WO2021153387A1 - Power assist bicycle, control system of power assist bicycle, and control method of power assist bicycle - Google Patents

Power assist bicycle, control system of power assist bicycle, and control method of power assist bicycle Download PDF

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Publication number
WO2021153387A1
WO2021153387A1 PCT/JP2021/001918 JP2021001918W WO2021153387A1 WO 2021153387 A1 WO2021153387 A1 WO 2021153387A1 JP 2021001918 W JP2021001918 W JP 2021001918W WO 2021153387 A1 WO2021153387 A1 WO 2021153387A1
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WO
WIPO (PCT)
Prior art keywords
heart rate
rate
assist
target
driver
Prior art date
Application number
PCT/JP2021/001918
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French (fr)
Japanese (ja)
Inventor
健一 入江
浩気 亀井
Original Assignee
パナソニックＩｐマネジメント株式会社
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 パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to JP2021574674A priority Critical patent/JP7312960B2/en
Publication of WO2021153387A1 publication Critical patent/WO2021153387A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • 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 present invention relates to an electrically assisted bicycle, a control system for the electrically assisted bicycle, and a control method for the electrically assisted bicycle.
  • Patent Document 1 discloses a bicycle with an electric motor that detects a driver's fatigue level using at least one of a heart rate and a respiration rate as an index and increases or decreases the driving force of the motor according to the increase or decrease in the fatigue level. ..
  • the present invention provides an electrically assisted bicycle capable of controlling the driving force of a motor according to a target heart rate and a measured heart rate, a control system for the electrically assisted bicycle, and a control method for the electrically assisted bicycle. ..
  • the electrically assisted bicycle includes a first acquisition unit that acquires a heart rate from a heart rate monitor, and a second acquisition unit that acquires the age of the driver and the resting heart rate of the driver from an input terminal.
  • the target determination unit that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit, the heart rate acquired by the first acquisition unit, and the target determination unit.
  • Assist rate determining unit that determines the assist rate, which is the ratio of the torque of the motor that rotates the pedal to the torque generated by the driver pedaling the pedal by comparing with the determined range of the target heart rate. And.
  • the control system for the electrically assisted bicycle includes a heart rate meter for measuring the driver's heart rate, an input terminal for inputting the driver's age and the driver's resting heart rate, and an electric motor.
  • the electrically assisted bicycle includes an assisted bicycle, and the electrically assisted bicycle includes a first acquisition unit that acquires a heart rate from the heart rate meter, a second acquisition unit that acquires the age and the resting heart rate from the input terminal, and the above.
  • the target determination unit that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit, the heart rate acquired by the first acquisition unit, and the target determination unit are determined. It has an assist rate determining unit that determines an assist rate that is a ratio of the torque of the motor that rotates the pedal to the torque generated by the driver pedaling from the range of the target heart rate.
  • the method for controlling an electrically assisted bicycle includes a first acquisition step of acquiring a heart rate from a heart rate monitor that measures the driver's heart rate, and a first acquisition of age and resting heart rate from an input terminal.
  • the assist rate which is the ratio of the torque of the motor for rotating the pedal to the torque generated by the driver pedaling, can be obtained. Includes an assist rate determination step to determine.
  • the electrically power assisted bicycle or the like can control the driving force of the motor according to the target heart rate and the measured heart rate.
  • FIG. 1 is an external view of the electrically power assisted bicycle according to the first embodiment.
  • FIG. 2 is a block diagram of the electrically power assisted bicycle according to the first embodiment.
  • FIG. 3 is a flowchart showing the control method of the electrically power assisted bicycle according to the first embodiment.
  • FIG. 4 is a graph showing the assist rate of the electrically assisted bicycle according to the first embodiment.
  • FIG. 5 is a graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the first embodiment is controlled.
  • FIG. 6 is another graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the first embodiment is controlled.
  • FIG. 7 is another flowchart showing the control method of the electrically power assisted bicycle according to the second embodiment.
  • FIG. 1 is an external view of the electrically power assisted bicycle according to the first embodiment.
  • FIG. 2 is a block diagram of the electrically power assisted bicycle according to the first embodiment.
  • FIG. 3 is a flowchart showing the control method of the electrically power assisted bicycle according
  • FIG. 8 is a block diagram of the electrically power assisted bicycle according to the first modification of the embodiment.
  • FIG. 9 is a flowchart showing a control method of the electrically power assisted bicycle according to the first modification of the embodiment.
  • FIG. 10 is a block diagram of the electrically power assisted bicycle according to the second modification of the embodiment.
  • each figure is a schematic diagram and is not necessarily exactly illustrated. Further, in each figure, substantially the same configuration may be designated by the same reference numerals, and duplicate description may be omitted or simplified.
  • FIG. 1 is an external view of the electrically power assisted bicycle according to the embodiment.
  • the vehicle body 8 of the electrically power assisted bicycle 1 includes an operation unit 2, a handle 3, a front wheel 4, a frame 5, a saddle 6, a battery 7, and a pedal 9.
  • the electrically assisted bicycle 1 has a first mode and a second mode.
  • the first mode is, for example, an assist mode in which the vehicle body 8 is assisted in advancing based on the pedaling force on the pedal 9. Assisting the advancement of the vehicle body 8 is also referred to as being assisted.
  • the second mode includes, for example, a push-walking mode or a self-propelled mode.
  • the forward movement of the vehicle body 8 based on the force for pushing the vehicle body 8 forward when walking by pushing the electrically assisted bicycle 1 is assisted.
  • the self-propelled mode the advancement of the vehicle body 8 when advancing while supporting the electrically assisted bicycle 1 is assisted.
  • FIG. 2 is a block diagram of the electrically power assisted bicycle according to the embodiment.
  • the electrically assisted bicycle 1 includes a first acquisition unit 11, a second acquisition unit 12, a target determination unit 13, an assist rate determination unit 14, a motor control unit 15, a motor 16, a torque measurement unit 17, and a cadence measurement unit 18.
  • the electrically power assisted bicycle 1 may be further connected to the heart rate monitor 20 and the input terminal 30.
  • the first acquisition unit 11 acquires the heart rate of the driver of the electrically power assisted bicycle 1 from the heart rate monitor 20.
  • the first acquisition unit 11 transmits the acquired heart rate to the assist rate determination unit 14.
  • the second acquisition unit 12 acquires the driver's age and the driver's resting heart rate from the input terminal 30.
  • the second acquisition unit 12 transmits the acquired heart rate to the target determination unit 13.
  • the first acquisition unit 11 and the second acquisition unit 12 may be a communication circuit that performs wireless communication or a communication circuit that performs wired communication.
  • the target determination unit 13 determines the target heart rate from the age of the driver acquired by the second acquisition unit 12 and the resting heart rate of the driver.
  • the target heart rate may be calculated using the following formula using the Carbonen method based on the driver's age and the driver's resting heart rate.
  • the exercise intensity in the following equation may be, for example, a predetermined value, or may be determined according to an exercise target value input by the user as described later. That is, as the exercise intensity of the following formula, the exercise intensity desired by the user may be used.
  • Target heart rate exercise intensity x (maximum heart rate-resting heart rate) + resting heart rate
  • the assist rate determination unit 14 compares the heart rate of the driver acquired by the first acquisition unit 11 with the target heart rate determined by the target determination unit 13 to compare the torque of the motor 16 for rotating the pedal 9 with the operation.
  • the assist rate which is the ratio to the torque generated by the person pedaling the pedal 9, is determined.
  • the assist rate determining unit 14 may detect the torque of the motor 16 and the torque generated by the driver pedaling by the torque measuring unit 17, and determine the assist rate using the value of the detected torque. ..
  • the motor control unit 15 controls the motor 16 based on the assist rate determined by the assist rate determination unit 14.
  • the motor control unit 15 may transmit a PWM (Pulse Width Modulation) signal to the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • PWM Pulse Width Modulation
  • the assist rate determination unit 14 and the motor control unit 15 are realized by a processor that executes a program and a memory that stores a program or the like to be executed.
  • the assist rate determining unit 14 is realized by a microcomputer (microcontroller) or the like, and has a non-volatile memory in which a program is stored, a volatile memory which is a temporary storage area for executing a program, and an input / output port. , It consists of a processor that executes a program.
  • the control device 22 may be realized by a dedicated electronic circuit.
  • the motor 16 drives the pedal 9 and the front wheels and / and the rear wheels.
  • the motor 16 is composed of a rotor, a bearing, a stator, a bracket, a lead wire, and the like.
  • the torque measuring unit 17 detects the torque of the motor 16 and the torque generated when the driver pedals, and transmits the detected value to the assist rate determining unit 14.
  • the torque measuring unit 17 may be composed of a torque sensor or the like.
  • the cadence measuring unit 18 measures the crank rotation speed for one minute.
  • the cadence measuring unit 18 may be composed of a crank rotation sensor or the like.
  • the crank rotation sensor has a gear-shaped rotating body and a photodetector.
  • the rotating body is provided so as to rotate integrally with the intermediate cylinder.
  • the photodetector has a light emitting part and a light receiving part arranged so as to face each other.
  • the photodetector is provided at a position where the teeth of the rotating body block the light path from the light emitting portion to the light receiving portion. Since the teeth block the light as the rotating body rotates, the rotating body depends on the number of times the light received by the light receiving portion is blocked (or the number of times the light can be received) and the number of teeth of the rotating body.
  • the number of revolutions of is detected. Since the rotating body, the intermediate cylinder, and the crank rotate integrally, the rotation speed of the rotating body matches the rotation speed of the crank. In this way, the crank rotation sensor can detect the rotation speed of the crank.
  • the crank rotation sensor may have any configuration as long as it can detect the rotation speed of the crank.
  • the electrically assisted bicycle 1 may be provided with a motor rotation sensor.
  • the motor rotation sensor has a magnet that rotates integrally with the rotation shaft of the motor 16 and a Hall IC.
  • the Hall IC detects the rotation speed of the magnet, that is, the rotation speed of the electric motor, by detecting the change in the magnetic field that changes according to the rotation of the magnet.
  • the motor rotation sensor may have any configuration as long as it can detect the rotation speed of the motor 16.
  • the electrically power assisted bicycle 1 may be provided with a pedaling force sensor.
  • the tread force sensor is a magnetostrictive torque sensor, and has a coil arranged on the outer peripheral surface of the human power transmission body through a gap, and a magnetostriction generating portion provided between the coil and the human power transmission body.
  • the pedaling force sensor detects the human-powered driving force generated by the rotation of the crankshaft based on the pedaling force on the pedal.
  • the magnetostrictive generating portion when a pedaling force is applied to the pedal 9 to generate a human-powered driving force, the magnetostrictive generating portion is distorted, and the magnetostrictive generating portion has a portion where the magnetic permeability increases and a portion where the magnetic permeability decreases. Therefore, it is possible to detect the human-powered driving force by detecting the inductance difference of the coil.
  • the configuration of the pedal force sensor is not particularly limited, and any configuration may be used as long as the pedal force (or human-powered driving force) on the pedal 9 can be detected.
  • the heart rate monitor 20 measures the driver's heart rate.
  • the heart rate monitor 20 measures the heart rate of the bicycle driver over time.
  • the heart rate monitor 20 may measure the driver's heart rate every few seconds or minutes.
  • the heart rate monitor 20 may irradiate a living body with infrared rays, red light, or light having a green wavelength in the vicinity of 550 nm, and use a photodiode or a phototransistor to measure the light reflected in the living body.
  • the input terminal 30 is a terminal that accepts the age of the driver and the resting heart rate of the driver.
  • the input terminal may be a tablet terminal, a touch panel type dedicated terminal, a dedicated terminal having an input unit and a display unit, a smartphone, or a personal computer.
  • the input unit may be realized by an input button or the like.
  • FIG. 3 is a flowchart showing a control method of the electrically power assisted bicycle according to the embodiment.
  • the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S100). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
  • the target determination unit 13 determines the range of the target heart rate (step S101).
  • the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S102).
  • the assist rate determination unit 14 compares the range of the target heart rate with the measured heart rate acquired by the first acquisition unit 11 (step S103).
  • the assist rate determination unit 14 determines whether or not the measured heart rate is above the upper limit of the target heart rate range (step S104).
  • the assist rate determination unit 14 determines that the measured heart rate is above the upper limit of the target heart rate range (Yes in step S104).
  • the assist rate determination unit 14 increases the assist rate (step). S105). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the assist rate determination unit 14 determines that the measured heart rate is below the upper limit of the target heart rate range (No in step S104).
  • the assist rate determination unit 14 targets the measured heart rate. It is determined whether or not it is below the lower limit of the heart rate range (step S106).
  • the assist rate determination unit 14 determines that the measured heart rate is below the lower limit of the target heart rate range (Yes in step S106).
  • the assist rate determination unit 14 reduces the assist rate (step). S108). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the assist rate determination unit 14 determines that the measured heart rate is above the lower limit of the target heart rate range (No in step S106)
  • the assist rate determination unit 14 maintains the current assist rate (No). Step S107). Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S101, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
  • the electrically assisted bicycle 1 can determine the assist rate and control the motor 16 so that the driver's heart rate falls within a desired range by measuring the driver's heart rate.
  • FIG. 4 is a graph showing the assist rate of the electrically power assisted bicycle according to the embodiment.
  • the solid line 100 indicates the statutory assist rate.
  • the statutory assist rate is that the ratio of the torque of the motor 16 that rotates the pedal 9 to the torque generated by the driver pedaling the pedal 9 is 1: 2 until the speed of the electrically power assisted bicycle 1 is 10 km / h. be.
  • the legal assist rate gradually decreases until the speed of the electrically power assisted bicycle 1 exceeds 10 km / h and reaches 24 km / h.
  • the assist rate determining unit 14 determines the assist rate within a range that does not exceed the above-mentioned legal assist rate.
  • the solid line 200 shown in FIG. 4 is an example of an assist rate determined by a conventional method in which the driver's heart rate is not taken into consideration.
  • the assist rate determined by the assist rate determining unit 14 of the electrically power assisted bicycle 1 of the present invention is different from the assist rate shown by the solid line 200, and is legally determined according to the driver's heart rate acquired by the first acquisition unit 11.
  • the driver's heart rate is adjusted to be within the desired range within the range of the assist rate of.
  • the assist rate determined by the assist rate determining unit 14 may be adjusted every few seconds, or may be adjusted every minute to several minutes.
  • FIG. 5 is a graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the embodiment is controlled.
  • the solid line 300 in FIG. 5 shows the driver's heart rate when the assist rate determining unit 14 is not controlled.
  • the axis representing the heart rate shown in FIG. 5 starts from the resting heart rate.
  • the solid line 400 in FIG. 5 shows the driver's heart rate when the assist rate determining unit 14 is controlled.
  • the solid line 300 indicates that the driver's heart rate is gradually increasing over time.
  • the solid line 400 indicates that the driver's heart rate increases and then decreases to a constant heart rate. That is, the solid line 400 shows how the driver's heart rate falls within a desired range under the control of the assist rate determining unit 14 when the driver's heart rate is increased by the load of rowing the electrically power assisted bicycle 1. ing.
  • FIG. 6 is another graph showing the heart rate when the assist rate of the electrically power assisted bicycle in the embodiment is controlled.
  • the solid line 600 in FIG. 6 shows the driver's heart rate when the assist rate determining unit 14 is not controlled.
  • the axis representing the heart rate shown in FIG. 6 starts from the resting heart rate.
  • the solid line 500 in FIG. 6 shows the driver's heart rate when the assist rate determining unit 14 is controlled.
  • the solid line 600 indicates that the driver's heart rate remains low and constant.
  • the solid line 500 indicates that the driver's heart rate remains constant after rising above the solid line 600. That is, the solid line 500 shows that when the driver's heart rate is lower than the desired value, the driver's heart rate falls within the desired range under the control of the assist rate determining unit 14.
  • the assist rate determining unit 14 of the electrically power assisted bicycle 1 may determine the assist rate based on the rate of increase or decrease of the driver's heart rate, not on the driver's heart rate itself. For example, even if the measured driver's heart rate is within the target heart rate range, if the rate of increase or decrease in the heart rate is large, the driver's heart rate does not fall outside the target heart rate range. As described above, the assist rate may be controlled.
  • FIG. 7 is another flowchart showing a control method of the electrically power assisted bicycle according to the embodiment.
  • FIG. 7 shows control when the driver's heart rate is within the range of the target heart rate (for example, when No in step S106 shown in FIG. 3).
  • the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S200). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
  • the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S201).
  • the assist rate determination unit 14 determines whether or not the measured increase in heart rate is equal to or greater than a predetermined amount (step S202).
  • the assist rate determination unit 14 determines that the measured increase in heart rate is equal to or greater than a predetermined amount (Yes in step S202)
  • the assist rate determination unit 14 increases the assist rate (step S203). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased.
  • the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the assist rate determining unit 14 determines that the measured heart rate increase is equal to or less than a predetermined amount (No in step S202), the assist rate determining unit 14 determines that the measured heart rate decrease is a predetermined amount. It is determined whether or not it is the above (step S204).
  • the assist rate determination unit 14 determines that the measured heart rate reduction amount is equal to or greater than a predetermined amount (Yes in step S204).
  • the assist rate determination unit 14 reduces the assist rate (step S206). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the assist rate determination unit 14 determines that the measured heart rate reduction amount is equal to or less than a predetermined amount (No in step S204)
  • the assist rate determination unit 14 maintains the current assist rate (step S205). Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
  • the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S201, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
  • the target determination unit 13 may determine the target heart rate after step S200. Then, the assist rate determination unit 14 may determine the assist rate based on the rate of increase or decrease of the driver's heart rate according to the target heart rate.
  • the electrically assisted bicycle 1 determines the assist rate so that the driver's heart rate falls within a desired range by measuring the rate of increase and decrease of the driver's heart rate, and drives the motor 16. Can be controlled.
  • the assist rate is determined based on the rate of increase or decrease of the heart rate, but the driver's heart rate.
  • the assist rate may be determined based on the rate of increase or decrease in heart rate.
  • the assist rate when the driver's heart rate is below the lower limit of the target heart rate, the assist rate is reduced when the decrease in the driver's heart rate is greater than the predetermined value, and the driver's heart rate is reduced.
  • the assist rate may be increased or maintained when the amount of decrease is equal to or less than a predetermined value.
  • the assist rate when the driver's heart rate is above the upper limit of the target heart rate, the assist rate is increased when the increase in the driver's heart rate is greater than a predetermined value, and the driver's heart rate is increased.
  • the assist rate may be reduced or maintained when the increase in heart rate is less than or equal to a predetermined value.
  • the target heart rate is determined based on the driver's age and the resting heart rate, and the assist force, which is the torque of the motor that rotates the pedal, is determined based on the driver's heart rate. good.
  • FIG. 8 is a block diagram of the electrically power assisted bicycle according to the first modification of the embodiment.
  • the electrically assisted bicycle 1a includes an assist force determining unit 14a instead of the assist rate determining unit 14 included in the electrically assisted bicycle 1.
  • the description of the components common to the electrically power assisted bicycle 1a and the electrically power assisted bicycle 1 will be omitted.
  • the assist force determination unit 14a compares the heart rate of the driver acquired by the first acquisition unit 11 with the target heart rate determined by the target determination unit 13, and is the torque of the motor 16 for rotating the pedal 9. Determine the force.
  • the assist force determining unit 14a may detect the torque of the motor 16 and the torque generated by the driver pedaling by the torque measuring unit 17, and determine the assisting force using the value of the detected torque. ..
  • the assist force determination unit 14a is realized by a processor that executes a program and a memory that stores a program or the like to be executed. Further, for example, the assist force determining unit 14a is realized by a microcomputer (microcontroller) or the like, and has a non-volatile memory in which a program is stored, a volatile memory which is a temporary storage area for executing a program, and an input / output port. , It consists of a processor that executes a program. Alternatively, the control device 22 may be realized by a dedicated electronic circuit.
  • FIG. 9 is a flowchart showing a control method of the electrically power assisted bicycle in the first modification of the embodiment.
  • the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S300). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
  • the target determination unit 13 determines the range of the target heart rate (step S301).
  • the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S302).
  • the assist rate determination unit 14 compares the range of the target heart rate with the measured heart rate acquired by the first acquisition unit 11 (step S303).
  • the assist rate determination unit 14 determines whether or not the measured heart rate is above the upper limit of the target heart rate range (step S304).
  • the assist force determination unit 14a increases the assist force (step). S305). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased. Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
  • the assist force determination unit 14a targets the measured heart rate. It is determined whether or not it is below the lower limit of the heart rate range (step S306).
  • the assist force determination unit 14a determines that the measured heart rate is below the lower limit of the target heart rate range (Yes in step S306), the assist force determination unit 14a reduces the assist force (step). S308). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
  • a predetermined ratio for example, 50%
  • the assist force determination unit 14a determines that the measured heart rate is above the lower limit of the target heart rate range (No in step S306), the assist force determination unit 14a maintains the current assist force (No). Step S307). Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
  • the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S301, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
  • the electrically assisted bicycle 1a can control the motor 16 by measuring the driver's heart rate, determining the assisting force so that the driver's heart rate falls within a desired range.
  • the assist force determining unit 14a of the electrically power assisted bicycle 1a may determine the assist force based on the rate of increase or decrease of the driver's heart rate, not based on the driver's heart rate itself.
  • the control performed when the assist force determining unit 14a determines the assist force based on the rate of increase or decrease of the driver's heart rate is the same as that described in FIG.
  • FIG. 10 is a block diagram of the electrically power assisted bicycle according to the second modification of the embodiment.
  • the electrically power assisted bicycle 1b may be provided with a heart rate monitor 20b and an input terminal 30b. As a result, the electrically power assisted bicycle 1b can directly acquire the driver's heart rate, age, and resting heart rate.
  • the electrically assisted bicycle 1b may include an assist force determining unit 14a instead of the assist rate determining unit 14.
  • the electrically assisted bicycle 1 is obtained from a first acquisition unit 11 that acquires a heart rate from a heart rate monitor 20 that measures the driver's heart rate, and an input terminal 30 that inputs the driver's age and the driver's resting heart rate.
  • the second acquisition unit 12 that acquires the age and the resting heart rate
  • the target determination unit 13 that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit 12, and the first acquisition unit.
  • An assist rate determining unit 14 for determining a certain assist rate is provided.
  • the electrically assisted bicycle 1 determines the target heart rate based on the driver's age and the resting heart rate, and the torque of the motor that rotates the pedal and the driver press the pedal based on the driver's heart rate.
  • the assist rate which is the ratio to the torque generated by rowing, the driver's heart rate can be kept within a desired range.
  • the second acquisition unit 12 further acquires the exercise target value from the input terminal 30 into which the exercise target value which is the target value of the driver's exercise intensity is input, and the target determination unit 13 further acquires the exercise target value at the age and at rest.
  • the target heart rate may be determined from the heart rate and the exercise target value acquired by the second acquisition unit 12.
  • the electrically assisted bicycle 1 can keep the driver's heart rate within a desired range by determining the assist rate so that the driver can achieve the desired exercise target value.
  • the assist rate determination unit 14 may increase the assist rate when the heart rate measured by the first acquisition unit 11 exceeds the upper limit of the target heart rate range determined by the target determination unit 13. ..
  • the electrically assisted bicycle 1 can suppress the increase in the driver's heart rate or decrease the driver's heart rate. ..
  • the assist rate determination unit 14 may reduce the assist rate when the heart rate measured by the first acquisition unit 11 is below the lower limit of the target heart rate range determined by the target determination unit 13. ..
  • the electrically power assisted bicycle 1 can suppress the decrease in the driver's heart rate or increase the driver's heart rate. ..
  • the assist rate determining unit 14 may increase the assist rate when the increase amount of the heart rate acquired by the first acquisition unit 11 is equal to or more than a predetermined amount.
  • the electrically assisted bicycle 1 can suppress the increase in the driver's heart rate or decrease the driver's heart rate.
  • the assist rate determining unit 14 may reduce the assist rate when the amount of decrease in the heart rate acquired by the first acquisition unit 11 is equal to or greater than a predetermined amount.
  • the electrically assisted bicycle 1 can suppress the decrease in the driver's heart rate or increase the driver's heart rate.
  • the electrically power assisted bicycle 1b may further include at least one of the input terminal 30 and the heart rate monitor 20.
  • the electrically power assisted bicycle 1b can directly acquire the driver's heart rate, the driver's age, and the exercise target value.
  • the electrically assisted bicycle 1a includes a first acquisition unit 11 that acquires a heart rate from a heart rate monitor 20 that measures the driver's heart rate, and an input terminal that inputs the driver's age and the driver's resting heart rate.
  • the second acquisition unit 12 that acquires the age and the resting heart rate from 30, the target determination unit 13 that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit 12, and the first
  • the assist force determination unit 14a that determines the assist force, which is the torque of the motor that rotates the pedal, May be provided.
  • the electrically power assisted bicycle 1a determines the target heart rate based on the driver's age and resting heart rate, and determines the assist force, which is the torque of the motor that rotates the pedal, based on the driver's heart rate. By doing so, the driver's heart rate can be kept within a desired range.
  • the control system of the electrically assisted bicycle 1 includes a heart rate meter 20 for measuring the driver's heart rate, an input terminal 30 for inputting the driver's age and the driver's resting heart rate, the electrically assisted bicycle 1, and the electric assisted bicycle 1.
  • the electrically assisted bicycle 1 includes a first acquisition unit that acquires a heart rate from the heart rate meter 20, a second acquisition unit 12 that acquires an age and a resting heart rate from an input terminal 30, and a second acquisition unit 12. From the acquired target heart rate range 13 that determines the target heart rate range from the age and resting heart rate, the heart rate acquired by the first acquisition unit 11, and the target heart rate range determined by the target determination unit 13.
  • the assist rate determining unit 14 determines the assist rate, which is the ratio of the torque of the motor for rotating the pedal to the torque generated by the driver pedaling.
  • the control system of the electrically assisted bicycle 1 determines the target heart rate based on the driver's age and resting heart rate, and the torque of the motor that rotates the pedal and the driver based on the driver's heart rate.
  • the driver's heart rate can be kept within a desired range by determining the assist rate, which is the ratio of the torque generated by pedaling.
  • the first acquisition step of acquiring the heart rate from the heart rate monitor 20 for measuring the driver's heart rate, the driver's age, and the driver's resting heart rate are input.
  • the torque of the motor that rotates the pedal and the torque generated by the driver pedaling Includes an assist rate determination step that determines the assist rate, which is a ratio.
  • control method of the electrically power assisted bicycle 1 can achieve the same effect as the control system of the electrically power assisted bicycle 1.
  • all or a part of the unit, the device, the member, or the part, or all or a part of the functional blocks in the block diagram shown in FIG. 4 are semiconductor devices, semiconductor integrated. It may be executed by one or more electronic circuits including a circuit (IC (Integrated Semiconductor)) or a large-scale integrated circuit (LSI (Large Scale Integration)).
  • the IC or LSI may be integrated on one chip (system LSI), or a plurality of chips may be combined to form one system (chipset).
  • system LSI system LSI
  • functional blocks other than screen display processing may be integrated on one chip.
  • IC integrated circuit
  • LSI Very Large Scale Integration
  • VLSI Very Large Scale Integration
  • ULSI Ultra Large Scale Integration
  • eFuse electronic fuse
  • FPGA Field Programmable Gate Array
  • a reconfigurable device that can be reconfigured can also be used for the same purpose.
  • the functions or operations of all or part of the unit, device, member, or part can be executed by software processing.
  • the software is recorded on one or more ROMs, optical disks, non-temporary recording media such as a hard disk drive, and the software is a microcontroller (MCU (microcontroller)) or a microprocessor (MPU (MPU).
  • MCU microcontroller
  • MPU microprocessor
  • the function specified by the software is executed by the processing unit and peripheral devices.
  • the system or device may include one or more non-temporary recording media, processing devices, and required hardware devices, such as digital interfaces, on which software is recorded.
  • control device 22 in each of the above embodiments has a processor and a memory, and the memory stores a program for executing each step of the flowchart shown in FIG. 3, FIG. 7 or FIG. May be good.
  • the processor executes the program stored in the memory.

Abstract

This power assist bicycle (1) is provided with: a first acquisition unit (11) which acquires the heart rate from a heart rate monitor (20); a second acquisition unit (12) which acquires the age and resting heart rate from an input terminal (30); a target determination unit (13) which determines a target heart rate range from the age and resting heart rate acquired by the second acquisition unit (12); and an assist ratio determination unit (14) which, by comparing the heart rate acquired by the first acquisition unit (11) and the target heart rate range determined by the target determination unit (13), determines the assist ratio, which is the ratio of the torque of the motor (16) that rotates the pedals and the torque generated by the rider peddling the pedals (9).

Description

電動アシスト自転車、電動アシスト自転車の制御システム、および、電動アシスト自転車の制御方法Electric assisted bicycle, electric assisted bicycle control system, and electric assisted bicycle control method
　本発明は、電動アシスト自転車、電動アシスト自転車の制御システム、および、電動アシスト自転車の制御方法に関する。 The present invention relates to an electrically assisted bicycle, a control system for the electrically assisted bicycle, and a control method for the electrically assisted bicycle.
　近年、自転車の健康増進効果が注目されており、乗車中に所望の運動強度を実現するために、目標心拍数と計測された心拍数とに応じてモータの駆動力を制御することができる自転車が望まれる。特許文献１には、心拍数および呼吸回数の少なくとも一方を指標として、運転者の疲労度を検出し、疲労度の増減に応じてモータの駆動力を増減させる電動モータ付き自転車が開示されている。 In recent years, attention has been paid to the health-promoting effect of bicycles, and in order to achieve a desired exercise intensity while riding a bicycle, the driving force of a motor can be controlled according to a target heart rate and a measured heart rate. Is desired. Patent Document 1 discloses a bicycle with an electric motor that detects a driver's fatigue level using at least one of a heart rate and a respiration rate as an index and increases or decreases the driving force of the motor according to the increase or decrease in the fatigue level. ..
特許第３２７６４２０号公報Japanese Patent No. 3276420
　しかしながら、特許文献１に開示される電動アシスト自転車は、目標心拍数と計測された心拍数とに応じて、モータの駆動力を制御することはできない。 However, in the electrically power assisted bicycle disclosed in Patent Document 1, the driving force of the motor cannot be controlled according to the target heart rate and the measured heart rate.
　本発明は、目標心拍数と計測された心拍数とに応じて、モータの駆動力を制御することができる電動アシスト自転車、電動アシスト自転車の制御システム、および、電動アシスト自転車の制御方法を提供する。 The present invention provides an electrically assisted bicycle capable of controlling the driving force of a motor according to a target heart rate and a measured heart rate, a control system for the electrically assisted bicycle, and a control method for the electrically assisted bicycle. ..
　本発明の一態様に係る電動アシスト自転車は、心拍計から心拍数を取得する第１取得部と、運転者の年齢および前記運転者の安静時心拍数を入力端末から取得する第２取得部と、前記第２取得部が取得した、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定部と、前記第１取得部が取得した前記心拍数と、前記目標決定部が決定した前記目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと前記運転者が前記ペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部と、を備える。 The electrically assisted bicycle according to one aspect of the present invention includes a first acquisition unit that acquires a heart rate from a heart rate monitor, and a second acquisition unit that acquires the age of the driver and the resting heart rate of the driver from an input terminal. , The target determination unit that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit, the heart rate acquired by the first acquisition unit, and the target determination unit. Assist rate determining unit that determines the assist rate, which is the ratio of the torque of the motor that rotates the pedal to the torque generated by the driver pedaling the pedal by comparing with the determined range of the target heart rate. And.
　本発明の一態様に係る電動アシスト自転車の制御システムは、運転者の心拍数を測定する心拍計と、前記運転者の年齢および前記運転者の安静時心拍数が入力される入力端末と、電動アシスト自転車と、を備え、前記電動アシスト自転車は、前記心拍計から心拍数を取得する第１取得部と、前記年齢および前記安静時心拍数を前記入力端末から取得する第２取得部と、前記第２取得部が取得した、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定部と、前記第１取得部が取得した前記心拍数と、前記目標決定部が決定した前記目標心拍数の範囲とから、ペダルを回転させるモータのトルクと前記運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部と、を有する。 The control system for the electrically assisted bicycle according to one aspect of the present invention includes a heart rate meter for measuring the driver's heart rate, an input terminal for inputting the driver's age and the driver's resting heart rate, and an electric motor. The electrically assisted bicycle includes an assisted bicycle, and the electrically assisted bicycle includes a first acquisition unit that acquires a heart rate from the heart rate meter, a second acquisition unit that acquires the age and the resting heart rate from the input terminal, and the above. The target determination unit that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit, the heart rate acquired by the first acquisition unit, and the target determination unit are determined. It has an assist rate determining unit that determines an assist rate that is a ratio of the torque of the motor that rotates the pedal to the torque generated by the driver pedaling from the range of the target heart rate.
　本発明の一態様に係る電動アシスト自転車の制御方法は、運転者の心拍数を測定する心拍計から心拍数を取得する第１取得ステップと、年齢および安静時心拍数を入力端末から取得する第２取得ステップと、前記第２取得ステップで取得された、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定ステップと、前記第１取得ステップで取得された前記心拍数と、前記目標決定ステップで決定された前記目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと前記運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定ステップと、を含む。 The method for controlling an electrically assisted bicycle according to one aspect of the present invention includes a first acquisition step of acquiring a heart rate from a heart rate monitor that measures the driver's heart rate, and a first acquisition of age and resting heart rate from an input terminal. The two acquisition steps, the target determination step for determining the range of the target heart rate from the age and the resting heart rate acquired in the second acquisition step, and the heart rate acquired in the first acquisition step. By comparing with the range of the target heart rate determined in the target determination step, the assist rate, which is the ratio of the torque of the motor for rotating the pedal to the torque generated by the driver pedaling, can be obtained. Includes an assist rate determination step to determine.
　本発明の一態様に係る電動アシスト自転車等は、目標心拍数と計測された心拍数とに応じて、モータの駆動力を制御することができる。 The electrically power assisted bicycle or the like according to one aspect of the present invention can control the driving force of the motor according to the target heart rate and the measured heart rate.
図１は、実施の形態１における電動アシスト自転車の外観図である。FIG. 1 is an external view of the electrically power assisted bicycle according to the first embodiment. 図２は、実施の形態１における電動アシスト自転車のブロック図である。FIG. 2 is a block diagram of the electrically power assisted bicycle according to the first embodiment. 図３は、実施の形態１における電動アシスト自転車の制御方法を表すフローチャートである。FIG. 3 is a flowchart showing the control method of the electrically power assisted bicycle according to the first embodiment. 図４は、実施の形態１における電動アシスト自転車のアシスト率を示すグラフである。FIG. 4 is a graph showing the assist rate of the electrically assisted bicycle according to the first embodiment. 図５は、実施の形態１における電動アシスト自転車のアシスト率を制御した場合の心拍数を表すグラフである。FIG. 5 is a graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the first embodiment is controlled. 図６は、実施の形態１における電動アシスト自転車のアシスト率を制御した場合の心拍数を表す別のグラフである。FIG. 6 is another graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the first embodiment is controlled. 図７は、実施の形態２における電動アシスト自転車の制御方法を表す別のフローチャートである。FIG. 7 is another flowchart showing the control method of the electrically power assisted bicycle according to the second embodiment. 図８は、実施の形態の変形例１における電動アシスト自転車のブロック図である。FIG. 8 is a block diagram of the electrically power assisted bicycle according to the first modification of the embodiment. 図９は、実施の形態の変形例１における電動アシスト自転車の制御方法を表すフローチャートである。FIG. 9 is a flowchart showing a control method of the electrically power assisted bicycle according to the first modification of the embodiment. 図１０は、実施の形態の変形例２における電動アシスト自転車のブロック図である。FIG. 10 is a block diagram of the electrically power assisted bicycle according to the second modification of the embodiment.
　（実施の形態１）
　以下、実施の形態について、図面を参照しながら具体的に説明する。なお、以下で説明する実施の形態は、いずれも包括的、または、具体的な例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置および接続形態、ステップ、ステップの順序などは、一例であり、本発明を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 (Embodiment 1)
Hereinafter, embodiments will be specifically described with reference to the drawings. It should be noted that all of the embodiments described below are comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the components in the following embodiments, the components not described in the independent claims will be described as arbitrary components.
　なお、各図は模式図であり、必ずしも厳密に図示されたものではない。また、各図において、実質的に同一の構成に対しては同一の符号を付し、重複する説明は省略、または、簡略化される場合がある。 Note that each figure is a schematic diagram and is not necessarily exactly illustrated. Further, in each figure, substantially the same configuration may be designated by the same reference numerals, and duplicate description may be omitted or simplified.
　［電動アシスト自転車の概要］
　図１は、実施の形態における電動アシスト自転車の外観図である。電動アシスト自転車１の車体８は、操作部２、ハンドル３、前輪４、フレーム５、サドル６、バッテリー７およびペダル９を備える。電動アシスト自転車１は、第１モードと、第２モードとを有する。第１モードは、例えばアシストモードであり、ペダル９への踏力に基づく車体８の前進が補助される。車体８の前進が補助されることを、アシストされるともいう。第２モードには、例えば押し歩きモード又は自走モードが含まれる。押し歩きモードでは、電動アシスト自転車１を押して歩くときの車体８を前へ押す力に基づく車体８の前進が補助される。自走モードでは、電動アシスト自転車１を支えながら進むときの車体８の前進が補助される。 [Overview of electrically power assisted bicycles]
FIG. 1 is an external view of the electrically power assisted bicycle according to the embodiment. The vehicle body 8 of the electrically power assisted bicycle 1 includes an operation unit 2, a handle 3, a front wheel 4, a frame 5, a saddle 6, a battery 7, and a pedal 9. The electrically assisted bicycle 1 has a first mode and a second mode. The first mode is, for example, an assist mode in which the vehicle body 8 is assisted in advancing based on the pedaling force on the pedal 9. Assisting the advancement of the vehicle body 8 is also referred to as being assisted. The second mode includes, for example, a push-walking mode or a self-propelled mode. In the push-walking mode, the forward movement of the vehicle body 8 based on the force for pushing the vehicle body 8 forward when walking by pushing the electrically assisted bicycle 1 is assisted. In the self-propelled mode, the advancement of the vehicle body 8 when advancing while supporting the electrically assisted bicycle 1 is assisted.
　［電動アシスト自転車の制御システムの構成］
　図２は、実施の形態における電動アシスト自転車のブロック図である。電動アシスト自転車１は、第１取得部１１、第２取得部１２、目標決定部１３、アシスト率決定部１４、モータ制御部１５、モータ１６、トルク計測部１７およびケイデンス計測部１８を備える。電動アシスト自転車１は、さらに、心拍計２０と入力端末３０と接続されていてもよい。 [Configuration of power-assisted bicycle control system]
FIG. 2 is a block diagram of the electrically power assisted bicycle according to the embodiment. The electrically assisted bicycle 1 includes a first acquisition unit 11, a second acquisition unit 12, a target determination unit 13, an assist rate determination unit 14, a motor control unit 15, a motor 16, a torque measurement unit 17, and a cadence measurement unit 18. The electrically power assisted bicycle 1 may be further connected to the heart rate monitor 20 and the input terminal 30.
　第１取得部１１は、心拍計２０から電動アシスト自転車１の運転者の心拍数を取得する。第１取得部１１は、アシスト率決定部１４に取得した心拍数を送信する。 The first acquisition unit 11 acquires the heart rate of the driver of the electrically power assisted bicycle 1 from the heart rate monitor 20. The first acquisition unit 11 transmits the acquired heart rate to the assist rate determination unit 14.
　第２取得部１２は、入力端末３０から運転者の年齢および運転者の安静時心拍数を取得する。第２取得部１２は、目標決定部１３に取得した心拍数を送信する。 The second acquisition unit 12 acquires the driver's age and the driver's resting heart rate from the input terminal 30. The second acquisition unit 12 transmits the acquired heart rate to the target determination unit 13.
　第１取得部１１および第２取得部１２は、無線通信を行う通信回路であってもよいし、有線通信を行う通信回路であってもよい。 The first acquisition unit 11 and the second acquisition unit 12 may be a communication circuit that performs wireless communication or a communication circuit that performs wired communication.
　目標決定部１３は、第２取得部１２が取得した運転者の年齢および運転者の安静時心拍数から、目標心拍数を決定する。目標心拍数は、運転者の年齢と運転者の安静時心拍数を基に、カルボーネン法を用いて以下の式を用いて算出されてもよい。なお、以下の式の運動強度は、例えば、あらかじめ定められた値とされてもよいし、後述のようにユーザによって入力される運動目標値に応じて決定される場合もある。つまり、以下の式の運動強度としては、ユーザの所望の運動強度が用いられる場合もある。 The target determination unit 13 determines the target heart rate from the age of the driver acquired by the second acquisition unit 12 and the resting heart rate of the driver. The target heart rate may be calculated using the following formula using the Carbonen method based on the driver's age and the driver's resting heart rate. The exercise intensity in the following equation may be, for example, a predetermined value, or may be determined according to an exercise target value input by the user as described later. That is, as the exercise intensity of the following formula, the exercise intensity desired by the user may be used.
　目標心拍数＝運動強度×（最大心拍数－安静時心拍数）＋安静時心拍数 Target heart rate = exercise intensity x (maximum heart rate-resting heart rate) + resting heart rate
　アシスト率決定部１４は、第１取得部１１が取得した運転者の心拍数と目標決定部１３が決定した目標心拍数とを比較することで、ペダル９を回転させるモータ１６のトルクと、運転者がペダル９を漕ぐことによって発生するトルクとの比率であるアシスト率を決定する。アシスト率決定部１４は、トルク計測部１７によってモータ１６のトルクおよび運転者がペダルを漕ぐことによって発生するトルクを検出し、検出されたトルクの値を用いて、アシスト率を決定してもよい。 The assist rate determination unit 14 compares the heart rate of the driver acquired by the first acquisition unit 11 with the target heart rate determined by the target determination unit 13 to compare the torque of the motor 16 for rotating the pedal 9 with the operation. The assist rate, which is the ratio to the torque generated by the person pedaling the pedal 9, is determined. The assist rate determining unit 14 may detect the torque of the motor 16 and the torque generated by the driver pedaling by the torque measuring unit 17, and determine the assist rate using the value of the detected torque. ..
　モータ制御部１５は、アシスト率決定部１４が決定したアシスト率に基づいて、モータ１６を制御する。モータ制御部１５は、モータ１６にアシスト率決定部１４が決定したアシスト率を実現するようなＰＷＭ（Ｐｕｌｓｅ　Ｗｉｄｔｈ　Ｍｏｄｕｌａｔｉｏｎ）信号を送信してもよい。 The motor control unit 15 controls the motor 16 based on the assist rate determined by the assist rate determination unit 14. The motor control unit 15 may transmit a PWM (Pulse Width Modulation) signal to the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　アシスト率決定部１４およびモータ制御部１５は、プログラムを実行するプロセッサと実行されるプログラム等を記憶するメモリとによって実現される。また、例えば、アシスト率決定部１４は、マイコン（マイクロコントローラ）などで実現され、プログラムが格納された不揮発性メモリ、プログラムを実行するための一時的な記憶領域である揮発性メモリ、入出力ポート、プログラムを実行するプロセッサなどで構成されている。あるいは、制御装置２２は、専用の電子回路で実現されてもよい。 The assist rate determination unit 14 and the motor control unit 15 are realized by a processor that executes a program and a memory that stores a program or the like to be executed. Further, for example, the assist rate determining unit 14 is realized by a microcomputer (microcontroller) or the like, and has a non-volatile memory in which a program is stored, a volatile memory which is a temporary storage area for executing a program, and an input / output port. , It consists of a processor that executes a program. Alternatively, the control device 22 may be realized by a dedicated electronic circuit.
　モータ１６は、ペダル９及び前輪または／および後輪を駆動させる。モータ１６は、ロータ、ベアリング、ステータ、ブラケット、および、リード線等から構成される。 The motor 16 drives the pedal 9 and the front wheels and / and the rear wheels. The motor 16 is composed of a rotor, a bearing, a stator, a bracket, a lead wire, and the like.
　トルク計測部１７は、モータ１６のトルクおよび運転者がペダルを漕ぐことによって発生するトルクを検出し、検出した値をアシスト率決定部１４に送信する。トルク計測部１７は、トルクセンサ等で構成されてもよい。 The torque measuring unit 17 detects the torque of the motor 16 and the torque generated when the driver pedals, and transmits the detected value to the assist rate determining unit 14. The torque measuring unit 17 may be composed of a torque sensor or the like.
　ケイデンス計測部１８は、１分間のクランク回転数を計測する。ケイデンス計測部１８は、クランク回転センサ等で構成されていてもよい。クランク回転センサは、歯車状の回転体と、光検出器とを有する。回転体は、中間筒体と一体的に回転するように設けられている。光検出器は、互いに対向するように配置された光出射部と受光部とを有する。光検出器は、回転体の歯が、光出射部から受光部に至る光の経路を遮る位置に設けられている。回転体の回転に合わせて歯が光を遮るので、受光部で受光される光が遮られた回数（又は、光が受光できた回数）と回転体の歯の数とに応じて、回転体の回転数が検出される。回転体と中間筒体及びクランクとが一体的に回転するので、回転体の回転数は、クランクの回転数に一致する。このようにして、クランク回転センサは、クランクの回転数を検出することができる。なお、クランク回転センサは、クランクの回転数を検出することができればいかなる構成でもよい。 The cadence measuring unit 18 measures the crank rotation speed for one minute. The cadence measuring unit 18 may be composed of a crank rotation sensor or the like. The crank rotation sensor has a gear-shaped rotating body and a photodetector. The rotating body is provided so as to rotate integrally with the intermediate cylinder. The photodetector has a light emitting part and a light receiving part arranged so as to face each other. The photodetector is provided at a position where the teeth of the rotating body block the light path from the light emitting portion to the light receiving portion. Since the teeth block the light as the rotating body rotates, the rotating body depends on the number of times the light received by the light receiving portion is blocked (or the number of times the light can be received) and the number of teeth of the rotating body. The number of revolutions of is detected. Since the rotating body, the intermediate cylinder, and the crank rotate integrally, the rotation speed of the rotating body matches the rotation speed of the crank. In this way, the crank rotation sensor can detect the rotation speed of the crank. The crank rotation sensor may have any configuration as long as it can detect the rotation speed of the crank.
　また、電動アシスト自転車１は、モータ回転センサを備えていてもよい。モータ回転センサは、モータ１６の回転軸と一体的に回転する磁石と、ホールＩＣとを有する。ホールＩＣは、磁石の回転に応じて変化する磁界の変化を検出することで、磁石の回転数、すなわち、電動モータの回転数を検出する。なお、モータ回転センサは、モータ１６の回転数を検出することができればいかなる構成でもよい。 Further, the electrically assisted bicycle 1 may be provided with a motor rotation sensor. The motor rotation sensor has a magnet that rotates integrally with the rotation shaft of the motor 16 and a Hall IC. The Hall IC detects the rotation speed of the magnet, that is, the rotation speed of the electric motor, by detecting the change in the magnetic field that changes according to the rotation of the magnet. The motor rotation sensor may have any configuration as long as it can detect the rotation speed of the motor 16.
　また、電動アシスト自転車１は、踏力センサを備えていてもよい。踏力センサは、磁歪式のトルクセンサであり、人力伝達体の外周表面に隙間を介して配置されたコイルと、コイルと人力伝達体との間に設けられた磁歪発生部とを有する。踏力センサは、ペダルへの踏力に基づいてクランク軸が回転することにより発生する人力駆動力を検出する。 Further, the electrically power assisted bicycle 1 may be provided with a pedaling force sensor. The tread force sensor is a magnetostrictive torque sensor, and has a coil arranged on the outer peripheral surface of the human power transmission body through a gap, and a magnetostriction generating portion provided between the coil and the human power transmission body. The pedaling force sensor detects the human-powered driving force generated by the rotation of the crankshaft based on the pedaling force on the pedal.
　例えば、ペダル９に踏力が加えられて人力駆動力が発生した場合に、磁歪発生部に歪みが発生し、磁歪発生部には、透磁率が増加する部位と減少する部位とが発生する。このため、コイルのインダクタンス差を検出することで、人力駆動力を検出することが可能である。なお、踏力センサの構成は特に限定されず、ペダル９への踏力（又は人力駆動力）が検出できればいかなる構成でもよい。 For example, when a pedaling force is applied to the pedal 9 to generate a human-powered driving force, the magnetostrictive generating portion is distorted, and the magnetostrictive generating portion has a portion where the magnetic permeability increases and a portion where the magnetic permeability decreases. Therefore, it is possible to detect the human-powered driving force by detecting the inductance difference of the coil. The configuration of the pedal force sensor is not particularly limited, and any configuration may be used as long as the pedal force (or human-powered driving force) on the pedal 9 can be detected.
　心拍計２０は、運転者の心拍数を計測する。心拍計２０は、自転車の運転者の心拍数を経時的に計測する。心拍計２０は、数秒おきまたは数分おきに運転者の心拍数を計測してもよい。心拍計２０は、赤外線や赤色光、５５０ｎｍ付近の緑色波長の光を生体に向けて照射し、フォトダイオード又はフォトトランジスタを用いて、生体内を反射した光を計測してもよい。 The heart rate monitor 20 measures the driver's heart rate. The heart rate monitor 20 measures the heart rate of the bicycle driver over time. The heart rate monitor 20 may measure the driver's heart rate every few seconds or minutes. The heart rate monitor 20 may irradiate a living body with infrared rays, red light, or light having a green wavelength in the vicinity of 550 nm, and use a photodiode or a phototransistor to measure the light reflected in the living body.
　入力端末３０は、運転者の年齢および運転者の安静時心拍数を受け付ける端末である。入力端末は、タブレット端末、タッチパネル式の専用端末、入力部および表示部を備える専用端末、スマートフォン、または、パーソナルコンピュータでもよい。入力部は、入力ボタン等で実現されてもよい。 The input terminal 30 is a terminal that accepts the age of the driver and the resting heart rate of the driver. The input terminal may be a tablet terminal, a touch panel type dedicated terminal, a dedicated terminal having an input unit and a display unit, a smartphone, or a personal computer. The input unit may be realized by an input button or the like.
　［電動アシスト自転車の制御方法］
　図３は、実施の形態における電動アシスト自転車の制御方法を表すフローチャートである。 [Control method for electrically power assisted bicycles]
FIG. 3 is a flowchart showing a control method of the electrically power assisted bicycle according to the embodiment.
　まず、第２取得部１２は、入力端末３０に入力された運転者の安静時心拍数を取得する（ステップＳ１００）。このとき、第２取得部１２は、入力端末３０に入力された運転者の年齢も取得してもよい。 First, the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S100). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
　次に、目標決定部１３は、目標心拍数の範囲を決定する（ステップＳ１０１）。 Next, the target determination unit 13 determines the range of the target heart rate (step S101).
　続いて、第１取得部１１は、心拍計２０が計測した運転者の心拍数を取得する（ステップＳ１０２）。 Subsequently, the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S102).
　そして、アシスト率決定部１４は、目標心拍数の範囲と第１取得部１１が取得した計測された心拍数とを比較する（ステップＳ１０３）。 Then, the assist rate determination unit 14 compares the range of the target heart rate with the measured heart rate acquired by the first acquisition unit 11 (step S103).
　次に、アシスト率決定部１４は、計測された心拍数が目標心拍数の範囲の上限よりも上か否かを判断する（ステップＳ１０４）。 Next, the assist rate determination unit 14 determines whether or not the measured heart rate is above the upper limit of the target heart rate range (step S104).
　アシスト率決定部１４が、計測された心拍数が目標心拍数の範囲の上限よりも上であると判断した場合（ステップＳ１０４でＹｅｓ）、アシスト率決定部１４は、アシスト率を増加させる（ステップＳ１０５）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率から、現時点でのアシスト率と法定アシスト率（図４の実線１００で示される）との差分の所定割合（例えば、５０％）の量を増加させてもよい。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate is above the upper limit of the target heart rate range (Yes in step S104), the assist rate determination unit 14 increases the assist rate (step). S105). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　アシスト率決定部１４が、計測された心拍数が目標心拍数の範囲の上限よりも下であると判断した場合（ステップＳ１０４でＮｏ）、アシスト率決定部１４は、計測された心拍数が目標心拍数の範囲の下限よりも下か否かを判断する（ステップＳ１０６）。 When the assist rate determination unit 14 determines that the measured heart rate is below the upper limit of the target heart rate range (No in step S104), the assist rate determination unit 14 targets the measured heart rate. It is determined whether or not it is below the lower limit of the heart rate range (step S106).
　アシスト率決定部１４は、計測された心拍数が目標心拍数の範囲の下限よりも下であると判断した場合（ステップＳ１０６でＹｅｓ）、アシスト率決定部１４は、アシスト率を減少させる（ステップＳ１０８）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率のうちの所定割合分（例えば、５０％）減少させてもよい。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate is below the lower limit of the target heart rate range (Yes in step S106), the assist rate determination unit 14 reduces the assist rate (step). S108). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　アシスト率決定部１４は、計測された心拍数が目標心拍数の範囲の下限よりも上であると判断した場合（ステップＳ１０６でＮｏ）、アシスト率決定部１４は現在のアシスト率を維持する（ステップＳ１０７）。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate is above the lower limit of the target heart rate range (No in step S106), the assist rate determination unit 14 maintains the current assist rate (No). Step S107). Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　なお、ステップＳ１００において、またはステップＳ１００の後に、第２取得部１２は、運転者の運動強度の目標値である運動目標値を入力端末３０から取得してもよい。そして、ステップＳ１０１において、目標決定部１３は、運転者の年齢、運転者の安静時心拍数および第２取得部１２が取得した運動目標値から、目標心拍数を決定してもよい。 Note that, in step S100 or after step S100, the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S101, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
　これにより、電動アシスト自転車１は、運転者の心拍数を計測することで、運転者の心拍数が所望の範囲に収まるように、アシスト率を決定し、モータ１６を制御することができる。 Thereby, the electrically assisted bicycle 1 can determine the assist rate and control the motor 16 so that the driver's heart rate falls within a desired range by measuring the driver's heart rate.
　［電動アシスト自転車のアシスト率］
　本発明の電動アシスト自転車１は、法定のアシスト率の範囲内で、本発明の電動アシスト自転車１の制御を行う。図４は、実施の形態における電動アシスト自転車のアシスト率を示すグラフである。実線１００は、法定のアシスト率を示す。法定のアシスト率は、電動アシスト自転車１の速度が１０ｋｍ／ｈまでは、ペダル９を回転させるモータ１６のトルクと、運転者がペダル９を漕ぐことによって発生するトルクとの比率が１：２である。電動アシスト自転車１の速度が１０ｋｍ／ｈを超え、２４ｋｍ／ｈまでは、法定のアシスト率は逓減する。電動アシスト自転車１の速度が２４ｋｍ／ｈのとき、法定のアシスト率は０とされる。アシスト率決定部１４は、上記の法定アシスト率を超えない範囲の値に、アシスト率を決定する。図４に示される実線２００が、従来の方法で決定された、運転者の心拍数が考慮されていないアシスト率の例である。本発明の電動アシスト自転車１のアシスト率決定部１４が決定するアシスト率は、実線２００で示されたアシスト率とは異なり、第１取得部１１が取得した運転者の心拍数に応じて、法定のアシスト率の範囲内で、運転者の心拍数が所望の範囲内に収まるように調整される。アシスト率決定部１４が決定するアシスト率は、数秒ごとに調整されてもよいし、１分から数分毎に調整されてもよい。 [Assist rate for electrically power assisted bicycles]
The electrically assisted bicycle 1 of the present invention controls the electrically assisted bicycle 1 of the present invention within the range of the legal assist rate. FIG. 4 is a graph showing the assist rate of the electrically power assisted bicycle according to the embodiment. The solid line 100 indicates the statutory assist rate. The statutory assist rate is that the ratio of the torque of the motor 16 that rotates the pedal 9 to the torque generated by the driver pedaling the pedal 9 is 1: 2 until the speed of the electrically power assisted bicycle 1 is 10 km / h. be. The legal assist rate gradually decreases until the speed of the electrically power assisted bicycle 1 exceeds 10 km / h and reaches 24 km / h. When the speed of the electrically power assisted bicycle 1 is 24 km / h, the legal assist rate is set to 0. The assist rate determining unit 14 determines the assist rate within a range that does not exceed the above-mentioned legal assist rate. The solid line 200 shown in FIG. 4 is an example of an assist rate determined by a conventional method in which the driver's heart rate is not taken into consideration. The assist rate determined by the assist rate determining unit 14 of the electrically power assisted bicycle 1 of the present invention is different from the assist rate shown by the solid line 200, and is legally determined according to the driver's heart rate acquired by the first acquisition unit 11. The driver's heart rate is adjusted to be within the desired range within the range of the assist rate of. The assist rate determined by the assist rate determining unit 14 may be adjusted every few seconds, or may be adjusted every minute to several minutes.
　［電動アシスト自転車の制御の例］
　図５は、実施の形態における電動アシスト自転車のアシスト率を制御した場合の心拍数を表すグラフである。図５の実線３００は、アシスト率決定部１４の制御が行われなかった場合の運転者の心拍数を示している。図５に示される心拍数を表す軸は、安静時心拍数を起点としている。図５の実線４００は、アシスト率決定部１４の制御が行われた場合の運転者の心拍数を示している。実線３００は、運転者の心拍数が時間と共に、徐々に増加していることを示している。対して、実線４００は、運転者の心拍数が増加した後に、低下し、一定の心拍数となっていることを示している。つまり、実線４００は、運転者の心拍数が電動アシスト自転車１を漕ぐことによる負荷によって上がっていた場合、アシスト率決定部１４の制御によって、運転者の心拍数が所望の範囲に収まる様子を示している。 [Example of control of electrically power assisted bicycle]
FIG. 5 is a graph showing the heart rate when the assist rate of the electrically power assisted bicycle according to the embodiment is controlled. The solid line 300 in FIG. 5 shows the driver's heart rate when the assist rate determining unit 14 is not controlled. The axis representing the heart rate shown in FIG. 5 starts from the resting heart rate. The solid line 400 in FIG. 5 shows the driver's heart rate when the assist rate determining unit 14 is controlled. The solid line 300 indicates that the driver's heart rate is gradually increasing over time. On the other hand, the solid line 400 indicates that the driver's heart rate increases and then decreases to a constant heart rate. That is, the solid line 400 shows how the driver's heart rate falls within a desired range under the control of the assist rate determining unit 14 when the driver's heart rate is increased by the load of rowing the electrically power assisted bicycle 1. ing.
　図６は、実施の形態における電動アシスト自転車のアシスト率を制御した場合の心拍数を表す別のグラフである。図６の実線６００は、アシスト率決定部１４の制御が行われなかった場合の運転者の心拍数を示している。図６に示される心拍数を表す軸は、安静時心拍数を起点としている。図６の実線５００は、アシスト率決定部１４の制御が行われた場合の運転者の心拍数を示している。実線６００は、運転者の心拍数が低い値のまま一定であることを示している。対して、実線５００は、運転者の心拍数が、実線６００よりも上昇したあと一定の値を保っていることを示している。つまり、実線５００は、運転者の心拍数が所望の値よりも低い場合、アシスト率決定部１４の制御によって、運転者の心拍数が所望の範囲に収まる様子を示している。 FIG. 6 is another graph showing the heart rate when the assist rate of the electrically power assisted bicycle in the embodiment is controlled. The solid line 600 in FIG. 6 shows the driver's heart rate when the assist rate determining unit 14 is not controlled. The axis representing the heart rate shown in FIG. 6 starts from the resting heart rate. The solid line 500 in FIG. 6 shows the driver's heart rate when the assist rate determining unit 14 is controlled. The solid line 600 indicates that the driver's heart rate remains low and constant. On the other hand, the solid line 500 indicates that the driver's heart rate remains constant after rising above the solid line 600. That is, the solid line 500 shows that when the driver's heart rate is lower than the desired value, the driver's heart rate falls within the desired range under the control of the assist rate determining unit 14.
　（実施の形態２）
　電動アシスト自転車１のアシスト率決定部１４は、運転者の心拍数そのものではなく、運転者の心拍数の増加率または減少率に基づいて、アシスト率を決定してもよい。例えば、計測された運転者の心拍数が目標心拍数の範囲内であっても、心拍数の増加率または減少率が大きい場合には、運転者の心拍数が目標心拍数の範囲外にならないように、アシスト率を制御してもよい。図７は、実施の形態における電動アシスト自転車の制御方法を表す別のフローチャートである。図７は、運転者の心拍数が、目標心拍数の範囲内にある場合（例えば、図３に示されるステップＳ１０６でＮｏの場合）の制御を示している。 (Embodiment 2)
The assist rate determining unit 14 of the electrically power assisted bicycle 1 may determine the assist rate based on the rate of increase or decrease of the driver's heart rate, not on the driver's heart rate itself. For example, even if the measured driver's heart rate is within the target heart rate range, if the rate of increase or decrease in the heart rate is large, the driver's heart rate does not fall outside the target heart rate range. As described above, the assist rate may be controlled. FIG. 7 is another flowchart showing a control method of the electrically power assisted bicycle according to the embodiment. FIG. 7 shows control when the driver's heart rate is within the range of the target heart rate (for example, when No in step S106 shown in FIG. 3).
　まず、第２取得部１２は、入力端末３０に入力された運転者の安静時心拍数を取得する（ステップＳ２００）。このとき、第２取得部１２は、入力端末３０に入力された運転者の年齢も取得してもよい。 First, the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S200). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
　続いて、第１取得部１１は、心拍計２０が計測した運転者の心拍数を取得する（ステップＳ２０１）。 Subsequently, the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S201).
　次に、アシスト率決定部１４は、計測された心拍数の増加量が所定量以上か否かを判断する（ステップＳ２０２）。 Next, the assist rate determination unit 14 determines whether or not the measured increase in heart rate is equal to or greater than a predetermined amount (step S202).
　アシスト率決定部１４が、計測された心拍数の増加量が所定量以上であると判断した場合（ステップＳ２０２でＹｅｓ）、アシスト率決定部１４は、アシスト率を増加させる（ステップＳ２０３）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率から、現時点でのアシスト率と法定アシスト率（図４の実線１００で示される）との差分の所定割合（例えば、５０％）の量を増加させてもよい。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured increase in heart rate is equal to or greater than a predetermined amount (Yes in step S202), the assist rate determination unit 14 increases the assist rate (step S203). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　アシスト率決定部１４が、計測された心拍数の増加量が所定量以下であると判断した場合（ステップＳ２０２でＮｏ）、アシスト率決定部１４は、計測された心拍数の減少量が所定量以上か否かを判断する（ステップＳ２０４）。 When the assist rate determining unit 14 determines that the measured heart rate increase is equal to or less than a predetermined amount (No in step S202), the assist rate determining unit 14 determines that the measured heart rate decrease is a predetermined amount. It is determined whether or not it is the above (step S204).
　アシスト率決定部１４は、計測された心拍数の減少量が所定量以上であると判断した場合（ステップＳ２０４でＹｅｓ）、アシスト率決定部１４は、アシスト率を減少させる（ステップＳ２０６）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率のうちの所定割合分（例えば、５０％）減少させてもよい。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate reduction amount is equal to or greater than a predetermined amount (Yes in step S204), the assist rate determination unit 14 reduces the assist rate (step S206). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　アシスト率決定部１４は、計測された心拍数の減少量が所定量以下であると判断した場合（ステップＳ２０４でＮｏ）、アシスト率決定部１４は現在のアシスト率を維持する（ステップＳ２０５）。そして、モータ制御部１５は、アシスト率決定部１４が決定したアシスト率を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate reduction amount is equal to or less than a predetermined amount (No in step S204), the assist rate determination unit 14 maintains the current assist rate (step S205). Then, the motor control unit 15 controls the motor 16 so as to realize the assist rate determined by the assist rate determination unit 14.
　なお、ステップＳ２００において、またはステップＳ２００の後に、第２取得部１２は、運転者の運動強度の目標値である運動目標値を入力端末３０から取得してもよい。そして、ステップＳ２０１において、目標決定部１３は、運転者の年齢、運転者の安静時心拍数および第２取得部１２が取得した運動目標値から、目標心拍数を決定してもよい。 Note that, in step S200 or after step S200, the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S201, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
　また、目標決定部１３は、ステップＳ２００の後に、目標心拍数を決定してもよい。そして、アシスト率決定部１４は、目標心拍数に応じて、運転者の心拍数の増加率または減少率に基づいて、アシスト率を決定してもよい。 Further, the target determination unit 13 may determine the target heart rate after step S200. Then, the assist rate determination unit 14 may determine the assist rate based on the rate of increase or decrease of the driver's heart rate according to the target heart rate.
　これにより、電動アシスト自転車１は、運転者の心拍数の増加率と減少率とを計測することで、運転者の心拍数が所望の範囲に収まるように、アシスト率を決定し、モータ１６を制御することができる。 As a result, the electrically assisted bicycle 1 determines the assist rate so that the driver's heart rate falls within a desired range by measuring the rate of increase and decrease of the driver's heart rate, and drives the motor 16. Can be controlled.
　なお、図７に示される処理では、運転者の心拍数が目標心拍数の範囲内にあるときに、心拍数の増加率または減少率に基づいてアシスト率が決定されたが、運転者の心拍数が目標心拍数の範囲外にあるときに、心拍数の増加率または減少率に基づいてアシスト率が決定されてもよい。 In the process shown in FIG. 7, when the driver's heart rate is within the range of the target heart rate, the assist rate is determined based on the rate of increase or decrease of the heart rate, but the driver's heart rate. When the number is outside the target heart rate range, the assist rate may be determined based on the rate of increase or decrease in heart rate.
　例えば、運転者の心拍数が目標心拍数の下限よりも下の場合には、運転者の心拍数の減少量が所定値よりも大きいときに、アシスト率を減少させ、運転者の心拍数の減少量が所定値以下であるときに、アシスト率を増加または維持してもよい。同様に、また、運転者の心拍数が目標心拍数の上限よりも上の場合には、運転者の心拍数の増加量が所定値よりも大きいときに、アシスト率を増加させ、運転者の心拍数の増加量が所定値以下であるときに、アシスト率を減少または維持してもよい。 For example, when the driver's heart rate is below the lower limit of the target heart rate, the assist rate is reduced when the decrease in the driver's heart rate is greater than the predetermined value, and the driver's heart rate is reduced. The assist rate may be increased or maintained when the amount of decrease is equal to or less than a predetermined value. Similarly, when the driver's heart rate is above the upper limit of the target heart rate, the assist rate is increased when the increase in the driver's heart rate is greater than a predetermined value, and the driver's heart rate is increased. The assist rate may be reduced or maintained when the increase in heart rate is less than or equal to a predetermined value.
　（変形例１）
　電動アシスト自転車１ａは、運転者の年齢および安静時心拍数に基づいて目標心拍数を決定し、運転者の心拍数に基づいて、ペダルを回転させるモータのトルクであるアシスト力を決定してもよい。 (Modification example 1)
In the electrically power assisted bicycle 1a, the target heart rate is determined based on the driver's age and the resting heart rate, and the assist force, which is the torque of the motor that rotates the pedal, is determined based on the driver's heart rate. good.
　図８は、実施の形態の変形例１における電動アシスト自転車のブロック図である。電動アシスト自転車１ａは、電動アシスト自転車１が備えるアシスト率決定部１４の代わりに、アシスト力決定部１４ａを備える。電動アシスト自転車１ａと電動アシスト自転車１とで共通の構成要素については、説明を省略する。 FIG. 8 is a block diagram of the electrically power assisted bicycle according to the first modification of the embodiment. The electrically assisted bicycle 1a includes an assist force determining unit 14a instead of the assist rate determining unit 14 included in the electrically assisted bicycle 1. The description of the components common to the electrically power assisted bicycle 1a and the electrically power assisted bicycle 1 will be omitted.
　アシスト力決定部１４ａは、第１取得部１１が取得した運転者の心拍数と目標決定部１３が決定した目標心拍数とを比較することで、ペダル９を回転させるモータ１６のトルクであるアシスト力を決定する。アシスト力決定部１４ａは、トルク計測部１７によってモータ１６のトルクおよび運転者がペダルを漕ぐことによって発生するトルクを検出し、検出されたトルクの値を用いて、アシスト力を決定してもよい。 The assist force determination unit 14a compares the heart rate of the driver acquired by the first acquisition unit 11 with the target heart rate determined by the target determination unit 13, and is the torque of the motor 16 for rotating the pedal 9. Determine the force. The assist force determining unit 14a may detect the torque of the motor 16 and the torque generated by the driver pedaling by the torque measuring unit 17, and determine the assisting force using the value of the detected torque. ..
　アシスト力決定部１４ａは、プログラムを実行するプロセッサと実行されるプログラム等を記憶するメモリとによって実現される。また、例えば、アシスト力決定部１４ａは、マイコン（マイクロコントローラ）などで実現され、プログラムが格納された不揮発性メモリ、プログラムを実行するための一時的な記憶領域である揮発性メモリ、入出力ポート、プログラムを実行するプロセッサなどで構成されている。あるいは、制御装置２２は、専用の電子回路で実現されてもよい。 The assist force determination unit 14a is realized by a processor that executes a program and a memory that stores a program or the like to be executed. Further, for example, the assist force determining unit 14a is realized by a microcomputer (microcontroller) or the like, and has a non-volatile memory in which a program is stored, a volatile memory which is a temporary storage area for executing a program, and an input / output port. , It consists of a processor that executes a program. Alternatively, the control device 22 may be realized by a dedicated electronic circuit.
　図９は、実施の形態の変形例１における電動アシスト自転車の制御方法を表すフローチャートである。 FIG. 9 is a flowchart showing a control method of the electrically power assisted bicycle in the first modification of the embodiment.
　まず、第２取得部１２は、入力端末３０に入力された運転者の安静時心拍数を取得する（ステップＳ３００）。このとき、第２取得部１２は、入力端末３０に入力された運転者の年齢も取得してもよい。 First, the second acquisition unit 12 acquires the resting heart rate of the driver input to the input terminal 30 (step S300). At this time, the second acquisition unit 12 may also acquire the age of the driver input to the input terminal 30.
　次に、目標決定部１３は、目標心拍数の範囲を決定する（ステップＳ３０１）。 Next, the target determination unit 13 determines the range of the target heart rate (step S301).
　続いて、第１取得部１１は、心拍計２０が計測した運転者の心拍数を取得する（ステップＳ３０２）。 Subsequently, the first acquisition unit 11 acquires the driver's heart rate measured by the heart rate monitor 20 (step S302).
　そして、アシスト率決定部１４は、目標心拍数の範囲と第１取得部１１が取得した計測された心拍数とを比較する（ステップＳ３０３）。 Then, the assist rate determination unit 14 compares the range of the target heart rate with the measured heart rate acquired by the first acquisition unit 11 (step S303).
　次に、アシスト率決定部１４は、計測された心拍数が目標心拍数の範囲の上限よりも上か否かを判断する（ステップＳ３０４）。 Next, the assist rate determination unit 14 determines whether or not the measured heart rate is above the upper limit of the target heart rate range (step S304).
　アシスト率決定部１４が、計測された心拍数が目標心拍数の範囲の上限よりも上であると判断した場合（ステップＳ３０４でＹｅｓ）、アシスト力決定部１４ａは、アシスト力を増加させる（ステップＳ３０５）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率から、現時点でのアシスト率と法定アシスト率（図４の実線１００で示される）との差分の所定割合（例えば、５０％）の量を増加させてもよい。そして、モータ制御部１５は、アシスト力決定部１４ａが決定したアシスト力を実現するようにモータ１６を制御する。 When the assist rate determination unit 14 determines that the measured heart rate is above the upper limit of the target heart rate range (Yes in step S304), the assist force determination unit 14a increases the assist force (step). S305). Specifically, the assist rate determining unit 14 sets the assist rate as a predetermined ratio (for example,) of the difference between the current assist rate and the legal assist rate (shown by the solid line 100 in FIG. 4) from the current assist rate. 50%) may be increased. Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
　アシスト率決定部１４が、計測された心拍数が目標心拍数の範囲の上限よりも下であると判断した場合（ステップＳ３０４でＮｏ）、アシスト力決定部１４ａは、計測された心拍数が目標心拍数の範囲の下限よりも下か否かを判断する（ステップＳ３０６）。 When the assist rate determination unit 14 determines that the measured heart rate is below the upper limit of the target heart rate range (No in step S304), the assist force determination unit 14a targets the measured heart rate. It is determined whether or not it is below the lower limit of the heart rate range (step S306).
　アシスト力決定部１４ａは、計測された心拍数が目標心拍数の範囲の下限よりも下であると判断した場合（ステップＳ３０６でＹｅｓ）、アシスト力決定部１４ａは、アシスト力を減少させる（ステップＳ３０８）。具体的には、アシスト率決定部１４は、アシスト率を現時点でのアシスト率のうちの所定割合分（例えば、５０％）減少させてもよい。そして、モータ制御部１５は、アシスト力決定部１４ａが決定したアシスト力を実現するようにモータ１６を制御する。 When the assist force determination unit 14a determines that the measured heart rate is below the lower limit of the target heart rate range (Yes in step S306), the assist force determination unit 14a reduces the assist force (step). S308). Specifically, the assist rate determining unit 14 may reduce the assist rate by a predetermined ratio (for example, 50%) of the current assist rate. Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
　アシスト力決定部１４ａは、計測された心拍数が目標心拍数の範囲の下限よりも上であると判断した場合（ステップＳ３０６でＮｏ）、アシスト力決定部１４ａは現在のアシスト力を維持する（ステップＳ３０７）。そして、モータ制御部１５は、アシスト力決定部１４ａが決定したアシスト力を実現するようにモータ１６を制御する。 When the assist force determination unit 14a determines that the measured heart rate is above the lower limit of the target heart rate range (No in step S306), the assist force determination unit 14a maintains the current assist force (No). Step S307). Then, the motor control unit 15 controls the motor 16 so as to realize the assist force determined by the assist force determination unit 14a.
　なお、ステップＳ３００において、またはステップＳ３００の後に、第２取得部１２は、運転者の運動強度の目標値である運動目標値を入力端末３０から取得してもよい。そして、ステップＳ３０１において、目標決定部１３は、運転者の年齢、運転者の安静時心拍数および第２取得部１２が取得した運動目標値から、目標心拍数を決定してもよい。 Note that, in step S300 or after step S300, the second acquisition unit 12 may acquire an exercise target value, which is a target value of the driver's exercise intensity, from the input terminal 30. Then, in step S301, the target determination unit 13 may determine the target heart rate from the age of the driver, the resting heart rate of the driver, and the exercise target value acquired by the second acquisition unit 12.
　これにより、電動アシスト自転車１ａは、運転者の心拍数を計測することで、運転者の心拍数が所望の範囲に収まるように、アシスト力を決定し、モータ１６を制御することができる。 As a result, the electrically assisted bicycle 1a can control the motor 16 by measuring the driver's heart rate, determining the assisting force so that the driver's heart rate falls within a desired range.
　また、電動アシスト自転車１ａのアシスト力決定部１４ａは、運転者の心拍数そのものではなく、運転者の心拍数の増加率または減少率に基づいて、アシスト力を決定してもよい。アシスト力決定部１４ａが運転者の心拍数の増加率または減少率に基づいて、アシスト力を決定する場合に行われる制御は、図７で説明されたものと同様である。 Further, the assist force determining unit 14a of the electrically power assisted bicycle 1a may determine the assist force based on the rate of increase or decrease of the driver's heart rate, not based on the driver's heart rate itself. The control performed when the assist force determining unit 14a determines the assist force based on the rate of increase or decrease of the driver's heart rate is the same as that described in FIG.
　（変形例２）
　図１０は、実施の形態の変形例２における電動アシスト自転車のブロック図である。電動アシスト自転車１ｂは、自身に心拍計２０ｂおよび入力端末３０ｂを備えていてもよい。これにより、電動アシスト自転車１ｂは、直接、運転者の心拍数、年齢および安静時心拍数を取得することができる。なお、電動アシスト自転車１ｂは、アシスト率決定部１４の代わりに、アシスト力決定部１４ａを備えていてもよい。 (Modification 2)
FIG. 10 is a block diagram of the electrically power assisted bicycle according to the second modification of the embodiment. The electrically power assisted bicycle 1b may be provided with a heart rate monitor 20b and an input terminal 30b. As a result, the electrically power assisted bicycle 1b can directly acquire the driver's heart rate, age, and resting heart rate. The electrically assisted bicycle 1b may include an assist force determining unit 14a instead of the assist rate determining unit 14.
　変形例２における電動アシスト自転車１ｂの構成および制御方法のうち、実施の形態１および実施の形態２と同一の内容については、説明を省略する。 Of the configurations and control methods of the electrically power assisted bicycle 1b in the second modification, the same contents as those of the first embodiment and the second embodiment will be omitted.
　［効果等］
　電動アシスト自転車１は、運転者の心拍数を測定する心拍計２０から心拍数を取得する第１取得部１１と、運転者の年齢および運転者の安静時心拍数が入力される入力端末３０から年齢および安静時心拍数を取得する第２取得部１２と、第２取得部１２が取得した、年齢および安静時心拍数から目標心拍数の範囲を決定する目標決定部１３と、第１取得部１１が取得した心拍数と、目標決定部１３が決定した目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部１４と、を備える。 [Effects, etc.]
The electrically assisted bicycle 1 is obtained from a first acquisition unit 11 that acquires a heart rate from a heart rate monitor 20 that measures the driver's heart rate, and an input terminal 30 that inputs the driver's age and the driver's resting heart rate. The second acquisition unit 12 that acquires the age and the resting heart rate, the target determination unit 13 that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit 12, and the first acquisition unit. By comparing the heart rate acquired by 11 with the range of the target heart rate determined by the target determination unit 13, the ratio of the torque of the motor that rotates the pedal to the torque generated by the driver pedaling is calculated. An assist rate determining unit 14 for determining a certain assist rate is provided.
　これにより、電動アシスト自転車１は、運転者の年齢および安静時心拍数に基づいて目標心拍数を決定し、運転者の心拍数に基づいて、ペダルを回転させるモータのトルクと運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定することによって、運転者の心拍数を所望の範囲に保つことができる。 As a result, the electrically assisted bicycle 1 determines the target heart rate based on the driver's age and the resting heart rate, and the torque of the motor that rotates the pedal and the driver press the pedal based on the driver's heart rate. By determining the assist rate, which is the ratio to the torque generated by rowing, the driver's heart rate can be kept within a desired range.
　また、例えば、第２取得部１２は、運転者の運動強度の目標値である運動目標値が入力される入力端末３０から運動目標値をさらに取得し、目標決定部１３は、年齢および安静時心拍数、および、第２取得部１２が取得した運動目標値から目標心拍数を決定してもよい。 Further, for example, the second acquisition unit 12 further acquires the exercise target value from the input terminal 30 into which the exercise target value which is the target value of the driver's exercise intensity is input, and the target determination unit 13 further acquires the exercise target value at the age and at rest. The target heart rate may be determined from the heart rate and the exercise target value acquired by the second acquisition unit 12.
　これにより、電動アシスト自転車１は、運転者が所望の運動目標値を達成することができるように、アシスト率を決定することによって、運転者の心拍数を所望の範囲に保つことができる。 Thereby, the electrically assisted bicycle 1 can keep the driver's heart rate within a desired range by determining the assist rate so that the driver can achieve the desired exercise target value.
　また、例えば、アシスト率決定部１４は、第１取得部１１が計測した心拍数が、目標決定部１３が決定した目標心拍数の範囲の上限を上回った場合、アシスト率を増加させてもよい。 Further, for example, the assist rate determination unit 14 may increase the assist rate when the heart rate measured by the first acquisition unit 11 exceeds the upper limit of the target heart rate range determined by the target determination unit 13. ..
　これにより、運転者の心拍数が所望の心拍数の範囲の上限を上回った場合、電動アシスト自転車１は、運転者の心拍数の上昇を抑え、または運転者の心拍数を低下させることができる。 Thereby, when the driver's heart rate exceeds the upper limit of the desired heart rate range, the electrically assisted bicycle 1 can suppress the increase in the driver's heart rate or decrease the driver's heart rate. ..
　また、例えば、アシスト率決定部１４は、第１取得部１１が計測した心拍数が、目標決定部１３が決定した目標心拍数の範囲の下限を下回った場合、アシスト率を減少させてもよい。 Further, for example, the assist rate determination unit 14 may reduce the assist rate when the heart rate measured by the first acquisition unit 11 is below the lower limit of the target heart rate range determined by the target determination unit 13. ..
　これにより、運転者の心拍数が所望の心拍数の範囲の下限を下回った場合、電動アシスト自転車１は、運転者の心拍数の下降を抑え、または運転者の心拍数を上昇させることができる。 Thereby, when the driver's heart rate falls below the lower limit of the desired heart rate range, the electrically power assisted bicycle 1 can suppress the decrease in the driver's heart rate or increase the driver's heart rate. ..
　また、例えば、アシスト率決定部１４は、第１取得部１１が取得した心拍数の増加量が所定量以上であった場合、アシスト率を増加させてもよい。 Further, for example, the assist rate determining unit 14 may increase the assist rate when the increase amount of the heart rate acquired by the first acquisition unit 11 is equal to or more than a predetermined amount.
　これにより、運転者の心拍数の増加量が所定の値よりも大きい場合、電動アシスト自転車１は、運転者の心拍数の上昇を抑え、または運転者の心拍数を低下させることができる。 As a result, when the increase in the driver's heart rate is larger than a predetermined value, the electrically assisted bicycle 1 can suppress the increase in the driver's heart rate or decrease the driver's heart rate.
　また、例えば、アシスト率決定部１４は、第１取得部１１が取得した心拍数の減少量が所定量以上であった場合、アシスト率を減少させてもよい。 Further, for example, the assist rate determining unit 14 may reduce the assist rate when the amount of decrease in the heart rate acquired by the first acquisition unit 11 is equal to or greater than a predetermined amount.
　これにより、運転者の心拍数の減少量が所定の値よりも大きい場合、電動アシスト自転車１は、運転者の心拍数の下降を抑え、または運転者の心拍数を上昇させることができる。また、例えば、電動アシスト自転車１ｂは、さらに、入力端末３０および心拍計２０の少なくとも一方を備えてもよい。 As a result, when the amount of decrease in the driver's heart rate is larger than a predetermined value, the electrically assisted bicycle 1 can suppress the decrease in the driver's heart rate or increase the driver's heart rate. Further, for example, the electrically power assisted bicycle 1b may further include at least one of the input terminal 30 and the heart rate monitor 20.
　これにより、電動アシスト自転車１ｂは、運転者の心拍数と運転者の年齢および運動目標値とを直接取得することができる。 As a result, the electrically power assisted bicycle 1b can directly acquire the driver's heart rate, the driver's age, and the exercise target value.
　また、電動アシスト自転車１ａは、運転者の心拍数を測定する心拍計２０から心拍数を取得する第１取得部１１と、運転者の年齢および運転者の安静時心拍数が入力される入力端末３０から年齢および安静時心拍数を取得する第２取得部１２と、第２取得部１２が取得した、年齢および安静時心拍数から目標心拍数の範囲を決定する目標決定部１３と、第１取得部１１が取得した心拍数と、目標決定部１３が決定した目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクであるアシスト力を決定するアシスト力決定部１４ａと、を備えてもよい。 Further, the electrically assisted bicycle 1a includes a first acquisition unit 11 that acquires a heart rate from a heart rate monitor 20 that measures the driver's heart rate, and an input terminal that inputs the driver's age and the driver's resting heart rate. The second acquisition unit 12 that acquires the age and the resting heart rate from 30, the target determination unit 13 that determines the range of the target heart rate from the age and the resting heart rate acquired by the second acquisition unit 12, and the first By comparing the heart rate acquired by the acquisition unit 11 with the range of the target heart rate determined by the target determination unit 13, the assist force determination unit 14a that determines the assist force, which is the torque of the motor that rotates the pedal, May be provided.
　これにより、電動アシスト自転車１ａは、運転者の年齢および安静時心拍数に基づいて目標心拍数を決定し、運転者の心拍数に基づいて、ペダルを回転させるモータのトルクであるアシスト力を決定することによって、運転者の心拍数を所望の範囲に保つことができる。 As a result, the electrically power assisted bicycle 1a determines the target heart rate based on the driver's age and resting heart rate, and determines the assist force, which is the torque of the motor that rotates the pedal, based on the driver's heart rate. By doing so, the driver's heart rate can be kept within a desired range.
　また、電動アシスト自転車１の制御システムは、運転者の心拍数を測定する心拍計２０と、運転者の年齢および運転者の安静時心拍数を入力する入力端末３０と、電動アシスト自転車１と、を備え、電動アシスト自転車１は、心拍計２０から心拍数を取得する第１取得部と、入力端末３０から年齢および安静時心拍数を取得する第２取得部１２と、第２取得部１２が取得した、年齢および安静時心拍数から目標心拍数の範囲を決定する目標決定部１３と、第１取得部１１が取得した心拍数と、目標決定部１３が決定した目標心拍数の範囲とから、ペダルを回転させるモータのトルクと運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部１４と、を有する。 Further, the control system of the electrically assisted bicycle 1 includes a heart rate meter 20 for measuring the driver's heart rate, an input terminal 30 for inputting the driver's age and the driver's resting heart rate, the electrically assisted bicycle 1, and the electric assisted bicycle 1. The electrically assisted bicycle 1 includes a first acquisition unit that acquires a heart rate from the heart rate meter 20, a second acquisition unit 12 that acquires an age and a resting heart rate from an input terminal 30, and a second acquisition unit 12. From the acquired target heart rate range 13 that determines the target heart rate range from the age and resting heart rate, the heart rate acquired by the first acquisition unit 11, and the target heart rate range determined by the target determination unit 13. The assist rate determining unit 14 determines the assist rate, which is the ratio of the torque of the motor for rotating the pedal to the torque generated by the driver pedaling.
　これにより、電動アシスト自転車１の制御システムは、運転者の年齢および安静時心拍数に基づいて目標心拍数を決定し、運転者の心拍数に基づいて、ペダルを回転させるモータのトルクと運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定することによって、運転者の心拍数を所望の範囲に保つことができる。 As a result, the control system of the electrically assisted bicycle 1 determines the target heart rate based on the driver's age and resting heart rate, and the torque of the motor that rotates the pedal and the driver based on the driver's heart rate. The driver's heart rate can be kept within a desired range by determining the assist rate, which is the ratio of the torque generated by pedaling.
　また、電動アシスト自転車１の制御方法は、運転者の心拍数を測定する心拍計２０から心拍数を取得する第１取得ステップと、運転者の年齢および運転者の安静時心拍数が入力される入力端末３０から年齢および安静時心拍数を取得する第２取得ステップと、第２取得ステップで取得された、年齢および安静時心拍数から目標心拍数の範囲を決定する目標決定ステップと、第１取得ステップで取得された心拍数と、目標決定ステップで決定された目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定ステップと、を含む。 Further, in the control method of the electrically assisted bicycle 1, the first acquisition step of acquiring the heart rate from the heart rate monitor 20 for measuring the driver's heart rate, the driver's age, and the driver's resting heart rate are input. The second acquisition step of acquiring the age and the resting heart rate from the input terminal 30, the target determination step of determining the range of the target heart rate from the age and the resting heart rate acquired in the second acquisition step, and the first. By comparing the heart rate acquired in the acquisition step with the range of the target heart rate determined in the target determination step, the torque of the motor that rotates the pedal and the torque generated by the driver pedaling Includes an assist rate determination step that determines the assist rate, which is a ratio.
　これにより、電動アシスト自転車１の制御方法は、上記電動アシスト自転車１の制御システムと同様の効果を奏することができる。 As a result, the control method of the electrically power assisted bicycle 1 can achieve the same effect as the control system of the electrically power assisted bicycle 1.
　［その他］
　また、実施の形態において、ユニット、装置、部材、または、部の全部、または、一部、または、図４に示されるブロック図の機能ブロックの全部、または、一部は、半導体装置、半導体集積回路（ＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ））、または、大規模集積回路（ＬＳＩ（Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ））を含む一つ、または、複数の電子回路によって実行されてもよい。ＩＣ、または、ＬＳＩは、一つのチップ（システムＬＳＩ）に集積されてもよいし、複数のチップを組み合わせて一つのシステム（チップセット）に構成されてもよい。例えば、画面の表示処理以外の機能ブロックは、一つのチップに集積されてもよい。ここでは、ＩＣ、または、ＬＳＩと呼んでいるが、集積の度合いによって呼び方が変わり、ＶＬＳＩ（Ｖｅｒｙ　Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）、若しくはＵＬＳＩ（Ｕｌｔｒａ　Ｌａｒｇｅ　Ｓｃａｌｅ　Ｉｎｔｅｇｒａｔｉｏｎ）と呼ばれるものであってもよい。ＬＳＩの製造後にプログラムされる電子ヒューズ（ｅＦｕｓｅ）を搭載したシステムＬＳＩ、または、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、または、ＬＳＩ内部の接続関係の再構成、または、ＬＳＩ内部の論理回路の動的な再構成ができるリコンフィギュラブルデバイス（ｒｅｃｏｎｆｉｇｕｒａｂｌｅ　ｄｅｖｉｃｅ）も同じ目的で使うことができる。 [others]
Further, in the embodiment, all or a part of the unit, the device, the member, or the part, or all or a part of the functional blocks in the block diagram shown in FIG. 4 are semiconductor devices, semiconductor integrated. It may be executed by one or more electronic circuits including a circuit (IC (Integrated Semiconductor)) or a large-scale integrated circuit (LSI (Large Scale Integration)). The IC or LSI may be integrated on one chip (system LSI), or a plurality of chips may be combined to form one system (chipset). For example, functional blocks other than screen display processing may be integrated on one chip. Here, it is called IC or LSI, but the name changes depending on the degree of integration, and it may be called VLSI (Very Large Scale Integration) or ULSI (Ultra Large Scale Integration). A system LSI equipped with an electronic fuse (eFuse) programmed after the LSI is manufactured, an FPGA (Field Programmable Gate Array), or a reconfiguration of the connection relationship inside the LSI, or a dynamic logic circuit inside the LSI. A reconfigurable device that can be reconfigured can also be used for the same purpose.
　さらに、ユニット、装置、部材、または、部の全部、または、一部の機能、または、操作は、ソフトウエア処理によって実行することが可能である。この場合、ソフトウエアは一つ、または、複数のＲＯＭ、光学ディスク、ハードディスクドライブなどの非一時的記録媒体に記録され、ソフトウエアがマイクロコントローラ（ＭＣＵ（ｍｉｃｒｏｃｏｎｔｒｏｌｌｅｒ））、または、マイクロプロセッサ（ＭＰＵ（ｍｉｃｒｏｐｒｏｃｅｓｓｏｒ））等の処理装置（ｐｒｏｃｅｓｓｏｒ）によって実行されたときに、そのソフトウエアで特定された機能が処理装置および周辺装置によって実行される。システム、または、装置は、ソフトウエアが記録されている一つ、または、複数の非一時的記録媒体、処理装置、および必要とされるハードウェアデバイス、例えばデジタルインターフェース、を備えていても良い。 Furthermore, the functions or operations of all or part of the unit, device, member, or part can be executed by software processing. In this case, the software is recorded on one or more ROMs, optical disks, non-temporary recording media such as a hard disk drive, and the software is a microcontroller (MCU (microcontroller)) or a microprocessor (MPU (MPU). When executed by a processing unit (processor) such as a microcontroller), the function specified by the software is executed by the processing unit and peripheral devices. The system or device may include one or more non-temporary recording media, processing devices, and required hardware devices, such as digital interfaces, on which software is recorded.
　また、上記各実施の形態における制御装置２２は、プロセッサとメモリとを有し、メモリには、図３、図７または図９に示すフローチャートの各ステップを実行するためのプログラムが記憶されていてもよい。この場合、プロセッサは、そのメモリに記憶されているプログラムを実行する。 Further, the control device 22 in each of the above embodiments has a processor and a memory, and the memory stores a program for executing each step of the flowchart shown in FIG. 3, FIG. 7 or FIG. May be good. In this case, the processor executes the program stored in the memory.
１、１ａ、１ｂ　電動アシスト自転車
９　ペダル
１１　第１取得部
１２　第２取得部
１３　目標決定部
１４　アシスト率決定部
１４ａ　アシスト力決定部
１５　モータ制御部
１６　モータ
２０、２０ｂ　心拍計
３０、３０ｂ　入力端末 1, 1a, 1b Electric assisted bicycle 9 Pedal 11 1st acquisition unit 12 2nd acquisition unit 13 Target determination unit 14 Assist rate determination unit 14a Assist force determination unit 15 Motor control unit 16 Motor 20, 20b Heart rate monitor 30, 30b Input terminal

Claims (10)

  1. 　心拍計から心拍数を取得する第１取得部と、
    　運転者の年齢および前記運転者の安静時心拍数を入力端末から取得する第２取得部と、
    　前記第２取得部が取得した、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定部と、
    　前記第１取得部が取得した前記心拍数と、前記目標決定部が決定した前記目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと前記運転者が前記ペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部と、を備える、
    　電動アシスト自転車。     The first acquisition unit that acquires the heart rate from the heart rate monitor,
    A second acquisition unit that acquires the driver's age and the driver's resting heart rate from the input terminal, and
    A target determination unit that determines a range of a target heart rate from the age and the resting heart rate acquired by the second acquisition unit.
    By comparing the heart rate acquired by the first acquisition unit with the range of the target heart rate determined by the target determination unit, the torque of the motor that rotates the pedal and the driver pedaling the pedal. It is provided with an assist rate determining unit that determines the assist rate, which is a ratio to the torque generated by the engine.
    Electric assisted bicycle.
  2. 　前記第２取得部は、
    　前記運転者の運動強度の目標値である運動目標値が入力される入力端末から前記運動目標値をさらに取得し、
    　前記目標決定部は、前記年齢、前記安静時心拍数、および、前記運動目標値から前記目標心拍数を決定する、
    　請求項１に記載の電動アシスト自転車。     The second acquisition unit
    Further, the exercise target value is further acquired from an input terminal into which the exercise target value, which is the target value of the exercise intensity of the driver, is input.
    The target determination unit determines the target heart rate from the age, the resting heart rate, and the exercise target value.
    The electrically assisted bicycle according to claim 1.
  3. 　前記アシスト率決定部は、
    　前記第１取得部が計測した前記心拍数が、前記目標決定部が決定した前記目標心拍数の範囲の上限を上回った場合、前記アシスト率を増加させる、
    　請求項１または２に記載の電動アシスト自転車。     The assist rate determining unit
    When the heart rate measured by the first acquisition unit exceeds the upper limit of the range of the target heart rate determined by the target determination unit, the assist rate is increased.
    The electrically assisted bicycle according to claim 1 or 2.
  4. 　前記アシスト率決定部は、
    　前記第１取得部が計測した前記心拍数が、前記目標決定部が決定した前記目標心拍数の範囲の下限を下回った場合、前記アシスト率を減少させる、
    　請求項１～３のいずれか１項に記載の電動アシスト自転車。     The assist rate determining unit
    When the heart rate measured by the first acquisition unit falls below the lower limit of the range of the target heart rate determined by the target determination unit, the assist rate is reduced.
    The electrically assisted bicycle according to any one of claims 1 to 3.
  5. 　前記アシスト率決定部は、
    　前記第１取得部が取得した前記心拍数の増加量が所定量以上であった場合、前記アシスト率を増加させる、
    　請求項１～４のいずれか１項に記載の電動アシスト自転車。     The assist rate determining unit
    When the amount of increase in the heart rate acquired by the first acquisition unit is equal to or greater than a predetermined amount, the assist rate is increased.
    The electrically assisted bicycle according to any one of claims 1 to 4.
  6. 　前記アシスト率決定部は、
    　前記第１取得部が取得した前記心拍数の減少量が所定量以上であった場合、前記アシスト率を減少させる、
    　請求項１～５のいずれか１項に記載の電動アシスト自転車。     The assist rate determining unit
    When the amount of decrease in the heart rate acquired by the first acquisition unit is equal to or greater than a predetermined amount, the assist rate is reduced.
    The electrically assisted bicycle according to any one of claims 1 to 5.
  7. 　前記電動アシスト自転車は、
    　さらに、前記入力端末および前記心拍計の少なくとも一方を備える、
    　請求項１～６のいずれか１項に記載の電動アシスト自転車。     The electrically power assisted bicycle
    Further, it includes at least one of the input terminal and the heart rate monitor.
    The electrically assisted bicycle according to any one of claims 1 to 6.
  8. 　運転者の心拍数を測定する心拍計から心拍数を取得する第１取得部と、
    　年齢および安静時心拍数を入力端末から取得する第２取得部と、
    　前記第２取得部が取得した、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定部と、
    　前記第１取得部が取得した前記心拍数と、前記目標決定部が決定した前記目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクであるアシスト力を決定するアシスト力決定部と、を備える、
    　電動アシスト自転車。     The first acquisition unit that acquires the heart rate from the heart rate monitor that measures the driver's heart rate,
    The second acquisition unit that acquires age and resting heart rate from the input terminal,
    A target determination unit that determines a range of a target heart rate from the age and the resting heart rate acquired by the second acquisition unit.
    By comparing the heart rate acquired by the first acquisition unit with the range of the target heart rate determined by the target determination unit, the assist force determination which is the torque of the motor for rotating the pedal is determined. With a department,
    Electric assisted bicycle.
  9. 　運転者の心拍数を測定する心拍計と、
    　前記運転者の年齢および前記運転者の安静時心拍数が入力される入力端末と、
    　電動アシスト自転車と、を備え、
    　前記電動アシスト自転車は、
    　前記心拍計から心拍数を取得する第１取得部と、
    　前記年齢および前記安静時心拍数を前記入力端末から取得する第２取得部と、
    　前記第２取得部が取得した、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定部と、
    　前記第１取得部が取得した前記心拍数と、前記目標決定部が決定した前記目標心拍数の範囲とから、ペダルを回転させるモータのトルクと前記運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定部と、を有する、
    　電動アシスト自転車の制御システム。     A heart rate monitor that measures the driver's heart rate,
    An input terminal for inputting the driver's age and the driver's resting heart rate, and
    Equipped with an electrically power assisted bicycle
    The electrically power assisted bicycle
    The first acquisition unit that acquires the heart rate from the heart rate monitor,
    A second acquisition unit that acquires the age and the resting heart rate from the input terminal, and
    A target determination unit that determines a range of a target heart rate from the age and the resting heart rate acquired by the second acquisition unit.
    From the heart rate acquired by the first acquisition unit and the range of the target heart rate determined by the target determination unit, the torque of the motor that rotates the pedal and the torque generated by the driver pedaling. It has an assist rate determination unit that determines the assist rate, which is the ratio of
    Control system for electrically power assisted bicycles.
  10. 　運転者の心拍数を測定する心拍計から心拍数を取得する第１取得ステップと、
    　年齢および安静時心拍数を入力端末から取得する第２取得ステップと、
    　前記第２取得ステップで取得された、前記年齢および前記安静時心拍数から目標心拍数の範囲を決定する目標決定ステップと、
    　前記第１取得ステップで取得された前記心拍数と、前記目標決定ステップで決定された前記目標心拍数の範囲とを比較することで、ペダルを回転させるモータのトルクと前記運転者がペダルを漕ぐことによって発生するトルクとの比率であるアシスト率を決定するアシスト率決定ステップと、を含む、
    　電動アシスト自転車の制御方法。     The first acquisition step of acquiring the heart rate from the heart rate monitor that measures the driver's heart rate,
    The second acquisition step to acquire the age and resting heart rate from the input terminal,
    The target determination step for determining the range of the target heart rate from the age and the resting heart rate acquired in the second acquisition step, and the target determination step.
    By comparing the heart rate acquired in the first acquisition step with the range of the target heart rate determined in the target determination step, the torque of the motor for rotating the pedal and the driver pedaling the pedal. Includes an assist rate determination step, which determines the assist rate, which is the ratio to the torque generated by the process.
    How to control a power-assisted bicycle.
PCT/JP2021/001918 2020-01-30 2021-01-20 Power assist bicycle, control system of power assist bicycle, and control method of power assist bicycle WO2021153387A1 (en)

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DE102023201235A1 (en) 2023-02-14 2023-12-21 Zf Friedrichshafen Ag Controlling an electric motor of a bicycle for training purposes

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