inclination angle detection means detects that the travel path is a downhill of a predetermined angle or more. Auxiliary bicycle.   8. A speed detection unit for detecting a traveling speed is provided, and when the speed detected by the speed detection unit is equal to or higher than a predetermined speed, the control unit performs regenerative charging with an electric drive system. Electric assist bicycle.   A speed detection unit for detecting the traveling speed and a weight detection unit for detecting the loaded weight are provided, and the control means uses an electric drive system when the weight detected by the weight detection unit is lighter than a predetermined weight when the speed is equal to or higher than the first speed. The regenerative charging is performed, and when the weight detected by the weight detection unit is equal to or greater than a predetermined weight, the regenerative charging is performed by the electric drive system when the weight is equal to or higher than a second speed lower than the first speed. Electric car.   A weight detection unit for detecting a loaded weight is provided, and the control unit is electrically driven when the weight detected by the weight detection unit is equal to or greater than a predetermined weight and the angle of the traveling path detected by the inclination angle detection unit is equal to or greater than a predetermined angle. The battery-assisted bicycle according to claim 7, wherein the assist amount of the system is increased.   A torque sensor for detecting a pedaling force applied to the pedal; and the control means compares the torque detected by the torque sensor with a predetermined torque when traveling on the traveling path of the angle detected by the inclination angle detecting means, 8. The battery-assisted bicycle according to claim 7, wherein when the torque detected by the torque sensor is higher than a predetermined torque by a predetermined value or more, the assist amount of the electric drive system is increased.   8. The battery-assisted bicycle according to claim 7, further comprising a speed detection unit configured to detect a travel speed, wherein the control unit controls the regenerative charge amount so that a change amount of the vehicle speed becomes a predetermined value or less.   8. The battery-assisted bicycle according to claim 7, further comprising a speed detection unit configured to detect a traveling speed, wherein the control unit performs control so that the regenerative charge amount is increased as the change amount of the vehicle speed is increased.   8. The battery-assisted bicycle according to claim 7, further comprising a speed detection unit configured to detect a traveling speed, wherein the control unit performs regenerative charging when the vehicle speed is equal to or higher than a predetermined speed.

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