TWI573727B - Bicycle control device - Google Patents
Bicycle control device Download PDFInfo
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- TWI573727B TWI573727B TW102147508A TW102147508A TWI573727B TW I573727 B TWI573727 B TW I573727B TW 102147508 A TW102147508 A TW 102147508A TW 102147508 A TW102147508 A TW 102147508A TW I573727 B TWI573727 B TW I573727B
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- driving force
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- reference value
- detecting unit
- human driving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Description
本發明，是有關於自行車用控制裝置者。 The present invention relates to a bicycle control device.
在人力驅動力以外，進行由行走輔助用電動機所產生的行走輔助的電動輔助自行車近年漸漸地普及(例如專利文獻1)。此電動輔助自行車，是具有自行車用控制裝置，此自行車用控制裝置，是對應作用於曲軸的扭矩等的人力驅動力，決定行走輔助用的輔助力。 In addition to the human power driving force, the electric assist bicycle that performs the walking assistance by the travel assist motor has been gradually popularized in recent years (for example, Patent Document 1). This electric assist bicycle is provided with a bicycle control device that determines the assisting force for walking assistance in accordance with the human driving force corresponding to the torque acting on the crankshaft.
[專利文獻1]日本特開2001-10581號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2001-10581
在上述的電動輔助自行車中，自行車用控制裝置，是人力驅動力成為預先被設定的人力驅動力基準值以上時，使由行走輔助用電動機實行行走輔助。但是，將 此人力驅動力基準值設定成較低的話，會發生在自行車的乘坐開始就急發進的問題。為了防止此，而提高設定人力驅動力基準值的話，於自行車行走中不易開始行走輔助，而會發生乘坐感覺不佳的問題。 In the above-described power-assisted bicycle, when the human-power driving force is equal to or greater than the reference value of the human-power driving force set in advance, the bicycle assisting device performs the walking assistance by the traveling assisting motor. But will If the human driving force reference value is set to be low, there is a problem that the bicycle is rushed in at the beginning of the ride. In order to prevent this, if the reference value of the human driving force is increased, it is difficult to start the walking assistance during the bicycle walking, and there is a problem that the riding feeling is not good.
本發明的課題，是提供可適切地實行行走輔助的自行車用控制裝置。 An object of the present invention is to provide a bicycle control device that can appropriately perform walking assistance.
本發明的某側面的自行車用控制裝置，是將具有行走輔助用電動機的自行車控制的自行車用控制裝置，具備：人力驅動力檢出部、及速度檢出部、及控制部。人力驅動力檢出部，是檢出人力驅動力。速度檢出部，是檢出自行車的行走速度。控制部，是依據藉由速度檢出部被檢出的行走速度設定人力驅動力基準值，判別為藉由人力驅動力檢出部被檢出的人力驅動力是人力驅動力基準值以上的情況，使由行走輔助用電動機所產生的行走輔助實行。且，控制部，是判別為行走速度是預先被設定的速度基準值未滿的情況，將人力驅動力基準值設定成第1人力驅動力基準值，判別為行走速度是速度基準值以上的情況，將人力驅動力基準值設定成比第1人力驅動力基準值更小的第2人力驅動力基準值。 The bicycle control device according to the bicycle of the present invention includes a human-power driving force detecting unit, a speed detecting unit, and a control unit. The human driving force detection department detects the human driving force. The speed detecting unit detects the walking speed of the bicycle. The control unit sets the human driving force reference value based on the traveling speed detected by the speed detecting unit, and determines that the human driving force detected by the human driving force detecting unit is equal to or higher than the human driving force reference value. The walking assist generated by the walking assist motor is carried out. In addition, the control unit determines that the traveling speed is a predetermined speed reference value, and sets the human driving force reference value to the first human driving force reference value, and determines that the traveling speed is equal to or higher than the speed reference value. The human driving force reference value is set to a second human driving force reference value smaller than the first human driving force reference value.
依據此構成的話，行走速度是速度基準值未滿時，人力驅動力若不是第1人力驅動力基準值以上的話，行走輔助就不被實行。且，行走速度是速度基準值以 上時，且成為比第1驅動力基準值更小的第2人力驅動力基準值以上的話，行走輔助就被實行。如此，自行車的行走速度是速度基準值未滿時是，若不是更大的人力驅動力基準值以上的話，因為行走輔助不被實行，所以可以防止在自行車的乘坐開始就急發進。且，自行車的行走速度是速度基準值以上時，因為是由更小的人力驅動力基準值以上才使行走輔助被實行，所以可以消解行走輔助不易被實行的問題。因此，本發明的自行車用控制裝置，可以適切地實行行走輔助。 According to this configuration, when the traveling speed is not equal to the speed reference value, if the human driving force is not equal to or greater than the first human driving force reference value, the walking assistance is not performed. And, the walking speed is the speed reference value When it is equal to or greater than the second human driving force reference value which is smaller than the first driving force reference value, the walking assist is executed. In this way, when the running speed of the bicycle is not equal to the speed reference value, if the walking assist is not performed, the traveling assist is not performed, so that it is possible to prevent the bicycle from being rushed at the start of the ride. In addition, when the traveling speed of the bicycle is equal to or higher than the speed reference value, since the walking assistance is performed by the smaller manual driving force reference value or more, the problem that the walking assistance is not easily performed can be eliminated. Therefore, the bicycle control device of the present invention can appropriately perform the walking assistance.
較佳是，自行車用控制裝置，是進一步具備檢出自行車的曲軸的旋轉狀態的第1旋轉檢出部。控制部，是人力驅動力為人力驅動力基準值以上，且，依據藉由第1旋轉檢出部被檢出的旋轉狀態判別為曲軸是朝前進方向旋轉的情況，就實行行走輔助。依據此構成的話，滿足了更適切的條件時，使行走輔助被實行。 Preferably, the bicycle control device further includes a first rotation detecting portion that detects a rotation state of the crankshaft of the bicycle. In the control unit, the human driving force is equal to or greater than the human driving force reference value, and the traveling assist is performed based on the rotation state detected by the first rotation detecting unit that the crankshaft is rotated in the forward direction. According to this configuration, when more suitable conditions are satisfied, the walking assistance is performed.
較佳是，第1旋轉檢出部，是進一步將曲軸的旋轉角度檢出。且，控制部，是人力驅動力為人力驅動力基準值以上，曲軸是朝前進方向旋轉，且，依據藉由第1旋轉檢出部被檢出的旋轉角度判別為曲軸是預先被設定的旋轉角度基準值以上旋轉的情況，使由行走輔助用電動機所產生的行走輔助實行。依據此構成的話，滿足了更適切的條件時，使行走輔助被實行。 Preferably, the first rotation detecting unit detects the rotation angle of the crankshaft. In the control unit, the human driving force is equal to or higher than the manual driving force reference value, and the crankshaft is rotated in the forward direction, and the crankshaft is determined to be set in advance based on the rotation angle detected by the first rotation detecting unit. When the angle reference value is rotated or more, the travel assist generated by the travel assist motor is executed. According to this configuration, when more suitable conditions are satisfied, the walking assistance is performed.
較佳是，行走輔助被實行的情況時，控制部，是依據藉由第1旋轉檢出部被檢出的旋轉狀態，判別 為曲軸是朝與前進方向相反方向旋轉的情況，就停止行走輔助。依據此構成的話，不需要行走輔助的情況時，可以迅速地停止行走輔助。 Preferably, when the walking assistance is performed, the control unit determines based on the rotation state detected by the first rotation detecting unit. When the crankshaft is rotated in the opposite direction to the forward direction, the travel assist is stopped. According to this configuration, when the walking assistance is not required, the walking assistance can be quickly stopped.
較佳是，自行車用控制裝置，是進一步具備檢出自行車的曲軸的旋轉速度的第2旋轉檢出部。行走輔助被實行的情況時，控制部，是依據藉由第2旋轉速度檢出部被檢出的旋轉速度，判別為旋轉速度是預先被設定的旋轉速度基準值以下的情況，就停止行走輔助。 Preferably, the bicycle control device further includes a second rotation detecting portion that detects the rotational speed of the crankshaft of the bicycle. When the travel assist is executed, the control unit stops the travel assist based on the rotational speed detected by the second rotational speed detecting unit and determines that the rotational speed is equal to or lower than the rotational speed reference value set in advance. .
人力驅動力檢出部，是將作用於自行車的曲軸的扭矩作為人力驅動力檢出也可以，將作用於自行車的曲軸臂的扭矩作為人力驅動力檢出也可以。 The human driving force detecting unit may detect the torque acting on the crankshaft of the bicycle as the human driving force, and may detect the torque acting on the crank arm of the bicycle as the human driving force.
依據本發明的話，可以提供適切地實行行走輔助的自行車用控制裝置。 According to the present invention, it is possible to provide a bicycle control device that appropriately performs walking assistance.
1‧‧‧自行車用控制裝置 1‧‧‧Bicycle control device
2‧‧‧人力驅動力檢出部 2‧‧‧Human Driving Force Detection Department
3‧‧‧速度檢出部 3‧‧‧ Speed detection department
4‧‧‧第1旋轉檢出部 4‧‧‧1st rotation detection department
5‧‧‧第2旋轉檢出部 5‧‧‧2nd rotation detection department
6‧‧‧控制部 6‧‧‧Control Department
11‧‧‧自行車用控制裝置 11‧‧‧Bicycle control device
30‧‧‧磁鐵 30‧‧‧ magnet
101‧‧‧自行車 101‧‧‧Bicycle
102‧‧‧車架 102‧‧‧ frame
103‧‧‧前叉 103‧‧‧ Front fork
104‧‧‧手把 104‧‧‧handle
105‧‧‧驅動部 105‧‧‧ Drive Department
106‧‧‧前輪 106‧‧‧front wheel
107‧‧‧後輪 107‧‧‧ Rear wheel
110‧‧‧鏈條 110‧‧‧Chain
111‧‧‧踏板 111‧‧‧ pedal
112‧‧‧曲軸 112‧‧‧ crankshaft
112a‧‧‧曲軸 112a‧‧‧ crankshaft
112b‧‧‧曲軸臂 112b‧‧‧ crank arm
113‧‧‧充電池 113‧‧‧ rechargeable battery
115‧‧‧輔助機構 115‧‧‧Auxiliary institutions
116‧‧‧行走輔助用電動機 116‧‧‧Travel auxiliary motor
117‧‧‧馬達驅動器 117‧‧‧Motor drive
[第1圖]適用自行車用控制裝置的自行車的側面圖。 [Fig. 1] A side view of a bicycle to which a bicycle control device is applied.
[第2圖]第1實施例的自行車用控制裝置的方塊圖。 [Fig. 2] A block diagram of a bicycle control device according to a first embodiment.
[第3圖]說明實行行走輔助時的第1實施例的自行車用控制裝置的動作用的流程圖。 [Fig. 3] A flowchart for explaining the operation of the bicycle control device according to the first embodiment when the walking assistance is performed.
[第4圖]第2實施例的自行車用控制裝置的方塊圖。 [Fig. 4] A block diagram of a bicycle control device according to a second embodiment.
[第5圖]說明實行行走輔助時的第2實施例的自行車 用控制裝置的動作用的流程圖。 [Fig. 5] A bicycle illustrating a second embodiment when walking assistance is performed A flow chart for the operation of the control device.
[第6圖]說明實行行走輔助時的第2實施例的自行車用控制裝置的其他的動作用的流程圖。 [Fig. 6] A flow chart for explaining another operation of the bicycle control device according to the second embodiment when the walking assistance is performed.
[第7圖]變形例1的自行車用控制裝置的方塊圖。 [Fig. 7] Fig. 7 is a block diagram of a bicycle control device according to a first modification.
[第8圖]變形例2的自行車用控制裝置的方塊圖。 [Fig. 8] A block diagram of a bicycle control device according to a second modification.
以下，對於本發明的自行車用控制裝置的各實施例一邊參照圖面一邊說明。 Hereinafter, each embodiment of the bicycle control device according to the present invention will be described with reference to the drawings.
第1圖，是適用自行車用控制裝置1的自行車101的側面圖。如第1圖所示，適用第1實施例的自行車用控制裝置1的自行車101，是具備：車架102、及手把104、及驅動部105、及前輪106、及後輪107。 Fig. 1 is a side view of a bicycle 101 to which the bicycle control device 1 is applied. As shown in Fig. 1, the bicycle 101 to which the bicycle control device 1 of the first embodiment is applied includes a frame 102, a handlebar 104, a driving unit 105, a front wheel 106, and a rear wheel 107.
驅動部105，是具有：鏈條110、及裝設有踏板111的曲軸112、及輔助機構115、及作為輔助機構115的電源並可裝卸的充電池113，各別被支撐在車架102。曲軸112，是包含：曲軸112a、及一對的曲軸臂112b。各曲軸臂112b，是設於曲軸112a的兩端部。充電池113，是使用例如鎳氫電池及鋰離子電池等的蓄電池，可裝卸地被搭載在車架102。 The drive unit 105 includes a chain 110, a crankshaft 112 equipped with a pedal 111, an auxiliary mechanism 115, and a rechargeable battery 113 that is detachable from a power source of the auxiliary mechanism 115, and is supported by the frame 102, respectively. The crankshaft 112 includes a crankshaft 112a and a pair of crank arms 112b. Each of the crank arms 112b is provided at both ends of the crankshaft 112a. The rechargeable battery 113 is detachably mounted on the frame 102 using a battery such as a nickel-hydrogen battery or a lithium ion battery.
第2圖，是顯示第1實施例的自行車用控制裝置1的方塊圖。如第2圖所示，自行車用控制裝置1， 是具備人力驅動力檢出部2、速度檢出部3、及控制部6。在此自行車用控制裝置1中，連接有輔助機構115。 Fig. 2 is a block diagram showing the bicycle control device 1 of the first embodiment. As shown in Fig. 2, the bicycle control device 1, The human power driving force detecting unit 2, the speed detecting unit 3, and the control unit 6 are provided. In the bicycle control device 1, an auxiliary mechanism 115 is connected.
輔助機構115，是包含：行走輔助用電動機116、及馬達驅動器117。行走輔助用電動機116，是藉由馬達驅動器117被控制。且，馬達驅動器117，是依據來自控制部6的指令，將行走輔助用電動機116控制。 The auxiliary mechanism 115 includes a travel assist motor 116 and a motor driver 117. The travel assist motor 116 is controlled by the motor driver 117. Further, the motor driver 117 controls the travel assisting motor 116 in accordance with an instruction from the control unit 6.
人力驅動力檢出部2，是檢出人力驅動力。詳細的話，人力驅動力檢出部2，是將對應人力驅動力的訊號輸出。例如，人力驅動力檢出部2是扭矩感測器，將對應作用於曲軸112的曲軸112a的扭矩的訊號(例如電壓)輸出。扭矩感測器，是例如磁致伸縮式感測器也可以，應變計也可以。有關於藉由此人力驅動力檢出部2被檢出的扭矩的資訊，是朝控制部6被送出。控制部6，是依據從人力驅動力檢出部2所取得的訊號，將輔助機構115控制。例如，控制部6，是將作用於曲軸112a的扭矩的預定倍的扭矩，由行走輔助用電動機116輔助地發生。 The human driving force detecting unit 2 detects the human driving force. In detail, the human driving force detecting unit 2 outputs a signal corresponding to the human driving force. For example, the human driving force detecting portion 2 is a torque sensor that outputs a signal (for example, a voltage) corresponding to the torque acting on the crankshaft 112a of the crankshaft 112. The torque sensor is, for example, a magnetostrictive sensor, and a strain gauge is also possible. The information on the torque detected by the human power driving force detecting unit 2 is sent to the control unit 6. The control unit 6 controls the assist mechanism 115 based on the signal acquired from the human power driving force detecting unit 2. For example, the control unit 6 generates a torque that is a predetermined multiple of the torque acting on the crankshaft 112a, and is assisted by the travel assist motor 116.
速度檢出部3，是檢出自行車101的行走速度。詳細的話，速度檢出部3，是速度感測器。例如，速度檢出部3，是被安裝於自行車101的前叉103上，檢出被安裝於前輪106的輻絲的1根上的磁鐵30的可磁性操作的感測器較佳(第1圖參照)。有關於藉由此速度檢出部3被檢出的自行車101的行走速度的資訊，是朝控制部6被送出。 The speed detecting unit 3 detects the traveling speed of the bicycle 101. In detail, the speed detecting unit 3 is a speed sensor. For example, the speed detecting portion 3 is preferably a magnet-operable sensor that is attached to the front fork 103 of the bicycle 101 and detects the magnet 30 attached to one of the spokes of the front wheel 106 (Fig. 1) Reference). The information on the traveling speed of the bicycle 101 detected by the speed detecting unit 3 is sent to the control unit 6.
控制部6，是判別為藉由人力驅動力檢出部2 被檢出的人力驅動力是人力驅動力基準值以上的情況，使實行由行走輔助用電動機116所產生的行走輔助。詳細的話，控制部6，是藉由將馬達驅動器117控制，使實行由行走輔助用電動機116所產生的行走輔助。 The control unit 6 determines that the human power driving force detecting unit 2 is The detected human driving force is equal to or higher than the human driving force reference value, and the traveling assist generated by the traveling assisting motor 116 is executed. In detail, the control unit 6 controls the travel assist generated by the travel assist motor 116 by controlling the motor driver 117.
且控制部6，是依據藉由速度檢出部3被檢出的行走速度，將上述的人力驅動力基準值變更。具體而言，控制部6，是判別為行走速度是預先被設定的速度基準值未滿的情況，將人力驅動力基準值作為第1人力驅動力基準值。另一方面，控制部6，是判別為行走速度是速度基準值以上的情況，將人力驅動力基準值作為第2人力驅動力基準值。在此，第1人力驅動力基準值，是比第2人力驅動力基準值更大。又，控制部6，是例如，由微電腦所構成，包含CPU(中央處理器、Central processing unit)、RAM(動態隨機存取記憶體、random access memory)、ROM(唯讀記憶體、read only memory)、I/O介面等。 Further, the control unit 6 changes the above-described human power driving force reference value based on the traveling speed detected by the speed detecting unit 3. Specifically, the control unit 6 determines that the traveling speed is not full in advance, and sets the human driving force reference value as the first human driving force reference value. On the other hand, the control unit 6 determines that the traveling speed is equal to or higher than the speed reference value, and uses the human driving force reference value as the second human driving force reference value. Here, the first human driving force reference value is larger than the second human driving force reference value. Further, the control unit 6 is constituted by, for example, a microcomputer, and includes a CPU (Central Processing Unit, Central Processing Unit), RAM (Dynamic Random Access Memory, Random Access Memory), and ROM (Read Only Memory, read only memory). ), I/O interface, etc.
即，自行車101的行走速度是速度基準值未滿的情況，控制部6，是當人力驅動力成為第1人力驅動力基準值以上的情況時，使實行由行走輔助用電動機116所產生的行走輔助。另一方面，自行車101的行走速度是速度基準值以上的情況，控制部6是當人力驅動力成為第2人力驅動力基準值以上的情況時，使實行由行走輔助用電動機116所產生的行走輔助。又，雖無特別限定，預先被設定的速度基準值可以是例如5km/h，且，第1人力驅 動力基準值可以是例如10Nm、第2人力驅動力基準值可以是例如7Nm。 In other words, when the traveling speed of the bicycle 101 is not the speed reference value, the control unit 6 performs the walking by the traveling assist motor 116 when the human driving force is equal to or greater than the first human driving force reference value. Auxiliary. On the other hand, when the traveling speed of the bicycle 101 is equal to or greater than the speed reference value, the control unit 6 performs the walking by the traveling assist motor 116 when the human driving force is equal to or greater than the second human driving force reference value. Auxiliary. Further, although not particularly limited, the speed reference value set in advance may be, for example, 5 km/h, and the first human-power drive The power reference value may be, for example, 10 Nm, and the second human power driving force reference value may be, for example, 7 Nm.
接著，對於實行行走輔助時的自行車用控制裝置1的動作，一邊參照第3圖一邊說明。第3圖，是說明實行行走輔助時的第1實施例的自行車用控制裝置1的動作用的流程圖。 Next, the operation of the bicycle control device 1 when the walking assistance is performed will be described with reference to FIG. FIG. 3 is a flowchart for explaining the operation of the bicycle control device 1 according to the first embodiment when the walking assistance is performed.
如第3圖所示，首先，控制部6，是從速度檢出部3，將有關於自行車101的行走速度的資訊取得(步驟S1)。 As shown in FIG. 3, first, the control unit 6 acquires information on the traveling speed of the bicycle 101 from the speed detecting unit 3 (step S1).
接著，控制部6，是從在步驟S1所取得的資訊，判別行走速度是否為預先被設定的速度基準值未滿(步驟S2)。控制部6，是判別為行走速度為速度基準值未滿的話(步驟S2的Yes)，移行至後述的步驟S3的處理。另一方面，控制部6，是判別為行走速度為速度基準值以上的話(步驟S2的No)，移行至後述的步驟S7的處理。 Next, the control unit 6 determines whether or not the traveling speed is less than the speed reference value set in advance from the information acquired in step S1 (step S2). When the control unit 6 determines that the traveling speed is not the speed reference value (Yes in step S2), the control unit 6 shifts to the processing of step S3, which will be described later. On the other hand, when the control unit 6 determines that the traveling speed is equal to or greater than the speed reference value (No in step S2), the control unit 6 shifts to the processing of step S7 to be described later.
行走速度是速度基準值未滿的情況(步驟S2的Yes)，控制部6，是設定第1人力驅動力基準值(步驟S3)。且，控制部6，是從人力驅動力檢出部2，將有關於人力驅動力的資訊取得(步驟S4)。接著，控制部6，是依據所取得的資訊，判別人力驅動力是否為第1人力驅動力基準值以上(步驟S5)。 When the traveling speed is not the speed reference value (Yes in step S2), the control unit 6 sets the first human driving force reference value (step S3). Further, the control unit 6 acquires information on the human power driving force from the human power driving force detecting unit 2 (step S4). Next, the control unit 6 determines whether or not the human driving force is equal to or greater than the first human driving force reference value based on the acquired information (step S5).
控制部6，是判別為人力驅動力是第1人力驅動力基準值以上的話(步驟S5的Yes)，將馬達驅動器117控制，使實行由行走輔助用電動機116所產生的行走輔助 (步驟S6)。另一方面，控制部6，是判別為人力驅動力是第1人力驅動力基準值未滿的話(步驟S5的No)，返回至上述的步驟S1的處理。 When the control unit 6 determines that the human driving force is equal to or greater than the first human driving force reference value (Yes in step S5), the motor driver 117 controls the walking assist generated by the traveling assist motor 116. (Step S6). On the other hand, when the human driving force is determined to be that the first human driving force reference value is not full (No in step S5), the control unit 6 returns to the above-described step S1.
另一方面，行走速度是速度基準值以上的情況(步驟S2的No)，控制部6，是設定第2人力驅動力基準值(步驟S7)。且，控制部6，是從人力驅動力檢出部2，將有關於人力驅動力的資訊取得(步驟S8)。接著，控制部6，是依據所取得的資訊，判別人力驅動力是否為第2人力驅動力基準值以上(步驟S9)。 On the other hand, when the traveling speed is equal to or greater than the speed reference value (No in step S2), the control unit 6 sets the second human driving force reference value (step S7). Further, the control unit 6 acquires information on the human power driving force from the human power driving force detecting unit 2 (step S8). Next, the control unit 6 determines whether or not the human driving force is equal to or greater than the second human driving force reference value based on the acquired information (step S9).
控制部6，是判別為人力驅動力是第2人力驅動力基準值以上的話(步驟S9的Yes)，將馬達驅動器117控制，使實行由行走輔助用電動機116所產生的行走輔助(步驟S6)。另一方面，控制部6，是判別為人力驅動力是第2人力驅動力基準值未滿的話(步驟S9的No)，返回至上述的步驟S1的處理。 When the control unit 6 determines that the human driving force is equal to or greater than the second human driving force reference value (Yes in step S9), the motor driver 117 controls the walking assistance generated by the traveling assisting motor 116 (step S6). . On the other hand, when the human driving force is determined to be that the second human driving force reference value is not full (No in step S9), the control unit 6 returns to the above-described processing of step S1.
又，控制部6，是當行走速度成為預先被設定的速度上限值以上的情況，就可以停止行走輔助。雖無特別限定，速度上限值，可以是例如25km/h。 Moreover, the control unit 6 can stop the walking assistance when the traveling speed is equal to or higher than the speed upper limit value set in advance. Although not particularly limited, the speed upper limit value may be, for example, 25 km/h.
接著，說明第2實施例的自行車用控制裝置11。又，適用第2實施例的自行車用控制裝置11的自行車101，因為是與上述的第1實施例所說明的自行車101相同，所以省略其說明。 Next, the bicycle control device 11 of the second embodiment will be described. Further, since the bicycle 101 to which the bicycle control device 11 of the second embodiment is applied is the same as the bicycle 101 described in the first embodiment, the description thereof will be omitted.
第4圖，是第2實施例的自行車用控制裝置11的方塊圖。如第4圖所示，自行車用控制裝置11，是與第1實施例的自行車用控制裝置1相異，進一步具備第1旋轉檢出部4。又，有關第2實施例的自行車用控制裝置11的其他的構成，因為是與第1實施例的自行車用控制裝置1的構成相同，所以省略詳細的說明。 Fig. 4 is a block diagram of the bicycle control device 11 of the second embodiment. As shown in FIG. 4, the bicycle control device 11 is different from the bicycle control device 1 of the first embodiment, and further includes a first rotation detecting unit 4. In addition, since the other configuration of the bicycle control device 11 of the second embodiment is the same as that of the bicycle control device 1 of the first embodiment, a detailed description thereof will be omitted.
第1旋轉檢出部4，是檢出自行車101的曲軸112的旋轉狀態。詳細的話，第1旋轉檢出部4，是旋轉角感測器，可以舉例例如旋轉式編碼器等。具體而言，第1旋轉檢出部4，是將：曲軸112朝前進方向旋轉、或朝與前進方向相反方向旋轉，作為曲軸112的旋轉狀態檢出。有關於藉由此第1旋轉檢出部4被檢出的曲軸112的旋轉狀態的資訊，是朝控制部6被送出。又，第1旋轉檢出部4，是將曲軸112a的旋轉狀態檢出也可以，將曲軸臂112b的旋轉狀態檢出也可以。 The first rotation detecting unit 4 detects the rotation state of the crankshaft 112 of the bicycle 101. In detail, the first rotation detecting unit 4 is a rotation angle sensor, and may be, for example, a rotary encoder or the like. Specifically, the first rotation detecting unit 4 rotates the crankshaft 112 in the forward direction or in the opposite direction to the forward direction, and detects the rotation state of the crankshaft 112. The information on the rotation state of the crankshaft 112 detected by the first rotation detecting unit 4 is sent to the control unit 6. Further, the first rotation detecting unit 4 may detect the rotation state of the crankshaft 112a, and may detect the rotation state of the crank arm 112b.
且第1旋轉檢出部4，是進一步將自行車101的曲軸112的旋轉角度檢出。有關於藉由此第1旋轉檢出部4被檢出的曲軸112的旋轉角度的資訊，是朝控制部6被送出。又，第1旋轉檢出部4，是將曲軸112a的旋轉角度檢出也可以，將曲軸臂112b的旋轉角度檢出也可以。 Further, the first rotation detecting unit 4 detects the rotation angle of the crankshaft 112 of the bicycle 101. The information on the rotation angle of the crankshaft 112 detected by the first rotation detecting unit 4 is sent to the control unit 6. Further, the first rotation detecting unit 4 may detect the rotation angle of the crankshaft 112a, and may detect the rotation angle of the crank arm 112b.
接著，對於實行行走輔助時的第2實施例的自行車用控制裝置11的動作一邊參照第5圖一邊說明。第5圖，是說明實行行走輔助時的第2實施例的自行車用 控制裝置11的動作用的流程圖。又，第5圖中的步驟S1~步驟S9的處理，因為是與上述實施例同樣，所以省略其詳細的說明。 Next, the operation of the bicycle control device 11 of the second embodiment when the walking assistance is performed will be described with reference to FIG. Fig. 5 is a view for explaining a bicycle for a second embodiment when walking assistance is performed A flowchart for the operation of the control device 11. The processing of steps S1 to S9 in FIG. 5 is the same as that of the above embodiment, and thus detailed description thereof will be omitted.
如第5圖所示，控制部6，是判別為人力驅動力是第1人力驅動力基準值以上的情況(步驟S5的Yes)，或是判別為人力驅動力是第2人力驅動力基準值以上的情況(步驟S9的Yes)，將有關於藉由第1旋轉檢出部4被檢出的曲軸112的旋轉狀態的資訊取得(步驟S11)。 As shown in Fig. 5, the control unit 6 determines that the human driving force is equal to or greater than the first human driving force reference value (Yes in step S5), or determines that the human driving force is the second human driving force reference value. In the above case (Yes in step S9), information on the rotation state of the crankshaft 112 detected by the first rotation detecting unit 4 is obtained (step S11).
接著，控制部6，是依據有關於所取得的旋轉狀態的資訊，判別曲軸112是否朝前進方向旋轉(步驟S12)。 Next, the control unit 6 determines whether or not the crankshaft 112 is rotated in the forward direction based on the information on the acquired rotation state (step S12).
控制部6，是判別為曲軸112朝前進方向旋轉的話(步驟S12的Yes)，使實行由行走輔助用電動機116所產生的行走輔助(步驟S6)。另一方面，控制部6，是判別為曲軸112朝與前進方向相反方向旋轉的話(步驟S12的No)，返回至步驟S1的處理。 When the control unit 6 determines that the crankshaft 112 is rotating in the forward direction (Yes in the step S12), the control unit 6 performs the walking assistance by the travel assisting motor 116 (step S6). On the other hand, when the control unit 6 determines that the crankshaft 112 is rotating in the opposite direction to the forward direction (No in step S12), the control unit 6 returns to the process of step S1.
控制部6，是例如，行走速度是成為預先被設定的速度上限值以上的情況，或是曲軸112是朝與前進方向相反方向旋轉的情況時，就可以停止行走輔助。 For example, when the traveling speed is equal to or higher than the speed upper limit value set in advance, or when the crankshaft 112 is rotated in the opposite direction to the forward direction, the control unit 6 can stop the traveling assistance.
又，第2實施例的自行車用控制裝置11，是如下地實行行走輔助也可以。第6圖，是說明實行行走輔助時的第2實施例的自行車用控制裝置11的其他的動作用的流程圖。又，第6圖中的步驟S1~步驟S9的處理，因為是與上述實施例同樣，所以省略其詳細的說明。 Further, the bicycle control device 11 of the second embodiment may be configured to perform walking assistance as follows. Fig. 6 is a flow chart for explaining another operation of the bicycle control device 11 of the second embodiment when the walking assistance is performed. The processing of steps S1 to S9 in Fig. 6 is the same as that of the above embodiment, and thus detailed description thereof will be omitted.
如第6圖所示，控制部6，是判別為人力驅動力是第1人力驅動力基準值以上的情況(步驟S5的Yes)，或是判別為人力驅動力是第2人力驅動力基準值以上的情況(步驟S9的Yes)，將有關於藉由第1旋轉檢出部4被檢出的曲軸112的旋轉狀態及旋轉角度的資訊取得(步驟S13)。 As shown in Fig. 6, the control unit 6 determines that the human driving force is equal to or greater than the first human driving force reference value (Yes in step S5), or determines that the human driving force is the second human driving force reference value. In the above case (Yes in the step S9), information on the rotation state and the rotation angle of the crankshaft 112 detected by the first rotation detecting unit 4 is obtained (step S13).
接著，控制部6，是依據有關於所取得的旋轉狀態及旋轉角度的資訊，判別曲軸112是否是預先被設定的旋轉角度基準值以上，是否朝前進方向旋轉(步驟S14)。又，曲軸112的旋轉角度，是以自行車101為停止的狀態時的曲軸112的角度為基準。且，雖無特別限定，預先被設定的旋轉角度基準值，可以是例如6度。 Next, the control unit 6 determines whether or not the crankshaft 112 is equal to or greater than the rotational angle reference value set in advance, based on the information on the acquired rotation state and the rotation angle, and whether or not the rotation is in the forward direction (step S14). Moreover, the rotation angle of the crankshaft 112 is based on the angle of the crankshaft 112 when the bicycle 101 is in a stopped state. Further, although not particularly limited, the reference value of the rotation angle set in advance may be, for example, 6 degrees.
控制部6，是判別為曲軸112是旋轉角度基準值以上且朝前進方向旋轉的話(步驟S14的Yes)，使實行由行走輔助用電動機116所產生的行走輔助(步驟S6)。另一方面，控制部6，即使曲軸112旋轉後預定時間經過仍判別為曲軸112的旋轉角度是旋轉角度基準值未滿的話(或是自行車101的行走速度是成為0km/h時判別為曲軸112的旋轉角度是旋轉角度基準值未滿的話)(步驟S14的No)，返回至步驟S1的處理。 When the control unit 6 determines that the crankshaft 112 is equal to or greater than the rotation angle reference value and rotates in the forward direction (Yes in the step S14), the control unit 6 performs the walking assistance by the travel assisting motor 116 (step S6). On the other hand, the control unit 6 determines that the rotation angle of the crankshaft 112 is not full even if the rotation angle of the crankshaft 112 is not exceeded after the rotation of the crankshaft 112 (or the crankshaft 112 is determined when the traveling speed of the bicycle 101 is 0 km/h). If the rotation angle is not the rotation angle reference value (No in step S14), the process returns to step S1.
以上，雖說明了本發明的各實施例，但是本發明不限定於此些，只要不脫離本發明的宗旨皆可進行各種變更。 The embodiments of the present invention have been described above, but the present invention is not limited thereto, and various modifications can be made without departing from the spirit of the invention.
上述第1實施例的自行車用控制裝置1，是如第7圖所示，進一步具備第2旋轉檢出部5也可以。又，變形例1的自行車101，因為是與上述的第1實施例所說明的自行車101相同，所以省略其說明。 In the bicycle control device 1 of the first embodiment, as shown in FIG. 7, the second rotation detecting unit 5 may be further provided. Further, since the bicycle 101 according to the first modification is the same as the bicycle 101 described in the first embodiment, the description thereof will be omitted.
第2旋轉檢出部5，是檢出自行車101的曲軸112的旋轉速度。詳細的話，第2旋轉檢出部5，是曲軸轉數感測器，檢出曲軸112的曲軸轉數。有關於藉由此第2旋轉檢出部5被檢出的曲軸轉數的資訊，是朝控制部6被送出。 The second rotation detecting unit 5 detects the rotational speed of the crankshaft 112 of the bicycle 101. In detail, the second rotation detecting unit 5 is a crankshaft number sensor and detects the number of crankshaft revolutions of the crankshaft 112. The information on the number of revolutions of the crankshaft detected by the second rotation detecting unit 5 is sent to the control unit 6.
依據此構成的話，控制部6，是例如，行走速度是成為預先被設定的速度上限值以上的情況，或是曲軸112的旋轉速度是成為預先被設定的旋轉速度基準值以下的情況時，可以停止行走輔助。又，預先被設定的旋轉速度基準值，雖無特別限定，但可以是例如10rpm。 According to this configuration, the control unit 6 may be, for example, when the traveling speed is equal to or higher than the speed upper limit value set in advance, or when the rotational speed of the crankshaft 112 is equal to or lower than the rotational speed reference value set in advance. You can stop walking assistance. Further, the rotational speed reference value set in advance is not particularly limited, but may be, for example, 10 rpm.
在上述第2實施例的自行車用控制裝置11中，如第8圖所示，進一步具備第2旋轉檢出部5也可以。又，變形例2的自行車101，因為是與上述的第1實施例所說明的自行車101相同，所以省略其說明。且，第2旋轉檢出部5，因為是與上述變形例1說明者相同，所以省略其說明。 In the bicycle control device 11 of the second embodiment, as shown in FIG. 8, the second rotation detecting unit 5 may be further provided. Further, since the bicycle 101 according to the second modification is the same as the bicycle 101 described in the first embodiment, the description thereof will be omitted. The second rotation detecting unit 5 is the same as that described in the first modification, and therefore its description will be omitted.
依據此構成的話，控制部6，是例如，行走速度是成為預先被設定的速度上限值以上的情況、曲軸112是朝與前進方向相反方向旋轉的情況、或是曲軸112的旋轉速度是成為預先被設定的旋轉速度基準值以下的情況時，可以停止行走輔助。又，預先被設定的旋轉速度基準值，雖無特別限定，但可以是例如10rpm。 According to this configuration, the control unit 6 is, for example, a case where the traveling speed is equal to or higher than a speed upper limit value set in advance, the crankshaft 112 is rotated in a direction opposite to the forward direction, or the rotational speed of the crankshaft 112 is When the rotation speed reference value is set to be less than or equal to the preset value, the travel assistance can be stopped. Further, the rotational speed reference value set in advance is not particularly limited, but may be, for example, 10 rpm.
速度檢出部3，不限定於如上述的速度感測器。例如，速度檢出部3，是從變速比、輪胎周長、及曲軸轉數，將自行車101的行走速度算出也可以。 The speed detecting unit 3 is not limited to the speed sensor as described above. For example, the speed detecting unit 3 may calculate the traveling speed of the bicycle 101 from the gear ratio, the tire circumference, and the number of crankshaft revolutions.
在上述各實施例中，人力驅動力檢出部2，雖是將作用於曲軸112a的扭矩作為人力驅動力檢出，但是不特別限定於此。例如，人力驅動力檢出部2，是將作用於曲軸臂112b的扭矩作為人力驅動力檢出也可以，將作用於鏈條110的張力作為人力驅動力檢出也可以。 In the above-described respective embodiments, the human driving force detecting unit 2 detects the torque acting on the crankshaft 112a as the human driving force, but is not particularly limited thereto. For example, the human driving force detecting unit 2 may detect the torque acting on the crank arm 112b as the human driving force, and may detect the tension acting on the chain 110 as the human driving force.
1‧‧‧自行車用控制裝置 1‧‧‧Bicycle control device
2‧‧‧人力驅動力檢出部 2‧‧‧Human Driving Force Detection Department
3‧‧‧速度檢出部 3‧‧‧ Speed detection department
6‧‧‧控制部 6‧‧‧Control Department
115‧‧‧輔助機構 115‧‧‧Auxiliary institutions
116‧‧‧行走輔助用電動機 116‧‧‧Travel auxiliary motor
117‧‧‧馬達驅動器 117‧‧‧Motor drive
Claims (7)
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| JP2013183363A JP5607225B1 (en) | 2013-09-04 | 2013-09-04 | Bicycle control device |
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| TW201509744A TW201509744A (en) | 2015-03-16 |
| TWI573727B true TWI573727B (en) | 2017-03-11 |
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| TW102147508A TWI573727B (en) | 2013-09-04 | 2013-12-20 | Bicycle control device |
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| JP (1) | JP5607225B1 (en) |
| CN (1) | CN104417707B (en) |
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| CN105667693B (en) * | 2014-12-05 | 2018-08-10 | 株式会社岛野 | Bicycle control |
| JP6761696B2 (en) * | 2016-08-18 | 2020-09-30 | 株式会社シマノ | Bicycle control device and bicycle control method |
| CN106904242B (en) * | 2017-02-14 | 2019-10-29 | 漳浦桂宏工业有限公司 | A kind of control system of vehicle using motor |
| CN106976522A (en) * | 2017-02-20 | 2017-07-25 | 漳浦桂宏工业有限公司 | A kind of speed control system of vehicle using motor |
| DE102022208385A1 (en) | 2022-08-11 | 2024-02-22 | Robert Bosch Gesellschaft mit beschränkter Haftung | Operating method and control unit for a drive of a vehicle and vehicle |
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| JP2013028210A (en) * | 2011-07-27 | 2013-02-07 | Shimano Inc | Bicycle motor control apparatus and bicycle |
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| JP3377242B2 (en) | 1993-03-05 | 2003-02-17 | ヤマハ発動機株式会社 | Bicycle with electric motor |
| JPH08207876A (en) * | 1995-01-31 | 1996-08-13 | Shinko Electric Co Ltd | Man power traveling vehicle with auxiliary drive power source |
| JPH08295280A (en) * | 1995-04-27 | 1996-11-12 | Seiko Epson Corp | Control method of man power auxiliary equipment |
| JPH08310477A (en) * | 1995-05-23 | 1996-11-26 | Sanyo Electric Co Ltd | Bicycle with electric motor |
| JP2000142544A (en) * | 1998-11-04 | 2000-05-23 | Sanyo Electric Co Ltd | Electric traveling vehicle |
| JP2001010581A (en) | 1999-06-30 | 2001-01-16 | Yamaha Motor Co Ltd | Automatic transmission device of bicycle |
| JP2001063678A (en) * | 1999-08-30 | 2001-03-13 | Suzuki Motor Corp | Bicycle with auxiliary power unit |
| NL1013338C2 (en) | 1999-10-19 | 2001-04-23 | Idbike | Measurement of force exerted by cyclist, involves computing level of torque exerted by rider on pedals by signal processor based on signal output from sensor attached to frame of bicycle to measure frame deformation |
| JP4369589B2 (en) | 2000-03-01 | 2009-11-25 | 本田技研工業株式会社 | Electric bicycle |
| CN101559818A (en) * | 2009-05-16 | 2009-10-21 | 江南大学 | Control technology for electric motor car with nature boost function |
| JP5127961B2 (en) * | 2011-06-28 | 2013-01-23 | パナソニック株式会社 | Torque detection device for electric bicycle |
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| JP2013028210A (en) * | 2011-07-27 | 2013-02-07 | Shimano Inc | Bicycle motor control apparatus and bicycle |
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| JP5607225B1 (en) | 2014-10-15 |
| CN104417707B (en) | 2017-03-01 |
| CN104417707A (en) | 2015-03-18 |
| TW201509744A (en) | 2015-03-16 |
| DE102014112655A1 (en) | 2015-03-05 |
| JP2015048056A (en) | 2015-03-16 |
| DE102014112655B4 (en) | 2023-09-21 |
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