JPH0939873A - Auxiliary driving device in manually-powered vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust the output of the auxiliary drive to the manual power according to a traveling distance and a road by providing an output setting part to set an output ratio of the auxiliary drive power to the manual power, and controlling the auxiliary drive power of an electric motor based on the output ratio set by an output ratio setting part. SOLUTION: In a wheel chair provided with electric motors 302a, 302b to drive each drive wheel 2a on the right and left sides, an output setting circuit 310 to set an output ratio of the auxiliary drive power containing a setting switch/an angle detection sensor is provided. An output signal of a manual power torque sensor 301a is converted into manual power drive torque data, the output signals of speed sensors 303a, 303b are converted into the traveling speed data, and the respective data are inputted into a controller 305 together with the output of an output setting circuit 310. A corresponding assist quantity is calculated by the controller 305 from the output characteristics of the auxiliary drive power to the manual power stored in the output characteristics table to control the drive of the electric motors 302a, 302b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an auxiliary drive device for a human-powered vehicle, for example, an auxiliary drive device for a human-powered vehicle in which a human-powered drive system provided with an electric motor is also provided.

[0002]

2. Description of the Related Art Conventionally, inpatients, persons with disabilities, who cannot walk
Elderly people, depending on the difficulty of walking and the needs of caregivers,
They used either a manual wheelchair (rear wheel drive type folding wheelchair) for the purpose of self-driving by a user or an electric wheelchair for the purpose of electric power running. For example, a manual wheelchair that can be driven by a hand rim has a minimum space for turning and can be folded and placed near the user, so that it is commonly used in hospitals and the like, but it can be used uphill. The force applied to the hand rim increases in places where there are steps and steps, and it is necessary to assist the caregiver each time.

In addition, the conventional electric wheelchair uses no human-powered driving force at all, and can be driven by the electric-powered driving force, so that a person with limited limbs can drive the vehicle, but the power consumption of the battery mounted on the vehicle body is large. Therefore, it was necessary to use a battery having a large capacity (for example, a lead storage battery). In addition, there is a problem that the radius of travel in turning is larger than that of a manual wheelchair, and operability is poor in a narrow space. Therefore, by incorporating the auxiliary drive device in the conventional manual wheelchair, while taking advantage of the manual wheelchair, the load is lighter even in an uphill place or a place with a step, and it is smaller than the battery of the conventional electric wheelchair. Expectations are being placed on the development of an auxiliary drive unit for wheelchairs that can use these batteries.

Conventionally, as a human-powered driving device capable of traveling with an auxiliary driving force of an electric motor, as described in JP-A-4-100790, a human-powered driving system and an electric-motor driving system are provided in parallel, It is known that a load applied to a drive system due to human power is detected to control an auxiliary drive force of an electric motor.

[0005]

However, when it is applied to the human-powered drive bicycle of Japanese Patent Laid-Open No. 4-100790, when a human power is applied, an auxiliary drive force (assist force) is automatically generated according to the force. ) Is added to reduce human power without impairing the sense of driving a bicycle, but the conversion characteristics of assist power to human power cannot be changed, so it depends on the distance traveled and the road (steep-flat). , The output of the assist power could not be adjusted.

The present invention has been made in consideration of the above circumstances. For example, an assist in a human powered vehicle in which the output of the auxiliary driving force with respect to the human power can be adjusted according to the traveling distance and the road (steep slope-flat land). A drive device is provided.

[0007]

FIG. 1 is a block diagram showing the basic configuration of the present invention. In FIG. 1, according to the present invention, a human power drive unit 101 that drives a wheel by human power, a human power torque detection unit 102 that detects a driving force by human power, and an electric drive unit 103 that auxiliary drives a wheel by an electric motor.
And a motor control unit 104 for generating an auxiliary drive force to the electric drive unit 103 in response to the detection output of the human torque detector.
And an output ratio setting unit 105 that sets an output ratio of the auxiliary driving force to the human driving force.
Is an auxiliary drive device for a human-powered vehicle that controls the auxiliary drive force of the electric motor based on the output ratio set by the output ratio setting unit 105.

In the present invention, the human-powered vehicle means, for example, a bicycle, a wheelchair or the like which is driven by human power. The human-powered drive unit 101 means a device for rotationally driving the wheels by human power, and means a hand rim in a wheelchair. Manual torque detector 102
Is, for example, a pressure sensor, a magnetoresistive element, a strain gauge, a potentiometer, a differential transformer, which converts a mechanical pressure or a deformation amount according to a human-powered driving torque (human-powered driving force) applied from a hand rim to a driving wheel into an electric signal. Etc. Auxiliary drive torque (auxiliary drive force) of the electric drive unit 103
Means the motor drive torque generated in the electric motor,
This electric motor is composed of a permanent magnet excitation type DC brush motor, a brushless motor, a flat motor and the like.

The motor control unit 104 includes a CPU, a ROM,
It is composed of a microcomputer including a RAM, an I / O port, a timer, and an A / D converter. Also, this R
The OM stores a program in which the CPU functions as the motor control unit 104. The motor control unit 104 further includes a drive circuit that drives the electric motor. The output setting unit 105 includes a changeover switch, a slide switch / slide volume, an angle detection sensor, and the like. When the output setting unit 105 includes an angle detection sensor that detects the inclination angle of the vehicle body, the output ratio of the auxiliary driving force to the human driving force can be automatically set based on the detection output of the angle detecting sensor. Also, the angle detection sensor
A combination of a lever that rotates under its own weight, a potentiometer, a photo sensor, a Hall IC, and the like can be used. As a drive power source for the electric motor of the electric drive unit 103,
For example, two rechargeable Ni-cd batteries.
A DC power supply of about 4V, 2.5Ah or 5.0Ah may be used. This DC power supply is further stabilized and used as a drive power supply for each component.

According to the present invention, the motor controller 104 is
When controlling the auxiliary driving force of the electric motor in accordance with the detection output of the human power torque detecting unit 102, the auxiliary driving force according to the output ratio set by the output setting unit 105 is output to the electric driving unit. Therefore, the distance traveled and the road (steep-flat)
Depending on, the auxiliary driving force (assist amount) for human power can be set. For example, during long-distance traveling, the assist amount is reduced during initial traveling to reduce battery consumption,
In the latter half, when you get tired, you can drive lightly by increasing the assist amount. Further, the assist amount can be adjusted according to the physical strength by setting the assist amount to be small on a flat ground and setting the assist amount to be large on a steep uphill.

A speed detector 10 for detecting the rotational speed of the wheels.
6, an output characteristic storage unit 107 that stores a plurality of output characteristics of the auxiliary driving force corresponding to the traveling speed and the human driving force, a detection output of the human torque detection unit and a detection output of the speed detection unit, and an output characteristic storage unit A calculation unit 10 that calculates an auxiliary driving force with respect to the human driving force based on the output characteristics stored in 107.
8 is further provided, and the calculating unit 108 is configured to calculate the auxiliary drive torque with respect to the human driving force by reading the output characteristic corresponding to the output ratio set by the output ratio setting unit 105 from the output characteristic storage unit 107. It is preferable. With this configuration, the calculation unit 108 can calculate the auxiliary driving force based on the output ratio of the output ratio setting unit 105 corresponding to the detection output of the human torque detection unit 102.

A speed detector 10 for detecting the rotation speed of the wheels.
Reference numeral 6 includes a tacho generator, a photo sensor, a Hall IC, and the like. A program that causes the CPU to function as the calculation unit 108 is stored in the ROM of the microcomputer. Further, the output characteristic storage unit 107 stores a plurality of output characteristics of the auxiliary driving force corresponding to the traveling speed and the human driving force. In addition, the microcomputer RA
In M, data processed by the CPU (for example, detection signal, calculated auxiliary driving force data, etc.) is updated and stored.

A current detection unit 109 for detecting a drive current of the electric motor is further provided, and the motor control unit 104 obtains a motor drive torque from the drive current detected by the current detection unit 109 and matches the auxiliary drive torque. It is preferable that the electric motor is controlled so as to output the motor drive torque. With this configuration, the motor control unit 104 can output the motor drive torque that corresponds to the detection output of the manual torque detection unit 102 and that matches the auxiliary drive torque set by the output setting unit 105.
The current sensor 110 is composed of a shunt resistor, a hall element and the like. When the electric motor is PWM (Pulse Width Modulation) controlled, it can be used also as a rotation speed detection sensor of the electric motor by providing a circuit for detecting the back electromotive force output from the electric motor.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings. The present invention is not limited to this. The auxiliary drive device for a human powered vehicle according to the present invention is mainly applied to a wheelchair.

FIG. 2 is an external view of a wheelchair to which the auxiliary drive device of the human powered vehicle according to the present invention is applied. In FIG. 2, FIG. 2A is a plan view of the wheelchair, FIG. 2B is a side view of the wheelchair, and FIG. 2C is a rear view of the wheelchair. FIG.
(D) is an external view of a battery. FIG. 2E is an external view of the operation panel. In FIG. 2, 1 is a wheelchair main body. Reference numeral 2 is a drive wheel that drives the wheelchair body 1, and drive wheels 2a and 2b are provided on the left and right. Reference numeral 3 denotes a hand rim (human power drive unit) that drives the left and right drive wheels 2a and 2b by human power. The hand rims 3a and 3 are attached to the left and right drive wheels 2a and 2b.
b is provided. Reference numeral 4 denotes a frame, which is composed of a left frame 4a, a right frame 4b, a plow 4c, and the like.

Numeral 5 is a universal wheel, which is the left and right frames 4a, 4
Free wheels 5a and 5b are provided at the lower end of b. 6 is a grip, and the grips 7 are provided on the upper end portions of the left and right frames 4a and 4b.
a and 7b are provided. A seat unit 7 supports a user's body, and includes a seat 7a, a backrest 7b, left and right elbow pads 7c1-7c2, left and right footrests 7d1-7.
It consists of d2 and other accessories.

Reference numeral 8 denotes a hub provided on the rotary shafts of the drive wheels 2a and 2b. Inside the left and right hubs 8a and 8b, a human torque sensor (human torque detecting section), a speed sensor (speed detecting section), which are not shown, Each detection unit of the current sensor (current detection unit), an electric drive unit including an electric motor, a speed reduction mechanism, a clutch, a control circuit board on which a microcomputer is mounted, and the like are incorporated. 9 is a battery (DC power supply)
And, for example, rechargeable NiCd (Ni-cd)
It is composed of a battery of about 24 V, 2.5 Ah or 5.0 Ah, and is provided on the side faces of the left and right frames 4a, 4b or the backrest 7b (see FIG. 2 (d)).

Reference numeral 10 indicates ON / OF of the power supply of the battery 9
ON / OFF switch for F, auxiliary drive force (assist amount) changeover switch for level ground and slope, and O for power supply
The operation box is provided with an LED for displaying the N / OFF state, and is provided, for example, in the vicinity of the elbow pad 7c (see FIG. 2E). In the operation panel shown in FIG. 2 (e), the output setting of the auxiliary driving force (assist amount) is switched between the two-step output ratio on the flat ground and the slope, but the output ratio is set in multiple steps by the slide switch / slide volume. You may comprise. In addition, the angle detection sensor is connected to the hub 8a (8
It can also be installed in b) to automatically set the output ratio of the assist amount from the inclination angle of the slope. Although a manual brake for braking or locking the drive wheels 2a, 2b is not shown in FIG. 2, it is provided in front of the drive wheels 2a, 2b.

FIG. 3 is a block diagram showing a control circuit of a wheelchair to which the auxiliary drive device in the human powered vehicle of the present invention is applied. In FIG. 3, 301a is the left hand rim 3a.
Is a human-power torque sensor for detecting forward / backward human-power drive torque (human-power drive force), and reference numeral 301b is a human-power torque sensor for detecting forward / backward human-power drive force applied to the right hand rim 3b. It is preferable to use a variable inductance type pressure sensor as the manual torque sensors 301a and 301b, since it is possible to accurately convert a small mechanical displacement into an electric signal without contact. 30
2a is an electric motor that drives the left drive wheel 2a,
302b is an electric motor that drives the right drive wheel 2b. For the electric motors 302a and 302b, it is preferable to use a permanent magnet excitation type DC brush motor in terms of rotation speed, power and the like.

Reference numeral 303a is a speed sensor for detecting the rotational speed of the left drive wheel 2a (or electric motor 302a), and 303b is the right drive wheel 2b (or electric motor 30).
2b) is a speed sensor for detecting the rotation speed. The speed sensors 303a and 303b are photo sensors and hall I.
It is composed of C etc. The traveling speed S (km / h) of the wheel is
The rotational speed (n / s) of the drive wheel (or the electric motor), the radius r of the drive wheel, and S = 2πrn / 3600 are used for the calculation.

Reference numeral 304a is a current sensor for detecting the drive current Ia of the left electric motor 302a, and 304b is a current sensor for detecting the drive current Ib of the right electric motor 302b. The current sensors 304a and 304b are
It consists of a shunt resistor and a Hall IC. The drive torques Fa and Fb of the electric motors 302a and 302b are Fa =
K · Ia, Fb = K · Ib (K is a constant).

A controller 305 includes a CPU and an R
The microcomputer is composed of an OM, a RAM, an I / O port, a timer, an A / D converter, and a counter, and functions as a motor control unit, an output characteristic storage unit (output characteristic table), and a calculation unit. The output characteristic table in which the output characteristics of the auxiliary drive torque corresponding to the traveling speed and the manual drive torque are stored in advance is composed of the ROM. Also, RO
A program that functions as a motor control unit and a calculation unit is stored in M. Further, the data processed by the CPU is updated and stored in the RAM.

Further, the A / D converter samples the forward / backward human power driving force signals detected by the human power torque sensors 301a and 301b at a constant cycle, and the A / D converter
(Analog-digital) conversion to convert to forward / reverse driving force data. Current sensors 304a, 304b
Similarly, the drive currents Ia and Ib detected by are also subjected to A / D (analog-digital) conversion by sampling the drive current signal at a constant cycle, and converting into electric drive torque data of the electric motor. The counter is a speed sensor 303a,
The rotation speed signal detected by 303b is counted and converted into traveling speed data.

Reference numeral 306a is a motor drive circuit for driving the left electric motor 302a, and 306b is a motor drive circuit for driving the right electric motor 302b. The motor drive circuit 306a (306b) includes a bridge of switching transistors Q1a to Q4a (Q1b to Q4b) and diodes D1a to D for protecting the bridge.
4a (D1b to D4b).

Reference numeral 307a is a forward drive circuit for the motor drive circuit 306a to drive the left electric motor 302a forward, and 307b is a forward drive circuit for the motor drive circuit 306b to drive the right electric motor 302b forward. . When the forward drive circuit 307a (307b) receives the forward drive signal from the controller 305, for example, the transistors Q1a and Q4a (Q1b and Q4b) are turned on to drive the electric motor 302a (302b) in the clockwise direction. At this time, the controller 305 uses the manual torque detection signal detected by the manual torque sensor 301a (301b) to determine the auxiliary drive torque (assist amount).
Are calculated from the drive current Ia (Ib) detected by the current sensor 304a (304b), respectively, and the forward drive torque of the electric motor is calculated, and PWM (pulse width modulation) control is performed so that the auxiliary drive torque and the forward drive torque match. .

Reference numeral 308a is a reverse drive circuit for the motor drive circuit 306a to drive the left electric motor 302a in reverse, and 308b is a reverse drive circuit for the motor drive circuit 306b to drive the right electric motor 302b in reverse. . When the reverse drive signal is received from the controller 305, the reverse drive circuit 308a (308b) turns on the transistors Q2a and Q3a (Q2b and Q3b) to drive the electric motor 302a (302b) counterclockwise, for example. At this time, the controller 305 uses the manual torque detection signal detected by the manual torque sensor 301a (301b) to determine the auxiliary drive torque (assist amount).
Are calculated from the drive current Ia (Ib) detected by the current sensor 304a (304b), and the reverse drive torque of the electric motor is calculated, and PWM (pulse width modulation) control is performed so that the auxiliary drive torque and the reverse drive torque match. .

Reference numeral 309 is a dynamic braking circuit for dynamically braking the electric motors 302a and 302b. Dynamic braking circuit 309
When the stop signal is received from the controller 305, the electric motor 302a is controlled, for example, by ON / OFF controlling the transistors Q3a and Q4a (Q3b and Q4b) for a predetermined time.
(302b) is dynamically braked. An output setting circuit 310 sets an output ratio of the auxiliary driving force (assist amount), and includes a setting switch / angle detection sensor. 311 is a battery, for example, a rechargeable NiCd (Ni-c
d) The battery is composed of a battery of about 24V, 2.5Ah or 5.0Ah. 312 is a constant voltage circuit, for example,
Comprised of a 5V regulator IC, battery voltage 24
V is converted to a constant voltage of 5 V, and the controller 305, human torque sensors 301a and 301b, speed sensor 303
a, 303b, etc. An ON / OFF switch 313 turns ON / OFF the power supply of the battery 310, and when turned ON, the motor drive circuits 306a and 306b receive two signals.
The 4V voltage is supplied and the LED lamp 314 is turned on.

Here, the control circuit of the wheelchair enables reversible rotation driving of the electric motor 302a (302b),
Although the auxiliary drive can be performed during the forward traveling and the backward traveling, the control circuit can be simplified so that the auxiliary driving can be performed only during the forward traveling. Also,
An electromagnetic clutch for electrically connecting the reduction mechanism of the electric motor 302a (302b) and the transmission mechanism of the drive wheels may be provided so that when the power is turned off, it can be used as a normal wheelchair.

FIG. 4 is a flow chart showing the assist amount calculation processing of the present invention. In FIG. 4, Step 401: Human torque sensor 301a (301
The forward / reverse manpower drive torque signal detected in b) is read in a predetermined cycle and converted into forward / reverse manpower drive torque data. Step 402: The forward / backward rotation speed signal detected by the speed sensor 303a (303b) is read in a predetermined cycle and converted into forward / backward traveling speed data. Step 403: Read the output ratio of the assist amount to the manpower driving force set by the setting circuit. Step 404: Output of auxiliary driving force (assist amount) to human power stored in advance in the output characteristic table based on the human-powered driving torque data obtained in step 401, the traveling speed data obtained in step 402, and the output ratio obtained in step 403. A corresponding assist amount is calculated from the characteristic.

FIG. 5 is an explanatory diagram showing the output characteristic of the assist amount in the output characteristic table. In FIG. 5, for example, when the forward speed (running speed) is 4 km / h or less, the assist amount /
Human power = constant at a rate of 0.5, 1, 1.5, 4-6k
The auxiliary drive torque is linearly reduced between m / h. In addition, the reverse speed (travel speed) is 0 to -6 km / h.
The amount of assist / manual driving force is linearly reduced during the period. Although FIG. 5 stores a plurality of output characteristic patterns for the assist amount with respect to the human-powered driving force, only one standard output characteristic pattern is stored, the assist amount is obtained from the standard output characteristic pattern, and the set output is set. You may make it the structure provided with the function to multiply so that it may become a ratio.

Step 405: The calculated assist amount (assist data) is output to the motor control section in the controller. Step 406: Is the value of the manpower driving force data 0?
If it is not 0, the process returns to step 401,
Steps 401 to 406 are repeated. Step 407: If the value of the manpower driving force data is 0, it is determined whether or not the value of the traveling speed data is 0. If the value of the traveling speed data is 0, the assist amount calculation processing is terminated, and if the value of the traveling speed data is not 0, the process returns to step 401, and steps 401 to 40.
Repeat 7.

The assist amount calculation processing of steps 401 to 407 is performed in parallel for the electric motors 302a and 302b. Further, the same step processing is applied to the forward traveling or the backward traveling. Therefore, the auxiliary driving force (assist amount) with respect to human power can be set according to the distance traveled and the road (steep slope-flat ground). It can be set to reduce the amount of wear and increase the assist amount in the latter half, when tiredness appears. Further, the output of the assist amount can be adjusted according to the physical strength by setting the assist amount small on a flat ground and setting the assist amount large on a steep uphill.

FIG. 6 is an explanatory view showing the output setting of the assist force with respect to the human-powered driving force and the total driving force. In FIG. 6, the assist force 601 is shown in the shaded area, and the human driving force 602 is shown in the shaded area and below. Total driving force 6
03 is shown by a solid line. FIG. 6A shows an example in which the standard assist force is set. That is, the output ratio of assist force / manual driving force = 1 is shown. FIG. 6B shows an example in which the assist force is set smaller than the standard. That is, assist force / manual driving force =
It shows an output ratio of 0.33, and is set, for example, when traveling on a level ground or a long distance. Battery consumption can be reduced.
FIG. 6C shows an example in which the assist force is set to be larger than the standard. That is, the output ratio of assist force / manual driving force = 1.5 is shown, which is set when traveling uphill or traveling in the latter half of a long distance. Since the human driving force applied to the hand rim of the wheelchair fluctuates periodically, the assisting force also fluctuates periodically, and the total driving force (= human driving force + assisting force) also fluctuates. here,
Although the assisting force with respect to the human-powered driving force is made to respond without delay, it is also possible to delay it by, for example, fuzzy control to smooth the total driving force. With this control, the current motor generates the driving force slightly behind the human power, so when the human power gradually rises, the assist power smaller than that assists the human power, and when the human power becomes Saigo, the assist power smaller than the human power. Will be assisted by. Then, when the human power starts to decrease, the assisting force from the electric motor becomes maximum, so that smooth assisted traveling can be realized.

FIG. 7 is an explanatory view showing a signal processing circuit of the human torque sensor and its signal waveform. In FIG. 7, the human power sensor is a variable inductance type sensor including a coil 701 and a ferrite 702, and is a ferrite 70
2 is slid in parallel with the coil 701 so that it can be moved closer to or farther from the coil 701 in proportion to the magnitude of the driving force of human power. A pulse voltage having a waveform as shown in FIG. 7A is applied from the controller 305 to the coil 701. In addition, the ferrite 702 is connected to the coil 701.
, The inductance of the coil 701 changes, and the output becomes a broken line having a waveform as shown in FIG. The output pulse voltage (B) is supplied to the integrating circuit 703.
Are integrated, converted into a waveform as shown in FIG. 6C, amplified by the next amplifier 704, and input to the I / O port of the controller 305 as a human power driving signal.

The CPU of the controller 305 takes in the human-powered drive torque output in a predetermined cycle, A / D-converts it, and converts it into human-powered drive torque data. When detecting the forward / backward human-power drive torque, two human-power torque sensors and two signal processing circuits may be provided, but one ferrite 7
The slide area of 02 can be divided into two areas, forward / reverse, and accordingly, the DC voltage level of the detection signal is also divided into two areas so that the forward driving force and the backward driving force signal can be determined. You may comprise.

Further, the speed sensors 303a and 303b are
A two-phase type configuration capable of distinguishing forward / reverse traveling is used, and for example, when assisting forward traveling, when human power in the opposite direction that the user tries to stop while working on a downhill, It is also possible to adopt a configuration in which control is performed by power generation control. Even when the vehicle is moving backward, it can be controlled so that the braking is similarly applied when the human power in the opposite direction acts. This enables stable assisted driving.

[0037]

According to the present invention, the output of the auxiliary driving force with respect to human power can be adjusted according to the distance traveled and the road (steep slope-flat land).
The amount of assist can be set to a small value during the initial running to reduce battery consumption, and can be set to increase in the latter half when tiredness occurs.

[Brief description of drawings]

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

FIG. 2 is an external view of a wheelchair to which the auxiliary drive device of the human powered vehicle according to the present invention is applied.

FIG. 3 is a block diagram showing a control circuit of a wheelchair to which the auxiliary drive device in the human powered vehicle of the present invention is applied.

FIG. 4 is a flowchart showing an assist amount calculation process of the present invention.

FIG. 5 is an explanatory diagram showing the output characteristic of the assist amount in the output characteristic table.

FIG. 6 is an explanatory diagram showing an output setting of an assist force with respect to a human-powered driving force and a total driving force.

FIG. 7 is an explanatory diagram showing a signal processing circuit of a manual torque sensor and its signal waveform.

[Explanation of symbols]

 1 Wheelchair Main Body 2 Drive Wheel 3 Hand Rim 4 Frame 5 Universal Wheel 6 Grip 7 Seat Unit 8 Hub 9 Battery 10 Operation Box 301a, 301b Human Torque Sensor 302a, 302b Electric Motor 303a, 303b Speed Sensor 304a, 304b Current Sensor 305 Controller 306a, 306b Motor drive circuit 307a, 307b Forward drive circuit 308a, 308b Reverse drive circuit 309 Power generation braking circuit 310 Output setting circuit 311 Battery 312 Constant voltage circuit 313 ON / OFF switch 314 LED lamp

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Hideo Nakamura 2-5-5 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd.

Claims (5)

[Claims] 1. A human power drive unit for driving wheels by human power, a human power torque detection unit for detecting driving force by human power, an electric drive unit for auxiliary driving of wheels by an electric motor, and a detection output of the human power torque detection unit. Correspondingly, a motor control unit for generating an auxiliary drive force to the electric drive unit and an output ratio setting unit for setting an output ratio of the auxiliary drive force to the human power drive force are provided, and the motor control unit is set by the output ratio setting unit. An auxiliary drive device in a human-powered vehicle, characterized in that the auxiliary drive force of an electric motor is controlled based on the output ratio. 2. A speed detecting section for detecting a rotation speed of a wheel, an output characteristic storing section for storing a plurality of output characteristics of an auxiliary driving force corresponding to a traveling speed and a human driving force, and a detection output of a human torque detecting section. And a calculation unit that calculates the auxiliary driving force with respect to the human-powered driving force based on the output characteristic stored in the output characteristic storage unit by reading the detection output of the speed detection unit, and the calculation unit is set by the output ratio setting unit. The auxiliary drive device for a human powered vehicle according to claim 1, wherein an output characteristic corresponding to the output ratio is read out from the output characteristic storage unit and an auxiliary drive torque for the human drive force is calculated. 3. A current detection unit for detecting a drive current of the electric motor is further provided, and the motor control unit obtains a motor drive torque from the drive current detected by the current detection unit and matches the auxiliary drive torque. The auxiliary drive device for a human powered vehicle according to claim 1, wherein the electric motor is controlled so as to output a motor drive torque. 4. The output setting unit includes an angle detection sensor for detecting a tilt angle of a vehicle body, and sets an output ratio of an auxiliary driving force to a human driving force based on a detection output of the angle detecting sensor. An auxiliary drive device for a human-powered vehicle according to claim 1. 5. The auxiliary drive device for a human powered vehicle according to claim 1, wherein the auxiliary drive device is applied to a wheelchair.