CN205906161U - Adopt electric bicycle who adds speed type sensor control motor - Google Patents
Adopt electric bicycle who adds speed type sensor control motor Download PDFInfo
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- CN205906161U CN205906161U CN201620697269.4U CN201620697269U CN205906161U CN 205906161 U CN205906161 U CN 205906161U CN 201620697269 U CN201620697269 U CN 201620697269U CN 205906161 U CN205906161 U CN 205906161U
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Abstract
The utility model relates to an adopt electric bicycle who adds speed type sensor control motor, including frame five -way and axis, controller and motor, the frame five -way is close to the axis position and is equipped with with speed type sensor, adds speed type sensor and includes optics navigation sensor, singlechip, digital to analogue conversion chip, emitting diode, PCB board, optical lens piece group, and the axis excircle is equipped with the plane of reflection, and the plane of reflection position is put correspondingly with optical lens piece histotope. Beneficial effect: the utility model discloses a photoelectricity mode real -time detection axis rotation rate and rotary acceleration to axis rotation rate and acceleration through the machine controller control motor, make manpower and electric power matching as variable parameter, realize good helping hand effect.
Description
Technical field
The utility model belongs to electric assisted bicycle, more particularly, to a kind of employing acceleration type sensor controlled motor
Electric bicycle.
Background technology
At present, electric bicycle is mainly as walking-replacing tool, with simple electric riding for main Land use systems.That rides is fast
Slow wheel hub motor speed is controlled by speed control crank, this kind of electric bicycle is many due to excessive velocities potential safety hazard, gradually
It is eliminated.With the increase of leisure, motion requirement, power-assisted mode of riding gradually is welcome by consumer, especially according to Europe
Alliance, the relevant laws and regulations of Japan and other countries, electric bicycle has to pin and steps on power-assisted (i.e. Intelligent electric bicycle), pure handles control
The electric motor car of system classifies as mobile management.Electric bicycle outlet European Union or Japan must be assistance type electric bicycles.Adopt
When being ridden with power-assisted mode, detect the speed of pedal speed or the size of pedal power using assistant sensor, detection signal is passed
Pass controller, a certain proportion of driving force is exported by controller controlled motor, realizes manpower and electric power drives jointly, make to ride
Passerby has brisk impression of riding all the time, ride climbing time saving and energy saving, gently step on gently step on easily quick；Stopping scrunches, and motor is automatic
Stop doing power；Recreation and body-building energy-saving safe；It is effectively increased mileages of continuation, and the service life of battery can be extended.Electric bicycle
Torque sensor is applied on Intelligent electric bicycle, is Intelligent electric bicycle core component.Equipped with torque sensor
Electric bicycle, when riding with by bike custom consistent, moment of riding relation proportional to motor output torque, to reach
The purpose of moment multiplication.Speed-type assistance sensor general principle is, if by Hall element sensing and axis synchronous rotary
The changes of magnetic field of dry magnet, detects middle shaft rotation speed, and using speed as variable parameter, through motor controller controls electricity
Machine.This mode, exports ten a few to tens of rectangular pulse signals during middle shaft rotation one week, between two neighboring signal
Corresponding middle shaft rotation angle is larger (several years are to ten several years), and measurement delay is obvious and error is larger, and measurement is only substantially
Rotary speed, rotated with great resistance as axis, this speed mode assistant sensor can judge out, power-assisted
Effect is bad.The assistant sensor developed to make up above-mentioned not foot point is torque type assistant sensor.
Torque type assistant sensor general principle is, by detecting the miniature deformation of frame for movement, shape-changing material in addition
Physical characteristic, converses the moment that axis is born, and using the moment of axis as variable parameter, via controller controlled motor.
This mode, directly controls degree of power assistance using the foot-operated moment producing as variable parameter, therefore passes compared to velocity profile power-assisted
Sensor, power-assisted effect is preferable.Torque type assistant sensor is generally arranged at electric bicycle chain wheel position, referred to as electromechanical
The sprocket position sensor changed has higher technology content.Sprocket position sensor detection pedal moment when riding, and detection signal is given
Toward intelligent controller, Synchronization Control adjusts motor speed and power output, and the moment that makes to ride is in direct ratio with motor output torque
Relation, to reach the purpose that moment doubles.
Because torque type assistant sensor is the physical characteristic using shape-changing material miniature deformation, converse axis and born
Moment, therefore high to the requirement on machining accuracy of Middle shaft assembly, lead to its high cost and impact resistance be poor, imprudence axis
Assembly is subject to easily to damage during external impacts；The coefficient of elasticity of shape-changing material can change after a certain period of use time simultaneously, also leads
Cause axis Moment to change with the proportionate relationship of output signal, so that manpower is mismatched with electric power, power-assisted effect is deteriorated.
Both the above sensor, itself intrinsic defect cannot remove, and is that assisted electric bicycle industry is urgently to be resolved hurrily
Technical barrier.
Utility model content
The purpose of this utility model is to overcome the shortcomings of above-mentioned technology, and provides one kind to adopt acceleration type sensor control
The electric bicycle of motor processed, by photovoltaic real-time detection middle shaft rotation speed and rotary acceleration, with middle shaft rotation speed
Degree and acceleration, as variable parameter, through motor controller controls motor, are made manpower be mated with electric power, realize good power-assisted
Effect.
The utility model for achieving the above object, employs the following technical solutions: one kind is controlled using acceleration type sensor
The electric bicycle of motor, the frame five-through including electric bicycle and axis, controller and motor, is characterized in that: described car
Frame five leads to close location mid-shaft and is provided with acceleration type sensor, and described acceleration type sensor includes optical navigation sensor, list
Piece machine, D/A switch chip, light emitting diode, pcb plate, optical mirror slip group and shell, described optical navigation sensor, monolithic
Machine, D/A switch chip and light emitting diode are connected in turn on pcb plate, are placed in shell, described outer casing bottom be provided with into
Unthreaded hole, is connected with optical mirror slip group at described light well, described axis is cylindrical to be provided with reflecting surface, described reflection line position and optics
Lens set position is corresponding.
Described light emitting diode is placed in optical mirror slip group rear.
Described pcb plate is set to lead-out wire and is connected with drawing wiring connector, and described extraction wiring connector is connected with controller.
Described optical navigation sensor is taken pictures with frequency resolution 2000cpi of 6469 frames/second.
Every photograph frame pixel that described optical navigation sensor is taken pictures is distributed with the matrix-style that 19 row × 19 arrange.
Beneficial effect: the utility model pass through photovoltaic real-time detection middle shaft rotation speed and rotary acceleration, with
Axle rotary speed and acceleration, as variable parameter, through motor controller controls motor, are made manpower be mated with electric power, realize good
Good power-assisted effect.Not only overcome existing assistant sensor complex structure, stability poor, expensive the shortcomings of, and have
There is many advantages, such as small volume, power-assisted effect are good, price is low highly reliable.
Brief description
Fig. 1 is acceleration type sensor construction and installation relation schematic diagram；
Fig. 2 is the utility model lead-out wire pin function schematic diagram；
Fig. 3 is structured flowchart of the present utility model；
Fig. 4 is the utility model adopted optical navigation sensor pixel schematic diagram；
Fig. 5 is the utility model primary signal acquisition principle schematic diagram；
Fig. 6 is the utility model adopted optical navigation sensor real-time displacement signal output schematic diagram；
Fig. 7 is manpower driving force and riding resistance schematic diagram when riding；
Fig. 8 is middle shaft rotation acceleration change schematic diagram when riding；
Fig. 9 is acceleration of the present utility model and corresponding output signal graph of a relation；
Figure 10 is rate signal schematic diagram of the present utility model；
Figure 11 is direction of rotation signal schematic representation of the present utility model；
Figure 12-1 is manpower changed power schematic diagram during application the utility model power-assisted；
Figure 12-2 is middle shaft rotation acceleration change schematic diagram during application the utility model power-assisted；
Figure 12-3 is power of motor change schematic diagram during application the utility model power-assisted；
In figure: 1, optical navigation sensor, 1-1, optical navigation sensor photographic hole, 2, single-chip microcomputer, 3, D/A switch core
Piece, 4, light emitting diode, 5, pcb plate, 6, optical mirror slip group, 7, shell, 7-1, light well, 8, draw wiring connector, 9, axis,
9-1, reflecting surface.
Specific embodiment
Describe specific embodiment of the present utility model with reference to preferred embodiment in detail.
Refer to accompanying drawing 1-3, a kind of electric bicycle of employing acceleration type sensor controlled motor, including electric bicycle
Frame five-through and axis 9, controller and motor, described frame five-through is provided with acceleration type sensor, institute near location mid-shaft
State acceleration type sensor and include optical navigation sensor 1, single-chip microcomputer 2, D/A switch chip 3, light emitting diode 4, pcb plate
5th, optical mirror slip group 6 and shell 7, described optical navigation sensor, single-chip microcomputer, D/A switch chip and light emitting diode are successively
It is connected on pcb plate, is placed in shell, described outer casing bottom is provided with light well 7-1, is connected with optical frames at described light well
Piece group, described axis is cylindrical to be provided with reflecting surface 9-1, and described reflection line position is corresponding with optical mirror slip group position.Described luminous
Diode is placed in optical mirror slip group rear.Optical navigation sensor bottom is provided with photographic hole 1-1.Described pcb plate is set to lead-out wire
It is connected with drawing wiring connector 8, described extraction wiring connector is connected with controller.Described optical navigation sensor with 6469 frames/
The frequency resolution of second reaches 2000cpi and is taken pictures.Every photograph frame pixel that described optical navigation sensor is taken pictures is with 19 row
The matrix-style distribution of × 19 row.
Using the speed regulating method of the electric bicycle of above-mentioned acceleration type sensor controlled motor, real-time by photovoltaic
Detection middle shaft rotation rate signal, direction of rotation signal and rotary acceleration signal, and through processing as variable parameter
By controller controlled motor.
The operation principle of photovoltaic real time detection signal
The light that light emitting diode sends is irradiated to bicycle middle shaft reflecting surface through optical mirror slip group, and reflected light is through light well
And the photographic hole that optical navigation sensor bottom is provided with enters into inside, optical navigation sensor is with the frequency pair of 6469 frames/second
Taken pictures in bicycle middle shaft surface, resolution ratio reaches 2000cpi (inch/2000 point, about 0.0127mm).As shown in figure 4, adopting
Optical navigation sensor pixel is distributed in 19 row × 19 row modes, and each photograph frame is in the picture element matrix of 19x19
During imaging, because the difference of the roughness on axis surface makes be formed feature bright spot or dim spot on some pixel, with
The rotation of axis, when continuously taking pictures, the position of characteristic point can correspondingly change.As shown in figure 5, the second frame contrast first
Photograph frame moves to right three pixels, the 3rd frame contrast the second photograph frame moves to right four pixels, the 4th frame contrasts the 3rd photograph frame and moves to right 3
Individual pixel, so continuously works, by front and back twice image send in built-in digital signal processor (dsp) and processed, obtain
To moving direction and displacement.As shown in fig. 6, by corresponding for each frame displacement signal real-time Transmission to single-chip microcomputer calculating at
Reason, the physical parameter required for obtaining, for example, as it is known that axis moving displacement in each frame time, middle shaft rotation speed can be calculated
Degree, i.e. derivation of displacement versus time obtains rate signal；Derivation of velocity versus time further draws acceleration signal；From
And export central axis direction, speed and three kinds of signals of acceleration of motion.Wherein acceleration signal is changed through D/A switch chip
Become electric machine controller discernible 0.5v-3.0v voltage analog signal.
As shown in figure 9, the acceleration signal type of output is voltage analog signal, acceleration greatly then output voltage high；
As shown in Figure 10, rate signal type is pulse signal, speed soon then pulsewidth little, frequency is high；
As shown in figure 11, direction of rotation signal is level signal, and reversion then exports low level, rotates forward and then exports high level.
Acceleration transducer operation principle
When riding, manpower power transfer path is, pedal force → crank → axis → chain → trailing wheel, overcomes resistance to obtain
The power pushed ahead, and when manpower power is alternately done work by left and right crank, due to crank rotation, effective torque arm length with
The change of the anglec of rotation and change, the moment that when that is, crank is horizontal, manpower applies is maximum, and crank is in vertical position
The moment that Shi Renli applies is 0, therefore, is delivered to the moment size also generating period change of axis.As shown in Figure 7, Figure 8,
Manpower driving force is periodically variable, and riding resistance is substantially constant, therefore, the cycle of middle shaft rotation one circle when riding
Among, manpower driving force is more than cycling resistance interval, and whole bicycle will ramp up, that is, have certain positive adding
Speed；Contrary manpower driving force is less than cycling resistance interval, and whole bicycle will gradually slow down, that is, have certain bearing
Acceleration, therefore central axis speed is not at the uniform velocity, but the size following manpower driving force have periodically variable.This
Kind of phenomenon when riding resistance is larger meeting it is obvious that and then middle shaft rotation is relatively uniform when riding resistance is less.
Acceleration a can be represented by below equation:
A=(f-f)/m, in formula,
A- acceleration；F- manpower driving force；F- riding resistance；M- bicyclist and bicycle gross mass
Operation principle of the present utility model
Accurately detect the change of the speed of above-mentioned middle shaft rotation motion, i.e. acceleration, acceleration magnitude is converted to mould
Intend signal transmission to electric machine controller, a certain proportion of power-assisted power is exported by motor controller controls motor.Work as riding resistance
Big brief acceleration is larger, and electric machine controller increases power-assisted power output, offsets most of riding resistance, reduces the negative of bicyclist
Load, bicyclist's burden reduction makes middle shaft rotation tend at the uniform velocity, and that is, acceleration reduces, and electric machine controller passes through to control output power-assisted to move
The size of power, makes middle axle acceleration maintain in the range of the value of setting, realizes optimal power-assisted and rides impression.
Sensor middle shaft rotation one circle that several traditional magnet add Hall mode only has tens pulse signals, with 36
As a example the sensor of individual pulse signal, the corresponding axis angle of pulse has 10 °, and the motion of axis within therefore 10 ° is inspection
Do not detect, and the impact of the rigging error of magnet and Hall cannot be avoided, even axis at the uniform velocity rotates, output adjacent
The pulsewidth of pulse signal is also differ, and it is not detect the small speed of middle shaft rotation that therefore traditional magnet adds Hall mode
Degree change, cannot detect acceleration.Acceleration type assistant sensor of the present utility model with the frequency of 6469 frames/second and
The resolution ratio of 0.0127mm, to axis motion real-time detection, calculates, the corresponding axis of 0.0127mm taking middle shaft diameter 17mm as a example
Angle be about 0.08 °, and displacement detecting benchmark be optical pickocff pixel as single reference, therefore there is not part
Between rigging error problem, can accurately measure the velocity variations of central axis, i.e. acceleration.
Illustrate actual middle operation principle and the process of riding
First, bicyclist sets power-assisted ratio if it is desired to easily some optional manpowers of riding export small-power, motor
Export high-power mode；It is it desired to take exercises, optional manpower output is high-power, and motor exports low power mode.For example, will
Power-assisted be set as manpower ride acting 50w level when, that is, either in level land or uphill way, the personnel that ride are with 50w
Power does work, and remaining insufficient section is provided by motor, i.e. controller controlled motor exports a certain proportion of power-assisted power.
In Figure 12-1,12-2,12-3, the t1 time period is the riding condition that manpower and electric power reach balance；The t2 time period is resistance of riding
When power increases, manpower and electric power give the procedure segment of balance again for change；The t3 time period is the riding condition of new balance.As figure
In 12-1 shown in the t1 time period, the manpower output 50w power when level road is ridden, t1 motor controller controls electricity in Figure 12-3
Machine exports 100w power, and manpower and motor export 150w power to maintain stable riding condition jointly, now as in Figure 12-2
Shown in the t1 time period, middle shaft rotation acceleration degree of fluctuation is corresponding with the 50w power that manpower does work, and acceleration fluctuation maintains
In certain limit；As shown in the t2 time period in Figure 12-1, when a certain moment starting to climb or ride against the wind, overall riding resistance
Increase, bicyclist's working power is more than 50w, that is, with bigger power come stepping bicycle, as shown in the t2 time period in Figure 12-2, this meeting
Make middle shaft rotation acceleration fluctuate to increase, electric machine controller will be gradually increased output power of motor, until middle shaft rotation acceleration
Degree of fluctuation is decreased to ride the corresponding degree of power 50w with manpower, now manpower output 50w, the t2 time in such as Figure 12-3
The 150w of motor output shown in section, common output 200w power to give new stable riding condition again for change, so that bicyclist is ridden
Impression is ridden as on level land, remains brisk riding condition, reaches optimal power-assisted effect.
Above-mentioned with reference to embodiment a kind of this electric bicycle using acceleration type sensor controlled motor is carried out detailed
Thin description, is illustrative rather than determinate, can include several embodiments according to limited scope, therefore do not taking off
Changing and modifications under the utility model general plotting, should belong within protection domain of the present utility model.
Claims (5)
1. a kind of electric bicycle of employing acceleration type sensor controlled motor, the frame five-through including electric bicycle and in
Axle, controller and motor, is characterized in that: described frame five-through is provided with acceleration type sensor, described acceleration near location mid-shaft
Degree type sensor includes optical navigation sensor, single-chip microcomputer, D/A switch chip, light emitting diode, pcb plate, optical mirror slip group
And shell, described optical navigation sensor, single-chip microcomputer, D/A switch chip and light emitting diode be connected in turn on pcb plate,
It is placed in shell, described outer casing bottom is provided with light well, at described light well, is connected with optical mirror slip group, described axis is cylindrical
It is provided with reflecting surface, described reflection line position is corresponding with optical mirror slip group position.
2. the electric bicycle of employing acceleration type sensor controlled motor according to claim 1, is characterized in that: described
Light emitting diode is placed in optical mirror slip group rear.
3. the electric bicycle of employing acceleration type sensor controlled motor according to claim 1, is characterized in that: described
Pcb plate is set to lead-out wire and is connected with drawing wiring connector, and described extraction wiring connector is connected with controller.
4. the electric bicycle of employing acceleration type sensor controlled motor according to claim 1, is characterized in that: described
Optical navigation sensor is taken pictures with the frequency of 6469 frames/second, resolution ratio 2000cpi.
5. the electric bicycle using acceleration type sensor controlled motor according to claim 1 or 4 is characterized in that: institute
State every photograph frame pixel that optical navigation sensor takes pictures to be distributed with the matrix-style that 19 row × 19 arrange.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620697269.4U CN205906161U (en) | 2016-07-05 | 2016-07-05 | Adopt electric bicycle who adds speed type sensor control motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620697269.4U CN205906161U (en) | 2016-07-05 | 2016-07-05 | Adopt electric bicycle who adds speed type sensor control motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947096B (en) * | 2016-07-05 | 2018-07-10 | 天津迪思科博科技发展有限公司 | Using the electric bicycle and speed regulating method of acceleration type sensor control motor |
| CN108909931A (en) * | 2018-05-28 | 2018-11-30 | 纳恩博（北京）科技有限公司 | Power-assisted implementation method and device, the system of bicycle |
-
2016
- 2016-07-05 CN CN201620697269.4U patent/CN205906161U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947096B (en) * | 2016-07-05 | 2018-07-10 | 天津迪思科博科技发展有限公司 | Using the electric bicycle and speed regulating method of acceleration type sensor control motor |
| CN108909931A (en) * | 2018-05-28 | 2018-11-30 | 纳恩博（北京）科技有限公司 | Power-assisted implementation method and device, the system of bicycle |
| CN108909931B (en) * | 2018-05-28 | 2021-01-05 | 纳恩博（北京）科技有限公司 | Method, device and system for realizing assistance of bicycle |
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Granted publication date: 20170125 Effective date of abandoning: 20180710 |