TWM623734U - Bicycle electronic gear shifting and vehicle attitude sensing device - Google Patents

Bicycle electronic gear shifting and vehicle attitude sensing device Download PDF

Info

Publication number
TWM623734U
TWM623734U TW110212796U TW110212796U TWM623734U TW M623734 U TWM623734 U TW M623734U TW 110212796 U TW110212796 U TW 110212796U TW 110212796 U TW110212796 U TW 110212796U TW M623734 U TWM623734 U TW M623734U
Authority
TW
Taiwan
Prior art keywords
sensing
unit
shifting
transmission
gear
Prior art date
Application number
TW110212796U
Other languages
Chinese (zh)
Inventor
蔡宗霖
鍾相宏
吳志鴻
温韋翔
Original Assignee
智盟能源股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 智盟能源股份有限公司 filed Critical 智盟能源股份有限公司
Priority to TW110212796U priority Critical patent/TWM623734U/en
Publication of TWM623734U publication Critical patent/TWM623734U/en

Links

Images

Landscapes

  • Control Of Transmission Device (AREA)

Abstract

本創作係提供一種自行車電子換檔及具車輛姿態感測之裝置,其包含:一傳動元件,其傳動設置有一調整部件,該調整部件係用以傳動接設於一變速元件,藉以調整該變速元件之檔位;一感應裝置,其係對應感測該傳動元件之轉動位置;一驅動單元,其係對應設置並傳動於該傳動元件;一姿態感測單元,係用以感測該車輛之姿態,並對應產生一狀態量值;一處理單元,其係訊號連結於該驅動單元、姿態感測單元、感測單元及一變檔控制裝置;藉之,該變檔控制裝置係對應收受該狀態量值,並據以對應產生一變檔指令傳輸予該處理單元,令該處理單元界定對應於該變檔指令之所述檔位及旋轉位置,並於該感測單元對應感測該傳動元件轉動至界定之旋轉位置時,該處理單元即令該驅動單元停止運作,藉以令變速元件之檔位可被準確的切換並定位,亦可隨時偵測車輛姿態之變換,提供該變檔控制裝置之車輛狀態訊號,亦或是主動介入或限制換檔時機之控制策略,使其依據實際路況及騎乘狀態,給予較佳之換檔操縱者。The present invention provides a bicycle electronic gear shifting and vehicle attitude sensing device, which includes: a transmission element, the transmission of which is provided with an adjustment part, the adjustment part is used for transmission and connected to a speed change element, so as to adjust the speed change The gear position of the element; a sensing device, which is used to sense the rotational position of the transmission element; a drive unit, which is correspondingly arranged and transmitted to the transmission element; an attitude sensing unit, which is used to sense the vehicle attitude, and correspondingly generate a state value; a processing unit, whose signal is connected to the driving unit, the attitude sensing unit, the sensing unit and a shift control device; thereby, the shift control device corresponds to receiving the state value, and accordingly generate a gear shift command and transmit it to the processing unit, so that the processing unit defines the gear position and the rotational position corresponding to the gear shift command, and the sensing unit correspondingly senses the transmission When the element rotates to the defined rotational position, the processing unit stops the operation of the driving unit, so that the gear position of the transmission element can be accurately switched and positioned, and the change of the vehicle attitude can also be detected at any time to provide the shift control device. The vehicle status signal, or a control strategy to actively intervene or limit the shifting timing, so that it can give a better shift operator according to the actual road conditions and riding status.

Description

自行車電子換檔及具車輛姿態感測之裝置Bicycle electronic gear shift and device with vehicle attitude sensing

本創作係提供一種自行車電子換檔及具車輛姿態感測之裝置,尤指一種藉由感測單元之設置,以感測傳動元件對於變速元件進行變檔之實際位置,藉以於感測傳動元件轉動至界定之旋轉位置,即停止傳動元件之傳動,藉以達致精確變換檔位之功效者,並可隨時偵測車輛姿態之變換,使其依據實際路況及騎乘狀態,給予較佳換檔時機之控制策略者。The present invention provides a bicycle electronic gear shifting and vehicle attitude sensing device, especially a device for sensing the actual position of the transmission element to the shifting element through the setting of the sensing unit, so as to sense the transmission element Rotate to the defined rotation position, that is, stop the transmission of the transmission element, so as to achieve the effect of precise shifting of gears, and can detect the change of vehicle posture at any time, so that it can give better shifting according to the actual road conditions and riding status. The timing control strategist.

按,現今社會對環保議題日漸重視,故世界各國分推行節能減碳之政策,藉以鼓勵產學界可研發替代能源,故令綠色能源科技主要研發的目標之一;而其一者,現行交通工具多係以石油作為動力,而石油燃料所造成的空氣汙染係當前世界各國所欲積極改善的問題,也因此造就騎乘自行車之風氣,為增強自行車的機動性、便利性及實用性而發展出電動自行車及電動車,其相關產業因而分別針對增進電動自行車及電動車性能之標的,且研發使其達到節能減碳及防止空氣汙染之主要目標;此外,現今之電動輔助自行車盛行,相對其他短程代步工具而言,其簡單及便利且無須經過駕駛考試之眾多優點被受喜愛。According to the fact that nowadays society is paying more and more attention to environmental protection issues, countries around the world are implementing energy-saving and carbon-reducing policies in order to encourage the industry and academia to develop alternative energy sources, which is one of the main research and development goals of green energy technology; Most of them are powered by petroleum, and the air pollution caused by petroleum fuel is a problem that countries around the world want to actively improve. Therefore, it has created the atmosphere of riding bicycles, and developed a bicycle to enhance the mobility, convenience and practicality of bicycles. Electric bicycles and electric vehicles, and their related industries, respectively aim at improving the performance of electric bicycles and electric vehicles, and research and develop them to achieve the main goals of energy saving, carbon reduction and air pollution prevention; As a means of transportation, it is loved for its simplicity, convenience and many advantages that do not require a driving test.

而就自行車或電動自行車而言,多數者,皆具有變速功能,藉以適用於各式使用者或地形,而其變速換檔所採用之變速器,通常係包含外變速器及內變速器,而因外變速器具有體積大、易因外露而受環境因素而損壞之缺失,故有相關業者研發內變速器,使其設置於後輪之輪軸處,並與後輪同軸,且相關零件皆係封閉於其內部,故其零組件不易受外力損壞,且換檔時之流暢度亦遠較習用之變速器高,故為現今多數消費者所青睞。As far as bicycles or electric bicycles are concerned, most of them have a speed change function, which is suitable for various users or terrains. Due to its large size, it is easy to be damaged by environmental factors due to exposure. Therefore, some relevant companies have developed an internal transmission, which is arranged at the axle of the rear wheel and is coaxial with the rear wheel, and the relevant parts are all enclosed inside it. Therefore, its components are not easily damaged by external forces, and the smoothness of shifting is far higher than that of conventional transmissions, so it is favored by most consumers today.

惟此,對於內變速器之變速而言,多數者係藉由自行車之變速手把或轉盤,藉以透過鋼線拉動變速環,藉以達致調整內變速器檔位之目的;然而,透過鋼線拉動變速環之機制,時常有因其長期操作之下,致使變速手把或轉盤及鋼線之配置位置位移,而有變速不完全或不正確之情事,且並無檔位校正及正確回報之機制,故導致實際變換之檔位有錯亂之問題,而若係應用於電動自行車,由於其通常具有依據踩踏之踏力或產生之扭力而予以換檔之機制,而若檔位未經確認或錯誤換檔,其將影響使用者於騎乘時之舒適性,更甚者,將影響騎乘時之安全性,以及有致內變速器損壞之疑慮。However, for the shifting of the internal derailleur, most of them use the shifting handle or dial of the bicycle, so as to pull the shifting ring through the steel wire, so as to achieve the purpose of adjusting the gear position of the inner derailleur; The mechanism of the ring is often caused by the long-term operation, which causes the shift handle, the dial and the configuration position of the steel wire to shift, and the shifting is incomplete or incorrect, and there is no mechanism for gear correction and correct reporting. Therefore, there is a problem of confusion in the actual shifting gears. If it is applied to electric bicycles, it usually has a mechanism for shifting gears according to the pedaling force or the generated torque, and if the gears are not confirmed or wrongly shifted. , it will affect the user's comfort when riding, and even more, it will affect the safety when riding, and there is a concern that the internal transmission will be damaged.

再者,多數電動輔助自行車皆為手動換檔或通過速度及踏頻給予簡易換檔控制操縱,其檔位變換時會因齒比變化影響並改變騎乘者的踏頻及踏力,對此,無法獲取實際路況及騎乘狀態,難以正確提供較佳控制策略,故導致遭遇路況坡度或過彎傾角之變換時,給予不當之換檔控制,使其踏力突然過重難以騎行或過輕瞬間踩空之問題屢見不鮮,其將影響使用者於騎乘時之舒適性,更甚者,將影響騎乘時之安全性。In addition, most electric-assisted bicycles are manually shifted or given simple shift control by speed and cadence. When the gear is changed, the cadence and pedaling force of the rider will be affected and changed due to the change of gear ratio. It is impossible to obtain the actual road conditions and riding status, and it is difficult to correctly provide a better control strategy. Therefore, when encountering changes in road conditions, slopes or cornering inclinations, improper shifting control is given, making it difficult to ride with sudden heavy pedaling force or too light. The problem is not uncommon, it will affect the user's comfort when riding, and even more, it will affect the safety when riding.

有鑑於此,本創作人特地針對內變速器換檔之機構,並整合姿態感測單元,加以研究及改良,期以一較佳創作改善上述問題,並在經過長期研發及不斷測試後,始有本創作之問世。In view of this, the author of the author specially focused on the gear shifting mechanism of the internal transmission, and integrated the attitude sensing unit for research and improvement, hoping to improve the above problems with a better creation. After long-term research and development and continuous testing, the The advent of this creation.

爰是,本創作之目的係為解決前述問題,為達致上述目的,吾等創作人提供一種自行車電子換檔及具車輛姿態感測之裝置,其包含:一傳動元件,其係呈環狀設置,並於內緣處設置有一調整部件,該調整部件係用以傳動接設於一變速元件,藉以調整該變速元件之檔位;一感測單元,其係對應感測該傳動元件對應於該變速元件檔位之轉動位置;該感測單元為霍爾感測器,其包含複數感測元件及一感應裝置,且所述感測元件係對應設置於該傳動元件,並且係對應於該變速元件之檔位及該傳動元件之可動方向而間隔陣列設置;一姿態感測單元,其係用以感測一車輛之姿態,並對應產生一狀態量值;一驅動單元,其係對應設置並傳動於該傳動元件;以及一處理單元,其係訊號連結於該驅動單元、該感應裝置、姿態感測單元及一變檔控制裝置;該變檔控制裝置係對應收受該狀態量值,並據以對應產生一變檔指令傳輸予該處理單元,令該處理單元界定對應於該變檔指令之所述檔位及旋轉位置,且控制該驅動單元驅動該傳動元件轉動而調整該變速元件之檔位,並於該感測單元對應感測該傳動元件轉動至界定之旋轉位置時,該處理單元即令該驅動單元停止運作者。The purpose of this creation is to solve the aforementioned problems. In order to achieve the aforementioned purpose, our creators provide a bicycle electronic gear shift and a device with vehicle attitude sensing, which includes: a transmission element, which is in the shape of a ring. The inner edge is provided with an adjustment part, the adjustment part is connected to a transmission element for transmission, so as to adjust the gear position of the transmission element; a sensing unit is correspondingly sensed that the transmission element corresponds to The rotational position of the gear position of the transmission element; the sensing unit is a Hall sensor, which includes a plurality of sensing elements and a sensing device, and the sensing elements are correspondingly disposed on the transmission element and corresponding to the The gear position of the transmission element and the moving direction of the transmission element are arranged in an array at intervals; an attitude sensing unit is used to sense the attitude of a vehicle and correspondingly generates a state value; a driving unit is arranged correspondingly and drive the transmission element; and a processing unit whose signal is connected to the driving unit, the sensing device, the attitude sensing unit and a shift control device; the shift control device should receive the state value, and Accordingly, a shift command is generated and transmitted to the processing unit, so that the processing unit defines the gear position and the rotational position corresponding to the shift command, and controls the drive unit to drive the transmission element to rotate to adjust the speed of the shift element. When the sensing unit correspondingly senses that the transmission element rotates to a defined rotational position, the processing unit stops the operation of the driving unit.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該傳動元件與該驅動單元間,更設有至少一減速裝置。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, at least one deceleration device is further provided between the transmission element and the driving unit.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,更包含一殼體,其內部設有該傳動元件及該驅動單元,且該殼體係固設於一自行車者。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, it further includes a casing, the transmission element and the driving unit are arranged inside, and the casing is fixed to a cyclist.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該變速元件為內變速器,且該變速元件設有對應於該調整部件之傳動部件,該傳動部件係可對應調整該變速元件之檔位者。According to the above-mentioned device for bicycle electronic shifting and vehicle attitude sensing, wherein the shifting element is an internal derailleur, and the shifting element is provided with a transmission part corresponding to the adjusting part, and the transmission part can adjust the The gear position of the transmission element.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元為電子水平儀、加速度計或陀螺儀者。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, the attitude sensing unit is an electronic level, an accelerometer or a gyroscope.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元可為一維、二維或三維感測模組。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, the attitude sensing unit may be a one-dimensional, two-dimensional or three-dimensional sensing module.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元更設有一溫度感測元件,該溫度感測元件係用以偵測該車輛之環境溫度以產生一溫度值,且該姿態感測單元係依據該溫度值對應補償該狀態量值者。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, the attitude sensing unit is further provided with a temperature sensing element, and the temperature sensing element is used to detect the ambient temperature of the vehicle to generate A temperature value, and the attitude sensing unit correspondingly compensates the state value according to the temperature value.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該變檔控制裝置為有線或無線傳輸之電子式換檔裝置。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, the gear shifting control device is an electronic gear shifting device with wired or wireless transmission.

據上所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該處理單元更耦接一通訊單元,且該通訊單元係遠端訊號連結於該變檔控制裝置,該姿態感測單元係藉由該通訊單元傳輸該狀態量值予該變檔控制裝置,且該變檔控制裝置藉由遠端訊號將該變檔指令傳輸至該通訊單元,藉以傳遞至該處理單元,並於該處理單元令該驅動單元停止運作時,回傳一檔位指令予該變檔控制裝置者。According to the above-mentioned bicycle electronic gear shifting and vehicle attitude sensing device, wherein, the processing unit is further coupled to a communication unit, and the communication unit is connected to the shift control device by a remote signal, and the attitude sensing The unit transmits the state value to the shift control device through the communication unit, and the shift control device transmits the shift command to the communication unit through a remote signal, thereby transmitting it to the processing unit, and at When the processing unit stops the operation of the driving unit, it returns a gear command to the gear shift control device.

是由上述說明及設置,顯見本創作主要具有下列數項優點及功效,茲逐一詳述如下:From the above description and settings, it is obvious that this creation mainly has the following advantages and effects, which are described in detail as follows:

1.本創作係透過感測單元之設置,藉以感測該傳動元件對應於該變速元件檔位之轉動位置,藉以於變檔控制裝置傳輸變檔指令時,該處理單元即界定對應於該變檔指令之旋轉位置,且控制該驅動單元驅動該傳動元件轉動而調整該變速元件之檔位,藉以於該感測單元對應感測該傳動元件轉動至界定之旋轉位置時,該處理單元即令該驅動單元停止運作,藉可令傳動元件確切調正變速元件之檔位時,令驅動單元隨即停止運作,藉可精確調整變速元件之檔位,使不致檔位調整不當或過度調整而影響者用者之騎乘或導致變速元件損壞者。1. The present invention uses the setting of the sensing unit to sense the rotational position of the transmission element corresponding to the gear position of the shifting element, so that when the shifting control device transmits the shifting command, the processing unit defines the corresponding position of the shifting element. The rotation position of the gear command is controlled, and the drive unit is controlled to drive the transmission element to rotate to adjust the gear position of the transmission element, so that when the sensing unit senses that the transmission element rotates to the defined rotation position, the processing unit will make the transmission element rotate. When the drive unit stops running, when the transmission element can be accurately adjusted to the gear position of the speed change element, the drive unit stops operating immediately, and the gear position of the speed change element can be adjusted precisely, so as not to be affected by improper or excessive adjustment of the gear position. ride or cause damage to the shifting element.

2.本創作透過姿態感測單元整合於自行車電子換檔裝置之設置,以偵測自行車行駛偏滾及俯仰之姿態,在一實施例中係可配置於車輛後輪軸之位置,使其不易受車架幾何及避震裝置影響訊號判讀之精確性,使其得以偵測車輛姿態並及時控制或限制其檔位調整,並可透過處理單元、通訊單元及殼體實現集成裝置之設置。2. In this creation, the attitude sensing unit is integrated into the setting of the bicycle electronic shifting device to detect the rolling and pitching attitude of the bicycle. Frame geometry and shock absorbers affect the accuracy of signal interpretation, enabling it to detect vehicle attitude and timely control or limit its gear adjustment, and can implement integrated device settings through processing units, communication units and housings.

本創作係一種自行車電子換檔裝置,其實施手段、特點及其功效,茲舉數種較佳可行實施例並配合圖式於下文進行詳細說明,俾供 鈞上深入瞭解並認同本創作。This creation is a bicycle electronic gear shifting device, and its implementation means, characteristics and effects are described in detail below by citing several preferred feasible embodiments and accompanying drawings, so as to provide the readers with an in-depth understanding and approval of this creation.

首先,請參閱第1圖至第5圖所示,本創作係一種自行車電子換檔裝置,其包含:First of all, please refer to Fig. 1 to Fig. 5, this creation is a bicycle electronic shifting device, which includes:

一傳動元件1,其傳動設置有一調整部件11,該調整部件11係用以傳動接設於一變速元件2,藉以調整該變速元件2之檔位;A transmission element 1, the transmission of which is provided with an adjustment part 11, the adjustment part 11 is connected to a transmission element 2 for transmission, so as to adjust the gear position of the transmission element 2;

一感測單元3,其係對應感測該傳動元件1對應於該變速元件2檔位之轉動位置;a sensing unit 3 corresponding to sensing the rotational position of the transmission element 1 corresponding to the gear position of the transmission element 2;

在一具體之實施例中,該感測單元3係包含複數感測元件31及一感應裝置32,且所述感測元件31係對應設置於該傳動元件1,並且係對應於該變速元件2之檔位及該傳動元件1之可動方向而間隔陣列設置,而就感測單元3而言,其係可為接觸式感測器或非接觸式感測器,而該非接觸式感測器係霍爾感測器或光學感測器,且該感應裝置32係耦接於一處理單元4,藉以令傳動元件1傳動使變換變速元件2之檔位時,將使感應裝置32可對應感應到其一感測元件31;In a specific embodiment, the sensing unit 3 includes a plurality of sensing elements 31 and a sensing device 32 , and the sensing elements 31 are correspondingly disposed on the transmission element 1 and corresponding to the shifting element 2 . The gear position and the moving direction of the transmission element 1 are spaced in an array, and as far as the sensing unit 3 is concerned, it can be a contact sensor or a non-contact sensor, and the non-contact sensor is Hall sensor or optical sensor, and the sensing device 32 is coupled to a processing unit 4, so that when the transmission element 1 is driven to change the gear position of the shifting element 2, the sensing device 32 can correspondingly sense the a sensing element 31;

且需特別說明的是,當感測單元3為霍爾感測器時,則在一實施例中,感測元件31可為磁鐵或磁性材料,為令感應裝置32可藉由感測元件31而精確判斷所調整之檔位,則相鄰之感測元件31,其磁極性係呈相反之配置。It should be noted that, when the sensing unit 3 is a Hall sensor, in one embodiment, the sensing element 31 can be a magnet or a magnetic material, so that the sensing device 32 can use the sensing element 31 To accurately determine the adjusted gear position, the magnetic polarities of the adjacent sensing elements 31 are arranged in opposite directions.

就傳動元件1對於變速元件2之調整而言,在一實施例中該傳動元件1係呈環狀設置,並於其內緣處設有該調整部件11,在其他實施例中,亦可配置於傳動元件1徑向方向之一側,惟其僅係舉例說明,並不以此作為限定;且可知悉者,該變速元件2係可為內變速器,而內變速器通常配置有具有可調整其檔位之變速環,故該變速元件2之變速環設有對應於該調整部件11之傳動部件21,藉以令傳動元件1可藉由調整部件11傳動於傳動部件21,進而可對應調整該變速元件2之檔位者;As far as the adjustment of the transmission element 1 to the transmission element 2 is concerned, in one embodiment, the transmission element 1 is arranged in a ring shape, and the adjusting member 11 is provided at the inner edge thereof. In other embodiments, it can also be configured On one side in the radial direction of the transmission element 1, it is only an example and not limited thereto; and it can be known that the transmission element 2 can be an inner transmission, and the inner transmission is usually equipped with adjustable gears. Therefore, the speed change ring of the speed change element 2 is provided with a transmission part 21 corresponding to the adjustment part 11, so that the transmission element 1 can be transmitted to the transmission part 21 through the adjustment part 11, and then the speed change element can be adjusted accordingly 2 stalls;

一驅動單元5,其係對應設置並傳動於該傳動元件1;在一具體之實施例中,驅動單元5可為馬達,如:直流馬達或步進馬達,而傳動元件1則為可受對應傳動之圓盤或齒盤,惟其僅係舉例說明,並不以此作為限定;而當驅動單元5可為馬達時,為令可予減速或提高傳動之力,故在另一實施例中,該傳動元件1與該驅動單元5間,如第4圖及第5圖所示,更設有至少一減速裝置6,減速裝置6在一實施例中可為具有不同大小或齒距之齒輪,藉以達致減速之功效,在其他實施例中,亦可為單一、複數或組合齒輪、蝸桿、皮帶輪、摩擦輪或鏈齒輪,為其皆僅係舉例說明,並不以此作為限定。A driving unit 5 is correspondingly arranged and driven on the transmission element 1; in a specific embodiment, the driving unit 5 can be a motor, such as a DC motor or a stepping motor, and the transmission element 1 can be driven by a corresponding The transmission disc or toothed disc is only an example, not a limitation; and when the driving unit 5 can be a motor, in order to reduce the speed or increase the transmission force, in another embodiment, Between the transmission element 1 and the drive unit 5, as shown in Figures 4 and 5, at least one reduction gear 6 is further provided. In one embodiment, the reduction gear 6 may be gears with different sizes or pitches. In order to achieve the effect of deceleration, in other embodiments, there may also be single, multiple or combined gears, worms, pulleys, friction wheels or sprockets, all of which are only illustrative and not limiting.

一姿態感測單元33,其係用以感測一車輛之姿態,並對應產生一狀態量值;本創作所述之車輛,具體而言係指二輪之車輛,諸如:二輪電動車、電助自行車,而車輛之姿態,係包含其因應路段或騎乘姿勢所致與重力方向之傾角,如:車輛前後之俯仰角、左右兩側之偏滾角,或其組合,故可知悉者,狀態量值即係其對應之量測值;是以,該姿態感測單元33在一實施例中,係可為對應感測感測其傾角之電子水平儀、加速度計及陀螺儀之其中任一者,並可為對應之一維、二維或三維之感測模組,惟其僅係舉例說明,並不以此作為限定;而因其感測配置係可能因溫度而產生測量之偏差,故在一較佳之實施例中,該姿態感測單元33更對應設置一溫度感測元件331,該溫度感測元件331係用以偵測該車輛之環境溫度以產生一溫度值,該姿態感測單元33係依據該溫度值藉以消除姿態感測單元33對於狀態量值零位角度偏移之補償。An attitude sensing unit 33 is used for sensing the attitude of a vehicle and correspondingly generating a state value; the vehicle described in this creation, specifically, refers to a two-wheeled vehicle, such as a two-wheeled electric vehicle, an electric vehicle Bicycle, and the posture of the vehicle, including its inclination angle with the direction of gravity due to the road section or riding posture, such as: the pitch angle of the front and rear of the vehicle, the yaw angle of the left and right sides, or a combination thereof, so it can be known, the state The measurement value is the corresponding measurement value; therefore, in one embodiment, the attitude sensing unit 33 can be any one of an electronic level, an accelerometer, and a gyroscope corresponding to sensing its inclination. , and can be a corresponding one-dimensional, two-dimensional or three-dimensional sensing module, but it is only an example, not a limitation; and because the sensing configuration may produce measurement deviation due to temperature, so in In a preferred embodiment, the attitude sensing unit 33 is further correspondingly provided with a temperature sensing element 331, and the temperature sensing element 331 is used to detect the ambient temperature of the vehicle to generate a temperature value, the attitude sensing unit 33 is based on the temperature value to eliminate the compensation of the attitude sensing unit 33 for the zero position angle offset of the state value.

該處理單元4,其係訊號連結於該驅動單元5、該感測單元3、該姿態感測單元33及一變檔控制裝置7;在一實施例中,處理單元4、感應裝置32及姿態感測單元33係可被配置於一電路板41;而就變檔控制裝置7而言,該變檔控制裝置7為有線或無線傳輸之電子式換檔裝置,其係用以傳輸一變檔指令予該處理單元4,故可知悉者,電子式換檔裝置係可如第6圖所示,在一實施例中係可具有電動變速按鈕,藉以令使用者可依據換檔需求或時機,而自行透過手動按壓電動變速按鈕而傳輸變檔指令,或可藉由結合現有自動偵測電動車提供之速度或扭矩,此外,更能依據車輛姿態之行駛狀況,以由微型處理器自動計算所較適之檔位,進而自動發出變檔指令或限制其換檔;而姿態感測單元33之配置,即係用以供變檔控制裝置7可對應收受該姿態感測單元33所感測車輛姿態之狀態量值,令該變檔控制裝置7可自動計算所較適之檔位,藉可自動進行適切之檔位變換,進而達到騎乘之流暢性及舒適性。The processing unit 4, whose signal is connected to the driving unit 5, the sensing unit 3, the attitude sensing unit 33 and a shift control device 7; in one embodiment, the processing unit 4, the sensing device 32 and the attitude The sensing unit 33 can be configured on a circuit board 41; and as for the shift control device 7, the shift control device 7 is an electronic shift device with wired or wireless transmission, which is used to transmit a shift The command is given to the processing unit 4, so it can be known that the electronic shift device can be as shown in FIG. 6, and in one embodiment, it can have an electric shift button, so that the user can shift according to the shifting needs or timing, By manually pressing the electric shift button to transmit the shift command, or by combining the existing automatic detection of the speed or torque provided by the electric vehicle, in addition, it can be calculated automatically by the microprocessor according to the driving conditions of the vehicle posture. A more suitable gear, and then automatically issue a shift command or limit its shifting; and the configuration of the attitude sensing unit 33 is for the shift control device 7 to receive the vehicle attitude sensed by the attitude sensing unit 33. The state value of the state value enables the shift control device 7 to automatically calculate a suitable gear, so as to automatically perform a suitable gear change, thereby achieving smoothness and comfort of riding.

而就訊號之傳輸而言,若為有線傳輸之電子式換檔裝置,則係可具有傳輸線,使透過傳輸線將變檔指令傳輸至處理單元4,而若為無線傳輸之電子式換檔裝置,則具有訊號發射器,且在一實施例中,該處理單元4更耦接一通訊單元411,該通訊單元411亦可被配置於該電路板41,該通訊單元411係遠端訊號連結於該變檔控制裝置7之訊號發射器,且該姿態感測單元33係可藉由該通訊單元411傳輸該狀態量值予該變檔控制裝置7;而該變檔控制裝置7係藉由遠端訊號將該變檔指令傳輸至該通訊單元411,藉以傳遞至該處理單元4,惟其皆僅係舉例說明,並不以此作為限定。In terms of signal transmission, if it is an electronic shifting device with wired transmission, it may have a transmission line, so that the shifting command is transmitted to the processing unit 4 through the transmission line, and if it is an electronic shifting device with wireless transmission, Then there is a signal transmitter, and in one embodiment, the processing unit 4 is further coupled to a communication unit 411, the communication unit 411 can also be configured on the circuit board 41, and the communication unit 411 is connected to the remote signal The signal transmitter of the shift control device 7, and the attitude sensing unit 33 can transmit the state value to the shift control device 7 through the communication unit 411; and the shift control device 7 uses the remote The signal transmits the gear shift instruction to the communication unit 411 so as to be transmitted to the processing unit 4 , but it is only an example and not a limitation.

就整體之結構配置而言,本創作係可包含一殼體8,其內部設有該電路板41、傳動元件1及該驅動單元5,藉以達致防護之效果,以避免外界環境影響其運作,而為令驅動單元5可穩定旋轉,故且該殼體8係可拆卸的固設於該車輛9之適處,如:支架或後軸,以防止殼體8受外力或反作用力而旋轉;而由於姿態感測單元33係配置於電路板41,故可知悉者,該姿態感測單元33係以殼體8之位置及傾角為基準,並據以量測該車輛9之姿態,惟其僅係舉例說明,並不以此作為限定。As far as the overall structural configuration is concerned, the present invention can include a casing 8, in which the circuit board 41, the transmission element 1 and the drive unit 5 are arranged, so as to achieve the effect of protection and prevent the external environment from affecting its operation. , and in order to make the drive unit 5 rotate stably, the casing 8 is detachably fixed to a suitable place of the vehicle 9, such as a bracket or a rear axle, to prevent the casing 8 from being rotated by external force or reaction force Since the attitude sensing unit 33 is arranged on the circuit board 41, it can be known that the attitude sensing unit 33 is based on the position and inclination of the casing 8, and measures the attitude of the vehicle 9 accordingly, but its It is for illustration only, and is not intended to be limiting.

藉此,變檔控制裝置7傳輸變檔指令予處理單元4,令該處理單元4界定對應於該變檔指令之所述檔位及旋轉位置,並且控制該驅動單元5驅動該傳動元件1轉動而調整該變速元件2之檔位,並於該感測單元3對應感測該傳動元件1轉動至界定之旋轉位置時,亦即,感應裝置32感應到對應檔位及旋轉位置之感測元件31時,即告完成檔位之精確調整,故該處理單元4隨即令該驅動單元5停止運作,以防過度或錯誤調整檔位。Thereby, the shift control device 7 transmits the shift command to the processing unit 4, so that the processing unit 4 defines the gear position and the rotational position corresponding to the shift command, and controls the drive unit 5 to drive the transmission element 1 to rotate To adjust the gear position of the transmission element 2, and when the sensing unit 3 senses that the transmission element 1 rotates to a defined rotational position, that is, the sensing device 32 senses the sensing element corresponding to the gear position and the rotational position At 31:00, the precise adjustment of the gear position is completed, so the processing unit 4 immediately stops the operation of the driving unit 5 to prevent excessive or wrong adjustment of the gear position.

具體舉例而言,若變檔指令為須向上提升二個檔位,如第5圖所示,處理單元4予以令驅動單元5朝一方向運作傳動並令傳動元件1旋轉而調整變速元件2之檔位,而同時計算感應裝置32感應感測元件31之次數,若當次數為二時,則認定已調整二個檔位而達界定之旋轉位置,故隨即令該驅動單元5停止運作,以達致精確調整檔位之目的及功效;反之,若欲降低檔位時,則係令驅動單元5朝另一方向運作傳動,而感測方式相同,故在此不予贅述。For example, if the shift command is to raise two gears upward, as shown in FIG. 5 , the processing unit 4 makes the drive unit 5 operate the transmission in one direction and rotate the transmission element 1 to adjust the gear of the transmission element 2 The number of times the sensing device 32 senses the sensing element 31 is calculated at the same time. If the number of times is two, it is determined that the two gears have been adjusted to reach the defined rotational position, so the drive unit 5 is immediately stopped to achieve This achieves the purpose and effect of accurately adjusting the gear; on the contrary, if the gear is to be lowered, the drive unit 5 is driven to operate in another direction, and the sensing method is the same, so it is not repeated here.

在另一實施例中,為令反覆確認變檔控制裝置7之檔位指令符合實際之檔位,尤其係為電子式換檔裝置,是以,當該處理單元4令該驅動單元5停止運作時,將回傳一檔位指令予該變檔控制裝置7,令該變檔控制裝置7對應校正對應於該檔位指令之檔位,且於變檔控制裝置7具有顯示螢幕時,亦可對應呈現對應於該檔位指令之檔位,藉以更進一步防止變檔控制裝置7發出不正確之變檔指令,藉可確保使用者於騎乘時之流暢性及安全性,並可防止變速元件2因錯誤調整檔位而損壞者。In another embodiment, in order to repeatedly confirm that the gear position command of the shift control device 7 conforms to the actual gear position, especially it is an electronic shift device, when the processing unit 4 stops the operation of the driving unit 5 When the gear shift control device 7 has a display screen, it can also be The gear position corresponding to the gear position command is displayed correspondingly, so as to further prevent the shifting control device 7 from issuing an incorrect shifting command, which can ensure the smoothness and safety of the user when riding, and can prevent the shifting element 2 Damaged due to wrong gear adjustment.

而就姿態感測單元33之配置及狀態量值之產生而言,姿態感測單元33於本實施例中,係如前述者,設置於該殼件8中並固設於車輛9之後輪軸上一適處,使其隨時偵測車輛姿態之變換,是以,當車輛9於下坡起步時其速度及踩踏阻力較低,如第7圖所示,若僅依據速度或扭矩作為換檔條件,則會有踩踏效率不佳或踩空之狀況,且於下坡行駛時其加速度較大使換檔頻度過高,使騎乘者之踩踏阻力及頻率變換過快,造成騎乘體驗不佳,對此,本創作係透過姿態感測單元33之設置,使可即時偵測該車輛9之俯仰狀況,據以對應產生狀態量時,藉以當於靜止時處於不同坡度路況,可整合電動車上之速度及扭矩等資訊,主動令變檔控制裝置7產生對應之變檔指令,令傳動元件1可如前述者調整變速元件2至合適之較高起步檔位,進行運算處理並於指定條件下傳輸換檔指定予該裝置,惟其僅係舉例說明,並不以此作為限定。As far as the configuration of the attitude sensing unit 33 and the generation of the state value are concerned, the attitude sensing unit 33 in this embodiment, as described above, is disposed in the casing 8 and fixed on the rear axle of the vehicle 9 . An appropriate place is to make it detect the change of the vehicle attitude at any time, so when the vehicle 9 starts downhill, its speed and pedaling resistance are relatively low, as shown in Figure 7, if only the speed or torque is used as the shifting condition , there will be poor pedaling efficiency or empty pedaling, and when driving downhill, the acceleration will be too high, so the shifting frequency will be too high, and the pedaling resistance and frequency of the rider will change too quickly, resulting in poor riding experience. In this regard, the present creation is based on the setting of the attitude sensing unit 33, so that the pitching condition of the vehicle 9 can be detected in real time, and the state quantity is generated accordingly, so as to be in different slope road conditions when stationary, which can be integrated into the electric vehicle. information such as speed and torque, actively instruct the shift control device 7 to generate corresponding shift commands, so that the transmission element 1 can adjust the transmission element 2 to a suitable higher starting gear as described above, and perform arithmetic processing and under specified conditions. Transmission shifts are assigned to this device by way of example and not limitation.

在另一實施例中,當該車輛9因應轉彎而呈現如第8圖所示之偏滾狀況時,該姿態感測單元33亦可即時偵測其姿態,並予產生對應之狀態量值,藉以當於傾角達到特定角度時,可主動令變檔控制裝置7產生對應之變檔指令,以令傳動元件1可限制轉動,避免騎乘過彎時進行不當之檔位變換,影響踩踏阻力或頻率之劇烈變化,確保騎乘時之流暢性及安全性,或藉由通訊單元411傳輸車輛姿態之訊號予變檔控制裝置7,使其整合電動車上之速度及扭矩等資訊,進行運算處理並於指定條件下鎖定換檔指定予該裝置,惟其亦僅係舉例說明,並不以此作為限定。In another embodiment, when the vehicle 9 is in a rolling state as shown in FIG. 8 due to turning, the attitude sensing unit 33 can also detect its attitude in real time, and generate a corresponding state value, Therefore, when the inclination angle reaches a certain angle, the shift control device 7 can be actively generated to generate a corresponding shift command, so that the transmission element 1 can limit the rotation, so as to avoid improper gear change when riding through a curve, affecting the pedaling resistance or The drastic change of frequency ensures the smoothness and safety of riding, or the communication unit 411 transmits the signal of the vehicle attitude to the shift control device 7, so that the information such as speed and torque on the electric vehicle can be integrated for calculation processing. And the lock shift is assigned to the device under specified conditions, but it is only an example and not a limitation.

綜觀上述,本創作所揭露之技術手段不僅為前所未見,且確可達致預期之目的與功效,故兼具新穎性與進步性,誠屬專利法所稱之新型無誤,以其整體結構而言,確已符合專利法之法定要件,爰依法提出新型專利申請。Looking at the above, the technical means disclosed in this creation are not only unprecedented, but also can achieve the expected purpose and effect, so they are both novel and progressive, and they are indeed new and infallible under the patent law. In terms of structure, it has indeed met the statutory requirements of the Patent Law, and an application for a new type patent can be filed in accordance with the law.

惟以上所述者,僅為本創作之較佳實施例,當不能以此作為限定本創作之實施範圍,即大凡依本創作申請專利範圍及說明書內容所作之等效變化與修飾,皆應仍屬於本創作專利涵蓋之範圍內。However, the above are only the preferred embodiments of this creation, and should not be used as a limitation on the scope of implementation of this creation. within the scope of this creative patent.

1:傳動元件1: Transmission elements

11:調整部件11: Adjust the parts

2:變速元件2: Shift element

21:傳動部件21: Transmission parts

3:感測單元3: Sensing unit

31:感測元件31: Sensing element

32:感應裝置32: Induction device

33:姿態感測單元33: Attitude Sensing Unit

331:溫度感測元件331: Temperature sensing element

4:處理單元4: Processing unit

41:電路板41: circuit board

411:通訊單元411: Communication unit

5:驅動單元5: Drive unit

6:減速裝置6: Reducer

7:變檔控制裝置7: Shift control device

8:殼體8: Shell

9:車輛9: Vehicles

第1圖係本創作之架構示意圖。 第2圖係本創作之立體示意圖。 第3圖係本創作之裝設於立體分解示意圖。 第4圖係本創作殼體部分之立體分解示意圖。 第5圖係本創作移除殼體後之側視示意圖。 第6圖係本創作變檔控制裝置之使用狀態示意圖。 第7圖係本創作之感測車輛姿態於俯仰偵測之使用狀態示意圖。 第8圖係本創作之感測車輛姿態於偏滾偵測之使用狀態示意圖。 Figure 1 is a schematic diagram of the structure of this creation. Figure 2 is a three-dimensional schematic diagram of this creation. Figure 3 is a three-dimensional exploded schematic view of the installation of this creation. Figure 4 is a schematic exploded perspective view of the shell part of the creation. Figure 5 is a schematic side view of this creation after the casing is removed. Fig. 6 is a schematic diagram of the use state of the shift control device of the present invention. Figure 7 is a schematic diagram of the use state of the vehicle attitude sensing in the present invention in pitch detection. Figure 8 is a schematic diagram of the state of use of the vehicle attitude sensing in the present invention for roll detection.

32:感應裝置 32: Induction device

33:姿態感測單元 33: Attitude Sensing Unit

331:溫度感測元件 331: Temperature sensing element

4:處理單元 4: Processing unit

41:電路板 41: circuit board

411:通訊單元 411: Communication unit

5:驅動單元 5: Drive unit

7:變檔控制裝置 7: Shift control device

Claims (9)

一種自行車電子換檔及具車輛姿態感測之裝置,其包含: 一傳動元件,其係呈環狀設置,並於內緣處設置有一調整部件,該調整部件係用以傳動接設於一變速元件,藉以調整該變速元件之檔位; 一感測單元,其係對應感測該傳動元件對應於該變速元件檔位之轉動位置;該感測單元為霍爾感測器,其包含複數感測元件及一感應裝置,且所述感測元件係對應設置於該傳動元件,並且係對應於該變速元件之檔位及該傳動元件之可動方向而間隔陣列設置; 一姿態感測單元,其係用以感測一車輛之姿態,並對應產生一狀態量值; 一驅動單元,其係對應設置並傳動於該傳動元件;以及 一處理單元,其係訊號連結於該驅動單元、該感應裝置、姿態感測單元及一變檔控制裝置;該變檔控制裝置係對應收受該狀態量值,並據以對應產生一變檔指令傳輸予該處理單元,令該處理單元界定對應於該變檔指令之所述檔位及旋轉位置,且控制該驅動單元驅動該傳動元件轉動而調整該變速元件之檔位,並於該感測單元對應感測該傳動元件轉動至界定之旋轉位置時,該處理單元即令該驅動單元停止運作者。 A bicycle electronic gear shifting and vehicle attitude sensing device, comprising: a transmission element, which is arranged in a ring shape, and an adjustment part is arranged at the inner edge, the adjustment part is used for transmission and connected to a speed change element, so as to adjust the gear position of the speed change element; a sensing unit corresponding to sensing the rotational position of the transmission element corresponding to the gear position of the shifting element; the sensing unit is a Hall sensor, which includes a plurality of sensing elements and a sensing device, and the sensing The measuring elements are correspondingly arranged on the transmission element, and are arranged in an array at intervals corresponding to the gear position of the transmission element and the moving direction of the transmission element; an attitude sensing unit, which is used for sensing the attitude of a vehicle and correspondingly generating a state value; a drive unit, which is correspondingly arranged and driven to the transmission element; and a processing unit whose signal is connected to the driving unit, the sensing device, the attitude sensing unit and a shifting control device; the shifting control device correspondingly receives the state value and generates a shifting command accordingly It is transmitted to the processing unit, so that the processing unit defines the gear position and the rotational position corresponding to the shifting command, and controls the driving unit to drive the transmission element to rotate to adjust the gear position of the shifting element, and the sensing When the unit correspondingly senses that the transmission element rotates to a defined rotational position, the processing unit stops the operation of the driving unit. 如請求項1所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該傳動元件與該驅動單元間,更設有至少一減速裝置。The bicycle electronic gear shifting and vehicle attitude sensing device as claimed in claim 1, wherein at least one speed reduction device is further provided between the transmission element and the drive unit. 如請求項1所述之自行車電子換檔及具車輛姿態感測之裝置,更包含一殼體,其內部設有該傳動元件及該驅動單元,且該殼體係固設於一自行車者。The device for bicycle electronic gear shifting and vehicle attitude sensing according to claim 1, further comprising a casing, the transmission element and the driving unit are arranged in the interior, and the casing is fixed to a cyclist. 如請求項1所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該變速元件為內變速器,且該變速元件設有對應於該調整部件之傳動部件,該傳動部件係可對應調整該變速元件之檔位者。The device for bicycle electronic gear shifting and vehicle attitude sensing according to claim 1, wherein the shifting element is an internal derailleur, and the shifting element is provided with a transmission part corresponding to the adjusting part, and the transmission part can correspond to the Those who adjust the gear position of the transmission element. 如請求項1至請求項4中任一項所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元為電子水平儀、加速度計或陀螺儀者。The bicycle electronic gear shifting and vehicle attitude sensing device according to any one of claim 1 to claim 4, wherein the attitude sensing unit is an electronic level, an accelerometer or a gyroscope. 如請求項1至請求項4中任一項所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元可為一維、二維或三維感測模組。According to any one of claim 1 to claim 4, the bicycle electronic gear shift and the device with vehicle attitude sensing, wherein the attitude sensing unit can be a one-dimensional, two-dimensional or three-dimensional sensing module. 如請求項1至請求項4中任一項所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該姿態感測單元更設有一溫度感測元件,該溫度感測元件係用以偵測該車輛之環境溫度以產生一溫度值,且該姿態感測單元係依據該溫度值對應補償該狀態量值者。The bicycle electronic gear shift and the device with vehicle attitude sensing according to any one of claim 1 to claim 4, wherein the attitude sensing unit is further provided with a temperature sensing element, and the temperature sensing element uses The ambient temperature of the vehicle is detected to generate a temperature value, and the attitude sensing unit is correspondingly compensated for the state value according to the temperature value. 如請求項1至請求項4中任一項所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該變檔控制裝置為有線或無線傳輸之電子式換檔裝置。The bicycle electronic shifting device and the device with vehicle attitude sensing according to any one of claim 1 to claim 4, wherein the shifting control device is an electronic shifting device with wired or wireless transmission. 如請求項8所述之自行車電子換檔及具車輛姿態感測之裝置,其中,該處理單元更耦接一通訊單元,且該通訊單元係遠端訊號連結於該變檔控制裝置,該姿態感測單元係藉由該通訊單元傳輸該狀態量值予該變檔控制裝置,且該變檔控制裝置藉由遠端訊號將該變檔指令傳輸至該通訊單元,藉以傳遞至該處理單元,並於該處理單元令該驅動單元停止運作時,回傳一檔位指令予該變檔控制裝置者。The bicycle electronic gear shift and vehicle attitude sensing device according to claim 8, wherein the processing unit is further coupled to a communication unit, and the communication unit is connected to the shift control device by a remote signal, and the attitude The sensing unit transmits the state value to the shift control device through the communication unit, and the shift control device transmits the shift command to the communication unit through a remote signal, so as to transmit it to the processing unit, And when the processing unit stops the operation of the driving unit, a gear command is sent back to the shift control device.
TW110212796U 2021-10-29 2021-10-29 Bicycle electronic gear shifting and vehicle attitude sensing device TWM623734U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW110212796U TWM623734U (en) 2021-10-29 2021-10-29 Bicycle electronic gear shifting and vehicle attitude sensing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
TW110212796U TWM623734U (en) 2021-10-29 2021-10-29 Bicycle electronic gear shifting and vehicle attitude sensing device

Publications (1)

Publication Number Publication Date
TWM623734U true TWM623734U (en) 2022-02-21

Family

ID=81324806

Family Applications (1)

Application Number Title Priority Date Filing Date
TW110212796U TWM623734U (en) 2021-10-29 2021-10-29 Bicycle electronic gear shifting and vehicle attitude sensing device

Country Status (1)

Country Link
TW (1) TWM623734U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI779912B (en) * 2021-10-29 2022-10-01 智盟能源股份有限公司 Bicycle electronic gear shifting and device with vehicle attitude sensing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI779912B (en) * 2021-10-29 2022-10-01 智盟能源股份有限公司 Bicycle electronic gear shifting and device with vehicle attitude sensing

Similar Documents

Publication Publication Date Title
CN102712346B (en) With the bicycle of electric drive
TWI686325B (en) Electric bicycle derailleur control system
US9020672B2 (en) Automatic gear shifting system for two-wheel electric vehicles
US10941857B2 (en) Self-shifting bicycle that shifts as a function of power output
CN105172993B (en) Bicycle with mixed drive power automatic gear shifting method and device
US11383790B2 (en) Human-powered vehicle control device
US9346517B2 (en) Automatic and manual electrical gear shifting apparatus and method for electric vehicles
CN110316310B (en) Control device for human-powered vehicle
CN110294064B (en) Control device for human-powered vehicle
US11390357B2 (en) Human-powered vehicle control device
CN103661773B (en) Based on the mid-system of wireless moment inspecting
TWM623734U (en) Bicycle electronic gear shifting and vehicle attitude sensing device
TWI537153B (en) Straddle type vehicle
CN104052196B (en) A kind of motor on moped
TW201623088A (en) Bicycle transmission control device
Rockwood et al. A continuously variable transmission for efficient urban transportation
TWM609030U (en) Control system of electronic gear-shifting device of bicycle
CN1344655A (en) Battery-powered moped and its running control method
TWI779912B (en) Bicycle electronic gear shifting and device with vehicle attitude sensing
TWI733206B (en) Electronically shifting gears device for bicycles
TWM590562U (en) Electronic shifting device for bicycle
CN2415361Y (en) Monitor sensor transmission of moped
TW202218940A (en) Control system of electronically shifting gears device for bicycles
TWM529654U (en) Bicycle
CN206938990U (en) A kind of self-balancing bicycle of intelligent drives

Legal Events

Date Code Title Description
MM4K Annulment or lapse of a utility model due to non-payment of fees