CN109911097B - Method for controlling rotation of bicycle wheel and bicycle - Google Patents
Method for controlling rotation of bicycle wheel and bicycle Download PDFInfo
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- CN109911097B CN109911097B CN201910270859.7A CN201910270859A CN109911097B CN 109911097 B CN109911097 B CN 109911097B CN 201910270859 A CN201910270859 A CN 201910270859A CN 109911097 B CN109911097 B CN 109911097B
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Abstract
The present invention relates to a control method, and more particularly to a method for controlling rotation of a bicycle wheel and a bicycle. A method of controlling rotation of a wheel of a bicycle, the bicycle comprising a frame, a wheel, a pedal unit, a drive motor, a controller and an energy supply device; the method comprises the following steps: the pedal unit is reversely pedaled; the controller controls the driving motor to provide a forward driving force to the wheel. When the method is adopted, as long as the pedal unit is treaded reversely, the controller controls the driving motor to provide forward driving force for the wheels; especially, in the process of ascending, when the pedal unit is treaded reversely, the user is pushed forwards most of the time, so that the human body naturally leans forwards, and the ascending is more facilitated; in addition, the force-exerting muscle group when the pedal unit is positively treaded is different from the force-exerting muscle group when the pedal unit is negatively treaded, when the user alternately performs positive treading and negative treading on the pedal unit, the force-exerting of different muscle groups is realized, and the fatigue degree of the user is reduced.
Description
Technical Field
The present invention relates to a control method, and more particularly to a method for controlling rotation of a bicycle wheel and a bicycle.
Background
In the bicycle with the traditional mechanical structure, a user treads the pedal unit in the forward direction and drives the wheels to rotate through the transmission of the mechanical mechanism. When a user treads the pedal unit in the forward direction, the user can only use the same muscle group to exert force, and the user is easy to fatigue after a long time; in addition, in the process of ascending, when a user treads the pedal unit in the forward direction, the user can bear backward thrust in most of time, and the upper half of the human body needs to be actively inclined forward to be more beneficial to ascending.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for controlling the rotation of bicycle wheels to realize the purpose of back stepping and forward walking.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a method for controlling the rotation of a wheel of a bicycle comprises a frame, at least one wheel arranged on the frame, a pedal unit arranged on the frame, a driving motor for driving the wheel to rotate, a controller and an energy supply device electrically connected with the controller and the driving motor;
the method comprises the following steps:
the pedal unit is reversely pedaled;
the controller controls the driving motor to provide a forward driving force to the wheel.
The number of the pedal units is even, the specific number is set according to the number of users, for example, when the pedal units are used by a single person, the number is 2, when the pedal units are used by two persons, the number is 4, when the pedal units are used by three persons, the number is 6, and the like.
According to the method for controlling the rotation of the bicycle wheel, as long as the pedal unit is reversely trodden, the controller controls the driving motor to provide forward driving force for the wheel, so that the purpose of reversely trodden and forward walking is achieved.
Furthermore, the energy supply device is a power generation device driven by the pedal unit to generate power, and a conventional structure is adopted.
When the power generation device is an alternating current power generation device and the driving motor is an alternating current driving motor, the controller provides forward driving electric energy for the driving motor by adjusting at least one of the frequency, the phase and the amplitude of alternating current generated by the alternating current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is an alternating current power generation device and the driving motor is a direct current driving motor, the controller firstly converts alternating current generated by the alternating current power generation device into direct current through the rectifying circuit and then only provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is an alternating current driving motor, the controller firstly converts direct current generated by the direct current power generation device into alternating current through the inverter, then adjusts at least one of the frequency, the phase and the amplitude of the alternating current, and finally provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is a direct current driving motor, the controller only provides forward driving electric energy for the driving motor by controlling the output direction of direct current generated by the direct current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels.
Further, the energy supply device is an energy storage element; such as a battery or capacitor;
the controller receives feedback information when the pedal unit is reversely trodden, and controls the energy storage element to provide forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels.
Furthermore, in order to facilitate the control of the rotation speed of the wheel by a user, the bicycle also comprises a rotating shaft driven by the pedal unit to rotate; the pedal unit is reversely treaded to drive the rotating shaft to rotate;
before the controller controls the driving motor to provide the forward driving force for the wheels, the controller further comprises:
the controller obtains a first rotation speed ratio of the rotation speed of the rotating shaft and the rotation speed of the wheels;
the controller acquires the rotating speed of the rotating shaft when the pedal unit is reversely treaded; the rotating shaft rotation information acquisition device is arranged; the rotating shaft rotation information acquisition device can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the rotating shaft rotation information acquisition device can be a gyroscope, an encoder or a power generation device;
the controller obtains the pre-rotation speed of the wheel according to the rotation speed of the rotating shaft and the first rotation speed ratio;
the controller controls the driving motor to provide forward driving force for the wheel, and comprises:
the controller controls the drive motor to provide a forward driving force to the wheel until the wheel is accelerated to a pre-rotation speed of the wheel.
Further, in order to facilitate the controller to control the driving rotation speed of the driving motor when the rotation speed of the wheel is set according to the user's intention, the controller controls the driving motor to rotate to provide the forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and the method further comprises the following steps:
the controller obtains a second rotation speed ratio of the driving rotation speed of the driving motor to the wheel rotation speed;
the controller obtains a set driving rotating speed of the driving motor according to the preset rotating speed of the wheel and the second rotating speed ratio;
the controller controls the driving motor to provide a forward driving force to the wheel until the wheel is accelerated to a pre-rotation speed of the wheel, including:
the controller controls the driving motor to rotate according to the set driving rotating speed to provide forward driving force for the wheels until the wheels are accelerated to the pre-rotating speed of the wheels.
Further, in order to realize real-time adjustment of the first speed ratio, the controller controls the driving motor to provide a forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and further includes:
the controller judges whether a first speed ratio adjusting instruction is received or not;
if yes, the controller controls the driving motor to rotate according to the first speed ratio adjusting instruction to provide new forward driving force for the wheels;
if not, the controller continues to control the driving motor to rotate according to the original first speed ratio so as to provide forward driving force for the wheels.
Further, in order to improve the utilization efficiency of the electric energy, prevent the driving motor from doing useless work, and even generate resistance to the rotation of the wheel, the controller controls the driving motor to provide the forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and the method further comprises the following steps:
the controller acquires the rotating speed of the wheel; obtaining the wheel rotation information by arranging a wheel rotation information obtaining device; the wheel rotation information acquisition device can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the wheel rotation information acquisition device can be a gyroscope or an encoder;
the controlling the driving motor to provide the forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel comprises the following steps:
the controller judges whether the rotating speed of the wheel is greater than or equal to the pre-rotating speed of the wheel;
if yes, the driving motor is not started;
if not, the driving motor is started.
Further, in order to adjust the position of the pedal unit, the pedal unit is conveniently stepped by a user, and especially, before the pedal unit is reversely stepped at the beginning of stepping, the pedal unit further comprises:
the controller obtains an acceleration threshold value of the rotation of the rotating shaft;
the controller acquires the rotating acceleration of the rotating shaft; the rotating acceleration acquisition device of the rotating shaft is arranged; the rotating acceleration acquisition device of the rotating shaft can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the rotating acceleration acquisition device of the rotating shaft can be a gyroscope arranged on the rotating shaft;
the controller judges whether the acceleration is greater than or equal to an acceleration threshold value;
if yes, starting the driving motor;
if not, the driving motor is not started;
or;
the controller controls the rotating shaft to return and rotate to a preset position; when the rotating shaft is located at the preset position, the pedal unit is not located at the highest position or the lowest position.
The present invention also provides a bicycle comprising:
a frame;
at least one wheel arranged on the frame;
the pedal unit is arranged on the frame;
the driving motor drives the wheels to rotate;
a controller;
the energy supply device is an energy storage element or a power generation mechanism and is electrically connected with the controller and the driving motor;
after the pedal unit is reversely stepped by the user, the controller controls the driving motor to provide forward driving force for the wheel.
The device further comprises a rotating shaft which is arranged on the rack and driven by the pedal unit to rotate, and a rotating shaft rotation information acquisition device connected with the controller;
the controller also acquires a first rotation speed ratio of the rotation speed of the rotating shaft and the rotation speed of the wheel, and acquires the rotation speed of the rotating shaft when the pedal unit is reversely trodden by a user through the rotating shaft rotation information acquiring device; and after the controller acquires the information, acquiring the pre-rotation speed of the wheel according to the first rotation speed ratio and the rotation speed of the rotating shaft, and finally controlling the driving motor to rotate to provide forward driving force for the wheel until the wheel is accelerated to the pre-rotation speed of the wheel.
Further, the controller also obtains a second rotation speed ratio of the driving rotation speed of the driving motor to the wheel rotation speed, then obtains a set driving rotation speed of the driving motor according to the pre-rotation speed of the wheel and the second rotation speed ratio, and finally controls the driving motor to rotate according to the set driving rotation speed to provide forward driving force for the wheel until the wheel is accelerated to the pre-rotation speed of the wheel;
further, the device also comprises a wheel rotating speed acquisition device connected with the controller; the controller also acquires the rotating speed of the wheel through a wheel rotating speed acquiring device;
when the rotating speed of the wheel is greater than or equal to the pre-rotating speed of the wheel, the driving motor is not started; when the real-time rotating speed of the wheel is less than the pre-rotating speed of the wheel, controlling the driving motor to rotate to provide forward driving force for the wheel until the wheel is accelerated to the pre-rotating speed of the wheel;
further, the device also comprises a rotating shaft rotating acceleration acquisition device connected with the controller; the controller also acquires an acceleration threshold value of the rotation of the rotating shaft and acquires the rotation acceleration of the rotating shaft through the rotating shaft rotation acceleration acquisition device;
when the rotating acceleration of the rotating shaft is greater than or equal to the acceleration threshold value, starting the driving motor; when the rotating acceleration of the rotating shaft is smaller than the acceleration threshold value, the driving motor is not started;
further, the system also comprises an operating system connected with the controller;
the operating system comprises an instrument panel which is arranged at the front end of the rack and connected with the controller (electrically connected through a wire or wirelessly connected); the instrument panel can be a touch screen or a display screen; when the instrument panel is a display screen, corresponding operation keys or operation buttons need to be correspondingly arranged.
Or the like, or, alternatively,
the operating system comprises an adjusting mechanism which is arranged at the front end of the rack and connected with the controller (electrically connected through a wire or wirelessly connected); the adjusting mechanism can adopt a conventional structure, such as a rotary adjusting mechanism, which comprises a rotary drum rotatably arranged on a handlebar at the front end of the frame, wherein the rotary drum and the handlebar are respectively provided with marks and scale marks; and rotating the rotating drum, wherein the scale mark corresponding to the mark is the corresponding adjusting parameter or instruction, and the controller immediately makes a corresponding response after acquiring the information.
Or the like, or, alternatively,
the operating system comprises an information receiving end and an information transmitting end, wherein the information receiving end is arranged on the rack and connected with the controller (electrically connected through a wire or wirelessly connected), and the information transmitting end is wirelessly connected with the information receiving end; the information transmitting end comprises a shell, a wireless information transmitting source arranged in the shell and an operation key or an operation screen arranged outside the shell;
or the like, or, alternatively,
the operating system comprises a cloud server in wireless connection with the controller; the rack is provided with an information identification two-dimensional code; a user downloads an APP from a cloud server by using a mobile terminal, and establishes wireless connection with a controller through the APP scanning information identification two-dimensional code; the user inputs the operation instruction on the APP of the mobile terminal, and the controller can execute the corresponding operation instruction.
According to the bicycle with the structure, when a user treads the pedal unit reversely, the wheels can rotate forwards;
the control of the rotating speed of the wheel is realized by additionally arranging a rotating shaft rotating information acquisition device;
by additionally arranging a wheel rotating speed acquisition device, the accurate judgment on whether the driving motor is started or not is realized;
the position of the pedal unit is adjusted by additionally arranging a rotating shaft rotating acceleration acquisition device or a return circuit;
and the operation system is convenient for users to use.
Drawings
FIG. 1 is a flow chart of a method of controlling rotation of a bicycle wheel in accordance with embodiment 1 of the present invention;
FIG. 2 is a flow chart of a method of controlling rotation of a bicycle wheel in accordance with an embodiment 2 of the present invention;
FIG. 3 is a flow chart of a method of controlling rotation of a bicycle wheel in accordance with embodiment 3 of the present invention;
FIG. 4 is a flowchart of a method of controlling rotation of a bicycle wheel in accordance with embodiment 4 of the present invention;
fig. 5 is a schematic structural view of a bicycle according to embodiment 49 of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
A method for controlling the rotation of a wheel of a bicycle is disclosed, and referring to FIG. 5, the bicycle comprises a frame 1, two wheels 2 arranged on the frame 1, a pedal unit 3 arranged on the frame 1, a driving motor 4 for driving the wheels 2 to rotate, a controller (not shown), and an energy supply device (not shown) electrically connected with the controller and the driving motor 4;
as shown in fig. 1, the method comprises the following steps:
the S1a pedal unit is reversely pedaled;
the S2a controller controls the drive motor to provide forward drive force to the wheels.
Specifically, the energy supply device is a power generation device driven by the pedal unit to generate power; when the pedal unit is treaded reversely, the power generation device is driven to generate power, and the generated power provides electric energy for the driving motor;
when the power generation device is an alternating current power generation device and the driving motor is an alternating current driving motor, the controller provides forward driving electric energy for the driving motor by adjusting at least one of the frequency, the phase and the amplitude of alternating current generated by the alternating current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is an alternating current power generation device and the driving motor is a direct current driving motor, the controller firstly converts alternating current generated by the alternating current power generation device into direct current through the rectifying circuit and then only provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is an alternating current driving motor, the controller firstly converts direct current generated by the direct current power generation device into alternating current through the inverter, then adjusts at least one of the frequency, the phase and the amplitude of the alternating current, and finally provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is a direct current driving motor, the controller only provides forward driving electric energy for the driving motor by controlling the output direction of direct current generated by the direct current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels.
In summary, the following steps: according to the method for controlling the rotation of the bicycle wheel, the pedal unit is reversely treaded to drive the power generation mechanism to generate power to provide electric energy for the driving motor, and the controller controls the driving motor to only provide forward driving force for the bicycle wheel, so that the purpose of reversely treading and forward walking is achieved; especially, in the process of ascending, when the pedal unit is treaded reversely, the user is pushed forwards most of the time, so that the human body naturally leans forwards, and the ascending is more facilitated; in addition, the force-exerting muscle group when the pedal unit is positively treaded is different from the force-exerting muscle group when the pedal unit is negatively treaded, when the user alternately performs positive treading and negative treading on the pedal unit, the force-exerting of different muscle groups is realized, and the fatigue degree of the user is reduced.
Example 2
A method for controlling the rotation of a wheel of a bicycle is disclosed, and referring to FIG. 5, the bicycle comprises a frame 1, two wheels 2 arranged on the frame 1, a pedal unit 3 arranged on the frame 1, a driving motor 4 for driving the wheels 2 to rotate, a controller (not shown), and an energy supply device (not shown) electrically connected with the controller and the driving motor 4; the energy supply device is an energy storage element (such as a battery or a capacitor);
as shown in fig. 2, the method comprises the following steps:
s1b, the controller acquires feedback information when the pedal unit is reversely trodden; the information is obtained by arranging a rotating shaft rotating information obtaining device; the rotating shaft rotation information acquisition device can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the rotating shaft rotation information acquisition device can be a gyroscope, an encoder or a power generation device;
the S2b controller controls the driving motor to provide the forward driving force for the wheels after receiving the feedback information.
The controller controls the energy storage element to only provide forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels.
In summary, the following steps: according to the method for controlling the rotation of the bicycle wheel, when the controller acquires the feedback information when the pedal unit is reversely treaded, the controller controls the driving motor to provide the forward driving force for the wheel, so that the purpose of reversely treading and forward walking is achieved; especially, in the process of ascending, when the pedal unit is treaded reversely, the user is pushed forwards most of the time, so that the human body naturally leans forwards, and the ascending is more facilitated; in addition, the force-exerting muscle group when the pedal unit is positively treaded is different from the force-exerting muscle group when the pedal unit is negatively treaded, when the user alternately performs positive treading and negative treading on the pedal unit, the force-exerting of different muscle groups is realized, and the fatigue degree of the user is reduced.
Example 3
A method for controlling the rotation of a wheel of a bicycle is disclosed, and referring to FIG. 5, the bicycle comprises a frame 1, two wheels 2 arranged on the frame 1, a pedal unit 3 arranged on the frame 1, a rotating shaft 5 rotatably arranged on the frame and driven by the pedal unit to rotate, a driving motor 4 for driving the wheels 2 to rotate, a controller (not shown in the figure), and an energy supply device (not shown in the figure) electrically connected with the controller and the driving motor 4; the energy supply device is an energy storage element (such as a battery or a capacitor);
as shown in fig. 3, the method comprises the following steps:
s1c, the controller acquires feedback information when the pedal unit is reversely trodden; the information is obtained by arranging a rotating shaft rotating information obtaining device; the rotating shaft rotation information acquisition device can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the rotating shaft rotation information acquisition device can be a gyroscope, an encoder or a power generation device;
s2c the controller obtains the first speed ratio of the rotating speed of the rotating shaft and the rotating speed of the wheels;
s3c the controller obtains the rotating speed of the rotating shaft when the pedal unit is reversely trodden; the rotating shaft rotation information acquisition device is adopted for acquiring the rotation information;
s4, acquiring a pre-rotation speed of the wheel by the controller of 4c according to the rotation speed of the rotating shaft and the first rotation speed ratio;
the S5c controller controls the drive motor to provide positive drive force to the wheels until the wheels are accelerated to a wheel pre-rotation speed.
In summary, the following steps: the method for controlling the rotation of the bicycle wheel not only achieves the purpose of back-stepping and forward-walking, but also achieves that a user adjusts the rotation speed of the wheel according to the will of the user (the speed of driving the rotating shaft to rotate by stepping the pedal unit) because the pre-rotation speed of the wheel is obtained through the first rotation speed ratio and the rotation speed of the rotating shaft.
Example 4
A method for controlling the rotation of a wheel of a bicycle is disclosed, and referring to FIG. 5, the bicycle comprises a frame 1, two wheels 2 arranged on the frame 1, a pedal unit 3 arranged on the frame 1, a rotating shaft 5 rotatably arranged on the frame and driven by the pedal unit to rotate, a driving motor 4 for driving the wheels 2 to rotate, a controller (not shown in the figure), and an energy supply device (not shown in the figure) electrically connected with the controller and the driving motor 4; the energy supply device is an energy storage element (such as a battery or a capacitor);
as shown in fig. 4, the method comprises the following steps:
s1d, the controller acquires feedback information when the pedal unit is reversely trodden; the information is obtained by arranging a rotating shaft rotating information obtaining device; the rotating shaft rotation information acquisition device can be electrically connected with the controller through a wire, and can also wirelessly transmit information to the controller through a built-in information transmitting module, and certainly, the controller needs to be provided with a corresponding information receiving module; the rotating shaft rotation information acquisition device can be a gyroscope, an encoder or a power generation device;
s2d the controller obtains the first speed ratio of the rotating speed of the rotating shaft and the rotating speed of the wheels;
the S3d controller obtains a second rotation speed ratio of the driving rotation speed of the driving motor to the wheel rotation speed;
s4d the controller obtains the rotating speed of the rotating shaft when the pedal unit is pedaled reversely; the rotating shaft rotation information acquisition device is adopted for acquiring the rotation information;
s5d the controller obtains the pre-rotation speed of the wheel according to the rotation speed of the rotating shaft and the first rotation speed ratio;
s6d the controller obtains the set driving speed of the driving motor according to the preset speed of the wheels and the second speed ratio;
the S7d controller controls the driving motor to rotate according to the set driving speed to provide the forward driving force for the wheels until the wheels are accelerated to the wheel pre-rotation speed.
In summary, the following steps: the method for controlling the rotation of the bicycle wheel not only achieves the purpose of back-stepping and forward-walking, and achieves that a user adjusts the rotation speed of the wheel according to own will (the speed of driving the rotating shaft to rotate by stepping on the pedal unit), but also obtains the set driving rotation speed of the driving motor through the second rotation speed ratio and the pre-rotation speed of the wheel, so that the control is more accurate in the process of adjusting the rotation speed of the wheel.
Examples 5 to 8
The 4 embodiments respectively provide a method for controlling the rotation of the wheels of the bicycle, and the structures of the bicycle are respectively the same as those of the embodiments 1 to 4; the specific control steps are approximately the same, and the differences are as follows:
the controller controls the driving motor to provide a forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and further comprises:
the controller judges whether a first speed ratio adjusting instruction is received or not;
if yes, the controller controls the driving motor to rotate according to the first speed ratio adjusting instruction to provide new forward driving force for the wheels;
if not, the controller continues to control the driving motor to rotate according to the original first speed ratio so as to provide forward driving force for the wheels.
In summary, the following steps: compared with the embodiments 1 to 4, the 4 embodiments respectively realize the real-time adjustment of the first speed ratio through the steps.
Examples 9 to 16
The 8 embodiments each provide a method for controlling the rotation of a wheel of a bicycle, and the structure and specific control steps of the bicycle are respectively substantially the same as those of the embodiments 1 to 8, except that:
the bicycle also comprises a wheel rotation information acquisition device (which can be a gyroscope or an encoder) connected with the controller (which can be electrically connected or wirelessly connected);
the controller controls the driving motor to provide a forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and further comprises:
the controller acquires the rotating speed of the wheel; obtaining the wheel rotation information through a wheel rotation information obtaining device;
the controlling the driving motor to provide the forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel comprises the following steps:
the controller judges whether the rotating speed of the wheel is greater than or equal to the pre-rotating speed of the wheel;
if yes, the driving motor is not started;
if not, the driving motor is started.
In summary, the following steps: compared with the embodiments 1 to 8, the 8 embodiments respectively prevent the driving motor from doing useless work and even generating resistance to the rotation of the wheel through the steps, and improve the utilization efficiency of electric energy.
Examples 17 to 32
The 16 embodiments each provide a method for controlling the rotation of a wheel of a bicycle, and the structure and specific control steps of the bicycle are substantially the same as those of the embodiments 1 to 16, respectively, except that:
the bicycle also comprises a rotating shaft rotation acceleration acquisition device (such as a gyroscope) connected with the controller (which can be electrically connected or wirelessly connected);
before the pedal unit is pedaled reversely, the pedal unit further comprises:
the controller obtains an acceleration threshold value of the rotation of the rotating shaft;
the controller acquires the rotating acceleration of the rotating shaft;
the controller judges whether the acceleration is greater than or equal to an acceleration threshold value;
if yes, starting the driving motor;
if not, the driving motor is not started.
In summary, the following steps: compared with the embodiments 1 to 16, the 16 embodiments respectively realize the adjustment of the position of the pedal unit through the steps, and are convenient for the user to use, especially for the user to exert force when the foot treads the pedal unit when the user just starts to use.
Examples 33 to 48
The 16 embodiments each provide a method for controlling the rotation of a wheel of a bicycle, and the structure and specific control steps of the bicycle are substantially the same as those of the embodiments 1 to 16, respectively, except that:
the bicycle also comprises a return circuit electrically connected with the controller;
before the pedal unit is pedaled reversely, the pedal unit further comprises:
the controller controls the rotating shaft to return and rotate to a preset position through the return circuit; when the rotating shaft is located at the preset position, the pedal unit is not located at the highest position or the lowest position.
In summary, the following steps: compared with the embodiments 1 to 16, the 16 embodiments respectively realize the adjustment of the position of the pedal unit through the steps, and are convenient for the user to use, especially for the user to exert force when the foot treads the pedal unit when the user just starts to use.
Example 49
As shown in fig. 5, a bicycle includes:
a frame 1;
the two wheels 2 are arranged on the frame 1;
the pedal unit 3 is arranged on the frame 1;
the driving motor 4 drives the wheels 2 to rotate;
a controller (not shown in the figures);
the energy supply device (not shown in the figure) is an energy storage element or a power generation mechanism and is electrically connected with the controller and the driving motor 4;
after the pedal unit 3 is stepped on in the reverse direction, the controller controls the driving motor 4 to provide a forward driving force to the wheel 2.
Further, in other embodiments, the device further includes a rotating shaft 5 disposed on the rack 1 and driven by the pedal unit 3 to rotate, and a rotating shaft rotation information obtaining device (not shown in the figure) connected to the controller (which may be electrically connected or wirelessly connected);
the rotating shaft rotation information acquisition device can be a gyroscope, an encoder or a power generation mechanism;
the controller also acquires a first rotation speed ratio of the rotation speed of the rotating shaft and the rotation speed of the wheel, and acquires the rotation speed of the rotating shaft when the pedal unit is reversely treaded through the rotating shaft rotation information acquiring device; and after the controller acquires the information, acquiring the pre-rotation speed of the wheel according to the first rotation speed ratio and the rotation speed of the rotating shaft, and finally controlling the driving motor to rotate to provide forward driving force for the wheel until the wheel is accelerated to the pre-rotation speed of the wheel.
Further, in other embodiments, the controller further obtains a second rotation speed ratio of the driving rotation speed of the driving motor 4 to the wheel rotation speed, then obtains a set driving rotation speed of the driving motor 4 according to the pre-rotation speed of the wheel 2 and the second rotation speed ratio, and finally controls the driving motor 4 to rotate according to the set driving rotation speed to provide the forward driving force for the wheel 2 until the wheel 2 is accelerated to the pre-rotation speed of the wheel 2.
Further, in other embodiments, the vehicle further includes a wheel rotation speed obtaining device (not shown in the figure) connected to the controller (which may be electrically connected or wirelessly connected); the controller also acquires the rotating speed of the wheel 2 through a wheel rotating speed acquiring device;
when the rotating speed of the wheel 2 is greater than or equal to the pre-rotating speed of the wheel 2, the driving motor 4 is not started; when the rotation speed of the wheel 2 is less than the pre-rotation speed of the wheel 2, the driving motor 4 is controlled to rotate to provide the wheel 2 with positive driving force until the wheel 2 is accelerated to the pre-rotation speed of the wheel 2.
Further, in other embodiments, the device further includes a rotating shaft rotation acceleration obtaining device (not shown in the figure, such as a gyroscope) connected to the controller (which may be electrically connected or wirelessly connected); the controller also acquires an acceleration threshold value of the rotation of the rotating shaft and acquires the rotation acceleration of the rotating shaft through the rotating shaft rotation acceleration acquisition device;
when the rotating acceleration of the rotating shaft is greater than or equal to the acceleration threshold value, starting the driving motor; and when the rotating acceleration of the rotating shaft is smaller than the acceleration threshold value, the driving motor is not started.
Further, in other embodiments, the system further comprises an operating system connected with the controller.
Specifically, the operating system includes an instrument panel disposed at the front end of the rack and connected to the controller (electrically connected via a wire or wirelessly connected thereto); the instrument panel can be a touch screen or a display screen; when the instrument panel is a display screen, corresponding operation keys or operation buttons need to be correspondingly arranged.
Or the like, or, alternatively,
the operating system comprises an adjusting mechanism which is arranged at the front end of the rack and connected with the controller (electrically connected through a wire or wirelessly connected); the adjusting mechanism can adopt a conventional structure, such as a rotary adjusting mechanism, which comprises a rotary drum rotatably arranged on a handlebar at the front end of the frame, wherein the rotary drum and the handlebar are respectively provided with marks and scale marks; and rotating the rotating drum, wherein the scale mark corresponding to the mark is the corresponding adjusting parameter or instruction, and the controller immediately makes a corresponding response after acquiring the information.
Or the like, or, alternatively,
the operating system comprises an information receiving end and an information transmitting end, wherein the information receiving end is arranged on the rack and connected with the controller (electrically connected through a wire or wirelessly connected), and the information transmitting end is wirelessly connected with the information receiving end; the information transmitting end comprises a shell, a wireless information transmitting source arranged in the shell and an operation key or an operation screen arranged outside the shell;
or the like, or, alternatively,
the operating system comprises a cloud server in wireless connection with the controller; the rack is provided with an information identification two-dimensional code; a user downloads an APP from a cloud server by using a mobile terminal, and establishes wireless connection with a controller through the APP scanning information identification two-dimensional code; the user inputs the operation instruction on the APP of the mobile terminal, and the controller can execute the corresponding operation instruction.
In summary, the following steps: according to the bicycle with the structure, when a user treads the pedal unit reversely, the wheels can rotate forwards;
the control of the rotating speed of the wheel is realized by additionally arranging a rotating shaft rotating information acquisition device;
by additionally arranging a wheel rotating speed acquisition device, the accurate judgment on whether the driving motor is started or not is realized;
the position of the pedal unit is adjusted by additionally arranging a rotating shaft rotating acceleration acquisition device or a return circuit;
and the operation system is convenient for users to use.
Claims (7)
1. A method for controlling the rotation of the wheels of a bicycle is characterized in that the bicycle comprises a frame, at least one wheel arranged on the frame, a pedal unit arranged on the frame, a rotating shaft driven by the pedal unit to rotate, a driving motor for driving the wheels to rotate, a controller and an energy supply device electrically connected with the controller and the driving motor;
the method comprises the following steps:
the pedal unit is reversely treaded to drive the rotating shaft to rotate;
the controller obtains a first rotation speed ratio of the rotation speed of the rotating shaft and the rotation speed of the wheels;
the controller acquires the rotating speed of the rotating shaft when the pedal unit is reversely treaded;
the controller obtains the pre-rotation speed of the wheel according to the rotation speed of the rotating shaft and the first rotation speed ratio;
the controller obtains an acceleration threshold value of the rotation of the rotating shaft;
the controller acquires the rotating acceleration of the rotating shaft;
the controller judges whether the acceleration is greater than or equal to an acceleration threshold value;
if so, starting the driving motor to provide positive driving force for the wheels until the wheels are accelerated to the pre-rotation speed of the wheels;
if not, the driving motor is not started.
2. The method of controlling rotation of a bicycle wheel of claim 1, wherein the energy supply device is an electricity generating device that is powered by a pedal unit to generate electricity;
when the power generation device is an alternating current power generation device and the driving motor is an alternating current driving motor, the controller provides forward driving electric energy for the driving motor by adjusting at least one of the frequency, the phase and the amplitude of alternating current generated by the alternating current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is an alternating current power generation device and the driving motor is a direct current driving motor, the controller firstly converts alternating current generated by the alternating current power generation device into direct current through the rectifying circuit and then only provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is an alternating current driving motor, the controller firstly converts direct current generated by the direct current power generation device into alternating current through the inverter, then adjusts at least one of the frequency, the phase and the amplitude of the alternating current, and finally provides forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels;
when the power generation device is a direct current power generation device and the driving motor is a direct current driving motor, the controller only provides forward driving electric energy for the driving motor by controlling the output direction of direct current generated by the direct current power generation device, so that the driving motor is controlled to provide forward driving force for the wheels;
or;
the energy supply device is an energy storage element;
the controller controls the energy storage element to only provide forward driving electric energy for the driving motor, so that the driving motor is controlled to provide forward driving force for the wheels.
3. The method of claim 2, wherein the controller controls the drive motor to rotate to provide a positive driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel, and further comprising:
the controller obtains a second rotation speed ratio of the driving rotation speed of the driving motor to the wheel rotation speed;
the controller obtains a set driving rotating speed of the driving motor according to the preset rotating speed of the wheel and the second rotating speed ratio;
the controller controls the driving motor to provide a forward driving force to the wheel until the wheel is accelerated to a pre-rotation speed of the wheel, including:
the controller controls the driving motor to rotate according to the set driving rotating speed to provide forward driving force for the wheels until the wheels are accelerated to the pre-rotating speed of the wheels.
4. A method for controlling rotation of a bicycle wheel as claimed in any one of claims 1 to 3, wherein the controller controls the driving motor to provide a forward driving force to the wheel until after accelerating the wheel to a pre-rotation speed of the wheel, further comprising:
the controller judges whether a first speed ratio adjusting instruction is received or not;
if yes, the controller controls the driving motor to rotate according to the first speed ratio adjusting instruction to provide new forward driving force for the wheels;
if not, the controller continues to control the driving motor to rotate according to the original first speed ratio so as to provide forward driving force for the wheels.
5. A method for controlling rotation of a bicycle wheel as claimed in any one of claims 1 to 3, wherein the controller controls the drive motor to provide a forward driving force to the wheel until the wheel is accelerated to a pre-rotation speed of the wheel, further comprising:
the controller acquires the rotating speed of the wheel;
the controlling the driving motor to provide the forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel comprises the following steps:
the controller judges whether the rotating speed of the wheel is greater than or equal to the pre-rotating speed of the wheel;
if yes, the driving motor is not started;
if not, the driving motor is started.
6. A bicycle, comprising:
a frame;
at least one wheel arranged on the frame;
the pedal unit is arranged on the frame;
the rotating shaft is arranged on the frame and is driven to rotate by the pedal unit;
the driving motor drives the wheels to rotate;
a controller;
the rotating shaft rotation information acquisition device is connected with the controller;
the rotating shaft rotating acceleration acquisition device is connected with the controller;
the energy supply device is an energy storage element or a power generation mechanism and is electrically connected with the controller and the driving motor;
after the pedal unit is treaded reversely, the controller controls the driving motor to provide forward driving force for the wheels;
the controller acquires a first rotation speed ratio of the rotation speed of the rotating shaft and the rotation speed of the wheel, acquires the rotation speed of the rotating shaft when the pedal unit is reversely treaded through the rotating shaft rotation information acquiring device, acquires an acceleration threshold value of the rotation of the rotating shaft, and acquires the acceleration of the rotation of the rotating shaft through the rotating shaft rotation acceleration acquiring device; after the controller acquires the information, acquiring the pre-rotation speed of the wheel according to the first rotation speed ratio and the rotation speed of the rotating shaft, and starting the driving motor when the rotation acceleration of the rotating shaft is greater than or equal to the acceleration threshold value until the wheel is accelerated to the pre-rotation speed of the wheel; and when the rotating acceleration of the rotating shaft is smaller than the acceleration threshold value, the driving motor is not started.
7. The bicycle of claim 6, wherein the controller further obtains a second rotation speed ratio of the driving rotation speed of the driving motor to the rotation speed of the wheel, then obtains a set driving rotation speed of the driving motor according to the pre-rotation speed of the wheel and the second rotation speed ratio, and finally controls the driving motor to rotate according to the set driving rotation speed to provide a forward driving force to the wheel until the wheel is accelerated to the pre-rotation speed of the wheel;
and/or;
the device also comprises a wheel rotating speed acquisition device connected with the controller; the controller also acquires the rotating speed of the wheel through a wheel rotating speed acquiring device;
when the rotating speed of the wheel is greater than or equal to the pre-rotating speed of the wheel, the driving motor is not started; when the rotating speed of the wheel is less than the pre-rotating speed of the wheel, controlling the driving motor to rotate to provide forward driving force for the wheel until the wheel is accelerated to the pre-rotating speed of the wheel;
and/or;
the operating system is connected with the controller;
the operating system comprises an instrument panel which is arranged at the front end of the rack and electrically connected with the controller;
or the like, or, alternatively,
the operating system comprises an adjusting mechanism which is arranged at the front end of the frame and electrically connected with the controller;
or the like, or, alternatively,
the operating system comprises an information receiving end and an information transmitting end, wherein the information receiving end is arranged on the rack and electrically connected with the controller, and the information transmitting end is wirelessly connected with the information receiving end; the information transmitting end comprises a shell, a wireless information transmitting source arranged in the shell and an operation key or an operation screen arranged outside the shell;
or the like, or, alternatively,
the operating system comprises a cloud server in wireless connection with the controller; the rack is provided with an information identification two-dimensional code; a user downloads an APP from a cloud server by using a mobile terminal, and establishes wireless connection with a controller through the APP scanning information identification two-dimensional code; the user inputs the operation instruction on the APP of the mobile terminal, and the controller can execute the corresponding operation instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270859.7A CN109911097B (en) | 2019-04-04 | 2019-04-04 | Method for controlling rotation of bicycle wheel and bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270859.7A CN109911097B (en) | 2019-04-04 | 2019-04-04 | Method for controlling rotation of bicycle wheel and bicycle |
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| Publication Number | Publication Date |
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| CN109911097A CN109911097A (en) | 2019-06-21 |
| CN109911097B true CN109911097B (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910270859.7A Active CN109911097B (en) | 2019-04-04 | 2019-04-04 | Method for controlling rotation of bicycle wheel and bicycle |
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| CN (1) | CN109911097B (en) |
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| CN2284189Y (en) * | 1996-03-28 | 1998-06-17 | 刘城英 | Bicycle reverse driving gear |
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|---|---|
| CN109911097A (en) | 2019-06-21 |
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