TWI601660B - Bicycle control device - Google Patents

Bicycle control device Download PDF

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TWI601660B
TWI601660B TW103107690A TW103107690A TWI601660B TW I601660 B TWI601660 B TW I601660B TW 103107690 A TW103107690 A TW 103107690A TW 103107690 A TW103107690 A TW 103107690A TW I601660 B TWI601660 B TW I601660B
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driving force
control device
travel
force
control unit
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TW103107690A
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TW201509745A (en
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Yasuhiro Tsuchizawa
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Shimano Kk
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/45Control or actuating devices therefor

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

自行車用控制裝置 Bicycle control device

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.

人力驅動力以外,藉由行走輔助用電動機進行行走輔助的電動輔助自行車近年來漸普及(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或是鏈條的張力等的人力驅動力,決定行走輔助用的行走輔助力。 In addition to the human driving force, a power-assisted bicycle that performs walking assistance by a traveling assist motor has become popular in recent years (for example, Patent Document 1). This electric assist bicycle is provided with a bicycle control device that determines the travel assisting force for the walking assistance in accordance with the human body driving force such as the torque acting on the crankshaft or the tension of the chain.

[習知技術文獻] [Practical Technical Literature]

[專利文獻] [Patent Literature]

[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

從停止自行車的狀態發進時因為是由比較大的人力驅動力作用,所以在如上述的電動輔助自行車中作 用於發進時的行走輔助力也變大,而有可能急發進。 When the bicycle is stopped, it is caused by a relatively large human driving force, so it is made in the electric assist bicycle as described above. The walking assistance force for the hair is also increased, and there is a possibility of an emergency.

本發明的課題,是提供可抑制自行車的急發進的自行車用控制裝置。 An object of the present invention is to provide a bicycle control device that can suppress an emergency of a bicycle.

本發明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:檢出部、及控制部。檢出部,是檢出曲軸的旋轉角度、行走距離、及行走時間的至少其中任一。又,曲軸的旋轉角度,是以藉由行走輔助用電動機開始行走輔助的時點中的自行車的曲軸的位置為基準的旋轉角度的意思。且,行走距離,是從行走輔助開始的時點的行走距離的意思。且,行走時間,是從行走輔助開始的時點的行走時間的意思。控制部,是對應藉由檢出部被檢出的檢出結果,控制朝行走輔助用電動機輸出的行走輔助力。又,檢出結果,是曲軸的旋轉角度、行走距離、及行走時間的至少其中任一。 The bicycle control device according to the present invention is a bicycle control device that controls a bicycle having a travel assist motor, and includes a detecting unit and a control unit. The detecting unit detects at least one of a rotation angle, a walking distance, and a walking time of the crankshaft. In addition, the rotation angle of the crankshaft is a rotation angle based on the position of the crankshaft of the bicycle at the time of starting the walking assistance by the travel assisting motor. Further, the walking distance means the walking distance from the time when the walking assistance starts. Further, the walking time means the walking time from the time when the walking assistance starts. The control unit controls the traveling assist force output to the traveling assist motor in accordance with the detection result detected by the detecting unit. Further, the detection result is at least one of a rotation angle of the crankshaft, a walking distance, and a walking time.

依據此構成的話,控制部,是對應藉由檢出部被檢出的檢出結果將行走輔助力控制。此結果,控制部是抑制乘坐開始(從停止狀態至發進時)中的行走輔助力,可以抑制自行車的急發進。 According to this configuration, the control unit controls the walking assist force in accordance with the detection result detected by the detecting unit. As a result, the control unit suppresses the travel assisting force in the start of the ride (from the stop state to the time of the launch), and can suppress the rapid development of the bicycle.

較佳是,自行車用控制部,是進一步具備檢出人力驅動力的前述人力驅動力檢出部。控制部,是對應藉由人力驅動力檢出部被檢出的人力驅動力將行走輔助力控制。 Preferably, the bicycle control unit further includes the human power driving force detecting unit that detects the human power driving force. The control unit controls the walking assist force in accordance with the human driving force detected by the human driving force detecting unit.

較佳是,控制部,是將比對應人力驅動力被設定的基本行走輔助力更小的行走輔助力朝行走輔助用電動機輸出。依據此構成的話,可以抑制乘坐開始中的行走輔助力。 Preferably, the control unit outputs the traveling assist force smaller than the basic traveling assist force set corresponding to the human power driving force to the travel assisting motor. According to this configuration, the walking assisting force during the start of riding can be suppressed.

較佳是,控制部,是旋轉角度愈大、行走距離愈長、或是行走時間愈長,就將行走輔助力愈接近基本行走輔助力。依據此構成的話,藉由漸漸地開放在乘坐開始被抑制的行走輔助力的抑制,就可以獲得通常的行走時中的充分的行走輔助力。 Preferably, the control unit has a larger rotation angle, a longer walking distance, or a longer walking time, and the walking assisting force is closer to the basic walking assisting force. According to this configuration, by sufficiently suppressing the suppression of the walking assisting force that is suppressed at the start of riding, a sufficient walking assisting force during normal walking can be obtained.

較佳是,控制部,是對應檢出結果將基本行走輔助力修正作為行走輔助力。 Preferably, the control unit corrects the basic walking assisting force as the walking assisting force in accordance with the detection result.

較佳是,控制部,是依據對應檢出結果的修正資訊,修正基本行走輔助力。 Preferably, the control unit corrects the basic walking assisting force based on the correction information corresponding to the detection result.

較佳是,修正資訊,是藉由修正係數表示。此修正係數,是旋轉角度愈大、行走距離愈長、或是行走時間愈長,就愈大。 Preferably, the correction information is represented by a correction factor. The correction factor is that the larger the rotation angle, the longer the walking distance, or the longer the walking time, the larger.

較佳是,控制部,是藉由將修正係數乘算在基本行走輔助力,修正基本行走輔助力。 Preferably, the control unit corrects the basic walking assisting force by multiplying the correction coefficient by the basic walking assisting force.

較佳是,控制部,是將人力驅動力對應檢出結果修正,將對應修正後的人力驅動力的行走輔助力朝行走輔助用電動機輸出。依據此構成的話,使乘坐開始中的人力驅動力變小的方式被修正。因此,對應修正後的人力驅動力被設定的行走輔助力,是比對應原本的人力驅動力被設定的基本行走輔助力更小。此結果,可以抑制自行車 的急發進。 Preferably, the control unit corrects the detection result of the human power driving force, and outputs the traveling assist force corresponding to the corrected human power driving force to the traveling assist motor. According to this configuration, the manner in which the human driving force during the start of the ride is reduced is corrected. Therefore, the walking assist force corresponding to the corrected human driving force is smaller than the basic walking assist force corresponding to the original human driving force. This result can inhibit the bicycle The urgency of the advance.

較佳是,控制部,是依據對應檢出結果的修正資訊,修正人力驅動力。 Preferably, the control unit corrects the human driving force based on the correction information corresponding to the detection result.

較佳是,修正資訊,是藉由修正係數表示。修正係數,是旋轉角度愈大、行走距離愈長、或是行走時間愈長,就愈大。 Preferably, the correction information is represented by a correction factor. The correction factor is the larger the rotation angle, the longer the walking distance, or the longer the walking time, the larger.

較佳是,控制部,是藉由將修正係數乘算在人力驅動力來修正人力驅動力。 Preferably, the control unit corrects the human driving force by multiplying the correction coefficient by the human driving force.

較佳是,控制部,是檢出結果成為預先決定的門檻值以上的話,將修正處理停止。依據此構成的話,在不是乘坐開始的通常的行走時可藉由充分的行走輔助力使行走輔助被實行。 Preferably, the control unit stops the correction process when the detection result is equal to or greater than a predetermined threshold value. According to this configuration, the walking assistance can be performed by the sufficient walking assistance force at the time of normal walking that is not the start of the ride.

較佳是,檢出部若檢出旋轉角度的情況,預先決定的門檻值,是被決定在10°以上90°以下的範圍,更佳是,被決定在20°以上60°以下的範圍。 Preferably, when the detection unit detects the rotation angle, the predetermined threshold value is determined to be in the range of 10° or more and 90° or less, and more preferably, it is determined to be in the range of 20° or more and 60° or less.

較佳是,檢出部若檢出旋轉角度的情況,檢出部,是檢出曲軸的曲軸的旋轉角度作為曲軸的旋轉角度。 Preferably, when the detecting unit detects the rotation angle, the detecting unit detects the rotation angle of the crankshaft of the crankshaft as the rotation angle of the crankshaft.

較佳是,檢出部若檢出旋轉角度的情況,檢出部,是檢出曲軸的曲軸臂的旋轉角度作為曲軸的旋轉角度。 Preferably, when the detecting unit detects the rotation angle, the detecting unit detects the rotation angle of the crank arm of the crankshaft as the rotation angle of the crankshaft.

較佳是,控制部,是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,就由行走輔助用電動機開始行走輔助。依據此構成的 話,成為人力驅動力基準值以上為止,因為行走輔助不會開始,所以在例如行走開始後不馬上進行踩踏板的期間,也可以抑制開始踩踏板時的行走輔助力。 Preferably, the control unit 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, and the traveling assist motor starts traveling assistance. According to this composition In this case, since the travel assist is not started, the travel assist does not start. Therefore, for example, during the period in which the pedal is not applied immediately after the start of the travel, the travel assist force at the time of starting the pedal depression can be suppressed.

依據本發明的自行車用控制裝置的話,可以抑制自行車的急發進。 According to the bicycle control device of the present invention, it is possible to suppress the rapid development of the bicycle.

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‧‧‧檢出部 3‧‧‧Detection Department

4‧‧‧控制部 4‧‧‧Control Department

101‧‧‧自行車 101‧‧‧Bicycle

102‧‧‧車架 102‧‧‧ frame

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

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

118‧‧‧操作部 118‧‧‧Operation Department

[第1圖]自行車的側面圖。 [Fig. 1] A side view of a bicycle.

[第2圖]自行車用控制裝置的方塊圖。 [Fig. 2] A block diagram of a bicycle control device.

[第3圖]顯示抑制係數及旋轉角度的對應的抑制係數地圖。 [Fig. 3] A map showing the suppression coefficient corresponding to the suppression coefficient and the rotation angle.

[第4圖]說明第1實施例的自行車用控制裝置的動作用的流程圖。 [Fig. 4] A flowchart for explaining the operation of the bicycle control device according to the first embodiment.

[第5圖]說明第2實施例的自行車用控制裝置的動作用的流程圖。 [Fig. 5] A flowchart for explaining the operation of the bicycle control device according to the second embodiment.

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實施例] [First Embodiment]

第1圖,是適用第1實施例的自行車用控制裝置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、及前輪107。 Fig. 1 is a side view of a bicycle 101 to which the bicycle control device 1 of the first embodiment 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 front 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的電源的可裝卸的充電池117,且各別被支撐在車架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。驅動部105,是進一步具備無圖示的前鏈輪。前鏈輪是與曲軸112直接或是間接地連接。鏈條110,是被捲掛在前鏈輪及被裝設於後輪107的後鏈輪之間將驅動力傳達。充電池117,是使用例如鎳氫電池及鋰離子電池等的蓄電池,且可裝卸地搭載在車架102。充電池117,是被搭載於後載架也可以。 The drive unit 105 is a detachable rechargeable battery 117 having a chain 110, a crankshaft 112 equipped with a pedal 111, an auxiliary mechanism 115, and a power source as the auxiliary mechanism 115, and is supported by the frame 102. 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 drive unit 105 further includes a front sprocket (not shown). The front sprocket is coupled directly or indirectly to the crankshaft 112. The chain 110 transmits the driving force between the front sprocket and the rear sprocket mounted on the rear wheel 107. The rechargeable battery 117 is a battery such as a nickel-hydrogen battery or a lithium ion battery, and is detachably mounted on the frame 102. The rechargeable battery 117 may be mounted on the rear carrier.

第2圖,是說明自行車用控制裝置1用的方塊圖。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、及檢出部3、及控制部4。在此自行車用控制裝置1中,連接有操作部118及輔助機構115。 Fig. 2 is a block diagram for explaining the bicycle control device 1. As shown in FIG. 2, the bicycle control device 1 includes a human power driving force detecting unit 2, a detecting unit 3, and a control unit 4. In the bicycle control device 1, an operation unit 118 and an auxiliary mechanism 115 are connected.

操作部118,是設在自行車101,被裝設於例如手把104。藉由使此操作部118被操作,使由輔助機構115所產生的輔助條件被選擇。操作部118,是包含例如操作開關。例如,藉由將操作部118操作,就可以選擇第1輔助條件、第2輔助條件、及第3輔助條件之中任一的 輔助條件。藉由將輔助條件變更,就可以將對於人力驅動力的行走輔助力的比率變更。又,對於各輔助條件的詳細是如後述。 The operation unit 118 is provided in the bicycle 101 and is attached to, for example, the handlebar 104. The auxiliary condition generated by the assisting mechanism 115 is selected by operating the operating portion 118. The operation unit 118 includes, for example, an operation switch. For example, by operating the operation unit 118, any of the first auxiliary condition, the second auxiliary condition, and the third auxiliary condition can be selected. Auxiliary conditions. By changing the auxiliary conditions, the ratio of the walking assist force to the human driving force can be changed. The details of each auxiliary condition will be described later.

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4的指令,將行走輔助用電動機116控制。行走輔助用電動機116,是與包含被設在曲軸臂112b及前鏈輪之間的曲軸112a之動力傳達路徑連結。輔助機構115,是具備減速機,將行走輔助用電動機116的輸出,透過減速機傳達至前述動力傳達路徑的構成也可以。 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 assist motor 116 in accordance with an instruction from the control unit 4. The travel assist motor 116 is coupled to a power transmission path including a crankshaft 112a provided between the crank arm 112b and the front sprocket. The auxiliary mechanism 115 may be configured to include a speed reducer and transmit the output of the travel assisting motor 116 to the power transmission path through the speed reducer.

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,將對應作用於包含被設在曲軸112的曲軸112a、或是曲軸臂112b及前鏈輪之間的曲軸112a之動力傳達路徑的扭矩的訊號(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。人力驅動力檢出部2,是將有關於被檢出的人力驅動力的資訊朝控制部4送出。 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-power driving force detecting portion 2 is a torque sensor that corresponds to the torque of the power transmission path including the crankshaft 112a provided to the crankshaft 112 or the crankshaft 112a between the crank arm 112b and the front sprocket. Signal (eg voltage) output. The torque sensor is, for example, a magnetostrictive sensor, and a strain gauge is also possible. The human driving force detecting unit 2 sends information on the detected human driving force to the control unit 4.

檢出部3,是檢出曲軸112的旋轉角度。在此,曲軸112的旋轉角度,是以藉由行走輔助用電動機116開始行走輔助的時點中的曲軸112的位置為基準的旋轉角度的意思。檢出部3,是將曲軸112a的旋轉角度檢出、或將曲軸臂112b的旋轉角度檢出,作為曲軸112的 旋轉角度也可以。檢出部3,是將有關於被檢出的旋轉角度的資訊朝控制部4送出。 The detecting unit 3 detects the rotation angle of the crankshaft 112. Here, the rotation angle of the crankshaft 112 is a rotation angle based on the position of the crankshaft 112 at the time when the travel assisting motor 116 starts traveling assistance. The detecting unit 3 detects the rotation angle of the crankshaft 112a or detects the rotation angle of the crank arm 112b as the crankshaft 112. The angle of rotation is also ok. The detecting unit 3 sends information regarding the detected rotation angle to the control unit 4.

例如,檢出部3,是旋轉式編碼器,藉由霍爾(Hall)元件檢出被安裝於曲軸112a的多極磁鐵的磁束密度的變化來檢出曲軸112a的旋轉角度。檢出部3,不是磁性式編碼器光學式編碼器也可以,旋轉式編碼器以外的旋轉角度感測器也可以。 For example, the detecting unit 3 is a rotary encoder, and detects a rotation angle of the crankshaft 112a by detecting a change in the magnetic flux density of the multi-pole magnet attached to the crankshaft 112a by a Hall element. The detecting unit 3 may not be a magnetic encoder optical encoder, or may be a rotation angle sensor other than the rotary encoder.

控制部4,是對應:藉由人力驅動力檢出部2被檢出的人力驅動力、及藉由檢出部3被檢出的檢出結果也就是旋轉角度,將使朝行走輔助用電動機116輸出的行走輔助力控制。 The control unit 4 corresponds to the human-power driving force detected by the human-power driving force detecting unit 2 and the detection result detected by the detecting unit 3, that is, the rotation angle, and the driving assistance motor is driven. 116 output walking assist force control.

詳細的話,控制部4,是將對應人力驅動力被設定的基本行走輔助力以下的行走輔助力朝行走輔助用電動機116輸出。在此,說明對應人力驅動力被設定的基本行走輔助力。 In detail, the control unit 4 outputs a traveling assist force equal to or lower than the basic traveling assist force corresponding to the human power driving force to the travel assist motor 116. Here, the basic walking assist force corresponding to the human driving force is described.

例如,藉由操作部118使第1輔助條件被選擇的情況,控制部4,是將人力驅動力的X1倍的行走輔助力設定作為基本行走輔助力。在第1輔助條件中,藉由人力驅動力作用於動力傳達路徑的扭矩的X倍的扭矩,是使從輔助機構115朝動力傳達路徑被施加的方式,由控制部4將輔助機構115控制。 For example, when the first auxiliary condition is selected by the operation unit 118, the control unit 4 sets the travel assist force X1 times the human power driving force as the basic travel assist force. In the first auxiliary condition, the torque which is X times the torque acting on the power transmission path by the human power driving force is applied to the power transmission path from the assisting mechanism 115, and the control unit 4 controls the assisting mechanism 115.

且例如,藉由操作部118使第2輔助條件被選擇的情況,控制部4,是將人力驅動力的Y倍的行走輔助力設定作為基本行走輔助力。在第2輔助條件中,藉由 人力驅動力作用於動力傳達路徑的扭矩的Y倍的扭矩,是使從輔助機構115朝動力傳達路徑被施加的方式,由控制部4將輔助機構115控制。 For example, when the second auxiliary condition is selected by the operation unit 118, the control unit 4 sets the travel assist force that is Y times the human power driving force as the basic travel assist force. In the second auxiliary condition, by The torque that the human driving force acts on Y times the torque of the power transmission path is a mode in which the auxiliary mechanism 115 is applied to the power transmission path, and the control unit 4 controls the auxiliary mechanism 115.

且例如,藉由操作部118使第3輔助條件被選擇的情況,控制部4,是將人力驅動力的Z倍的行走輔助力設定作為基本行走輔助力。在第3輔助條件中,藉由人力驅動力作用於動力傳達路徑的扭矩的Z倍的扭矩,是使從輔助機構115朝動力傳達路徑被施加的方式,由控制部4將輔助機構115控制。X、Y、Z,是選擇成為X>Y>Z的數字。例如,選擇X=2、Y=1.5、Z=1。又,不進行由輔助機構115所產生的輔助斷開(OFF)模式,也可以藉由操作部118選擇。 For example, when the third auxiliary condition is selected by the operation unit 118, the control unit 4 sets the travel assist force that is Z times the human power driving force as the basic travel assist force. In the third auxiliary condition, the torque of Z times the torque acting on the power transmission path by the human driving force is applied to the power transmission path from the assist mechanism 115, and the control unit 4 controls the assist mechanism 115. X, Y, and Z are numbers that are selected to be X>Y>Z. For example, select X=2, Y=1.5, and Z=1. Further, the auxiliary OFF mode generated by the assisting mechanism 115 is not performed, and may be selected by the operation unit 118.

接著,說明由控制部4設定上述的基本行走輔助力以下的行走輔助力的方法。控制部4,是對應藉由檢出部3被檢出的旋轉角度,修正上述的基本行走輔助力。將此基本行走輔助力修正者,是朝行走輔助用電動機116輸出的行走輔助力。控制部4,是將馬達驅動器117控制,使此行走輔助力朝行走輔助用電動機116輸出。 Next, a method of setting the above-described travel assist force below the basic travel assist force by the control unit 4 will be described. The control unit 4 corrects the above-described basic walking assisting force in accordance with the rotation angle detected by the detecting unit 3. The basic walking assist force corrector is a walking assist force that is output to the walking assist motor 116. The control unit 4 controls the motor driver 117 to output the traveling assist force to the travel assist motor 116.

控制部4,是使行走輔助力隨著旋轉角度變大而接近基本行走輔助力的方式,修正基本行走輔助力。更具體而言,控制部4,是依據對應旋轉角度的修正資訊,修正基本行走輔助力。此修正資訊,是藉由旋轉角度愈大而愈大的修正係數表示。控制部4,是藉由將此修正係數乘算在基本行走輔助力,來算出行走輔助力。 The control unit 4 corrects the basic walking assisting force so that the traveling assisting force approaches the basic traveling assisting force as the angle of rotation increases. More specifically, the control unit 4 corrects the basic walking assisting force based on the correction information corresponding to the rotation angle. This correction information is represented by a larger correction coefficient by the larger the rotation angle. The control unit 4 calculates the walking assist force by multiplying the correction coefficient by the basic traveling assist force.

例如,控制部4,是將第3圖所示的修正資訊地圖記憶,依據此修正資訊地圖設定修正係數。又,修正資訊地圖,是包含旋轉角度及修正係數對應的資訊,隨著旋轉角度變大,修正係數也變大。又,雖無特別限定,修正係數是成為0以上1以下。 For example, the control unit 4 memorizes the corrected information map shown in FIG. 3, and sets the correction coefficient based on the corrected information map. Further, the correction information map is information including the rotation angle and the correction coefficient, and as the rotation angle is increased, the correction coefficient is also increased. Further, although not particularly limited, the correction coefficient is 0 or more and 1 or less.

控制部4,是藉由檢出部3被檢出的旋轉角度是成為被預先決定的門檻值a以上的話,將修正係數設成1。此結果,控制部4,是作為行走輔助力將基本行走輔助力朝行走輔助用電動機116輸出。換言之,控制部4,是旋轉角度成為被預先決定的門檻值a以上的話就停止修正處理,使基本行走輔助力朝行走輔助用電動機116輸出。此門檻值a,是成為例如10度以上90度以下較佳,20度以上60度以下更佳。又,控制部4,不是使用這種修正資訊地圖,而是藉由預先被設定的計算式,將對應旋轉角度的修正係數算出也可以。 When the rotation angle detected by the detection unit 3 is equal to or greater than the predetermined threshold value a, the control unit 4 sets the correction coefficient to 1. As a result, the control unit 4 outputs the basic traveling assisting force to the travel assisting motor 116 as the traveling assisting force. In other words, when the rotation angle is equal to or greater than the predetermined threshold value a, the control unit 4 stops the correction processing and outputs the basic traveling assist force to the travel assist motor 116. The threshold value a is preferably, for example, 10 degrees or more and 90 degrees or less, more preferably 20 degrees or more and 60 degrees or less. Further, the control unit 4 may calculate the correction coefficient corresponding to the rotation angle instead of using the correction information map, instead of the calculation formula set in advance.

修正資訊地圖,是在第3圖如L1所示旋轉角度及修正係數是成為如一次函數的關係也可以,在第3圖如L2、L3所示成為如n次函數的曲線也可以。修正資訊地圖,是在第3圖如L4所示在旋轉角度0的時修正係數不是0,而成為預定的數值也可以。修正資訊地圖,是在第3圖如L1~L4所示成為藉由旋轉角度使修正係數連續地變化也可以,在第3圖如L5所示成為藉由旋轉角度使修正係數呈階段狀地不連續變化也可以。這種修正地圖是藉由實驗被決定。進一步在控制部具備4複數修正資訊地 圖,藉由操作部118設定複數修正資訊地圖地構成也可以。 The correction map may be a relationship such as a rotation function and a correction coefficient as shown in FIG. 3 as a linear function, and may be a curve such as an n-th order function as shown in FIGS. 3 and L3. The correction information map may be a predetermined value when the rotation angle is 0 as shown in FIG. 3 and the rotation angle is 0. In the third map, as shown in L1 to L4, the correction coefficient may be continuously changed by the rotation angle. In the third diagram, as shown by L5, the correction coefficient is stepwise by the rotation angle. Continuous changes are also possible. This modified map was determined by experimentation. Further, the control unit is provided with 4 plural correction information The figure may be configured by the operation unit 118 setting a plurality of correction information maps.

在各複數輔助條件個別設置不同的修正控制地圖或是預先被設定的計算式也可以。使用1個修正控制地圖或是1個預先被設定的計算式的情況,將輔助條件變更的話對於人力驅動力的輔助驅動力的比率因為會變化,所以人力驅動力及旋轉角度是等同情況,也會具有依據輔助條件使輔助驅動力變化的情況。藉由在各複數輔助條件個別設置不同的修正控制地圖或是預先被設定的計算式,就可以在各輔助條件進行最適合的輔助控制。例如,對於人力驅動力的輔助驅動力的比率愈大,使旋轉角度小時的修正係數變更小的方式,使用對應輔助條件的修正控制地圖的話,在其中任一的輔助條件皆可以確實地抑制急發進。 It is also possible to individually set different correction control maps or calculation formulas set in advance in each of the plurality of auxiliary conditions. When the correction control map or one of the calculation formulas set in advance is used, the ratio of the auxiliary driving force to the human driving force is changed when the auxiliary condition is changed, so the human driving force and the rotation angle are equal. There will be cases where the auxiliary driving force is changed in accordance with the auxiliary conditions. By individually setting different correction control maps or calculation formulas set in advance in each of the plurality of auxiliary conditions, the most appropriate auxiliary control can be performed under each auxiliary condition. For example, the larger the ratio of the auxiliary driving force for the human driving force, the smaller the correction coefficient for the small rotation angle, and the correction control map corresponding to the auxiliary condition, the positive conditions can be surely suppressed in any of the auxiliary conditions. Send in.

又,控制部4,是滿足預定的上限時,對於行走輔助用電動機116實行行走輔助。例如,控制部4,是藉由人力驅動力檢出部2被檢出的扭矩,被判別為預先被設定的扭矩基準值(人力驅動力基準值的一例)以上的情況時,對於行走輔助用電動機116實行行走輔助。且,控制部4,是例如,由微電腦構成,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。 Moreover, when the control unit 4 satisfies the predetermined upper limit, the traveling assist motor 116 performs the walking assistance. For example, when the torque detected by the human driving force detecting unit 2 is determined to be equal to or greater than the torque reference value (an example of the human driving force reference value) set in advance, the control unit 4 is used for the walking assistance. The electric motor 116 performs walking assistance. Further, the control unit 4 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), ROM (Read Only Memory, read only memory). , I/O interface, etc.

接著,對於上述的自行車用控制裝置1的動 作,一邊參照第4圖一邊說明。第4圖,是說明自行車用控制裝置1的動作用的流程圖。 Next, the movement of the above-described bicycle control device 1 This will be explained with reference to Fig. 4 . Fig. 4 is a flow chart for explaining the operation of the bicycle control device 1.

如第4圖所示,控制部4,首先,是將有關於藉由人力驅動力檢出部2被檢出的人力驅動力的資訊取得(步驟S1)。具體而言,控制部4,是將有關於藉由人力驅動力檢出部2被檢出的扭矩的資訊取得。 As shown in FIG. 4, the control unit 4 first acquires information on the human power driving force detected by the human power driving force detecting unit 2 (step S1). Specifically, the control unit 4 acquires information on the torque detected by the human power driving force detecting unit 2 .

接著,控制部4,是判斷人力驅動力是否為人力驅動力基準值以上(步驟S2)。具體而言,控制部4,是依據有關於所取得的扭矩的資訊,判斷扭矩是否為扭矩基準值以上。又,雖無特別限定,此扭矩基準值,是例如7N.m以上10N.m以下程度也可以。控制部4,是若判斷為人力驅動力是人力驅動力基準值未滿的話(步驟S2的No),移行至步驟S1的處理。 Next, the control unit 4 determines whether or not the human driving force is equal to or higher than the human driving force reference value (step S2). Specifically, the control unit 4 determines whether or not the torque is equal to or greater than the torque reference value based on the information on the acquired torque. Further, although not particularly limited, the torque reference value is, for example, 7N. m above 10N. The degree below m is also acceptable. When it is determined that the human driving force is that the human driving force reference value is not full (No in step S2), the control unit 4 proceeds to the processing of step S1.

另一方面,控制部4,若判斷為人力驅動力是人力驅動力基準值以上的話(步驟S2的Yes),設定基本行走輔助力(步驟S3)。詳細的話,控制部4,是設定對應人力驅動力的基本行走輔助力。 On the other hand, when it is determined that the human driving force is equal to or greater than the human driving force reference value (Yes in step S2), the control unit 4 sets the basic traveling assisting force (step S3). In detail, the control unit 4 sets a basic traveling assist force corresponding to the human driving force.

接著,控制部4,是將有關於藉由檢出部3被檢出的旋轉角度的資訊取得(步驟S4)。詳細的話,控制部4,是檢出曲軸112a的旋轉角度。又,此旋轉角度,是以滿足開始由行走輔助用電動機116所產生的行走輔助的條件時的曲軸112a的位置為基準的角度的意思。具體而言,在上述的步驟S2的處理,人力驅動力是成為人力驅動力基準值以上的話,以控制部4判斷的時點中的曲軸 112a的位置為基準。 Next, the control unit 4 acquires information on the rotation angle detected by the detecting unit 3 (step S4). In detail, the control unit 4 detects the rotation angle of the crankshaft 112a. In addition, this rotation angle means an angle based on the position of the crankshaft 112a when the condition of the walking assistance by the traveling assist motor 116 is started. Specifically, in the process of the above-described step S2, when the human driving force is equal to or greater than the human driving force reference value, the crankshaft in the time point determined by the control unit 4 The position of 112a is the reference.

接著,控制部4,是依據所取得的旋轉角度資訊,設定對應旋轉角度的修正係數(步驟S5)。詳細的話,控制部4,是依據第3圖所示的修正係數地圖,設定對應旋轉角度的修正係數。 Next, the control unit 4 sets a correction coefficient corresponding to the rotation angle based on the acquired rotation angle information (step S5). In detail, the control unit 4 sets a correction coefficient corresponding to the rotation angle based on the correction coefficient map shown in FIG.

接著,控制部4,是依據:以步驟S3被設定的基本行走輔助力、及以步驟S5被設定的修正係數,算出行走輔助力(步驟S6)。詳細的話,控制部4,是藉由將修正係數乘算在基本行走輔助力,算出行走輔助力。換言之,控制部4,是藉由將修正係數乘算在對應基本行走輔助力的指令值,算出對應行走輔助力的指令值。 Next, the control unit 4 calculates the walking assist force based on the basic traveling assist force set in step S3 and the correction coefficient set in step S5 (step S6). In detail, the control unit 4 calculates the walking assist force by multiplying the correction coefficient by the basic traveling assist force. In other words, the control unit 4 calculates the command value corresponding to the travel assist force by multiplying the correction coefficient by the command value corresponding to the basic travel assist force.

接著,控制部4,是對於行走輔助用電動機116,由被算出的行走輔助力實行行走輔助(步驟S7)。詳細的話,控制部4,是藉由將馬達驅動器117控制,將被算出的行走輔助力輸出的方式將行走輔助用電動機116控制,實行行走輔助。 Next, the control unit 4 performs walking assistance from the calculated traveling assist force with respect to the travel assisting motor 116 (step S7). In detail, the control unit 4 controls the travel assist motor 116 so as to control the output of the travel assist force by controlling the motor driver 117, and performs the travel assist.

又,控制部4,是自行車101的速度若超過預先被設定的速度基準值的話,就停止由行走輔助用電動機116所產生的行走輔助。 Further, when the speed of the bicycle 101 exceeds the speed reference value set in advance, the control unit 4 stops the walking assistance by the travel assisting motor 116.

如以上說明,控制部4,是藉由進行第4圖所示的控制,就可以抑制在電動輔助自行車的發進時朝走行輔助用電動機116被施加急劇的電流。且控制部4,是藉由進行第4圖所示的控制,即使自行車是行走中,也可在行走輔助用電動機116一旦停止之後,再度開始踩踏板 時,抑制由行走輔助用電動機116所產生的行走輔助力,可以抑制朝行走輔助用電動機116被施加急劇的電流。 As described above, by performing the control shown in FIG. 4, the control unit 4 can suppress the application of a rapid current to the traveling assist motor 116 when the power-assisted bicycle is introduced. Further, by the control shown in FIG. 4, even if the bicycle is traveling, the control unit 4 can start pedaling again after the travel assist motor 116 is stopped. At this time, the traveling assist force generated by the travel assisting motor 116 is suppressed, and a sudden current is applied to the travel assisting motor 116.

[第2實施例] [Second Embodiment]

接著說明第2實施例的自行車用控制裝置1。又,第2實施例的自行車用控制裝置1所適用的自行車101,因為是與上述的第1實施例說明的自行車101相同,所以省略其說明。且,第2實施例的自行車用控制裝置1,是只有行走輔助力的導引方式與第1實施例的自行車用控制裝置1相異,各構件的構成因為是彼此相同,所以省略其說明。 Next, the bicycle control device 1 of the second embodiment will be described. In addition, since the bicycle 101 to which the bicycle control device 1 of the second embodiment is applied is the same as the bicycle 101 described in the first embodiment, the description thereof will be omitted. In the bicycle control device 1 of the second embodiment, the guidance method for the traveling assisting force is different from that of the bicycle control device 1 of the first embodiment, and the configuration of each member is the same, and therefore the description thereof will be omitted.

第5圖,是說明第2實施例的自行車用控制裝置1的動作用的流程圖。又,步驟S1、S2、S4、S5、S7中的處理,因為是與上述第1實施例相同,所以省略其詳細的說明。 Fig. 5 is a flowchart for explaining the operation of the bicycle control device 1 of the second embodiment. The processes in steps S1, S2, S4, S5, and S7 are the same as those in the first embodiment described above, and thus detailed description thereof will be omitted.

控制部4,首先,是將有關於藉由人力驅動力檢出部2被檢出的人力驅動力的資訊取得(步驟S1)。控制部4,若判斷為藉由步驟S1的處理被取得的人力驅動力是人力驅動力基準值未滿的話(步驟S2的No),返回至步驟S1的處理。 First, the control unit 4 acquires information on the human power driving force detected by the human power driving force detecting unit 2 (step S1). When it is determined that the human driving force obtained by the process of step S1 is that the human driving force reference value is not full (No in step S2), the control unit 4 returns to the process of step S1.

另一方面,控制部4,是若判斷為人力驅動力是人力驅動力基準值以上的話(步驟S2的Yes),將有關於藉由檢出部3被檢出的旋轉角度的資訊取得(步驟S4)。接著,控制部4,是依據所取得的旋轉角度資訊,設定對應 旋轉角度的修正係數(步驟S5)。 On the other hand, when it is determined that the human driving force is equal to or greater than the human driving force reference value (Yes in step S2), the control unit 4 acquires information on the rotation angle detected by the detecting unit 3 (step). S4). Next, the control unit 4 sets the correspondence according to the acquired rotation angle information. The correction coefficient of the rotation angle (step S5).

接著,控制部4,是修正藉由人力驅動力檢出部2被檢出的人力驅動力(步驟S11)。詳細的話,控制部4,是對於藉由步驟S1的處理被取得的人力驅動力,將在步驟S5的處理被設定的修正係數乘算。換言之,在顯示人力驅動力的人力驅動力檢出部2的輸出值(例如顯示電壓的值),將被設定的修正係數乘算。藉此,修正後的人力驅動力,是成為藉由人力驅動力檢出部2被檢出的人力驅動力以下。 Next, the control unit 4 corrects the human power driving force detected by the human power driving force detecting unit 2 (step S11). In detail, the control unit 4 multiplies the correction coefficient set in the process of step S5 with respect to the human power driving force acquired by the process of step S1. In other words, the output value (for example, the value of the display voltage) of the human driving force detecting unit 2 that displays the human driving force is multiplied by the set correction coefficient. In this way, the corrected human driving force is equal to or less than the human driving force detected by the human driving force detecting unit 2.

接著,控制部4,是設定對應修正後的人力驅動力的行走輔助力(步驟S12)。在此步驟S12的處理被設定的行走輔助力,是對應藉由前述人力驅動力檢出部2被檢出的原本的人力驅動力被設定的基本行走輔助力以下。 Next, the control unit 4 sets the traveling assist force corresponding to the corrected human driving force (step S12). The traveling assisting force set in the process of this step S12 is equal to or less than the basic traveling assisting force set by the original human driving force detected by the human-power driving force detecting unit 2.

且控制部4,是將在步驟S12的處理被設定的行走輔助力朝行走輔助用電動機116輸出(步驟S7)。 The control unit 4 outputs the traveling assist force set in the process of step S12 to the travel assisting motor 116 (step S7).

[變形例] [Modification]

以上,雖說明了本發明的實施例,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 and scope of the invention.

變形例1 Modification 1

在上述實施例中,檢出部3,是雖檢出曲軸112的旋轉角度,但是不特別限定於此。例如,檢出部3,是可取代曲軸112的旋轉角度,可以檢出從行走輔助開始的時點 的行走距離地構成。行走距離,可以依據前輪106或是後輪107的旋轉狀態(例如旋轉數或是旋轉角度)、及車輪的徑求得。前輪106或是後輪107的旋轉狀態,是例如在車輪設置磁鐵,將檢出此磁鐵的感測器藉由設在車架的通常的速度感測器檢出也可以,藉由編碼器檢出也可以。 In the above embodiment, the detecting portion 3 detects the rotation angle of the crankshaft 112, but is not particularly limited thereto. For example, the detecting portion 3 is a rotation angle that can replace the crankshaft 112, and can detect the time point from the start of the walking assistance. The walking distance is composed of ground. The walking distance can be obtained from the rotation state of the front wheel 106 or the rear wheel 107 (for example, the number of rotations or the angle of rotation) and the diameter of the wheel. The rotation state of the front wheel 106 or the rear wheel 107 is, for example, a magnet is provided on the wheel, and the sensor that detects the magnet is detected by a normal speed sensor provided on the frame, and is detected by an encoder. It can be.

控制部4,是對應藉由檢出部3被檢出的行走距離,將使朝行走輔助用電動機116輸出的行走輔助力控制。例如,控制部4,是行走距離愈長,將行走輔助力愈接近基本行走輔助力。在本變形例中,將行走距離實際算出也可以,但是不算出行走距離而對應從行走輔助開始的時點的車輪的旋轉狀態(旋轉數或是旋轉角度),將使朝行走輔助用電動機116輸出的行走輔助力控制也可以。控制部4,是具有將第3圖所示的修正資訊地圖的橫軸從旋轉角度置換成行走距離或是車輪的旋轉數(旋轉角度)的修正資訊地圖或是預先被設定的計算式。求得行走距離的運算,是例如藉由構成控制部4的微電腦進行也可以。 The control unit 4 controls the walking assist force output to the travel assisting motor 116 in accordance with the travel distance detected by the detecting unit 3. For example, the control unit 4 is such that the longer the walking distance is, the closer the walking assisting force is to the basic walking assisting force. In the present modification, the travel distance may be actually calculated. However, the rotation state (rotation number or rotation angle) of the wheel at the time when the travel assistance is started is not calculated, and the travel assist motor 116 is outputted. Walking assist control is also possible. The control unit 4 is a correction information map having a horizontal axis of the correction information map shown in FIG. 3 replaced by a rotation angle or a rotation number (rotation angle) of the wheel, or a calculation formula set in advance. The calculation for obtaining the walking distance may be performed by, for example, a microcomputer constituting the control unit 4.

變形例2 Modification 2

在上述實施例中,檢出部3,是雖檢出曲軸112的旋轉角度,但是不特別限定於此。例如,檢出部3,是可取代曲軸112的旋轉角度,可以檢出從行走輔助開始的時點的行走時間地構成。此情況,控制部4,是對應藉由檢出部3被檢出的行走時間,將使朝行走輔助用電動機116輸出的行走輔助力控制。例如,控制部4,是行走時間愈 長,將行走輔助力愈接近基本行走輔助力。控制部4,是具備將第3圖所示的修正資訊地圖的橫軸從旋轉角度置換成行走時間的修正資訊地圖或是預先被設定的計算式。 In the above embodiment, the detecting portion 3 detects the rotation angle of the crankshaft 112, but is not particularly limited thereto. For example, the detecting unit 3 is configured to be able to detect the traveling time from the time when the traveling assist is started, instead of the rotation angle of the crankshaft 112. In this case, the control unit 4 controls the traveling assist force output to the travel assisting motor 116 in accordance with the travel time detected by the detecting unit 3. For example, the control unit 4 is the longer the walking time Long, the walking assistance force is closer to the basic walking assist force. The control unit 4 is provided with a correction information map in which the horizontal axis of the corrected information map shown in FIG. 3 is replaced with the traveling time from the rotation angle, or a calculation formula set in advance.

變形例3 Modification 3

上述實施例的人力驅動力檢出部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,是將作用於鏈條110的張力作為人力驅動力檢出也可以,將作用於後輪107的車軸的力、或是藉由人力作用於車架102的驅動力等檢出也可以。 The human driving force detecting unit 2 of the above-described embodiment 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 tension acting on the chain 110 as the human driving force, and may apply a force acting on the axle of the rear wheel 107 or a force acting on the frame 102 by human force. It is also possible to check out the force.

變形例4 Modification 4

在上述實施例中,雖採用藉由輔助機構115將輔助驅動力作用在動力傳達路徑的構成,但是不特別限定於此。例如,藉由輔助機構115將輔助驅動力作用在鏈條110的構成也可以。且,例如,在具備前輪轂馬達的電動輔助自行車,即在前輪106具備輔助機構115的電動輔助自行車,也可以適用本自行車用控制裝置。其他,在具備後輪轂馬達的電動輔助自行車,即在後輪107具備輔助機構115的電動輔助自行車,也可以適用本自行車用控制裝置。 In the above embodiment, the auxiliary driving force is applied to the power transmission path by the assist mechanism 115, but the configuration is not particularly limited thereto. For example, the auxiliary driving force may be applied to the chain 110 by the assisting mechanism 115. Further, for example, in the electric assist bicycle including the front hub motor, that is, the electric assist bicycle in which the front wheel 106 is provided with the assist mechanism 115, the bicycle control device can be applied. Others, in the electric assist bicycle including the rear hub motor, that is, the electric assist bicycle in which the rear wheel 107 is provided with the assist mechanism 115, the bicycle control device can also be applied.

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‧‧‧檢出部 3‧‧‧Detection Department

4‧‧‧控制部 4‧‧‧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

118‧‧‧操作部 118‧‧‧Operation Department

Claims (17)

一種自行車用控制裝置,是將具有行走輔助用電動機的自行車控制,具備:檢出部,是檢出:以藉由前述行走輔助用電動機使行走輔助開始的時點中的前述自行車的曲軸的位置為基準的前述曲軸的旋轉角度、從前述行走輔助開始的時點的行走距離、及從前述行走輔助開始的時點的行走時間的至少其中任一;及控制部,是對應藉由前述檢出部被檢出的檢出結果,將使朝前述行走輔助用電動機輸出的行走輔助力控制。 In the bicycle control device, the bicycle control device includes a detection unit that detects the position of the crankshaft of the bicycle at the time when the travel assist is started by the travel assist motor. At least one of a reference rotation angle of the crankshaft, a travel distance from a time when the travel assist is started, and a travel time from a time when the travel assist is started; and the control unit is checked by the detection unit As a result of the detection, the traveling assist force outputted to the travel assist motor is controlled. 如申請專利範圍第1項的自行車用控制裝置,其中,進一步具備檢出人力驅動力的人力驅動力檢出部,前述控制部,是對應藉由前述人力驅動力檢出部被檢出的前述人力驅動力將前述行走輔助力控制。 The bicycle control device according to the first aspect of the invention, further comprising a human power driving force detecting unit that detects a human driving force, wherein the control unit is configured to be detected by the human driving force detecting unit. The human driving force controls the aforementioned walking assist force. 如申請專利範圍第2項的自行車用控制裝置,其中,前述控制部,是使對應前述人力驅動力被設定的基本行走輔助力以下的前述行走輔助力朝前述行走輔助用電動機輸出。 The bicycle control device according to the second aspect of the invention, wherein the control unit outputs the travel assisting force equal to or lower than a basic travel assist force set to the human power driving force to the travel assisting motor. 如申請專利範圍第3項的自行車用控制裝置,其中,前述控制部,是前述旋轉角度愈大、前述行走距離愈長、或是前述行走時間愈長,就使前述行走輔助力愈接近 前述基本行走輔助力。 The bicycle control device according to claim 3, wherein the control unit is such that the larger the rotation angle is, the longer the travel distance is, or the longer the travel time is, the closer the travel assist force is. The aforementioned basic walking assist force. 如申請專利範圍第3或4項的自行車用控制裝置,其中,前述控制部,是對應前述檢出結果將前述基本行走輔助力修正作為前述行走輔助力。 The bicycle control device according to claim 3, wherein the control unit corrects the basic travel assist force as the travel assist force in accordance with the detection result. 如申請專利範圍第5項的自行車用控制裝置,其中,前述控制部,是依據對應前述檢出結果的修正資訊,修正前述基本行走輔助力。 The bicycle control device according to claim 5, wherein the control unit corrects the basic travel assisting force based on correction information corresponding to the detection result. 如申請專利範圍第6項的自行車用控制裝置,其中,前述修正資訊,是藉由修正係數表示,前述修正係數,是前述旋轉角度愈大、前述行走距離愈長、或是前述行走時間愈長,就愈大。 The bicycle control device according to claim 6, wherein the correction information is represented by a correction coefficient, wherein the correction angle is larger as the rotation angle is longer, the longer the walking distance is, or the longer the walking time is. The bigger it is. 如申請專利範圍第7項的自行車用控制裝置,其中,前述控制部,是藉由將前述修正係數乘算在前述基本行走輔助力,來修正前述基本行走輔助力。 The bicycle control device according to claim 7, wherein the control unit corrects the basic travel assisting force by multiplying the correction coefficient by the basic travel assisting force. 如申請專利範圍第2至4項中任一項的自行車用控制裝置,其中,前述控制部,是將前述人力驅動力對應前述檢出結果修正,將對應前述修正後的人力驅動力的前述行走輔助力朝前述行走輔助用電動機輸出。 The bicycle control device according to any one of claims 2 to 4, wherein the control unit corrects the human driving force corresponding to the detection result, and the walking corresponding to the corrected human driving force The assist force is output to the aforementioned travel assist motor. 如申請專利範圍第9項的自行車用控制裝置,其 中,前述控制部,是依據對應前述檢出結果的修正資訊,修正前述人力驅動力。 A bicycle control device according to claim 9 of the patent application, The control unit corrects the human driving force based on the correction information corresponding to the detection result. 如申請專利範圍第10項的自行車用控制裝置,其中,前述修正資訊,是藉由修正係數表示,前述修正係數,是前述旋轉角度愈大、前述行走距離愈長、或是前述行走時間愈長,就愈大。 The bicycle control device according to claim 10, wherein the correction information is represented by a correction coefficient, wherein the correction angle is larger as the rotation angle is longer, the longer the walking distance is, or the longer the walking time is. The bigger it is. 如申請專利範圍第11項的自行車用控制裝置,其中,前述控制部,是藉由將前述修正係數乘算在前述人力驅動力來修正前述人力驅動力。 The bicycle control device according to claim 11, wherein the control unit corrects the human power driving force by multiplying the correction coefficient by the human power driving force. 如申請專利範圍第5項的自行車用控制裝置,其中,前述控制部,是前述檢出結果若成為預先決定的門檻值以上的話,將前述修正處理停止。 In the bicycle control device according to the fifth aspect of the invention, the control unit stops the correction processing if the detection result is equal to or greater than a predetermined threshold value. 如申請專利範圍第13項的自行車用控制裝置,其中,前述檢出部若檢出前述旋轉角度的情況,前述預先決定的門檻值,是被決定在10°以上90°以下的範圍。 The bicycle control device according to claim 13, wherein when the detection unit detects the rotation angle, the predetermined threshold value is determined to be in a range of 10° or more and 90° or less. 如申請專利範圍第1至3項中任一項的自行車用控制裝置,其中,前述檢出部若檢出前述旋轉角度的情況,前述檢出部,是檢出前述曲軸的曲軸的旋轉角度作為前述曲軸的前 述旋轉角度。 The bicycle control device according to any one of claims 1 to 3, wherein, when the detecting unit detects the rotation angle, the detecting unit detects a rotation angle of a crankshaft of the crankshaft as Front of the aforementioned crankshaft The angle of rotation. 如申請專利範圍第1至3項中任一項的自行車用控制裝置,其中,前述檢出部若檢出前述旋轉角度的情況,前述旋轉角度檢出部,是檢出前述曲軸的曲軸臂的旋轉角度作為前述曲軸的前述旋轉角度。 The bicycle control device according to any one of claims 1 to 3, wherein, when the detecting unit detects the rotation angle, the rotation angle detecting unit detects the crank arm of the crankshaft. The rotation angle is the aforementioned rotation angle of the aforementioned crankshaft. 如申請專利範圍第2或3項的自行車用控制裝置,其中,控制部,是判別為藉由前述人力驅動力檢出部被檢出的前述人力驅動力是人力驅動力基準值以上的情況時,使前述行走輔助用電動機開始前述行走輔助。 The bicycle control device according to the second or third aspect of the invention, wherein the control unit determines that the human driving force detected by the human power driving force detecting unit is equal to or greater than a human driving force reference value. The travel assist motor is used to start the travel assist.
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