JPH08230751A - Motor assisted bicycle with motor stopping function - Google Patents

Abstract

PURPOSE: To prevent the wasteful power consumption when a bicycle is not pedaled by stopping an electric driving means when the condition where the fluctuation of the driving force to be detected by an input detecting means is smaller than the prescribed value continues over the prescribed period of time. CONSTITUTION: An electric driving means 101 drives a wheel by a motor, and an electric power detecting means 102 detects this driving force. An input driving means 103 drives the wheel by the input, and an input detecting means 104 detects this driving force. A control means 105 receives the output from the respective detecting means 102,104, and adjusts the driving force of the electric driving means 101 so that the ratio of the driving force of the electric driving means 101 to that of the input driving means may be appropriate. A fluctuation detecting means 106 detects the fluctuation of the input driving force. An operation stopping means 107 stops the operation of the electric driving means 101 when the condition where the detected fluctuation is smaller than a prescribed value continues over the prescribed period of time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has both a human-powered driving unit and a motor-driven electric driving unit, drives the electric motor according to the magnitude of the human-powered driving force, and drives the human-powered driving force of the electric motor. The present invention relates to an electric bicycle assisted by driving force.

[0002]

2. Description of the Related Art Conventionally, as such an electric bicycle,
As disclosed in JP-A-5-246378,
A drive system driven by human power and a drive system driven by an electric motor are provided in parallel, and the drive force of the drive system driven by human power, that is, the pedaling force of the pedal (the force that depresses the pedal) is detected, and the output of the electric motor is adjusted. It has been known.

That is, as shown in FIG. 17, the pedaling force detector 201 detects the pedaling force of the pedal, and the motor current detector 2
The motor current is detected by 02, the vehicle speed is detected by the vehicle speed detector 203, and the data is input to the controller 204 to adjust the voltage applied to the motor 205. That is, the pedal effort is detected, and the torque that matches the pedal effort is applied to the motor 2
05 is generated by the switching element, etc.
The voltage (average voltage) applied to 05 is adjusted, and the speed reducer 20
The wheels 207 are driven via the control unit 6.

[0004]

However, in such an electric bicycle, the motor 205 malfunctions when a signal is output from the pedaling force detection unit 201 due to noise or the like without applying force to the pedal. Resulting in. That is, even if the pedal is not stepped on, the output from the pedaling force detection unit 201 is completely “0” or a little larger than “0”, so that the motor 205 starts or stops, which causes an error. It may remain stable.

In order to solve this problem, a threshold value is set for the pedaling force, and the motor is not driven when the pedaling force is less than this threshold value. However, after starting the motor drive, if the motor drive is stopped at all times when the pedal effort is below the threshold value, when the vehicle is running with a small pedal effort below the threshold value, the assistance from the motor is lost. I will end up.

Further, if the motor drive is not stopped even if the pedal force falls below the threshold value once the motor drive is started beyond the threshold value, the motor will move when the pedal force is no longer applied. The problems mentioned at the beginning such as stopping and stopping occur.

The present invention has been made in consideration of such a situation. If the state of small fluctuation of pedaling force (small amplitude) continues for a certain period of time or more, the bicycle is not riding. In view of the above, it is an object of the present invention to provide an electric bicycle with an electric motor stop function that stops driving a motor.

Further, according to the present invention, the motor drive is not stopped only when the above condition is satisfied, but in addition to this condition, only when the vehicle speed is "0", that is, the bicycle is stopped. The purpose is to stop the motor drive.

Further, even when the pedal effort is detected by placing the foot on the pedal while the bicycle is stopped and the brake is applied, the motor drive is stopped by updating the threshold value of the pedal effort. Is intended. Then, the purpose is to lower the threshold value that has been once corrected upward.

[0010]

FIG. 1 is a block diagram showing the structure of the present invention. As shown in this figure, the present invention relates to an electric drive means 101 for driving wheels by an electric motor.
An electric force detection means 102 for detecting the driving force of the electric drive means 101, a human power drive means 103 for driving the wheels by human power, a human power detection means 104 for detecting the drive power of the human power drive means 103, and an electric power detection Control means for receiving the outputs from the means 102 and the human power detection means 104 and adjusting the driving force of the electric drive means 101 so that the driving force of the electric drive means 101 and the driving force of the human power drive means 103 have an appropriate ratio. 105 and a fluctuation range detecting means 106 for detecting a fluctuation range of the driving force detected by the human power detecting means 104.
Then, the detected fluctuation width is compared with a predetermined width, and when the fluctuation width is smaller than the predetermined width for a predetermined time or longer, the operation stopping means 107 for stopping the operation of the electric drive means 101 is It is an electric bicycle equipped with an electric motor stop function.

In the present invention, as the electric drive means 101, an electric motor and a transmission system such as a gear or a belt for transmitting the torque of the electric motor to the wheels can be used. The driving force of the electric drive means 101 means a torque generated in the electric motor, and the electric force detection means 102 for detecting the torque detects the current flowing through the electric motor with a current sensor, and based on the detected current value. The one that calculates the torque of the electric motor is applied.

The human power drive means 103 means a device for driving wheels by human power, and includes a pedal and a chain,
Alternatively, various drive devices such as pedals, gears, and rotary shafts can be applied. The driving force of the human-powered driving means 103 means the rotational force of the wheels generated by the pedaling force applied to the pedal. Therefore, the driving force of the human-powered driving means 103 is expressed as "pedaling force" in a normal bicycle. You can

As the human power detecting means 104, for example, in the case of a bicycle using a pedal, any device capable of detecting the pedaling force of the pedal may be used, and various torque detecting devices such as a potentiometer and a spring may be used. .

Control means 105 and fluctuation range detection means 106
It is convenient to use a microcomputer having a CPU, ROM, RAM, and I / O port.

The operation stopping means 103 includes a switching element that opens and closes a power supply circuit to stop the power supplied to the electric drive means 101, and a switching element controller that controls the switching element.
A combination with the above-mentioned microcomputer which gives an instruction to the switching element controller can be used.

In the above structure, it is preferable to further provide a vehicle speed sensor for detecting the vehicle speed. In this case, the operation stop means compares the detected fluctuation width with a predetermined width, and the fluctuation width is smaller than the predetermined width. It is preferable to have a configuration that also has a function of stopping the operation of the electric drive means when the small state continues for a predetermined time or more and there is no output from the vehicle speed sensor.

In the present invention, as the vehicle speed sensor,
Various conventionally known sensors that mechanically, electromagnetically, or optically detect the rotation of the wheels can be used.

According to the present invention, there are further provided an electric drive means for driving a wheel by an electric motor, an electric force detection means for detecting a driving force of the electric drive means, a human power drive means for driving a wheel by human power, and a human power drive means. Electric power driving means for receiving driving force detecting means for detecting the driving force, and outputs from the electric power detecting means and the human power detecting means so that the driving force of the electric driving means and the driving force of the human driving means have an appropriate ratio. Control means for adjusting the driving force of, and a threshold comparing means for storing a preset threshold value and comparing the driving force detected by the human power detecting means with the threshold value, and the human power detecting means. When the detected driving force exceeds a threshold value, the operation starting means for starting the operation of the electric drive means, and the variable for detecting the fluctuation range of the driving force detected by the human power detecting means. The width detecting means compares the detected fluctuation width with a predetermined width, and when the fluctuation width is smaller than the predetermined width for a predetermined time or more, it is stored in the threshold comparing means. An electric bicycle with a motor stopping function, comprising threshold value updating means for updating a threshold value to a value obtained by adding a predetermined value to the driving force detected by the human power detecting means.

In the present invention, the threshold comparing means and the threshold updating means are CPU, ROM, RAM,
It is convenient to use a microcomputer consisting of I / O ports.

As the operation starting and stopping means, a switching element that opens and closes a power supply circuit to stop the power supplied to the electric drive means, a switching element controller that controls this switching element, and an instruction to this switching element controller. It is possible to use a combination with the above-mentioned microcomputer which gives

In the above structure, the threshold value stored in the threshold value comparing means is compared with a value obtained by adding a predetermined value to the driving force detected by the human power detecting means, and the threshold value is more than the threshold value. When the value is smaller, it is preferable to further comprise a threshold value lowering correction means for downwardly correcting the threshold value to that value.

In the present invention, it is convenient to use a microcomputer including a CPU, a ROM, a RAM and an I / O port as the threshold lowering correction means.

[0023]

According to the present invention, the fluctuation range detecting means 106 detects the fluctuation range of the driving force detected by the human power detecting means 104, and the operation stopping means 107 detects the fluctuation range by a predetermined range. When the fluctuation width is smaller than the predetermined width and continues for a predetermined time or longer, the operation of the electric drive means 101 is stopped.

Therefore, for example, in the case where a pedaling force is provided with a threshold value, once the threshold value is exceeded and the motor driving is started, the motor driving is not stopped even if the pedaling force becomes less than the threshold value. When the fluctuation range of the pedal effort is smaller than the prescribed range and the state continues for a prescribed time or longer, the motor drive is stopped. It is possible to continue the assistance by and to prevent the motor from moving or stopping when no pedaling force is applied.
Further, the motor drive can be stopped even when the pedal is stepped on with a force equal to or more than the threshold value while the bicycle is stopped.

Further, a vehicle speed sensor is further provided, and only when the pedaling force does not change and there is no output from the vehicle speed sensor,
When the operation of the electric drive means is stopped, the operation of the electric drive means can be stopped only when the pedal is not pedaled and the bicycle is stopped. More reliable control becomes possible.

Further, according to the present invention, the threshold comparing means compares the driving force detected by the human power detecting means with the threshold value, and the driving force detected by the human power detecting means is the threshold value. When the above is reached, the operation starting means starts the operation of the electric drive means.

In such a state, once the threshold value is exceeded and the operation of the electric drive means is started, the fluctuation range detecting means always detects the fluctuation range of the driving force detected by the human power detecting means. When the variation width is smaller than the predetermined width for a predetermined time or more, the threshold updating means detects the threshold stored in the threshold comparing means by the human power detecting means. The driving force is updated to a value obtained by adding a predetermined value.

Specifically, for example, by stopping the bicycle,
When the pedal is put on with the brake applied, the pedal effort is detected.If the pedal effort is above the threshold value, the bicycle is stopped by the electric drive means even if the bicycle is stopped. Driven.

However, in this state, the pedal is not pedaled, but only the foot is put on the pedal. Therefore, the pedaling force does not change, and the fluctuation range of the pedaling force is smaller than the predetermined width for a predetermined time or more, so that the operation of the electric drive means is stopped. However, since the pedaling force when the operation is stopped exceeds the threshold value, the driving of the electric drive means is started again. That is, since such a state is repeated, as a result, the electric drive means continues to be driven while the foot is placed on the pedal,
It wastes power.

Therefore, according to the present invention, the state in which the fluctuation range of the pedal effort is smaller than the predetermined width continues for a predetermined time or more,
When the operation of the electric drive means is stopped, the threshold value stored in the threshold value comparison means is added to the driving force detected by the human power detection means by a predetermined value, for example, the motor drive is stopped. The value obtained by adding a certain value to the pedaling force at the time is set as a new threshold value, and the threshold value is updated when the electric drive means is stopped in this way so that the electric drive means does not continue to operate again. There is.

Further, when the threshold value lowering correction means is further provided, the threshold value stored in the threshold value comparison means is added to the driving force detected by the human power detection means by a predetermined value. If the value is smaller than the threshold value and compared with the value, the threshold value can be corrected downward to the value.

Therefore, the threshold value that has been updated to a high value can be corrected to a low value.

Specifically, for example, by stopping the bicycle,
If the threshold value is updated while the foot is on the pedal with the brakes applied, the threshold value will remain high even if the pedal is next stepped in the normal state. , Electric drive cannot be started.

In order to prevent this, in the present invention, when the value obtained by adding a predetermined value to the current pedaling force is smaller than the current threshold value, this is set as a new threshold value and the threshold value is corrected downward. I'm trying to do.

[0035]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the drawings. The present invention is not limited to this.

FIG. 2 is a perspective view showing the entire embodiment of the electric bicycle according to the present invention. In the figure, reference numeral 1 is an electric bicycle main body, and the electric bicycle main body 1 is provided with an electric motor 8 to be described later. The electric power of the electric motor 8 is changed by changing the driving force of the electric motor 8 according to the magnitude of the torque caused by the human power. It is driven by the force of 8.

Reference numerals 2 and 3 denote front wheels and rear wheels provided on the main frame 4, the front wheel 2 being rotatably supported, and a disk-shaped casing 5 provided at the rotary shaft of the rear wheel 3. There is. The disk-shaped casing 5 is composed of a rotating side casing 6 and a fixed side casing 7, and the rotating side casing 6 rotates together with the rear wheel 3.
In addition, the board-shaped casing 5 has a built-in electric motor 8,
A human-powered drive unit 1 which will be described later and is driven when electric drive is required.
The rotating side casing 6 is rotated together with 0. The drive portion including the board-shaped casing 5 is referred to as an electric drive portion 9.

Reference numeral 10 denotes a human-powered drive unit that rotates the rear wheel 3 via the chain 12 by stepping on the pedal 11. In this example, the chain 12 is used as the transmission member, but the chain 1
Instead of 2, a belt, a rotary shaft, or the like may be used.

Reference numeral 13 is a steering wheel for steering the front wheels 2.
Reference numerals 14 and 15 denote left and right brake levers. By pulling the brake levers 14 and 15, wires 16 and 17 are pulled, and front and rear brake devices 18 and 19 are operated by the wires 16 and 17, respectively. . A brake switch 20 is provided in the middle of the wires 16 and 17, and the brake levers 14 and 15
When the is operated, the electric power to the electric motor 8 is stopped.

Reference numeral 21 is a saddle. A battery unit 22 serves as a power source of the electric motor 8. The battery unit 22 is composed of a battery case 23 slidably attached to the frame 4 and a single rechargeable battery housed in the battery case 23. . This power supply voltage is about 2
It is 4 volts.

Next, the board casing 5 will be described with reference to FIG. FIG. 3 is a front view showing the internal structure of the board-shaped casing 5. In this figure, 7 is a fixed casing fixed to the electric bicycle main body 1. In this fixed casing 7, a control unit 26 including a control board 24, a radiator plate 25, etc., an electric motor 8, a first pulley 27, a second pulley 27, Pulley 2
8, a reduction gear mechanism 30 including three pulleys of a final stage pulley 29, and a transmission belt 31 that connects the reduction gear mechanism 30 are arranged.

The final stage pulley 29 of the speed reduction mechanism 30 is fixed to the rotating side casing 6, and when the electric motor 8 rotates, the first to final stage pulleys are rotated by the transmission belt 31, and the final stage pulley 29 is decelerated. At the same time, the rotating casing 6 rotates. A one-way clutch is interposed in the smaller pulley of the second pulley 28, which connects the second pulley 28 and the final-stage pulley 29, and rotates the electric motor 8 when the force from the pedal 11 is applied. This is done so that the pedal 11 is light.

Reference numeral 32 is a pressing member for adjusting the tension of the transmission belt 31. Reference numeral 33 is an adjusting screw for adjusting the tension of the transmission belt 31, and a long hole is formed in the mounting portion of the rotating shaft of the first pulley 27, and the first pulley 27 is moved in the direction in which the transmission belt 31 is stretched. The pulley is fixed by the adjusting screw 33 in the moved state.

Reference numeral 37 is a chain sprocket for transmitting the driving force from the chain 12 to the rotary side casing 6, and a free wheel 38 is provided between the chain sprocket 37 and the rotary side casing 6, and the chain 12 When is rotated in the reverse direction, the driving force from the chain 12 is not transmitted to the rotating side casing 6. Reference numeral 39 is an axle of the rear wheel 3.

The structure of the final stage pulley 29 will be described in detail with reference to FIGS. 4, 5 and 6. In these figures, 40 is an elastic body, that is, a spring, which is provided at two locations inside the final stage pulley 29 symmetrically with respect to the axle 39.
In No. 0, one side is fixed to the final stage pulley 29, and the other side is openable. Further, the spring 40 extends and contracts in the axle 3 direction.
9 or the final stage pulley 29 is arranged in a substantially tangential direction of a concentric circle so that when a pedaling force is applied to the pedal 11, the pressing member 42, which will be described later, easily receives the force.

Reference numeral 41 designates a pressure receiving member which comes into contact with the open side of the spring 40. The pressure receiving member 41 has a portion smaller than the diameter of the spring 40 and a large portion. The small portion enters the spring 40 and the large portion is the spring 40. Is provided so as to cover. The pressure receiving member 41 is made of a slippery material such as iron or ceramic.

Reference numeral 42 denotes a rotating plate which is rotated by the rotation of the chain sprocket 37 and is provided around the axle 39.
With respect to the rotating plate 42, the central axis of the axle 39 is point-symmetrical,
A pressing member 43 for pressing the pressure receiving member 41 by the rotation of the chain sprocket 37 is provided. The pressing member 43 is made of a slippery material such as iron or ceramic.

Further, the rotating plate 42 is inserted concentrically inside the final stage pulley 29, and the pressing member 43 is attached to the spring 40.
By pressing, it rotates together with the final stage pulley 29. Further, the pressing member 43 has a curved front end because the pressing position is slightly displaced when pressing the pressure receiving member 41.

Further, the rotating plate 42 is provided with two inclined portions 44 formed so as to face in the rotating direction at two positions with the central axis of the axle 39 as point symmetry, and when the rotating plate 42 rotates. Rotate.

Reference numeral 45 designates an inclined portion 44 by the rotation of the rotating plate 42.
Is a sliding member movable in the direction of the axle 39 by the action of, and a projection 46 is provided at a portion of the sliding member 45 that abuts the inclined portion 44, and an elastic member, that is, a spring is provided at a position opposite to the projection 46. 47 is provided so as to be biased toward the rotating plate 42. That is, the sliding member 45 slides only when the rotating plate 42 is rotated to push the sliding member 45. When the rotating plate 42 returns to its original position, the sliding member 45 also returns to its original position. Has become. Further, a magnetic member, a ferrite 48 in this embodiment, is provided on the sliding member 45 so that the sliding member 45 moves as the sliding member 45 moves.

Reference numeral 49 is a coil provided inside the fixed casing 7 within the moving range of the ferrite 48, and the ferrite 48 moves in the coil bobbin 50 around which the winding of the coil 49 is wound. There is.

The rotating plate 42 of the rotating casing 6 is provided with a boss 42a, and the boss 42a has a magnet 42b for detecting the rotation speed of the rotating casing 6.
Is provided. The fixed casing 7 at the facing portion of the magnet 42b is provided with a substrate 7a and a reed switch 7b thereon. The reed switch 7b is turned on (or turned off) by the magnetic force each time the magnet 42b approaches, and it takes time until the reed switch 7b is turned on (or turned off) once and then turned on (turned off). The speed of the electric bicycle is detected by counting at the counter.

The rotating plate 42 and the sliding member 45 described above are collectively referred to as a converting member 51. Further, the ferrite 48 provided on the sliding member 45 and the coil 49 attached to the stationary casing 7 are collectively referred to as a torque detection unit 52. The magnet 42b and the reed switch 7b are collectively referred to as a vehicle speed sensor.

Next, driving by human power and detection of torque by the torque detecting section 52 will be described.

When the electric bicycle main body 1 starts to run, the user applies pedal force to the pedals 11 to run. At this time, the rear wheel 3 has a large force to stop, so that the chain sprocket 37 and the rotating plate 42 try to rotate and the spring 4
When 0 is pressed and the spring 40 presses the final pulley 29, the rotary casing 6 fixed to the final pulley 29 and the rear wheel 3 rotate and travel. At this time, since a large torque is generated during traveling, the spring 40 contracts greatly, that is, the contraction of the spring 40 causes the rotating plate 42 to rotate,
The inclined portion 44 also rotates.

When the inclined portion 44 rotates, the projection 46 abutting against the inclined portion 44 is pushed in the direction of the axle 39, and the sliding member 45 also moves in the direction of the axle 39. When the sliding member 45 moves in the direction of the axle 39, the ferrite 48 moves inside the coil 49, which changes the inductance of the coil 49.

That is, as the pedal effort increases, the volume of the ferrite 48 inserted in the coil 49 also increases, and the inductance also increases. That is, the voltage applied to the coil 49 changes according to the change in the inductance. The larger the inductance is, the smaller the voltage is. The smaller the inductance is, the larger the voltage is. Can be detected, and the electric motor 8 is drive-controlled in accordance with this magnitude.

In addition, the state where the user does not apply the pedaling force when traveling on a level ground will be described. The rotating plate 42 rotates together with the final stage pulley 29. In this state, there is no pedaling force, so the spring 40 does not contract and slides. The member 45 also does not move. That is, since the inductance of the coil 49 does not change, the voltage applied to the coil 49 does not change, and the drive from the electric motor 8 is not performed.

Further, the case where the user accelerates on a level ground or an uphill will be described. As in the case of starting the running described above, when the pedaling force is applied, the spring 40 contracts, so that the rotating plate 42 receives the torque of human power. The protrusion 46 that rotates according to the size and contacts the inclined portion 44 is pressed by the rotation of the inclined portion 44, the sliding member 45 moves, and the ferrite 48
Moves in the coil 49.

Reference numeral 47 is a rubber plate for preventing the pressing member 43 pressed by the urging force of the spring 40 from an impact. Reference numeral 48 is a cover that covers the spring 40.

Next, the circuit of the torque detector 52 will be described with reference to FIGS. 7 and 8. In these figures,
Reference numeral 49 is a coil to which an AC voltage output from a CPU (not shown) is applied, and a waveform as shown in FIG. 8A is input to this AC voltage. In addition, the inductance of the coil 49 is increased or decreased by moving the ferrite 48 closer or further away from the coil 49, and the waveform is output as shown in FIG. 8B. The output pulse is DC-converted by the DC converter 60 by taking the average value of the pulse. That is, (C) of FIG.
The waveform is converted into a waveform shown in (1), amplified by the next amplifier 61, A / D converted by an A / D converter (not shown), and input to the CPU.

Further, the broken line portion of the waveform of FIG. 8B shows the waveform when the ferrite 48 approaches the coil 49, which is the DC converter 60, and the waveform of FIG. As shown by the broken line in (C), the level is lowered and the data is input to the CPU.

As described above, the pedaling force is converted into the movement of the ferrite 48 in the direction of the axle 39, and the change in the inductance of the coil which is changed by this is converted into the change in voltage to extract the electric signal. Torque can be detected, and human power can be assisted by accurate control.

Although the position of the ferrite is set so as to move within the coil, the inductance of the coil changes even when the ferrite is moved close to the coil. It may be configured to be provided.

Further, the spring 40 is not used, and the elastic member 47 is used.
The sliding member 45 presses the elastic member 47 when the pedaling force is applied by the elastic force of only the elastic member 47, and when the pedaling force is lost, the elastic member 47 is released.
The torque may be detected by returning the sliding member 45 to its original position by the elastic force of.

FIG. 9 is a block diagram showing the control circuit of the electric motor. In this figure, 71 is a pedaling force detection unit including a torque detection unit 52, 79 is a vehicle speed detection unit including a vehicle speed sensor, 72 is a CPU, 73 is a switching element for switching the circuit, and 74 is a power source that controls the switching element 73. Is a switching element controller for performing the duty control (PWM control), and 75 is a DC power supply. This DC power supply 75 is a NiCd (Ni-cd) battery 24V,
The one with 2.5 Ah is used.

Reference numeral 76 is a flywheel diode, 77 is a power supply voltage detector, and 78 is a motor current sensor for detecting a current flowing through the electric motor 8.

As the motor current sensor 78, two resistors (shunt resistors) having a resistance value of 4.5 mΩ and an allowable capacity of 14 A are connected in parallel, and the voltage drop is detected by a differential amplifier. The detected value is A / D converted and the CPU 7
I am trying to type in 2. The CPU 72 calculates the torque of the electric motor 8 based on the current value from the motor current sensor 78.

Next, the operation of the CPU 72 will be described with reference to the flowchart shown in FIG. First, the pedal effort detection unit 71
Detects pedal force by A / D (analog / digital)
It is converted (step S1), the pedal effort is converted into a human torque (step S2), the current of the electric motor 8, that is, the motor current is detected and A / D converted (step S3), and the motor current is converted into a motor torque (step S3). Step S4).

Next, the vehicle speed is obtained from the vehicle speed detector 79, and it is determined whether the vehicle speed is less than 15 km / h (step S5) or the vehicle speed exceeds 24 km / h (step S5).
6) If the speed is less than 15 km / h, the old manpower torque is set as the new manpower torque (step S7), and the speed is 15 km / h to 2 h / h.
If it is in the range of 4 km, the old manpower torque (24-vehicle speed)
The new power torque is multiplied by / 9 (Km / S) (step S8). If the speed is 24 Km or more, the new power torque is set to "0".

Then, the old duty + (new manpower torque-
Motor torque) / constant is calculated, that is, integral calculation is performed, and this is set as a new duty (step S10), and the duty is output (step S11).

FIG. 11 is a block diagram showing a circuit for starting or ending the driving of the electric motor. In FIG.
1 is a motor current detection unit including a motor current sensor 78,
Reference numeral 82 is a controller including the CPU 72. The drive start detection unit 83, the threshold value update unit 84, and the drive end detection unit 85 also include the CPU 72.

Reference numeral 86 is a gate composed of a switching element. In this embodiment, this gate also serves as the switching element 73 that controls the duty of the power supply. However, in addition to this switching element 73, a switching element that only turns on / off the power supply is a switching element. It may be provided in series with 73.

Reference numeral 87 is a motor composed of the electric motor 8, 88 is a speed reducer composed of the speed reduction mechanism 30 provided in the disk-shaped casing 5, and 89 is a wheel composed of the rear wheel 3.

The operation of the embodiment will be described below with reference to the flowchart. FIG. 12 is a flowchart showing the processing contents for starting the driving of the motor 87. This process is performed by the drive start detector 83.

In this process, it is determined whether or not the pedaling force value (sensor value) obtained from the pedaling force detector 71 is equal to or greater than the threshold value stored in the memory in advance. That is, during a predetermined time (30 msec), the minimum pedaling force of the sensor value is checked and compared with a threshold value (step S2).
1). The reason why the minimum sensor value is observed for 30 msec is to prevent malfunction due to noise. And the motor 87
The drive start signal of is output (step S22).

FIG. 13 is a flow chart showing the processing contents for ending the driving of the motor 87. This process
The drive end detection unit 85 performs this. In this processing, the fluctuation range of the pedaling force value (sensor value) obtained from the pedaling force detection unit 71 is detected, and the detected fluctuation range is compared with a predetermined width stored in advance in the memory. That is, predetermined time (4 seconds)
During that time, the difference between the maximum and the minimum of the sensor value is observed and compared with this predetermined value (step S31).

The predetermined time is set to 4 seconds because the pedaling cycle is normally about 4 seconds.
As the predetermined width, the difference between the maximum value and the minimum value of the pedal effort that occurs when the pedal is depressed with the weakest pedal effort may be stored.

In the comparison in step S31, when the difference between the maximum value and the minimum value of the sensor value for 4 seconds is smaller than the predetermined value, the drive completion signal of the motor 87 is output (step S32). When the difference between the maximum value and the minimum value of the sensor value for 4 seconds is greater than or equal to a predetermined value, it is considered that the bicycle is being pedaled, and the maximum sensor value for a predetermined time (4 seconds) is output. (Step S33).
This data is input to the threshold updating unit 84.

FIG. 14 is a flowchart showing the processing contents for updating the threshold value. This processing is performed by the threshold updating unit 84. In this process, first, the average value of the pedal effort value (sensor value) obtained from the pedal effort detection unit 71 for a predetermined time (30 msec) is obtained, and a value obtained by adding a predetermined value (5 Kg) thereto is used as a threshold value. It is stored in the memory (step S41). The predetermined value of 5 kg is
This is because, usually, by detecting such an increase in pedal effort, it can be distinguished from the increase in pedal effort due to noise.

Next, it is checked whether the maximum value of the sensor for a predetermined time (30 seconds) plus the predetermined value (5 Kg) is smaller than the threshold value (step S42). The above-mentioned two predetermined times are set to 30 msec in order to prevent malfunction due to noise.

Here, the maximum of the sensor value for 30 seconds is 5K.
If g is smaller than the threshold value, then 3
The value obtained by adding 5 kg to the maximum of the sensor value for 0 seconds is stored in the memory as a new threshold value (step S43),
As a result, the threshold value is corrected downward.

If the drive end signal is output from the drive end detector 85 (step S44), a new value is obtained by adding the predetermined value (5 kg) to the maximum sensor value for the predetermined time (4 seconds). The threshold value is stored in the memory (step S45), and the threshold value is updated accordingly. Here, as the maximum sensor value data, the output from the drive end detection unit 85 is taken in, and the maximum sensor value data for a predetermined time (4 seconds) is obtained.

If the drive end signal is not output in step S44, the threshold value is output (step S46). This threshold value is input to the drive start detection unit 83.

FIG. 15 is a flow chart showing the processing contents for opening and closing the gate 86. In this process, first, the gate is closed (step S51). If the drive start signal is output from the drive start detector 83, the gate is opened (step S53) and the drive end signal is output from the drive end detector 85. If output, the gate is closed (step S55).

FIG. 16 is an explanatory diagram showing the timing of driving the motor 87 and the manner of updating the threshold value. First, explaining from the left side of the figure, at time a, the pedaling force begins to increase, but the driving of the motor 87 is not started because it does not exceed the threshold value. Then, at time b, since the threshold value is exceeded, driving of the motor 87 is started. The pedaling force changes into a mountain shape as shown in the figure.

At time c, the pedal effort becomes "0",
The driving of the motor 87 is ended at time d when the fluctuation of the pedaling force is small (almost constant around “0”) for a predetermined time. From time c to time d, the motor 87 is controlled based on the detected value of the pedaling force "0".

At time e, the driving of the motor 87 is started, but the pedaling force is constant (between time f and time g) due to the condition that the foot is put on the pedal, etc., so at time g, the motor 87 is started. Is terminated, and the threshold value is updated at this time.

After time g, the pedaling force is applied, but the threshold value becomes higher than that, so that the driving of the motor 87 is not started. Then, at time h, the driving is started when a pedaling force equal to or more than a new threshold value is applied.

Between time i and time j, (current pedal force +
Since the (predetermined value) is smaller than the current threshold value, the threshold values are updated downward one after another as the pedal effort decreases. Then, from time j, the threshold value returns to the initial value.

In this way, by starting or ending the driving of the motor 87 and updating the threshold value, useless power consumption can be prevented and the electric bicycle can be driven in a better state. it can.

[0092]

According to the present invention, when the fluctuation range of the driving force detected by the human power detecting means is smaller than the predetermined width for a predetermined time or more, the operation of the electric drive means is stopped. Thus, when the pedal is not pedaled, the operation of the electric drive means can be stopped and wasteful power consumption can be prevented.

Further, a vehicle speed sensor is further provided, and only when the pedaling force does not change and there is no output from the vehicle speed sensor,
When the operation of the electric drive means is stopped, the operation of the electric drive means can be stopped only when the pedal is not pedaled and the bicycle is stopped. More reliable control becomes possible.

Furthermore, when the fluctuation range of the pedaling force is smaller than the predetermined width and the operation of the electric drive means is stopped for a predetermined time or longer, the threshold value stored in the threshold value comparison means is set. , If a new threshold value is set by adding a predetermined value to the driving force detected by the human power detection means, and the threshold value is updated when the electric drive means is stopped in this way, then, again, It is possible to prevent the electric drive means from operating.

Further, when the threshold value lowering correction means is further provided, the threshold value can be corrected downward, so that the threshold value that has been updated to a high value is
Can be modified to a lower value.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is an overall perspective view showing an embodiment of an electric bicycle according to the present invention.

FIG. 3 is a front view showing a configuration inside a board-shaped casing according to the present invention.

FIG. 4 is a side sectional view showing a configuration of a final stage pulley of the electric bicycle according to the present invention.

FIG. 5 is a plan configuration diagram showing a configuration of a final stage pulley of the electric bicycle according to the present invention.

FIG. 6 is a side sectional view showing a configuration of a final stage pulley of the electric bicycle according to the present invention.

FIG. 7 is a circuit diagram of a torque detection unit of the electric bicycle according to the present invention.

FIG. 8 is an explanatory diagram showing a waveform of each part in the circuit of the torque detection unit of the electric bicycle according to the present invention.

FIG. 9 is a block diagram showing a control circuit of an electric motor according to the present invention.

FIG. 10 is a flowchart showing the operation of the CPU in the present invention.

FIG. 11 is a block diagram showing a circuit for starting or ending driving of the electric motor in the present invention.

FIG. 12 is a flowchart showing the processing contents for starting driving of the motor in the present invention.

FIG. 13 is a flowchart showing the processing contents for ending the driving of the motor in the present invention.

FIG. 14 is a flowchart showing the processing contents for updating the threshold value according to the present invention.

FIG. 15 is a flowchart showing the processing contents for opening and closing the gate in the present invention.

FIG. 16 is an explanatory diagram showing a timing of driving a motor and a state of threshold value updating according to the present invention.

FIG. 17 is a block diagram showing a control circuit of a conventional electric bicycle.

[Explanation of symbols]

 3 Wheels (rear wheels) 5 Disc-shaped casing 6 Rotating side casing 7 Fixed side casing 7a Substrate 7b Reed switch 8 Electric motor 9 Electric drive unit 10 Human power drive unit 11 Pedal 26 Control unit 39 Axle 40 40 Elastic body (Spring) 42 Rotating plate 42a Boss 42b Magnet 44 Inclination part 45 Sliding member 46 Protrusion 47 Elastic member (spring) 48 Magnetic member (ferrite) 49 Coil 51 Conversion member 52 Torque detection part 71 Pedal force detection part 72 CPU 73 Switching element 74 Switching element controller 75 DC power supply 76 diode 77 power supply voltage detector 78 motor current sensor 79 vehicle speed detection unit 81 motor current detection unit 82 controller 83 drive start detection unit 84 threshold value update unit 85 drive end detection unit 86 gate 87 motor 88 speed reducer 89 wheels

Claims (4)

[Claims] 1. An electric drive unit for driving a wheel by an electric motor, an electric force detection unit for detecting a drive force of the electric drive unit, a human power drive unit for driving a wheel by human power, and a drive force of a human power drive unit. Output from the electric force detection means and the human power detection means, the driving force of the electric drive means is adjusted so that the driving force of the electric drive means and the driving force of the human power drive means have an appropriate ratio. The control means for adjusting, the fluctuation width detecting means for detecting the fluctuation width of the driving force detected by the human power detecting means, and the fluctuation width detected are compared with a predetermined width, and the fluctuation width is smaller than the predetermined width. An electric bicycle with an electric motor stop function, comprising an operation stopping means for stopping the operation of the electric drive means when the small state continues for a predetermined time or longer. 2. A vehicle speed sensor for detecting a vehicle speed is further provided, wherein the operation stopping means compares the detected fluctuation width with a predetermined width, and the fluctuation width is smaller than the predetermined width for a predetermined time or more. The electric bicycle with an electric motor stop function according to claim 1, further comprising a function of stopping the operation of the electric drive means when there is no output from the vehicle speed sensor. 3. An electric drive means for driving a wheel by an electric motor, an electric force detection means for detecting a drive force of the electric drive means, a human power drive means for driving a wheel by human power, and a drive force of the human power drive means. Output from the electric force detection means and the human power detection means, the driving force of the electric drive means is adjusted so that the driving force of the electric drive means and the driving force of the human power drive means have an appropriate ratio. A control means for adjusting, a preset threshold value is stored, a threshold value comparing means for comparing the driving force detected by the human power detecting means with the threshold value, and a human power detecting means for detecting. When the driving force becomes equal to or more than the threshold value, the operation starting means for starting the operation of the electric driving means, and the fluctuation width detecting means for detecting the fluctuation width of the driving force detected by the human power detecting means , Comparing the detected fluctuation width with a predetermined width, and when the fluctuation width is smaller than the predetermined width for a predetermined time or more, the threshold value stored in the threshold value comparing means is changed to An electric bicycle with an electric motor stop function, comprising threshold value updating means for updating the driving force detected by the human power detecting means to a value obtained by adding a predetermined value. 4. The threshold value stored in the threshold value comparing means is compared with a value obtained by adding a predetermined value to the driving force detected by the human power detecting means, and the value is more than the threshold value. 4. When the threshold value is smaller than the threshold value, the threshold value downward correction means for downwardly correcting the threshold value is further provided.
An electric bicycle with the described motor stop function.