WO2013041666A1 - Commande de moteur pour un entraînement électrique auxiliaire - Google Patents

Commande de moteur pour un entraînement électrique auxiliaire Download PDF

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Publication number
WO2013041666A1
WO2013041666A1 PCT/EP2012/068626 EP2012068626W WO2013041666A1 WO 2013041666 A1 WO2013041666 A1 WO 2013041666A1 EP 2012068626 W EP2012068626 W EP 2012068626W WO 2013041666 A1 WO2013041666 A1 WO 2013041666A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
sensor
measuring
parameter
driving
Prior art date
Application number
PCT/EP2012/068626
Other languages
German (de)
English (en)
Other versions
WO2013041666A8 (fr
Inventor
Bernd VON LÖBBECKE
Original Assignee
VON LÖBBECKE, Sandra
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 VON LÖBBECKE, Sandra filed Critical VON LÖBBECKE, Sandra
Publication of WO2013041666A1 publication Critical patent/WO2013041666A1/fr
Publication of WO2013041666A8 publication Critical patent/WO2013041666A8/fr

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0069—Control
    • B62B5/0073—Measuring a force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/32—General characteristics of devices characterised by sensor means for force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/38—General characteristics of devices characterised by sensor means for torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/44—General characteristics of devices characterised by sensor means for weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • 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

Definitions

  • the present invention relates to a method and a device for controlling the motor of an electric auxiliary drive.
  • Auxiliary motors for assisting the drive of a vehicle are e.g. known in the form of a bicycle with auxiliary engine.
  • Electric bicycles ie bicycles with an electric motor, to mention.
  • the electric motor thus supports the pedaling effect.
  • electric bikes with a traction help with up to a certain small speed even without crank rotation a power is delivered by the electric motor.
  • a further disadvantage is that although a support by the auxiliary engine takes place, but this is independent of variable circumstances, such as different gradients occurs.
  • a device for controlling / regulating an electric assist motor for a vehicle that can be moved by a person comprising: at least one sensor for measuring at least one driving resistance parameter; and
  • the device according to the invention has the advantage that with the at least one sensor a parameter is measured which is relevant for the driving resistance.
  • This driving resistance affects the force with which the person has to move the vehicle.
  • the assisting driving force of the electric motor to the vehicle is set with the means for controlling the driving force due to the at least one measured running resistance parameter, in particular controlled.
  • the driving force of the electric motor can be increased if the sensor signals an increased driving resistance, e.g. the user feels a substantially consistent self-applied force.
  • vehicle movable by a person it is meant both that the vehicle can be directly movable by a person, and that, on the other hand, the vehicle can be indirectly movable by a person, for example via a connecting piece as in the case of a bicycle trailer.
  • the speed of the vehicle can be controlled to a constant value or variably as a function of the size of the at least one driving resistance parameter.
  • a speed at which the vehicle moves can be predetermined, for example, independent of a current slope of the road or it can be made a corresponding adjustment, so that, for example, at an increased slope, the speed is reduced to a slower walking of the person with include.
  • the device may further comprise at least one sensor for measuring at least one drive parameter, and the driving force acting on the vehicle by the electric assist motor may be further controlled based on the at least one drive parameter.
  • Said at least one sensor for measuring at least one drive parameter may comprise a train-pressure force sensor for measuring a tensile or compressive force exerted by a person as a drive parameter and / or a bending sensor or a Shear force sensor for measuring a starting force as a drive parameter and / or a torque sensor for measuring a torque exerted by a person as drive parameters.
  • a train-pressure force sensor may for example be integrated in a hand-operated or gripping part, such as a handle with which the vehicle is pushed.
  • a torque sensor may be integrated in an axle of a wheel of the vehicle.
  • the speed of the vehicle can be variably controlled or regulated as a function of the size of the at least one drive parameter. In this way, e.g. the speed of the vehicle can be adjusted in proportion to the size of the drive parameter.
  • the driving force acting on the vehicle by the electric assist motor can be controlled / regulated to a constant drive parameter.
  • a constant drive parameter means that the person who moves the vehicle feels a constant resistance, so the person has to apply a constant force to move the vehicle. This can for example be done so that the person to be applied driving force is independent of the weight and / or the slope.
  • the control takes place e.g. such that, for example, an increased pressure on a handle is compensated by an increased speed until the tension-pressure force sensor again measures the same tensile or compressive force.
  • a constant drive parameter in this case means that measured deviations are corrected by changes in the driving force of the electric assist motor again.
  • the driving force acting on the vehicle by the electric assist motor is controllable for at least partial compensation of a driving resistance force caused by the at least one driving resistance parameter.
  • the driving resistance force is fully or partially compensated, thus providing relief for the person moving the vehicle.
  • This has the further advantage that, for example, a pulling or pushing person undergoes little or no resistance through the vehicle, but the person himself is never pushed or pulled by the vehicle, as no overcompensation of the driving resistance occurs.
  • a partial Compensation must always be a certain amount of force exerted by the person in order for the vehicle to move.
  • the means for controlling the drive force of the apparatus or one of the embodiments acting on the vehicle by the electric assist motor may include a microprocessor and a power controller for the auxiliary electric motor.
  • the parameters measured by the at least one sensor can be processed by the microprocessor, and corresponding signals can be given to the power control for the auxiliary electric motor, which adjusts the driving force of the electric assist motor accordingly.
  • the invention further provides a vehicle with the device according to the invention or one of the further developments, wherein the vehicle may in particular be a stroller, a bicycle, a bicycle trailer, a wheelchair, a rollator, or a hand transport vehicle.
  • Measuring at least one drive parameter wherein the controlling of the driving force acting on the vehicle by the electric assist motor is further performed based on the measured at least one drive parameter.
  • FIG. 1 illustrates a first embodiment of the device according to the invention.
  • FIG. 2 illustrates a second embodiment of the invention
  • the present invention provides a motor control for an electric auxiliary drive available, for example, for strollers, bike trailers, wheelchairs, kindergartens, etc.
  • the auxiliary drive should come at any time in a running state, but only eg the weight of the vehicle (stroller, bike trailer, etc. ) as well as the current payload and the influence of the road gradient.
  • the engine control system receives feedback about the weight of the vehicle, road gradient, current speed etc. via various sensors and adjusts the engine power as required so that the pulling or pushing passengers do not NEN or only a small resistance by the vehicle experiences, but never pushed or pulled by the vehicle.
  • various sensors may be used, e.g. an angle sensor / inclination sensor for measuring the inclination of the vehicle / slope of the road (this can also avoid driving on impending tipping), a weight sensor for measuring the current weight, a speed sensor for measuring the current speed, a torque sensor for measuring the required power , a train / pressure sensor for measuring the train or pressure exerted by the pushing or pulling person. Not every vehicle requires every sensor.
  • the engine control calculates the required engine power or the driving force acting on the vehicle from the various measured parameters and adapts them accordingly.
  • the speed of the vehicle is firmly defined.
  • the speed may be set at a walking speed of 5 km / h.
  • the required engine power is determined by the weight sensor and the angle sensor and the speed is detected via the speed sensor and monitored via the torque sensor, the engine performance. If the vehicle is e.g. is in front of an obstacle, so has a speed of 0, but due to the weight and the slope of an engine power is applied, then the engine is turned off. This is a plausibility check that can be integrated into the engine control to prevent damage.
  • the engine power can be increased by 20 watts.
  • This power increase can be linear or exponential and can be regulated with varying degrees of fineness.
  • an adjustment of the engine power can be carried out with an increase of 1 kg or 5 kg each.
  • the engine power is adapted to the road inclination. This means, for example, that the engine power is increased by 10 watts per 1 ° higher road grade. This power increase can also be linear or exponential or according to another law.
  • the angle sensor / inclination sensor measures the negative angle and the torque sensor measures the thrust torque so that the drive, ie the electric assist motor, can be controlled in a defined manner against the thrust according to the angle and the torque.
  • the train / pressure sensor measures the pull or pressure exerted by the pulling or pushing person and, in addition to the weight and the roadway angle, is included in the calculation of the required engine power.
  • the train / pressure sensor can be used to measure the starting or braking of the bicycle and to activate the engine control.
  • the engine power is regulated so that the tensile or compressive torque is compensated. This means that the cyclist feels no pulling or pushing the bicycle trailer, but has the terms of force the bike properties as without trailers. At no time does the bike trailer push or pull the bike.
  • a fixed speed or a variable speed can be selected.
  • the engine control behaves as described above.
  • the starting force introduced by the wheelchair user is measured by means of a torque sensor and this is included in the engine control in addition to the weight and roadway angle. This means that the greater the starting force, the higher the engine power.
  • the starting force can also be determined via a bending sensor or a shear force sensor.
  • FIG. 1 illustrates a simple embodiment of the device according to the invention.
  • This embodiment schematically illustrates the device 100 according to the invention for controlling an electric assist motor 160 for a vehicle (here in the form of a bicycle trailer) that can be moved by a person.
  • the device 100 comprises at least one sensor 110 for measuring at least one driving resistance parameter (eg in the form of a Inclination sensor) and means 170 for controlling a driving force applied to the vehicle by the electric assist motor 160 based on the measured at least one running resistance parameter.
  • the means 170 consist of a microprocessor for processing the sensor signals and a power control for the auxiliary electric motor 160. For example, when an increasing inclination is measured by the exemplary tilt sensor, the electric assist motor 160 can be driven to deliver greater power and thus power. so that the vehicle keeps its speed constant.
  • FIG. 2 illustrates another embodiment of the device according to the invention.
  • a weight sensor 210 an angle sensor 220, a speed sensor 230, a torque sensor 240, and a train / pressure sensor 250 for measuring corresponding parameters are arranged.
  • the stroller 200 includes an electric assist motor 260 on one of the axles.
  • An engine controller 270 which may be mounted below the seat, for example, provides the means for controlling a driving force applied to the vehicle by the electric assist motor 260 based on the measured bicycle resistance parameters and the measured drive parameters.
  • an accumulator 280 or a battery Battery for powering the auxiliary electric motor 260 also disposed under the seat of the stroller 200.
  • the train / pressure sensor 250 detects the force of a pushing person.
  • a payload in a basket below the child seat (purchases) can be detected, and a corresponding assisting action by the electric assist motor 260 can be adjusted.
  • speed sensor 230 monitors (via a speed measurement) a speed of the baby carriage, and may limit it to a maximum value. Due to the angle sensor 220 slopes of the walkway can be detected and a corresponding supporting force effect can be adjusted.
  • the regulation of the force effect takes place such that the stroller 200 never comes into a self-propelled state, but always a tensile force or a compressive force must be detected by the train / pressure sensor to cause a partial to complete compensation of the driving force by the electric auxiliary motor 260 ,

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne un dispositif de commande/réglage d'un moteur électrique auxiliaire destiné à un véhicule pouvant être propulsé par une personne, comprenant : au moins un capteur (110) destiné à mesurer au moins un paramètre de résistance à l'avancement ; et des moyens (170) permettant de commander/régler, sur la base de l'au moins un paramètre de résistance à l'avancement mesuré, une force d'entraînement que le moteur électrique auxiliaire (160) exerce sur ledit véhicule. L'invention concerne également un procédé correspondant.
PCT/EP2012/068626 2011-09-23 2012-09-21 Commande de moteur pour un entraînement électrique auxiliaire WO2013041666A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011114337A DE102011114337A1 (de) 2011-09-23 2011-09-23 Motorsteuerung für einen Elektrohilfsantrieb
DE102011114337.1 2011-09-23

Publications (2)

Publication Number Publication Date
WO2013041666A1 true WO2013041666A1 (fr) 2013-03-28
WO2013041666A8 WO2013041666A8 (fr) 2013-05-16

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PCT/EP2012/068626 WO2013041666A1 (fr) 2011-09-23 2012-09-21 Commande de moteur pour un entraînement électrique auxiliaire

Country Status (2)

Country Link
DE (1) DE102011114337A1 (fr)
WO (1) WO2013041666A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107554578A (zh) * 2017-08-23 2018-01-09 芜湖凝鑫机械有限公司 多功能运货推车
WO2021069321A1 (fr) * 2019-10-12 2021-04-15 Robert Bosch Gmbh Entraînement auxiliaire électrique
CN113044152A (zh) * 2019-12-27 2021-06-29 株式会社岛野 人力驱动车用的控制装置
US20210378891A1 (en) * 2020-06-05 2021-12-09 Toyota Motor North America, Inc. Wheelchair systems and methods enabling fine manual motion control

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PT2818382T (pt) 2013-06-24 2019-09-05 Goodbaby Mechatronics S R O Propulsão elétrica automática para carrinhos de bebé ou carrinhos com alcofa
JP2015013624A (ja) * 2013-07-08 2015-01-22 船井電機株式会社 手動推進器具
JP2015047938A (ja) * 2013-08-30 2015-03-16 船井電機株式会社 移動体
DE102013224885A1 (de) * 2013-12-04 2015-06-11 Robert Bosch Gmbh Kinderwagen mit Antriebsunterstützung
DE102016211916A1 (de) 2016-06-30 2018-01-04 Robert Bosch Gmbh Kinderwagen-Komfortvorrichtung, Kinderwagen-Untergestell sowie Kinderwagen
IT201700041556A1 (it) 2017-04-13 2018-10-13 Effortless Mobility S R L Dispositivo di movimentazione motorizzato spinto a mano
DE102017207087A1 (de) * 2017-04-27 2018-10-31 Robert Bosch Gmbh Elektromotorisch angetriebene Radvorrichtung
DE102017211760A1 (de) * 2017-07-10 2019-03-21 Ford Global Technologies, Llc Elektrofahrrad und Verfahren
DE102017221482A1 (de) * 2017-11-30 2019-06-06 Robert Bosch Gmbh Beförderungsmittel mit einem Energiespeicher
DE102018200769A1 (de) * 2018-01-18 2019-07-18 Robert Bosch Gmbh Transportvorrichtung, insbesondere Kinderwagen mit einer elektrischen Antriebseinheit
DE102018202711A1 (de) * 2018-02-22 2019-08-22 Robert Bosch Gmbh Transportvorrichtung sowie Verfahren
DE102018203500A1 (de) * 2018-03-08 2019-09-12 Robert Bosch Gmbh Transportvorrichtung, insbesondere Kinderwagen, mit einer elektrischen Antriebseinheit
DE102018209496A1 (de) * 2018-06-14 2019-12-19 Robert Bosch Gmbh Transportvorrichtung mit einer Sicherheitsvorrichtung
DE102018221091A1 (de) * 2018-12-06 2020-06-10 Robert Bosch Gmbh Elektrische Unterstützung beim Bewegen eines Anhängers
KR20220032105A (ko) * 2019-07-16 2022-03-15 시벡스 게엠베하 유모차
US20220315089A1 (en) * 2019-07-16 2022-10-06 Cybex Gmbh Pram
SE544975C2 (en) * 2020-01-21 2023-02-14 Electro Mobility Europe Ab Tow bar arrangement for control of a self-propelled trailer
EP4344525A1 (fr) * 2022-09-27 2024-04-03 Nanjing Chervon Industry Co., Ltd. Dispositif électrique poussé

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JPH1159557A (ja) * 1997-08-26 1999-03-02 Suzuki Motor Corp 電動補助自転車
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107554578A (zh) * 2017-08-23 2018-01-09 芜湖凝鑫机械有限公司 多功能运货推车
WO2021069321A1 (fr) * 2019-10-12 2021-04-15 Robert Bosch Gmbh Entraînement auxiliaire électrique
CN113044152A (zh) * 2019-12-27 2021-06-29 株式会社岛野 人力驱动车用的控制装置
CN113044152B (zh) * 2019-12-27 2023-08-18 株式会社岛野 人力驱动车用的控制装置
US20210378891A1 (en) * 2020-06-05 2021-12-09 Toyota Motor North America, Inc. Wheelchair systems and methods enabling fine manual motion control
US11660240B2 (en) * 2020-06-05 2023-05-30 Toyota Motor North America, Inc. Wheelchair systems and methods enabling fine manual motion control

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Publication number Publication date
WO2013041666A8 (fr) 2013-05-16
DE102011114337A1 (de) 2013-03-28

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