WO2016177084A1 - Dispositif de commande d'assistance et procédé de commande d'assistance pour vélo à assistance, et procédé de changement automatique de vitesse pour celui-ci - Google Patents

Dispositif de commande d'assistance et procédé de commande d'assistance pour vélo à assistance, et procédé de changement automatique de vitesse pour celui-ci Download PDF

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Publication number
WO2016177084A1
WO2016177084A1 PCT/CN2016/075828 CN2016075828W WO2016177084A1 WO 2016177084 A1 WO2016177084 A1 WO 2016177084A1 CN 2016075828 W CN2016075828 W CN 2016075828W WO 2016177084 A1 WO2016177084 A1 WO 2016177084A1
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WO
WIPO (PCT)
Prior art keywords
grating
ring
pulse sequence
sensor
rotating disk
Prior art date
Application number
PCT/CN2016/075828
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English (en)
Chinese (zh)
Inventor
尹响玲
李斌
Original Assignee
深圳市家信信息科技开发有限公司
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
Priority claimed from CN201510222629.5A external-priority patent/CN104843132A/zh
Priority claimed from CN201510498133.0A external-priority patent/CN105172993B/zh
Priority claimed from CN201520615383.3U external-priority patent/CN204821978U/zh
Priority claimed from CN201510686110.2A external-priority patent/CN105151212B/zh
Application filed by 深圳市家信信息科技开发有限公司 filed Critical 深圳市家信信息科技开发有限公司
Publication of WO2016177084A1 publication Critical patent/WO2016177084A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • 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
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof

Definitions

  • the invention belongs to the technical field of assisting bicycles, and in particular relates to a power assisting control device for assisting a bicycle, a power assist control method and an automatic shifting method thereof.
  • a conventional electric vehicle generally refers to a pure electric vehicle, that is, the rider does not need to apply forward thrust to the vehicle, and the electric motor of the electric vehicle is completely controlled by the power source.
  • the control mode of the electric bicycle is connected to the controller of the electric vehicle through the speed control handle. When the handle is rotated, different voltage values are output, and the controller adjusts the rotation speed of the motor according to the magnitude of the voltage value.
  • Pure electric vehicles are more popular in China, but the shortcoming is that when driven by pure power supply, the driving speed of electric vehicles is completely controlled by the amplitude of hand rotation, which makes it easy for electric vehicles to travel faster and there are potential safety hazards; Electric vehicles can only use batteries when riding, and the duration of one battery life is short, requiring frequent charging.
  • the electric power-assisted bicycle is a kind that can be driven by a power source or a human power, and can also control the output of the motor according to the size of the detected human power.
  • the motor output assist is controlled by detecting the manpower size, the torque assist output is proportional to the manpower. The larger the manpower, the greater the assist force. If the motor does not rotate, the motor does not rotate, so that the control effect of the four-two-pound can be achieved. Reliability of electric vehicle speed control.
  • Simple strain gauge sensor The strain gauge and spring used by the sensor sense the force of the pedal when the rider rides, but it is greatly affected by natural environmental factors (temperature, mud, dust, etc.), especially the road bumps. The caused malfunction is difficult to overcome, and the mechanical structural components are complicated to process, the processing cost is high, the metal fatigue and wear are easily generated, and the service life is short.
  • torque sensor the pedal torque data obtained in this way is more accurate.
  • Germany's FAG world-renowned bearing manufacturer
  • THUN company domestic Suzhou Jiecheng Technology have introduced a central axis torque sensor, but Torque sensors are very complicated and expensive, and may increase the difficulty of maintenance and are difficult to use on a large scale.
  • Hall speed sensor This scheme uses permanent magnet and Hall sensor.
  • the frequency of the pulse signal output from the Hall sensor to the controller is proportional to the speed of the rider's ankle.
  • the change of the pedaling speed and the change of the pedaling moment are Correlation, can reflect the change of pedal torque to a certain extent, but this method uses more magnetic poles, high cost, large power consumption, and because of the large number of magnets used, the suction is large, and it is easy to inhale iron-containing impurities.
  • In the traditional use generally 5 to 6 magnetic poles are arranged, and the interval is large. Only when a permanent magnet located on the magnetic steel disk passes through the Hall sensor, the rotation signal can be used by the Hall.
  • the sensor is captured, which causes the Hall sensor to not sense the magnet at the moment of pedaling. Therefore, the existing sensing method has a certain delay in time, and cannot sense the change in time; at the same time, the motor rotates when the pedal rotates. Very difficult to control and unsafe.
  • the existing sensor has a problem that the accuracy of the assist detection is not high, the volume is large, or the cost is high.
  • the conventional mountain bike automatic transmission can be realized by mechanical structure or electronic structure, which is mainly realized by adjusting the shifting mechanical gear set structure.
  • mechanical transmission centrifugal force is used to shift between the transmission gears;
  • certain physical variables can be detected and used to mark the desired transition between the gears, for example, some electronic transmissions represent the desired mechanical gear change by detecting the speed of the bicycle.
  • mechanical and electronic transmissions have problems in that the dimensional accuracy between components is high, the processing is difficult, the processing cost is high, the yield is low, and the practicability is poor.
  • the use of steel wire as a power transmission for the shift lever or the transmission is promoted.
  • the source exposed to the air, is prone to rust and other phenomena, resulting in greatly reduced strength of the steel wire. After the fracture, the transmission cannot be used normally.
  • the process of replacing the steel wire is cumbersome, which inevitably increases the difficulty of use and the cost of use for the user;
  • the number of teeth between adjacent mechanical gears is not much different.
  • the speed difference is small, and when the gear with large speed difference is shifted, the intermediate sprocket must pass, so the sprocket span is large and the shifting time is long.
  • the operation is cumbersome, and the chain when the shifting is disengaged needs to be relieved, which brings discomfort to the rider, and therefore cannot meet the shifting requirements of light, fast, convenient and comfortable.
  • An object of the present invention is to provide a power assist control device, a power assist control method, and an automatic shifting method thereof for assisting a bicycle, so as to solve the problem that the prior art has a low accuracy, a large volume, or a high cost. And to meet people's shift requirements for light, fast, convenient and comfortable.
  • An embodiment of the present invention provides a power assisted bicycle control device, which includes a fixed disk, a rotating disk, and a control unit.
  • the fixed disk includes a sensor for generating a pulse sequence
  • the rotating disk includes a grid ring, the grating ring is rotatable about the rotating disk, and the sensor on the fixed disk generates a pulse sequence.
  • the control unit is configured to control the speed of the bicycle according to the assist value corresponding to the pulse sequence.
  • the senor comprises a photoelectric switch
  • the photoelectric switch comprises a photo-emission tube and a photo-receiving tube
  • the photo-emissive tube and the photo-receiving tube are radially disposed on the fixed disc
  • the photoelectric switch is fixed Disk position and said The grid ring corresponds to the position of the rotating disk, which is a ring grating.
  • the annular grating comprises a concentric outer ring grating and an inner ring grating, the number of the photoelectric switches being two, and respectively disposed inside the inner ring grating and inside the outer ring grating corresponding to the fixed plate Position, and the grating apertures of the outer ring grating and the inner ring grating are one or more uniformly distributed.
  • the device further includes: a driving unit,
  • the driving unit is configured to receive, by the control unit, a control signal for controlling a speed of the bicycle according to the assist value corresponding to the pulse sequence.
  • control unit is further configured to determine, according to the pulse sequence, that the assisted bicycle is in a forward state or a reverse state, and when it is determined that the power-assisted bicycle is in a reverse state, the control signal is not sent.
  • control unit is further configured to determine, according to the pulse sequence, the position information of the force in the rotation period of the rotating disk, according to the force position information and the position of the force position of the preset hand pedal, When the foot is pressed, the position of the force is judged whether it is currently riding, and if it is not the riding state, the control signal is not transmitted.
  • the senor comprises a photoelectric switch pair tube
  • the rotating disk comprises an active mechanism and a driven mechanism
  • the active mechanism comprises a crank
  • a groove is evenly distributed on one end of the crank
  • the driven mechanism includes a plurality of springs, a grating ring structure, a middle shaft and a rotating disc outer ring, the grating ring structure is fixed on the outer ring of the rotating disc, and one end of the central shaft is fixed on the crank And driving the outer ring of the rotating disk; a side of the outer ring of the rotating disk is provided with a plurality of grooves, and one end of the crank having a groove is pressed on a side of the outer ring of the rotating disk a groove on the crank and a groove on the outer ring of the rotating disk are oppositely formed to form a spring groove, the spring is disposed in the spring groove, and the outer ring of the rotating disk is embedded in the fixed disk end Cover
  • the crank rotates to compress a spring
  • the grating ring structure rotates under the action of the spring
  • the photoelectric switch pair tube converts the rotation of the grating ring structure into a duty ratio corresponding to a spring-shaped variable And a pulse sequence, and transmitting the pulse sequence corresponding to the duty cycle to the spring-shaped variable to the control unit.
  • the grating ring structure comprises an outer ring grating and an inner ring grating, wherein the outer ring grating is fixed on an inner side of the outer ring of the rotating disk, and the first ring of the inner ring grating is provided with a protruding structure a second through hole is defined in the outer ring of the rotating disk, and the first through hole of the protruding structure is disposed on the second through hole and is fixed to the crank by a bolt.
  • a diameter of the second through hole is larger than an aperture of the first through hole.
  • the outer ring grating and the inner ring grating each have a uniformly distributed and adjacently disposed convex teeth and grooves, and the convex teeth of the outer ring grating and the convex teeth of the inner ring grating are radially aligned.
  • the senor comprises a Hall sensor
  • the rotating disk includes an active portion and a driven portion, the active portion includes a crank and a spring;
  • the driven portion includes a first magnetic grating ring, a second magnetic grating ring, the first magnetic grating ring and the second magnetic The center of the grating ring is the same; the first magnetic grating ring is embedded in the driven portion, and the second magnetic grating ring is fixed to the active portion;
  • the Hall sensor includes a first Hall sensor, a second Hall sensor, and is disposed on the fixed disk;
  • the first magnetic grating ring and the second magnetic grating ring are evenly distributed with convex teeth and grooves; when the first magnetic grating ring and the second magnetic grating ring rotate, the convex or concave of the first magnetic grating ring When the slot passes the first Hall sensor, the switch of the first Hall sensor is turned on or off to form a pulse sequence; when the convex tooth or groove of the second magnetic gate ring passes the second Hall sensor, the second Hall sensor The switch is turned on or off to form a pulse sequence;
  • the crank is driven by the spring to drive the driven portion to rotate, the active portion and the driven portion are rotated by an angle, and the first magnetic grating ring and the second magnetic grating ring are also rotated by an angle, the first Hall sensor and the second Huo
  • the sensor produces two pulse sequences with phase differences.
  • one end of the crank includes a driving wheel, and the driving wheel has evenly distributed convex teeth for fixing the spring;
  • one end of the driven portion includes a driven wheel, and the driven wheel has a uniformly distributed convex inside.
  • the teeth are used to fix the spring, and the protruding teeth of the driving wheel and the protruding teeth of the driven wheel are abutted by a spring.
  • the first magnetic grating ring is used to sense the first Hall sensor; and the second magnetic grating ring is used to sense the second Hall sensor.
  • the rotating disk is a crank disk structure of a bicycle
  • the fixed disk includes a fixed disk end cover
  • the control unit is fixed to an annular area in the fixed disk end cover.
  • control unit includes a controller, a power module, a circuit state monitoring and protection module, a motor detection module, and an external communication module, where:
  • the power module is configured to provide power to the control unit
  • the circuit state monitoring and protection module is configured to provide protection when the circuit is abnormal
  • the motor detection module is configured to detect a current running state of the motor, and feed back the operating state to the controller;
  • the external communication module is configured to transmit a control command to the controller, or output status information by the controller;
  • the controller is configured to issue a control signal according to the pulse sequence and the detection signal of the motor detection module.
  • Embodiments of the present invention provide a power assist control method for assisting a bicycle, the method being based on the power assist described in any of the above
  • a power assist control device for a bicycle the method comprising:
  • the grating ring controls the sensor to generate a pulse sequence and sends the pulse sequence to the control unit;
  • the control unit calculates a magnitude of the corresponding boosting value of the pulse sequence according to the pulse sequence
  • control unit Based on the calculated magnitude of the boost value, the control unit sends a corresponding control signal to control the ride speed.
  • control unit further includes: comparing, according to the received pulse sequence, a preset forward pulse sequence and a reverse pulse sequence to determine current running state information, and when determining that the reverse state is determined, Sending the control signal.
  • control unit further includes determining, according to the received pulse sequence, the position information of the force in the rotation period of the rotating disk, according to the position information of the force position and the position of the force position of the preset hand pedal
  • the position of the foot is determined to determine whether it is currently riding. If it is not the riding state, the control signal is not sent.
  • An embodiment of the present invention provides an automatic shifting method for assisting a bicycle, the method being based on the assist control device for the assisted bicycle of any of the above, the method comprising:
  • the sensor collects the current riding state signal in real time and transmits it to the control unit;
  • the control unit outputs a control signal to the motor controller according to the current riding state signal
  • the motor controller controls the motor to output a corresponding assist speed and a boost position according to the control signal.
  • the senor includes a torque sensor and a speed sensor
  • the current riding state signal is a current riding pedaling force and a middle axle speed
  • the torque sensor collects a current riding pedaling force
  • the speed sensor collects The shaft speed.
  • control unit determines the current assisting speed to be output according to the current riding pedaling force, and determines the currently assisted gear position according to the central axis rotating speed.
  • the speed sensor is a Hall sensor.
  • control signal is a PWM signal.
  • the power assist control device for the assisted bicycle includes a lower cost, smaller volume sensor disposed on the fixed disk, and a grid ring disposed on the rotating disk, when the rotating disk rotates, Driving the grating ring to rotate, so that the sensor generates a pulse sequence, and controls the speed of the bicycle according to the assist value corresponding to the pulse sequence, so that the detection precision of the invention is high, the detection cost is low, and the position is mounted on the rotating disk and the fixed disk.
  • FIG. 1a and 1b are schematic structural views of a rotating disk and a fixed disk of a power assist control device for assisting a bicycle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a control unit of a power assisted bicycle control device according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a fixed disk in a crankshaft type torque sensor of an assisting bicycle according to an embodiment of the present invention
  • Figure 4 is a front elevational view of Figure 3;
  • FIG. 5 is a schematic structural view of a crank in a crank-type torque sensor of a bicycle assisting gear according to an embodiment of the present invention
  • FIG. 6 is a schematic structural view of a driven mechanism in a crank-type torque sensor of a power-assisted bicycle according to an embodiment of the present invention
  • Figure 7 is a partial front elevational view of Figure 5;
  • Figure 8 is a front elevational view of the inner ring grating of Figure 6;
  • FIG. 9 is a front elevational view showing the sprocket wheel of the sprocket wheel torque sensor of the embodiment of the present invention.
  • FIG. 10 is a block diagram of a module of a motor control circuit board for assisting a bicycle crankshaft torque sensor according to an embodiment of the present invention
  • Figure 11 is a schematic structural view of a rotating disk according to another embodiment of the present invention.
  • Figure 12 is a schematic view showing the structure of the driving wheel and the driven wheel of the rotating disk provided in Figure 11;
  • Figure 13 is a schematic structural view of a fixed disk according to another embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of each module of a controller according to another embodiment of the present invention.
  • FIG. 15 is a schematic flow chart of a power assist control method for a power assisted bicycle according to an embodiment of the present invention.
  • 16 is a flowchart of implementing a power assist control method for a power assisted bicycle according to an embodiment of the present invention
  • 17 is a schematic diagram showing a duty cycle of a pulse sequence of 50% for a sensing detection method of a power-assisted bicycle crankshaft torque sensor according to an embodiment of the present invention
  • FIG. 18 is a schematic diagram of a pulse sequence duty ratio of 37.5% for a sensing detection method of a power-assisted bicycle crankshaft torque sensor according to an embodiment of the present invention
  • 19 is a schematic diagram showing a duty cycle of a pulse sequence of 25% for a sensing detection method of a power-assisted bicycle crankshaft torque sensor according to an embodiment of the present invention
  • 20 is a schematic diagram of a pulse sequence duty ratio of 12.5% for a sensing detection method of a power steering bicycle crankshaft torque sensor according to an embodiment of the present invention
  • 21 is a schematic flow chart of an automatic shifting method for assisting a bicycle according to an embodiment of the present invention.
  • the main objective of the embodiments of the present invention is to provide a power assist control device and method for assisting a bicycle to solve the problem that the power assist detecting device existing in the prior art is very expensive, or the accuracy of the detection is not high, and the volume of the detecting device is small. Bigger problem.
  • Embodiments of the present invention provide a power assisted bicycle assist control device, which includes a fixed disk, a rotating disk, and a control unit, the fixed disk including a sensor for generating a pulse sequence, the rotating disk including a grid ring, The grating ring is rotatable about the rotating disk, so that a sensor on the fixed disk generates a pulse sequence, and the control unit is configured to control the riding speed according to the assist value corresponding to the pulse sequence.
  • the senor may include a photoelectric switch
  • the photoelectric switch includes a photo-emission tube and a photo-receiving tube
  • the photo-emission tube and the photo-receiving tube are radially disposed on the fixed disc
  • the photoelectric switch The position of the fixed disk corresponds to the position of the grating ring at the rotating disk, and the grating ring is an annular grating.
  • the senor may include a photoelectric switch pair tube, the rotating disk includes an active mechanism and a driven mechanism, the active mechanism includes a crank, and a groove is evenly distributed on one end of the crank; the driven The mechanism includes a plurality of springs, a grating ring structure, a middle shaft and a rotating disc outer ring.
  • the grating ring structure is fixed on the outer ring of the rotating disc, and one end of the central shaft is fixed on the crank and is connected to the transmission.
  • a rotating disk outer ring a side of the outer ring of the rotating disk is provided with a plurality of grooves, and one end of the crank having a groove is pressed on a side of the outer ring of the rotating disk having a groove, the crank
  • the upper groove and the groove on the outer ring of the rotating disk are oppositely connected to form a spring groove, the spring is disposed in the spring groove, and the outer ring of the rotating disk is embedded on the fixed end cover of the fixed disk; Compressing a spring when the crank rotates, the grating ring structure rotating under the action of the spring, the photoelectric switch to the tube transforming the rotation of the grating ring structure into a pulse corresponding to a duty ratio and a spring-shaped variable Sequence and the duty cycle and bomb Deformation corresponding pulse sequence transmitted to the control unit.
  • the sensor may further include a Hall sensor
  • the rotating disk includes an active portion and a driven portion, the active portion includes a crank and a spring
  • the driven portion includes a first magnetic grating ring, and a second a magnetic grating ring, the first magnetic grating ring and the second magnetic grating ring having the same center
  • the first magnetic grating ring is embedded in the driven portion, and the second magnetic grating ring is fixed to the active portion
  • the Hall sensor a first Hall sensor, a second Hall sensor, and disposed on the fixed disk
  • the first magnetic ring and the second magnetic ring are evenly distributed with convex teeth and grooves
  • the switch of the first Hall sensor is turned on or off to form a pulse sequence
  • the second magnetic When the convex teeth or grooves of the grating ring pass through the second
  • FIG. 1 is a schematic structural view of a rotating disk and a fixed disk of a power assist control device for a power-assisted bicycle according to an embodiment of the present invention.
  • the power-assisting control device includes a driving unit, a control unit, and a rotating wheel disposed on the bicycle. a ring grating 12 on the 11 and a photoelectric switch 14 disposed on the fixed disk 13, wherein:
  • the photoelectric switch 14 includes a photo-emission tube and a photo-receiving tube, and the photo-emission tube and the photo-receiving tube are radially disposed on the bicycle fixing plate 13, and the photoelectric switch 14 is at a position and a position of the fixed plate 13.
  • the annular grating 12 corresponds to the position of the rotating disk 11;
  • the ring grating 12 is disposed on the rotating disk 11, and the ring grating 12 is rotatable about the axis of the rotating disk 11, so that the ring grating 12 generates a pulse sequence to the photoelectric switch 14.
  • the control unit calculates a boosting value corresponding to the pulse sequence according to the pulse sequence generated by the photoelectric switch 14, and sends a corresponding rotational speed signal to the driving unit according to the boosting value.
  • the position of the photoelectric switch in the fixed disk corresponds to the position of the ring grating on the rotating disk, which means that the photoelectric switch that is mounted on the fixed disk emits light when the fixed disk and the rotating disk are installed, just right.
  • the grating mounted on the rotating disk is opposite to each other, and the photoelectric switch is turned on or off correspondingly as the rotating disk rotates.
  • the drive unit may include a power source and a drive motor, and the drive power source may be a battery on the electric bicycle that provides power to the electric bicycle for forward drive by the electrical energy provided by the battery.
  • the fixed disk includes a fixed disk end cover, the fixed disk 13 is fixed at the five-way end by the anti-rotation piece, the fixed disk end cover is a disk-shaped hollow body, and the circuit board of the control unit can be disposed in an annular structure.
  • the annular area of the fixed disk 13 can be sealed by means of glue filling, and the lead wire can be fixed to the vehicle body by a cable tie.
  • the photoelectric switch 14 is disposed at a radial position of the fixed disk, that is, the photoelectric transmitting tube and the photoelectric receiving tube are disposed on the same radial line of the fixed disk.
  • the ring grating includes an outer ring grating 121 and an inner ring grating 122, wherein the outer ring grating 121 and the inner ring grating 122 are rings located at the same center but different in radius, and the One or more of the outer ring grating and the grating aperture of the inner ring grating are evenly distributed, for subsequent determination of the direction of travel of the vehicle (forward or backward), the outer ring grating and the inner ring grating
  • the grating apertures can be offset by a certain angle, so that the photoelectric switch can be rotated in the direction of rotation of the rotating disk, corresponding to different switch conduction sequences.
  • a first photoelectric switch is disposed on the inner side of the fixed inner disk corresponding to the inner ring grating 122, and a second photoelectric switch is disposed at an inner position of the outer ring grating 121 corresponding to the fixed disk.
  • the detection by two photoelectric switches can better improve the accuracy of detection.
  • Two pulse sequences can be detected by the two photoelectric switches, and the power-assisted bicycle is judged to be in a forward state or a reverse state according to the pulse sequence.
  • the drive is not The motor sends a power-driven control command. Thereby improving the reliability of operation and avoiding dangerous accidents.
  • the judgment of the forward state or the reverse state can detect the sequence of the two photoelectric switch tubes from the simultaneous conduction state to the state of entering a photoelectric switch tube, and the two photoelectric switches when the vehicle is moving forward and backward
  • the order in which the tubes are disconnected is different so that the direction of travel of the vehicle can be distinguished.
  • the ring grating can use only one ring of ring gratings, correspondingly, two photoelectric switches are arranged side by side along the same circumferential line, and the two photoelectric switches are sequentially rotated when the rotating disk rotates.
  • the same principle can also be used to analyze the forward and reverse rotation of the motor by detecting the conduction sequence. That is, the two photoelectric switch tubes can be offset by a certain angle when mounted relative to the grating, so that the photoelectric switch can be rotated in the rotating direction of the rotating disk. , corresponding to different switch conduction sequence.
  • the present invention may further determine, according to the obtained pulse sequence, the position information of the force in the rotation period of the rotating disk, according to the force position information and the position of the force position of the preset hand pedal, When the bicycle is riding, the position of the force is determined to determine whether it is currently riding. If it is not in the riding state, the control command of the assisting drive is not sent to the driving motor. Therefore, it can be intelligently recognized in the state of non-ankle, avoiding waste of electric energy, and at the same time, the operation is safer.
  • the force point of the ankle is generally a rotating disk.
  • the force when the crank disk is rotated, the force is maximized when the ankle is in the front position, and the acceleration corresponding to the position is also The maximum, so that the corresponding force point can be obtained according to the change value of the speed, instead of the force state under the ankle state, it can include other various stress situations or include the case of being completely unstressed.
  • the rotating disk when it is a crank disk structure, it can rotate together with the central axis, and the outer ring grating and the inner ring grating of the rotating disk are one or more gratings uniformly distributed 360 degrees.
  • the recessed hole for example, can be set to use 36 recessed holes for both the outer ring grating and the inner ring grating.
  • the ring gratings on the rotating disk are respectively embedded in the grooves of the two photoelectric switches on the fixed disk to realize the pulse opening and closing of the photoelectric switch.
  • control unit may include a controller 21, a power module 22, a circuit state monitoring and protection module 23, a motor detection module 24, and an external communication module 25, wherein:
  • the power module 22 is configured to provide power to the control unit
  • the circuit state monitoring and protection module 23 is configured to provide protection when the circuit is abnormal
  • the motor detecting module 24 is configured to detect a current operating state of the motor, and feed back the operating state to the controller;
  • the external communication module 25 is configured to transmit a control command to the controller, or output status information by the controller;
  • the controller 21 is configured to issue a control command to the motor driving unit according to the pulse sequence detected by the photoelectric switch and the detection signal of the motor detecting module.
  • the controller in the embodiment of the present invention may be a single-chip CPU, that is, all the main control logic programs and the photoelectric speed sensor information processing logic program are processed by one CPU, or may be set to a multi-chip mode, and one CPU handles the main control.
  • a logic program another CPU processes the photoelectric speed sensor signal processing logic program, and the photoelectric signal processing logic program processes the pulse sequence obtained by the photoelectric speed sensor, and the master logic program processes the pulse sequence to convert to the rider.
  • the PWM power signal of the pedal force, the output controls the MOS tube to drive the motor to run.
  • the circuit state monitoring and protection module functions include common controller protection functions such as overvoltage protection, undervoltage protection, and overcurrent protection.
  • the external communication module includes one or more of a display screen, a button panel, a code table, a Bluetooth communication module, an infrared communication module, and a wireless radio frequency module, for receiving a control command, sending command feedback or status information, etc., such as opening Power, turn off power, get speed information, get battery power information, and more.
  • the analog torque sensor is realized in a simple, reliable but relatively inexpensive implementation.
  • the acquired pulse sequence is converted into a power signal corresponding to the rider's ankle strength.
  • the boosting effect is better than the traditional Huo.
  • the sensor method can also recognize the person's riding pedal mode. When the hand pedal is recognized as the hand pedal, the motor will not rotate. At the same time, when the vehicle is pushed backwards, the signal of the driving motor is not sent, and the use is safer and more human.
  • the invention requires few components, low product cost, low power consumption, no mechanical contact between the rotating disk and the fixed disk, and no failure or precision degradation due to mechanical loss or fatigue;
  • a sensor for assisting the bicycle power assist control device fixing plate is a crank disk type torque sensor, and the control unit is a motor control circuit board.
  • Power-assisted bicycle power control device package The fixed disk 10, the rotating disk, the motor control circuit board 30, and the photoelectric switch pair tube 101 are included.
  • the photoelectric switch pair tube 101 is electrically connected to the motor control circuit board 30.
  • the fixed disk 10 includes a fixed disk end cover 105.
  • the fixed disk end cover 105 is a disk-shaped hollow body.
  • the motor control circuit board 30 and the photoelectric switch pair tube 101 are fixed in the annular region 103 of the fixed disk end cover 105, and are filled with glue. Sealed, the lead wire 104 can be fixed to the vehicle body.
  • the fixed disk 10 can be fixed at the five-way by a stopper piece.
  • the photoelectric switch pair tube 101 is radially mounted on the fixed disk 10.
  • the rotating disk includes an active mechanism 21 and a driven mechanism 22, and a force is transmitted between the active mechanism 21 and the driven mechanism 22 by a spring 202, which rotates together with the pedaling force about the center shaft 205.
  • the active mechanism 21 includes a crank 201 having a groove uniformly distributed on one end of the crank 201 as shown in FIG.
  • the follower mechanism 22 includes a plurality of springs 202, a grating ring structure 204, a center shaft 205, and a rotating disc outer ring 203.
  • the grating ring structure 204 is fixed on the rotating disk outer ring 203, and one end of the central shaft 205 is fixed on the crank 201 and is connected to the rotating disk outer ring 203.
  • One side of the rotating disc outer ring 203 is provided with a plurality of grooves uniformly distributed along the circumference, and one end of the crank 201 having a groove is pressed on the grooved side of the rotating disc outer ring 203, and the groove on the crank 201 and The grooves on the outer disk ring 203 are rotated to form a spring groove, and the spring 202 is placed in the spring groove.
  • the rotating disc outer ring 203 is embedded on the fixed disc end cover 105, and the two are only in contact with the outermost one of the sliding bearing 102.
  • the photoelectric switch pair tube 101 converts the rotation of the sensed grating ring structure 204 into a pulse sequence corresponding to the duty ratio and the spring-shaped variable, and A pulse train having a duty ratio corresponding to the spring-shaped variable is sent to the motor control circuit board 30.
  • the grating ring structure 204 includes an outer ring grating 2041 and an inner ring grating 2042.
  • the outer ring grating 2041, the inner ring grating 2042, and the central axis 205 are concentric circles.
  • the outer ring grating 2041 is fixed to the inner side of the rotating disk outer ring 203.
  • the outer ring grating 2041 can be directly integrated with the rotating disk outer ring 203.
  • a first through hole 20421 having a protruding structure is formed on the inner ring grating 2042, and a second through hole is formed in the outer ring 203 of the rotating disk.
  • the first through hole 20421 of the protruding structure is disposed on the second through hole and passes through the bolt. It is fixed on the crank 201.
  • the aperture of the second through hole is larger than the aperture of the first through hole 20421, so that the inner ring grating 2042 can be rotated by a small angle under the driving of the spring 202.
  • the outer ring grating 2041 and the inner ring grating 2042 each have uniformly distributed and adjacently disposed convex teeth and grooves. As shown in FIG. 8, the convex teeth 20422 of the inner ring grating 2042 and the grooves 20423 are adjacent and spaced apart, and the outer ring The convex teeth of the grating and the convex teeth 20422 of the inner ring grating are radially aligned.
  • both the outer ring grating 2041 and the inner ring grating 2042 use evenly distributed 36 grating teeth, and the two grating teeth are aligned in the radial direction.
  • the height of the grating ring is smaller than the distance between the grating ring and the circuit board on the fixed disk 10, so that there is no unnecessary mechanical contact between the fixed disk 10 and the rotating disk.
  • the follower mechanism 22 further includes a crankset structure 206, the teeth of which are circumferentially evenly distributed, only a portion of which is illustrated.
  • the crankset structure 206 is fixed to the outer edge of the outer ring 203 of the rotating disk. Specifically, the disk structure 206 is fixed to the lug 2031 of the outer ring 203 of the rotating disk by bolts.
  • the motor control circuit board 30 includes a power management module 302, a circuit state monitoring and protection module 303, a main control logic module 301, a motor drive module 305, a motor detection module 306, an external communication module 307, and a sensor module 304.
  • the circuit state monitoring and protection module 303 is connected to the main control logic module 301 for protecting the overvoltage, undervoltage and overcurrent of the circuit board.
  • the main control logic module 301 is connected to the power management module 302, the sensor module 304, the motor drive module 305, the motor detection module 306, and the external communication module 307, respectively, for processing the main control logic program, and is obtained according to the photoelectric switch to the tube 101.
  • the pulse sequence corresponding to the duty cycle and the spring-shaped variable is combined with the master logic program to output a PWM power signal for controlling the motor for acceleration and deceleration.
  • the external communication module 307 can be connected to the display screen, the button control board, the code table, the sensor module 304, etc., or can be connected by wireless means such as Bluetooth or radio frequency, for receiving control commands, sending commands or feedback status information, and the like. For example, turn on power, turn off power, get speed information, get battery power information, and more.
  • the power-assisted bicycle sprocket wheel torque sensor and the motor control circuit board 30 are integrated, and the motor control circuit board 30 is made small so that it can be placed in the fixed disk 10, and the motor control circuit board 30 is completely sealed with glue. It has a good waterproof effect, and the whole is hidden and integrated in the structure of the sprocket wheel. It is made into a sprocket-type electric power-assisted bicycle controller. It looks like a normal sprocket wheel from the outside and guarantees the normal use of the bicycle sprocket wheel. Under the hood, the required components are few, the appearance is beautiful and simple, the structure is simple and easy to install and maintain, and it is suitable for light electric vehicles such as electric power assist bicycles, electric pedal unicycles, electric power assisted tricycles.
  • FIG. 14 are schematic diagrams showing the structure of a control device according to another embodiment of the present invention.
  • the sensor is a Hall sensor
  • the control unit is a central processing unit CPU.
  • the rotating disk 1 includes an active portion 11 And the driven portion 12, the active portion 11 includes a crank 111, a spring 112; one end of the crank 111 includes a driving wheel 113, and the driving wheel 113 is composed of uniformly distributed convex teeth; one end of the driven portion 12
  • the driven wheel 121 is composed of uniformly distributed convex teeth, and the convex teeth of the driving wheel 113 and the protruding teeth of the driven wheel 121 are abutted by a uniformly distributed spring 112, as shown in FIG. 12 .
  • the spring group consisting of the spring 112 between the active portion 11 and the driven portion 12 transmits a torsion force that rotates with the foot shaft about the central axis.
  • the driven portion 12 includes a first magnetic grating ring 122 and a second magnetic grating ring 123.
  • the magnetic grating ring structure is a plurality of magnetic grating teeth uniformly distributed in 360 degrees.
  • the first magnetic grating ring 122 and the second The magnetic grating ring 123 uses 36 magnetic grating teeth;
  • the first magnetic grating ring 122 and the second magnetic grating ring 123 have the same center and are concentric with the central axis;
  • the first magnetic grating ring directly and the driven portion Forming a whole, and then magnetizing the convex teeth;
  • the driven portion 12 and the second magnetic grating ring 123 have three corresponding inner rings a hole, the second magnetic gate ring 123 is fixed to the crank 111 by three holes passing through the driven portion 12, and the aperture of the three holes of the driven portion 12 is larger than the diameter of the bolt;
  • the fixed disk 2 includes a fixed disk end cover 23, a circular controller module 24, and a first Hall sensor 21 and a second Hall sensor 22 embedded therein; the fixed disk 2 is fixed by a stopper piece.
  • the fixed disk end cover 23 is a disk-shaped hollow body; the controller is installed in an annular region in the fixed disk end cover 23, and is potted and sealed, and the lead wire can be fixed to the vehicle body by a cable tie.
  • the first magnetic grating ring 122 and the second magnetic grating ring 123 are evenly distributed with convex teeth and grooves; when the first magnetic grating ring 122 and the second magnetic grating ring 123 rotate, the first magnetic grating ring 122 When the convex tooth or the groove passes through the first Hall sensor 21, the switch of the first Hall sensor 21 is turned on or off to form a pulse sequence; the convex tooth or groove of the second magnetic gate ring 123 passes through the second Hall.
  • the switch of the second Hall sensor 22 is turned on or off to form a pulse sequence; that is, when the rotating coil rotates about the central axis, the first magnetic grating ring 122 and the second magnetic grating ring 123 respectively correspond to the sensing fixed disk.
  • the first Hall sensor 21 and the second Hall sensor 22 realize pulse opening and closing of the Hall switch;
  • the crank 111 drives the driven portion 12 to rotate by the spring 112, and the active portion 11 is rotated relative to the driven portion 12 by an angle such that the pulse sequence generated by the first Hall sensor 21 and the pulse sequence generated by the second Hall sensor 22 are phased. Poor, the first Hall sensor 21 and the second Hall sensor 22 pass the generated pulse sequence to the CPU.
  • the sensor further includes a stopper piece fixed to the five-way by a stopper piece; the tooth plate is fixed to the outer casing of the rotating disk by screws; the rotating disk and the fixed disk are relatively freely rotatable . From the appearance, this structure is no different from the ordinary sprocket wheel. In the case of ensuring the normal use of the bicycle sprocket wheel, the technical elements are hidden, the appearance is beautiful and simple, the structure is simple and easy to install and maintain, and it is suitable for electric assist bicycles and electric pedal unicycles. Light electric vehicles such as electric power assisted tricycles.
  • the purpose of the sensor is to obtain a variable related to the pedaling torque for the CPU to adjust the output of the assist.
  • the spring and the Hall switching component are used to form the torque sensor component, and the spring can also be used.
  • the interrupter constitutes a torque sensor module, and the riding pulse sequences obtained by the two sensor methods are consistent, and the master logic program is not changed much.
  • the embodiment further provides a crankset type hybrid bicycle controller.
  • the controller includes the above sensor, and further includes a CPU B, a motor drive module C, the CPU B, and a motor drive module.
  • C is mounted in the fixed disk 2;
  • the CPU B is configured to process two pulse sequences transmitted by the sensor module into a PWM pulse signal corresponding to the size of the rider's ankle force to change the duty ratio, and accordingly output the corresponding duty ratio of the pulse signal. PWM power signal, And transmitting the PWM power signal to the motor drive module;
  • CPU B can be used in a single chip mode: one CPU handles all the main control logic programs and Hall sensor signal processing logic programs; or multi-chip mode: one CPU handles the main control logic program, and the other CPU processes the Hall signal processing logic program.
  • the Hall signal processing logic program processes the two-column pulse sequence obtained by the Hall sensor into a PWM pulse signal corresponding to the rider's ankle force to change the duty ratio, and the main control logic program outputs the duty ratio according to the pulse signal. Corresponding PWM power signal;
  • the motor driving module C is configured to control the MOS tube to drive acceleration/deceleration of the motor according to the output PWM power signal.
  • the controller further includes a circuit state monitoring and protection module D, the circuit state monitoring and protection module D is connected to the CPU, and the circuit state monitoring and protection module D functions include overvoltage protection, undervoltage protection, overcurrent protection, and the like.
  • the controller protection function in particular, the circuit state monitoring and protection module D further comprises an intelligent riding protection function, which only recognizes the way the person rides the pedal, and the motor does not rotate when the pedal is manually operated, and the person rides The motor output assist is controlled to prevent the danger caused by misoperation.
  • the circuit condition monitoring and protection module D further includes an anti-reverse protection, and the motor stops working when the vehicle is pushed backwards, thereby increasing safety.
  • the controller further includes an external communication module E, the external communication module E is installed in the fixed disk 2; one end of the external communication module E is connected to the CPU B, and the other end is connected with a display screen, a button control panel, a code table, and a sensor. Modules and the like are connected by wire, or connected by wireless means such as Bluetooth or wireless radio, for receiving control commands, sending command feedback or status information, such as turning on power, turning off power, obtaining speed information, and obtaining battery power information.
  • wireless means such as Bluetooth or wireless radio
  • the controller further includes a motor detection module F, a power management module G, the motor detection module F, the power management module G is connected to the CPU B, and the motor detection module E and the power management module G are installed in the fixed disk 2;
  • the motor detection module F is configured to detect an operating state of the motor;
  • the power management module G is configured to provide power for each of the modules.
  • the controller provided by the embodiment of the invention can be mounted on the electric assist bicycle, the screw plate is fixed on the rotating plate by screws, the middle shaft is fixed in the rotating plate, and the fixing plate structure is pressed on the rotating plate by using fastening screws, They can rotate freely with each other.
  • Set the shaft on the bicycle five-way insert the structure into the bushing, install the crank at the other end, install two pedals, connect the motor cable and the handlebar control panel, and install it at this time.
  • the pedal drives the active part of the rotating disc to rotate by a certain angle.
  • the spring is deformed, and the rotating part of the rotating disc and the driven part are relatively rotated by an angle, and then in two pulse sequences.
  • the phase difference is generated; the CPU processes the two pulse sequences, and combines the two Hall sensor conduction timings to analyze and judge the motor forward and reverse, and converts it into a PWM power signal corresponding to the rider's ankle power, and the output control
  • the MOS tube is used to drive the motor to achieve the boosting effect.
  • the above controller implements the torque sensor on the one hand in a simple and reliable but relatively inexpensive implementation, and converts the acquired pulse sequence into a power signal corresponding to the rider's ankle strength.
  • the boosting effect is superior to the traditional Huo.
  • the sensor method also makes it possible to recognize only the pedaling mode of the person riding, the motor does not rotate when the pedal is manually turned, and the work is stopped when the vehicle is pushed backwards, and the use is safe and very user-friendly;
  • the sprocket-type electric power-assisted bicycle controller which is completely sealed with glue. Good waterproof effect, not afraid of the harsh environment such as water, mud and dust, working stably and reliably in the natural environment;
  • the invention requires less components, low product cost, low power consumption, and responsiveness; and the appearance is simple and simple, the structure is simple, easy to install and maintain, and is suitable for electric assist bicycles, electric pedal unicycles, electric assist tricycles, etc. Electric vehicle.
  • FIG. 15 is a schematic flowchart of a power assist control method for a power assisted bicycle according to an embodiment of the present invention. As shown in FIG. 15, the method includes the following steps:
  • the control unit calculates a boosting value corresponding to the pulse sequence according to the pulse sequence.
  • the control unit sends a corresponding control signal to control the speed of the bicycle according to the calculated magnitude of the boosting value.
  • the method specifically includes the following steps:
  • step S301 when the rotating disk drives the ring grating to rotate, the ring grating controls the light of the photo transmitting tube to the photoelectric receiving tube to be turned on and off, and a pulse sequence is generated in the photoelectric receiving tube and sent to the controller.
  • step S302 the controller calculates the magnitude of the pedal force corresponding to the pulse sequence according to the pulse sequence.
  • step S303 based on the calculated magnitude of the pedal force, the controller transmits a corresponding speed signal to the drive motor.
  • the controller further comprises: comparing the received pulse sequence with a preset forward pulse sequence and a reversed pulse sequence to determine current running state information, and when determining that the reverse state is determined, The drive motor sends a control command for the assist drive.
  • the controller further comprises determining, according to the received pulse sequence, the position information of the force in the rotation period of the rotating disk, according to the force position information and the position of the force position of the preset hand pedal, When the bicycle is riding, the position of the force is determined to determine whether it is currently riding. If it is not in the riding state, the control command of the assisting drive is not sent to the driving motor.
  • the assisting control method of the assisting bicycle of FIG. 16 corresponds to the assisting control device of the assisting bicycle shown in FIG. 1 and FIG. 2, and details are not described herein again.
  • control method is implemented as shown in FIGS. 17 to 20, and the method includes the following steps:
  • Step A When the rotating coiled central shaft 205 rotates, the photoelectric switch pair tube 101 induces the grating ring structure 204 to obtain a pulsed opening and closing of the photoelectric switch to the tube 101, and generates a duty ratio and a spring shape according to the pulse type opening and closing. a pulse sequence corresponding to the variable;
  • Step B the motor control circuit board 30 receives the pulse sequence corresponding to the duty ratio and the spring-shaped variable, and processes the pulse sequence corresponding to the spring-shaped variable to correspond to the rider's pedal strength.
  • the size of the power control signal to control the motor output power and speed.
  • Step A also includes step C. If the inner and outer grating teeth are not completely coincident with the tube 101 through the photoelectric switch due to the assembly problem, the duty cycle of the no-load pulse sequence may be less than 50%, that is, the pulse sequence generated at the initial moment.
  • the duty cycle is less than 50%, which can be corrected in the initial program of the main logic program, that is, the duty ratio is used as the no-load duty ratio, and there is no pedaling force; when a smaller duty ratio is generated, the pedaling force is considered to exist. That is, if the pulse sequence duty ratio generated at the initial time is less than 50%, and the pulse sequence duty ratio at the subsequent time is smaller than the pulse sequence duty ratio at the initial time, the pulse sequence duty ratio at the initial time is corrected to 50. %.
  • the grating ring structure 204 includes an inner ring grating 2042 and an outer ring grating 2041.
  • the inner ring grating 2042 and the outer ring grating 2041 each have a plurality of convex teeth and grooves disposed adjacent thereto.
  • Step A includes the following steps:
  • step A01 when no pedaling force is applied to the crank or the crank is gently cranked, the compression of the spring 202 is small, and it can be considered that no deformation occurs, and the active mechanism 21 rotates synchronously with the driven mechanism 22, and no force acts on the spring.
  • the grating convexity of the outer ring grating 2041 and the inner ring grating 2042 is at an initial position, that is, corresponding to the coincident state, the convex teeth of the inner ring grating 2042 and the convex teeth of the outer ring grating 2041 are synchronously passed through the photoelectric switch to the tube 101, when each When the convex tooth passes through the photoelectric switch pair tube 101, the photoelectric switch is turned off, and when each groove passes through the photoelectric switch pair tube 101, the photoelectric switch is turned on, thereby forming a pulse sequence with a duty ratio fixed at 50%, as shown in FIG. Show.
  • Step A02 when a pedaling force is applied to the crank, the spring 202 is deformed to rotate the active mechanism 21 and the driven mechanism 22 by an angle, so that the convex teeth of the inner ring grating 2042 and the outer ring grating 2041 are convex.
  • the teeth are staggered by one position, causing the two convex teeth to pass through the photoelectric switch to the tube 101 for a long time.
  • the formed pulse sequence duty ratio becomes small; when the pedaling force continues to be applied When the crank 201 is on, the deformation generated by the spring 202 becomes larger as the pedaling force increases, and the angle of relative rotation of the active mechanism 21 and the driven mechanism 22 also becomes larger, thereby making the inner
  • Step A02 specifically includes the following steps:
  • Step A021 when the pedaling force is small, the rotating disc active mechanism 21 is rotated by a certain angle. At this time, due to the inertia, the spring 202 is deformed, and the rotating disc active mechanism 21 and the passive mechanism 22 are relatively rotated by an angle, such as a generated pulse.
  • the sequence period is not changed, so that the position of the convex teeth of the inner ring grating 2042 and the convex teeth of the outer ring grating 2041 are smaller, so that the time for the two to pass through the photoelectric switch to the tube 101 becomes longer, so that the generated pulse sequence is occupied.
  • the space ratio becomes smaller. When the position where the two teeth are staggered is 25%, the pulse sequence duty ratio formed is 37.5%, as shown in FIG.
  • Step A022 when the pedaling force is gradually increased, the deformation generated by the spring 202 becomes larger, and the relative rotation angle between the rotating disc active mechanism 21 and the passive mechanism 22 becomes larger, as the generated pulse sequence period does not change, the inner ring grating
  • the position at which the convex teeth of 2042 are offset from the convex teeth of the outer ring grating 2041 continues to become larger, and the time for the tube 101 to pass through the photoelectric switch is further lengthened, and the generated duty cycle of the pulse sequence continues to become smaller.
  • the formed pulse sequence duty ratio is 25%, as shown in FIG.
  • Step A023 when the pedaling force is further increased, the deformation generated by the spring 202 continues to become larger, and the relative rotation angle between the rotating disc active mechanism 21 and the driven mechanism 22 continues to become larger, and the generated pulse sequence period does not change.
  • the distance between the convex teeth of the inner ring grating 2042 and the convex teeth of the outer ring grating 2041 continues to become larger, and the time for the tube 101 to pass through the photoelectric switch is further lengthened, and the duty ratio of the pulse sequence continues to become smaller.
  • the pulse sequence duty ratio formed is 12.5%, as shown in FIG.
  • the present invention uses the torque sensor and the speed sensor to collect the vehicle during the riding process.
  • the pedaling force and the middle shaft speed are transmitted to the control unit for comprehensive analysis, and then the corresponding assisting speed of the motor output is controlled to achieve the effect of automatic shifting; when riding on a flat road, riding on a slope, riding on a complicated road condition, Adjust to the appropriate speed.
  • the flow chart of the automatic shifting method for the assisted bicycle is specifically described below. As shown in FIG. 21, the method includes the following steps:
  • Step 211 the sensor collects the current riding state signal in real time and transmits it to the control unit;
  • Step 213 the control unit outputs a control signal to the motor controller according to the current riding state signal
  • Step 215 The motor controller controls the motor to output a corresponding assist speed and a boost gear according to the control signal.
  • the control unit may be an MCU, and the sensor includes a torque sensor and a speed sensor.
  • the current riding state signal is a current riding pedaling force F and a middle axle rotational speed V; the torque sensor collects a current riding pedaling force F, and the speed sensor collects a central axle rotational speed V; the MCU is based on The current riding pedal force F judges the current assisting speed to be output, and determines the current assisting gear position to be output according to the central axis rotational speed V.
  • the MCU performs double condition analysis and judgment on the pedaling force F and the middle shaft speed V, and adjusts the motor assist speed and the assist gear position.
  • a specific embodiment is introduced to introduce the judging algorithm: when riding normally, the riding speed is assumed to be 0-40 km/h, and the corresponding pedaling force F value range Fmin-Fmax is divided into n intervals, which are different.
  • the pedaling force judgment interval, in each of the assisting gear positions, according to the range of the pedaling force F, the motor corresponds to a range of the assisting speed.
  • the MCU compares and judges according to the interval in which the pedaling force F falls and the intermediate shaft rotational speed V, and adjusts the corresponding motor assisting speed.
  • the way to adjust the motor according to the road conditions is as follows:
  • the speed sensor is a Hall sensor.
  • control signal is PWM (Pulse Width Modulation; pulse width modulation is a very effective technique for controlling an analog circuit using a digital output of a microprocessor).
  • the invention provides an automatic shifting method for assisting a bicycle.
  • the MCU is based on the pedaling moment and the central axle speed.
  • the dual condition analysis judges the sensitivity and reliability of the automatic transmission, and realizes the automatic shifting and automatic shifting, which reduces the unnecessary judgment and operation of the rider.
  • the control unit directly controls the motor shifting, the large speed difference and the small speed difference can realize the direct shifting, which avoids the fact that the gear shift of the large speed difference of the conventional mechanical transmission must pass through the intermediate sprocket.
  • the shifting sprocket has a large span, a long shifting time, and a cumbersome operation; and the chain when the shifting is disengaged requires a slow kick, which brings discomfort to the rider.
  • the invention abandons the traditional mechanical gear set shifting device, avoids the disadvantages of high precision of assembly, high processing difficulty, high processing cost, low yield and poor practicability, and is realized by a simple torque sensor and a Hall speed sensor. Detection and adjustment, the sensor group is hidden in the sprocket wheel or the central axis, and sealed at the same time. It looks like the ordinary sprocket wheel or the middle shaft from the appearance. It has good waterproof and dustproof effect, and is not afraid of water, mud and dust. The influence of the environment is stable and reliable in the natural environment.
  • the automatic transmission provided by the present invention is suitable for light electric vehicles such as hybrid bicycles, electric pedal unicycles, and electric power assisted tricycles.

Abstract

L'invention concerne un procédé de commande et un dispositif de commande d'assistance pour un vélo à assistance, et un procédé de changement automatique de vitesse pour celui-ci. Le dispositif de commande d'assistance comporte un disque fixe (13), un disque rotatif (11) et une unité de commande, le disque fixe comportant un capteur, servant à produire une séquence d'impulsions, le disque rotatif (11) comportant un anneau quadrillé, l'anneau quadrillé tournant autour du disque rotatif (11) de telle sorte que le capteur sur le disque fixe (13) produit la séquence d'impulsions, l'unité de commande étant utilisée à des fins de commande de la vitesse du vélo en fonction d'une valeur d'assistance correspondant à la séquence d'impulsions. Le dispositif de commande d'assistance est sensiblement non affecté par des facteurs d'environnement, permettant ainsi la précision d'assistance élevée de la présente invention et des coûts faibles. Le dispositif de commande d'assistance est monté au niveau des positions du disque rotatif (11) et du disque fixe (13) et présente un aspect esthétique et une taille relativement petite.
PCT/CN2016/075828 2015-05-05 2016-03-08 Dispositif de commande d'assistance et procédé de commande d'assistance pour vélo à assistance, et procédé de changement automatique de vitesse pour celui-ci WO2016177084A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201510222629.5 2015-05-05
CN201510222629.5A CN104843132A (zh) 2015-05-05 2015-05-05 一种助力自行车的助力控制装置和方法
CN201510498133.0 2015-08-13
CN201510498133.0A CN105172993B (zh) 2015-08-13 2015-08-13 混合动力自行车自动变速方法及装置
CN201520615383.3U CN204821978U (zh) 2015-08-14 2015-08-14 一种混合动力自行车牙盘式力矩传感器装置与控制器系统
CN201520615383.3 2015-08-14
CN201510686110.2A CN105151212B (zh) 2015-10-21 2015-10-21 一种混合动力自行车牙盘式力矩传感器及传感检测方法
CN201510686110.2 2015-10-21

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CN108001599A (zh) * 2017-12-12 2018-05-08 海日升电器制品(深圳)有限公司 调整助力车行驶速度的方法和装置
CN111332404A (zh) * 2018-12-03 2020-06-26 南京懂玫驱动技术有限公司 电动自行车用控制器
CN111572696A (zh) * 2019-02-15 2020-08-25 什拉姆有限责任公司 自行车控制系统
CN115009411A (zh) * 2022-05-05 2022-09-06 中电海康集团有限公司 一种传感装置及助力自行车的控制方法
US11738826B2 (en) 2019-02-15 2023-08-29 Sram, Llc Bicycle control system
US11964731B2 (en) 2019-02-15 2024-04-23 Sram, Llc Bicycle control system

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CN202092810U (zh) * 2011-03-17 2011-12-28 上海谐波驱动技术有限公司 车载电动自行车力矩侦测机构
CN202098526U (zh) * 2011-06-17 2012-01-04 谢炎民 一种电动自行车用无磁性助力传感器
CN202783649U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 壳体内多磁块位置可调节的传感元件
CN104843132A (zh) * 2015-05-05 2015-08-19 深圳市家信信息科技开发有限公司 一种助力自行车的助力控制装置和方法
CN105172993A (zh) * 2015-08-13 2015-12-23 深圳市家信信息科技开发有限公司 混合动力自行车自动变速方法及装置
CN204821978U (zh) * 2015-08-14 2015-12-02 深圳市家信信息科技开发有限公司 一种混合动力自行车牙盘式力矩传感器装置与控制器系统
CN105151212A (zh) * 2015-10-21 2015-12-16 深圳市家信信息科技开发有限公司 一种混合动力自行车牙盘式力矩传感器及传感检测方法

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CN108001599A (zh) * 2017-12-12 2018-05-08 海日升电器制品(深圳)有限公司 调整助力车行驶速度的方法和装置
CN111332404A (zh) * 2018-12-03 2020-06-26 南京懂玫驱动技术有限公司 电动自行车用控制器
CN111572696A (zh) * 2019-02-15 2020-08-25 什拉姆有限责任公司 自行车控制系统
CN111572696B (zh) * 2019-02-15 2022-08-26 什拉姆有限责任公司 自行车控制系统
US11738826B2 (en) 2019-02-15 2023-08-29 Sram, Llc Bicycle control system
US11964731B2 (en) 2019-02-15 2024-04-23 Sram, Llc Bicycle control system
CN115009411A (zh) * 2022-05-05 2022-09-06 中电海康集团有限公司 一种传感装置及助力自行车的控制方法

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