JP2022028070A - Information output device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information output device that can output positions of loads applied to pedals.

SOLUTION: A strain gauge 369 is provided on an inner surface 119 of a crank 105 of a bicycle 1 and detects strain generated in the crank 105, and a cycle computer display part 201 displays an image showing center positions of loads applied to pedals 103 connected to the crank 105, on the basis of tangential force T and torsion torque K calculated based on output values of a first strain gauge 369a to a sixth strain gauge 369f.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to an information output device that outputs information regarding a force applied to a human-powered machine provided with a crank.

Conventionally, there is a device that is attached to a bicycle and calculates and displays information on the running of the bicycle and information on the exercise of the driver. This type of device calculates and displays predetermined information by receiving data from a sensor provided on the bicycle. The information to be displayed includes the force (torque, etc.) applied to the pedal by the driver. As a method for measuring this type of force, for example, Patent Document 1 discloses a technique for measuring the strain of a crank shaft and detecting the torque applied to the crank.

Further, Patent Document 2 discloses a technique of embedding a piezoelectric sensor inside a crank and measuring torque by a voltage generated by strain of the crank.

Further, Patent Document 1 describes that it can be applied to a stationary bicycle type health machine (also referred to as a bicycle ergometer or a fitness bike).

As described above, it is already known that in a human-powered machine provided with a crank, torque is measured and momentum or the like is calculated by detecting the strain applied to the crank.

Japanese Unexamined Patent Publication No. 10-35567 Japanese Unexamined Patent Publication No. 2009-6991

In the above-mentioned patent document, it is disclosed that the force applied to the crank or the like is displayed numerically or the like. However, it is known that these forces and the like change depending on the riding posture (form) of the human-powered machine. For example, if the load position applied to the pedal connected to the crank is not appropriate, the body will be burdened and efficient pedaling cannot be performed.

Therefore, in view of the above-mentioned problems, it is an object of the present invention to provide, for example, an information output device capable of outputting the load position applied to the pedal.

In order to solve the above problems, the invention according to claim 1 is provided on a crank of a human-powered machine, and is based on a strain detecting means for detecting the strain generated in the crank and an output value of the strain detecting means. The output means includes an output means for displaying the load applied to the pedal connected to the crank and the position of the load applied to the pedal, and the output means is the center position of the load applied to the pedal. It is characterized in that and the center position of the load as a reference are displayed in a manner comparable to each other.

The invention according to claim 10 is an information output program provided on a crank of a human-powered machine and executed by a computer of an information output device provided with a strain detecting means for detecting the strain generated in the crank. Based on the step of receiving information from the strain detecting means and the output value of the strain detecting means, the load applied to the pedal connected to the crank and the position of the load applied to the pedal are determined. The process of displaying via the output means and the process of displaying the computer are performed, and the display process displays the center position of the load applied to the pedal and the center position of the load as a reference in a manner in which they can be compared with each other. It is characterized in that the computer is further made to perform what is to be done.

The invention according to claim 14 is provided on a crank of a human-powered machine, and the pedal connected to the crank is based on the output values of the means for detecting the strain generated in the crank and the means for detecting the strain. A means for displaying the applied load and the position of the load applied to the pedal is provided, and the display means is the center position of the load applied to the pedal and the center position of the load as a reference. Is displayed in a manner comparable to each other.

It is explanatory drawing which shows the whole structure of the bicycle in which the information output device which concerns on 1st Embodiment of this invention is installed. It is explanatory drawing which showed the positional relationship of the cycle computer, the measurement module and the cadence sensor shown in FIG. It is a block block diagram of the cycle computer, the measurement module and the cadence sensor shown in FIG. It is explanatory drawing of the arrangement to the crank of the strain gauge shown in FIG. It is a circuit diagram of the measurement module strain detection circuit shown in FIG. It is explanatory drawing of the force applied to the right crank and deformation. It is explanatory drawing when the 1st strain gauge and the 2nd strain gauge are deformed by bending deformation x. It is explanatory drawing of 1st state. It is explanatory drawing of the 2nd state. It is explanatory drawing of the 3rd state. It is explanatory drawing of the display example on the cycle computer display part shown in FIG. It is a flowchart of the process of the cadence sensor shown in FIG. It is a flowchart of the process of the measurement module and the cycle computer shown in FIG. It is explanatory drawing of the arrangement to the crank of the strain gauge of the information output device which concerns on the 2nd Embodiment of this invention. It is a block block diagram of the cycle computer, the measurement module and the cadence sensor which concerns on another embodiment.

Hereinafter, the information output device according to the embodiment of the present invention will be described. In the information output device according to the embodiment of the present invention, the strain detecting means is provided on the side surface of the crank of the human-powered machine to detect the strain generated in the crank, and the output means is based on the output value of the strain detecting means. The center of the load applied to the pedal connected to the crank based on the calculated force acting in the tangential direction of the circle defined by the rotational movement of the crank and the torque acting in the direction causing the crank to twist. Output information about the position. By doing so, it is possible to calculate and output information on the center position of the load applied to the pedal from the detection result of the strain detecting means provided on the crank, and therefore efficient pedaling based on this information. Etc. can be performed.

Further, the strain detecting means are provided on the side surfaces of the left and right cranks of the human-powered machine, respectively, and the output means display the information regarding the center position of the load applied to the pedals connected to the left and right cranks side by side. You may output it. By doing so, the user or the like can compare and confirm the left and right pedaling balance and the like, which can be useful for improving the pedaling form and the like.

Further, the output means may output the center position of the load preset as a reference to the center position of the load applied to the pedal detected by the strain detecting means in a comparable manner. By doing so, for example, the user or the like can compare the load center in his / her pedaling with the load center in appropriate pedaling, which can be useful for improving the pedaling form or the like.

Further, the strain detecting means includes a first strain gauge unit that detects the strain generated in the crank that deforms in the tangential direction, and a second strain gauge unit that detects the strain that occurs in the crank and deforms in the twisting direction of the crank. It has a plurality of strain gauge parts. Then, the plurality of strain gauge units may output a voltage value according to the amount of deformation of the crank in the direction in which each strain gauge unit detects the strain. By doing so, it is possible to calculate the force acting in the tangential direction of the circle defined by the rotational movement of the crank and the torque acting in the direction causing the crank to twist, based on the output voltage values of the plurality of strain gauges. can.

The force acting in the tangential direction of the circle defined by the rotational motion of the crank and the torque acting in the direction of causing the crank to twist are calculated by substituting the voltage values output by the plurality of strain gauges into a predetermined polynomial. May be done. By doing so, for example, it can be calculated by an operation using a CPU or the like.

Further, the coefficient of each term of the predetermined polynomial is the first reference torsion torque applied to the crank in the first state in which a predetermined load is applied to the position on the pedal separated by the first distance from the central axis of the crank. The second reference torsional torque applied to the crank and the first and second states in the second state where a predetermined load is applied to a position on the pedal that is a second distance different from the first distance from the central axis of the crank. It may be preset based on the voltage values output by the plurality of strain gauge units in each of the states. By doing so, based on the output voltage values of the strain gauge unit at the time of calculating the first reference torsion torque, the second reference torsion torque, the first reference torsion torque, and the second reference torsion torque that can be calculated by known numerical values. The coefficient can be calculated in advance. Therefore, the force acting in the tangential direction of the circle defined by the rotational motion of the crank and the torque acting in the direction causing the crank to be twisted can be calculated only by substituting the value actually measured by the strain gauge unit into the polynomial. In addition, since the coefficient can be changed according to the crank, the force acting in the tangential direction of the circle defined by the rotational movement of the crank and the torque acting in the direction causing the crank to be twisted must be calculated accurately according to the crank. Can be done.

Further, in the information output method according to the embodiment of the present invention, in the calculation step, the force acting in the tangential direction of the circle defined by the rotational movement of the rank and the torque acting in the direction of causing the crank to be twisted are strained. Calculated based on the output value of the detection means, in the output process, the force acting in the tangential direction of the circle defined by the rotational movement of the crank calculated in the calculation process, and the torque acting in the direction that causes the crank to twist. Based on, it outputs information about the center position of the load applied to the pedal connected to the crank. By doing so, it is possible to calculate and output information on the center position of the load applied to the pedal from the detection result of the strain detecting means provided on the crank, and therefore efficient pedaling based on this information. Etc. can be performed.

Further, in the information output program according to the embodiment of the present invention, the above-mentioned information output method is executed by a computer. By doing so, it is possible to calculate and output information on the center position of the load applied to the pedal from the detection result of the strain detecting means provided on the crank using a computer, and thus based on this information. It is possible to perform efficient pedaling and the like.

Further, the above-mentioned information output program may be stored in a computer-readable recording medium. By doing so, the program can be distributed as a single unit in addition to being incorporated in the device, and version upgrades and the like can be easily performed.

The bicycle 1 provided with the cycle computer 201 and the measurement module 301 as the information output device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 9. As shown in FIG. 1, the bicycle 1 has a frame 3, a front wheel 5, a rear wheel 7, a handle 9, a saddle 11, a front fork 13, and a drive mechanism 101.

The frame 3 is composed of two truss structures. The frame 3 is rotatably connected to the rear wheel 7 at the rear tip portion. Further, the front fork 13 is rotatably connected to the frame 3 in front of the frame 3.

The front fork 13 is connected to the handle 9. At the lower tip position of the front fork 13, the front fork 13 and the front wheel 5 are rotatably connected to each other.

The front wheel 5 has a hub portion, a spoke portion, and a tire portion. The hub portion is rotatably connected to the front fork 13. The hub portion and the tire portion are connected by spoke portions.

The rear wheel 7 has a hub portion, a spoke portion, and a tire portion. The hub portion is rotatably connected to the frame 3. The hub portion and the tire portion are connected by spoke portions. The hub portion of the rear wheel 7 is connected to a sprocket 113 described later.

The bicycle 1 has a drive mechanism 101 that converts the stepping force of the user (driver)'s foot into the driving force of the bicycle 1. The drive mechanism 101 includes a pedal 103, a crank mechanism 104, a chain ring 109, a chain 111, and a sprocket 113.

The pedal 103 is a portion in contact with the foot for the user to step on. The pedal 103 is supported so as to be rotatable by the pedal crank shaft 115 of the crank mechanism 104.

The crank mechanism 104 includes a crank 105, a crank shaft 107, and a pedal crank shaft 115 (see FIGS. 2 and 6).

The crank shaft 107 penetrates the frame 3 in the left-right direction (from one side of the bicycle side to the other). The crank shaft 107 is rotatably supported by the frame 3.

The crank 105 is provided at a right angle to the crank shaft 107. The crank 105 is connected to the crank shaft 107 at one end.

The pedal crank shaft 115 is provided at a right angle to the crank 105. The axial direction of the pedal crank shaft 115 is the same as that of the crank shaft 107. The pedal crank shaft 115 is connected to the crank 105 at the other end of the crank 105.

The crank mechanism 104 also has such a structure on the opposite side of the side surface of the bicycle 1. That is, the crank mechanism 104 has two cranks 105 and two pedal crank shafts 115. Therefore, the pedals 103 are also provided on both side surfaces of the bicycle 1.

When distinguishing whether these are on the right side or the left side of the bicycle 1, it is described as right side crank 105R, left side crank 105L, right side pedal crank shaft 115R, left side pedal crank shaft 115L, right side pedal 103R, left side pedal 103L, respectively. do.

Further, the right crank 105R and the left crank 105L are connected so as to extend in opposite directions with the crank shaft 107 as the center. The right pedal crank shaft 115R, the crank shaft 107, and the left pedal crank shaft 115L are formed in parallel and in the same plane. The right crank 105R and the left crank 105L are formed in parallel and on the same plane.

The chainring 109 is connected to the crank shaft 107. It is preferable that the chainring 109 is composed of a variable gear capable of changing the gear ratio. Further, the chain 111 is engaged with the chain ring 109.

The chain 111 is engaged with the chainring 109 and the sprocket 113. The sprocket 113 is connected to the rear wheel 7. It is preferable that the sprocket 113 is composed of variable gears.

The bicycle 1 converts the user's stepping force into the rotational force of the rear wheel by such a drive mechanism 101.

The bicycle 1 has a cycle computer 201, a measurement module 301, and a cadence sensor 501.

The cycle computer 201 is arranged on the handle 9. As shown in FIG. 2, the cycle computer 201 has a cycle computer display unit 203 that displays various information and a cycle computer operation unit 205 that receives operations from the user.

The various information displayed on the cycle computer display unit 203 includes the speed of the bicycle 1, the position information, the distance to the destination, the predicted arrival time to the destination, the distance traveled from the departure, and the progress since the departure. Time, propulsion force, loss force, load center position applied to the pedal 103, and the like.

Here, the propulsive force is a force applied in the rotational direction of the crank 105, that is, the magnitude of the force acting in the tangential direction of the circle defined by the rotational motion of the crank 105. On the other hand, the loss force is the magnitude of the force applied in a direction different from the rotation direction of the crank 105. The force applied in a direction other than the rotation direction is a useless force that does not contribute to the driving of the bicycle 1. Therefore, the user can drive the bicycle 1 more efficiently by increasing the propulsion force as much as possible and reducing the loss force as much as possible.

The cycle computer operation unit 205 is shown by a push button in FIG. 2, but is not limited to this, and various input means such as a touch panel or a plurality of input means can be used in combination.

Further, the cycle computer 201 has a cycle computer cadence radio reception unit 207 and a cycle computer radio reception unit 209. The cycle computer cadence radio receiving unit 207 and the cycle computer radio receiving unit 209 are connected to the main body portion of the cycle computer 201 via wiring. The cycle computer cadence radio reception unit 207 and the cycle computer radio reception unit 209 do not need to have a reception-only function. For example, it may have a function as a transmitter. The device described below as a transmitting unit or a receiving unit may also have both a receiving function and a transmitting function.

The cadence sensor 501 has a magnetic sensor 505 that detects the approach of the magnet 503 provided on the crank 105 (see FIG. 3). The magnetic sensor 505 detects the position of the magnet 503 by turning it on by the approaching magnet 503. That is, when the magnetic sensor 505 is turned on, the crank 105 also exists at the position where the magnetic sensor 505 exists. From this cadence sensor 501, the cycle computer 201 can obtain a cadence [rpm].

The measurement module 301 detects the human power applied to the pedal 103 by a strain gauge 369 (see FIGS. 3 and 4) provided on the inner surface of the crank 105 and composed of a plurality of strain gauge elements. Specifically, the propulsive force that is the rotational force of the crank 105 and is the driving force of the bicycle 1, the loss force that is the force applied in a direction different from the rotational direction, and the load center position applied to the pedal 103. Etc. are calculated.

FIG. 3 is a block diagram of the cycle computer 201, the measurement module 301, and the cadence sensor 501.

First, the block configuration of the cadence sensor 501 will be described. The cadence sensor 501 includes a magnetic sensor 505, a cadence sensor wireless transmission unit 507, a cadence sensor control unit 551, a cadence sensor storage unit 553, and a cadence sensor timer 561.

The magnetic sensor 505 is switched on / off when the magnet 503 approaches. Then, when the magnetic sensor 505 is turned on, the magnetic sensor 505 outputs an information signal to that effect to the cadence sensor control unit 551.

The cadence sensor radio transmission unit 507 transmits the cadence information stored in the cadence sensor storage unit 553 to the cycle computer cadence radio reception unit 207. The transmission by the cadence sensor wireless transmission unit 507 is performed, for example, every second by being instructed by the cadence sensor timer 561. Alternatively, even if a judgment based on the value of the cadence sensor timer 561 is made by the cadence sensor control unit 551 and the transmission by the cadence sensor radio transmission unit 507 is made by the command of the cadence sensor control unit 551 based on the judgment. good.

The cadence sensor control unit 551 comprehensively controls the cadence sensor 501. When the cadence sensor control unit 551 receives the output of the information signal indicating that the magnetic sensor 505 is turned on, the cadence sensor control unit 551 performs the following operations. The cadence sensor control unit 551 commands the cadence sensor timer 561 to output timer value information. Then, when the cadence sensor control unit 551 receives the timer value information from the cadence sensor timer 561, the cadence is calculated from the timer value information. Specifically, the time (cycle) [seconds] in which the magnetic sensor 505 is turned on is calculated by multiplying the count number (C) of the timer value information and the one-time count interval (T0). Then, the cadence [rpm] is calculated by dividing 60 by this cycle.

Further, the cadence sensor control unit 551 stores the cadence information in the cadence sensor RAM 555 (described later) of the cadence sensor storage unit 553. Further, the cadence sensor control unit 551 outputs a counter value reset command to the cadence sensor timer 561. The cadence sensor control unit 551 may cause the cadence sensor radio transmission unit 507 to transmit the cadence information stored in the cadence sensor storage unit 553, for example, at intervals of 1 second.

Various information is stored in the cadence sensor storage unit 553. The various information is, for example, temporary information required when the control program of the cadence sensor control unit 551 and the cadence sensor control unit 551 control the control. In particular, in the present embodiment, the timer value of the cadence sensor timer 561, which is the interval at which the magnetic sensor 505 is turned on, is stored. The cadence sensor storage unit 553 is composed of a cadence sensor RAM 555 and a cadence sensor ROM 557. A timer value or the like is stored in the cadence sensor RAM 555, and a control program or the like is stored in the cadence sensor ROM 557.

The cadence sensor timer 561 is a timer counter and constantly counts clocks having a predetermined cycle. When the cadence sensor timer 561 receives the value output command of the cadence sensor control unit 551, the cadence sensor timer 561 outputs the timer value information to the cadence sensor control unit 551. Further, the cadence sensor timer 561 resets the value of the timer counter to the initial value when the reset command of the cadence sensor control unit 551 is received. Further, the cadence sensor timer 561 also has a role of instructing the cadence sensor wireless transmission unit 507 to transmit the transmission timing. Specifically, for example, the transmission timing is instructed to the cadence sensor wireless transmission unit 507 every second.

Next, the block configuration of the measurement module 301 will be described. As shown in FIG. 3, the measurement module 301 includes a measurement module wireless transmission unit 309, a measurement module timer 361, a measurement module control unit 351 and a measurement module storage unit 353, a measurement module A / D363, a measurement module strain detection circuit 365, and a measurement module strain detection circuit 365. It has a strain gauge 369.

The measurement module wireless transmission unit 309 transmits the propulsion force, the loss force, the load center position applied to the pedal 103, etc. calculated by the measurement module control unit 351 from the strain information to the cycle computer wireless reception unit 209. The transmission by the measurement module wireless transmission unit 309 is performed, for example, every second by being instructed by the measurement module timer 361. Alternatively, the measurement module control unit 351 may transmit by outputting an instruction based on the value of the measurement module timer 361.

The measurement module timer 361 is a timer counter and constantly counts clocks having a predetermined cycle. Further, the measurement module timer 361 also has a role of instructing the measurement module wireless transmission unit 309 to transmit the transmission timing. Specifically, for example, the transmission timing is instructed to the measurement module wireless transmission unit 309 every second.

The measurement module control unit 351 comprehensively controls the measurement module 301. The measurement module control unit 351 calculates the propulsive force, the loss force, the load center position applied to the pedal 103, and the like from the strain information. The calculation method will be described later.

Various information is stored in the measurement module storage unit 353. The various information is, for example, a control program of the measurement module control unit 351 and temporary information required when the measurement module control unit 351 performs control. In particular, in this embodiment, strain information is stored. The measurement module storage unit 353 is composed of the measurement module RAM 355 and the measurement module ROM 357. Strain information and the like are stored in the measurement module RAM 355. The measurement module ROM 357 stores a control program and various parameters, constants, etc. for calculating the propulsion force, the loss force, and the load center position applied to the pedal 103 from the strain information.

The strain gauge 369 is adhered to and integrated with the crank 105. The strain gauge 369 is composed of a first strain gauge 369a, a second strain gauge 369b, a third strain gauge 369c, a fourth strain gauge 369d, a fifth strain gauge 369e, and a sixth strain gauge 369f. Each terminal of the strain gauge 369 is connected to the measurement module strain detection circuit 365. The strain gauge 369 is not limited to the left and right cranks 105, and may be provided only on one side of the crank 105.

FIG. 4 shows the arrangement of the strain gauge 369 on the crank 105 in this embodiment. The strain gauge 369 is adhered to the inner surface 119 of the crank 105. The inner surface of the crank 105 is a surface on which the crank shaft 107 is projected (connected), and is a surface (side surface) parallel to a plane including a circle defined by the rotational movement of the crank 105. Further, although not shown in FIG. 4, the outer surface 120 of the crank 105 is a surface facing the inner surface 119 and projecting (connecting) the pedal crank shaft 115. That is, it is a surface on which the pedal 103 is rotatably provided. The upper surface 117 of the crank 105 extends in the longitudinal direction in the same direction as the inner surface 119 and the outer surface 120, and is one of the surfaces orthogonal to the inner surface 119 and the outer surface 120. The lower surface 118 of the crank 105 is a surface facing the upper surface 117. The inner surface 119, the outer surface 120, the upper surface 117, and the lower surface 118 constitute the side surface of the crank 105.

The first strain gauge 369a and the second strain gauge 369b are arranged orthogonally to each other and overlapped (layered). Further, the intermediate direction between the detection direction of the first strain gauge 369a and the detection direction of the second strain gauge 369b is arranged so as to be the longitudinal direction of the crank 105. That is, the detection direction of the first strain gauge 369a and the longitudinal direction of the crank 105 have an angle of 45 degrees. The detection direction of the second strain gauge 369b and the longitudinal direction of the crank 105 have an angle of 45 degrees. Further, the intersection portion where the first strain gauge 369a and the second strain gauge 369b are overlapped is arranged so as to be on the central axis C1 of the inner surface 119. That is, the first strain gauge 369a and the second strain gauge 369b are arranged so as to be symmetrical with respect to the central axis C1.

The third strain gauge 369c is provided so that the detection direction is parallel to the longitudinal direction of the crank 105, that is, parallel to the central axis C1 of the inner surface 119 and on the central axis C1. The fourth strain gauge 369d is provided so that the detection direction is perpendicular to the longitudinal direction of the crank 105, that is, perpendicular to the central axis C1 of the inner surface 119 and on the central axis C1.

The fifth strain gauge 369e and the sixth strain gauge 369f are parallel to the longitudinal direction of the crank 105 in the detection direction, that is, parallel to the central axis C1 of the inner surface 119 and symmetrical with respect to the central axis C1 of the inner surface 119. It is provided so as to be.

That is, the direction parallel to the central axis C1 which is the axis extending in the longitudinal direction of the crank 105 (vertical direction in FIG. 4), that is, the direction parallel to the longitudinal direction of the crank 105 is the third strain gauge 369c, the fifth. The detection directions of the strain gauge 369e and the sixth strain gauge 369f are perpendicular to the central axis C1 (horizontal direction in FIG. 4), that is, the direction perpendicular to the longitudinal direction of the crank 105 is the detection direction of the fourth strain gauge 369d. Will be. Therefore, the detection directions of the third strain gauge 369c, the fifth strain gauge 369e, the sixth strain gauge 369f and the fourth strain gauge 369d are orthogonal to each other. That is, the strain gauge 369 functions as a strain detecting means for detecting the strain generated in the crank 105.

The arrangement of the first strain gauge 369a to the sixth strain gauge 369f is not limited to FIG. That is, the third strain gauge 369c to the sixth strain gauge 369f need only maintain a parallel or vertical relationship with the central axis C1, and the first strain gauge 369a and the second strain gauge 369b sandwich the central axis C1. It does not have to be an angle of 45 degrees and may not be overlapped as long as it is tilted so as to face each other. Further, it does not have to be arranged on the inner surface 119 of the crank 105, and may be arranged so that at least the propulsive force and the torsional torque described later can be calculated.

Further, although the crank 105 is described as a simple rectangular parallelepiped in FIG. 4, the corners may be rounded or a part of the surface may be formed of a curved surface depending on the design or the like. Even in such a case, by arranging the strain gauge 369 so as to maintain the above-mentioned arrangement as much as possible, each deformation described later can be detected. However, the detection accuracy decreases as the relationship with the central axis C1 described above and the relationship between the first strain gauge 369a and the second strain gauge 369b are orthogonal to each other.

The measurement module strain detection circuit 365 is connected to a first strain gauge 369a, a second strain gauge 369b, a third strain gauge 369c, a fourth strain gauge 369d, a fifth strain gauge 369e, and a sixth strain gauge 369f. The strain amount of 369 is output as a voltage value. The output of the measurement module strain detection circuit 365 is converted from analog information to strain information which is digital information by the measurement module A / D363. Then, the strain information signal is output to the measurement module storage unit 353. The strain information signal input to the measurement module storage unit 353 is stored as strain information in the measurement module RAM 355.

The measurement module strain detection circuit 365 is shown in FIG. The measurement module strain detection circuit 365 is composed of a first detection circuit 373a, a second detection circuit 373b, and a third detection circuit 373c. In the first detection circuit 373a, the fifth strain gauge 369e and the sixth strain gauge 369f are connected in series between the power supply Vcc and the ground GND. That is, the power supply Vcc, the fifth strain gauge 369e, the sixth strain gauge 369f, and the ground GND are connected in this order. Then, the connection point between the fifth strain gauge 369e and the sixth strain gauge 369f becomes the output of the first detection circuit 373a (hereinafter referred to as t output).

In the second detection circuit 373b, the third strain gauge 369c and the fourth strain gauge 369d are connected in series between the power supply Vcc and the ground GND. That is, the power supply Vcc, the third strain gauge 369c, the fourth strain gauge 369d, and the ground GND are connected in this order. Then, the connection point between the third strain gauge 369c and the fourth strain gauge 369d becomes the output of the second detection circuit 373b (hereinafter referred to as r output).

In the third detection circuit 373c, the first strain gauge 369a and the second strain gauge 369b are connected in series between the power supply Vcc and the ground GND. That is, the power supply Vcc, the first strain gauge 369a, the second strain gauge 369b, and the ground GND are connected in this order. Then, the connection point between the first strain gauge 369a and the second strain gauge 369b becomes the output of the third detection circuit 373c (hereinafter referred to as k output).

Here, it is assumed that the first strain gauges 369a to the sixth strain gauges 369f have the same resistance value.

As is known, the resistance value of the strain gauge 369 decreases when it is compressed and increases when it is expanded. This change in resistance value is proportional when the amount of change is small. Further, the detection direction of the strain gauge 369 is the direction in which the wiring is extended, and as described above, the third strain gauge 369c, the fifth strain gauge 369e, and the sixth strain gauge 369f are in the direction parallel to the central axis C1. The fourth strain gauge 369d is in the direction perpendicular to the central axis C1. The first strain gauge 369a and the second strain gauge 369b are oriented at 45 degrees. When compression or expansion occurs in a direction other than this detection direction, the resistance value of the strain gauge 369 does not change.

When the first detection circuit 373a using the strain gauge 369 having such characteristics is not compressed or expanded in the detection directions of the fifth strain gauge 369e and the sixth strain gauge 369f, the t output is the power supply Vcc. The voltage is halved (1 / 2Vcc) of the voltage of the power supply Vcc, which is the value obtained by dividing the voltage by the fifth strain gauge 369e, the resistance value, and the sixth strain gauge 369f.

When the fifth strain gauge 369e is compressed and the sixth strain gauge 369f is stretched, the resistance value of the fifth strain gauge 369e decreases and the resistance value of the sixth strain gauge 369f increases, so that the t output is increased. Increases (voltage value is greater than 1/2 Vcc). When the fifth strain gauge 369e is stretched and the sixth strain gauge 369f is compressed, the resistance value of the fifth strain gauge 369e increases and the resistance value of the sixth strain gauge 369f decreases, so that the t output is increased. It goes down (voltage value is less than 1/2 Vcc).

When both the 5th strain gauge 369e and the 6th strain gauge 369f are compressed, the resistance value of both the 5th strain gauge 369e and the 6th strain gauge 369f decreases, so that the t output does not change (voltage value is 1 / 2Vcc). Will remain). When both the 5th strain gauge 369e and the 6th strain gauge 369f are stretched, the t output does not change because the resistance values of both the 5th strain gauge 369e and the 6th strain gauge 369f increase.

The second detection circuit 373b also operates in the same manner as the first detection circuit 373a. That is, when the third strain gauge 369c is compressed and the fourth strain gauge 369d is expanded, the r output is increased, and when the third strain gauge 369c is expanded and the fourth strain gauge 369d is compressed, r. The output goes down. When both the third strain gauge 369c and the fourth strain gauge 369d are compressed and when both the third strain gauge 369c and the fourth strain gauge 369d are expanded, the r output does not change.

The third detection circuit 373c also operates in the same manner as the first detection circuit 373a. That is, when the first strain gauge 369a is compressed and the second strain gauge 369b is expanded, the k output is increased, and when the first strain gauge 369a is expanded and the second strain gauge 369b is compressed, k The output goes down. When both the first strain gauge 369a and the second strain gauge 369b are compressed and when both the first strain gauge 369a and the second strain gauge 369b are expanded, the k output does not change.

The t output of the first detection circuit 373a, the r output of the second detection circuit 373b, and the k output of the third detection circuit 373c are voltage values output by the plurality of strain gauge units.

FIG. 6 shows a deformed state of the right crank 105R when a force (treading force) is applied by the user. (A) is a plan view seen from the inner surface 119 of the right crank 105R, (b) is a plan view seen from the upper surface 117 of the right crank 105R, and (c) is a plan view seen from the end of the right crank 105R on the crank shaft 107 side. It is a plan view. In the following description, the right crank 105R will be described, but the same applies to the left crank 105L.

When a pedaling force is applied from the user's foot via the pedal 103, the pedaling force becomes the rotational force of the crank 105, which is the tangential force T (propulsive force) that acts in the tangential direction of the circle defined by the rotational movement of the crank 105. ) And the normal force R (loss force), which is a force acting in the normal direction of the circle defined by the rotational motion of the crank 105. At this time, each deformation state of bending deformation x, bending deformation y, tensile deformation z, and torsional deformation rz occurs in the right crank 105R.

The bending deformation x is, as shown in FIG. 6A, that the right crank 105R is deformed so as to bend from the upper surface 117 toward the lower surface 118 or from the lower surface 118 toward the upper surface 117, and the tangential force T. It is a deformation caused by. That is, the strain due to the deformation generated in the rotational direction of the crank 105 (the strain generated in the rotational direction of the crank 105) is detected, and the rotational strain generated in the crank 105 can be detected by detecting the bending deformation x.

Bending deformation y is, as shown in FIG. 6B, deformation of the right crank 105R so as to bend from the outer surface 120 toward the inner surface 119 or from the inner surface 119 toward the outer surface 120, and is a normal force. It is a deformation caused by R. That is, the strain due to the deformation generated from the outer surface 120 to the inner surface 119 of the crank 105 or from the inner surface 119 to the outer surface 120 (strain generated in the direction perpendicular to the same plane as the circle defined by the rotational movement of the right crank 105R). Is detected, and the inward / outward strain generated in the crank 105 can be detected by detecting the bending deformation y.

The tensile deformation z is the deformation of the right crank 105R so as to be stretched or compressed in the longitudinal direction, and is the deformation caused by the normal force R. That is, the strain due to the deformation (strain generated in the direction parallel to the longitudinal direction) generated in the direction in which the crank 105 is pulled or pushed in the longitudinal direction is detected, and the strain generated in the crank 105 by the detection of the tensile deformation z is detected. The tensile direction strain can be detected.

The torsional deformation rz is that the right side crank 105R is deformed so as to be twisted, and is a deformation caused by the tangential force T. That is, the strain due to the deformation generated in the twisting direction of the crank 105 is detected, and the torsional strain generated in the crank 105 can be detected by detecting the torsional deformation rz. In FIG. 6, the deformation directions of the bending deformation x, the bending deformation y, the tensile deformation z, and the torsional deformation rz are indicated by arrows, but as described above, each deformation may occur in the direction opposite to the arrow. ..

Therefore, in order to measure the tangential force T, either the bending deformation x or the torsional deformation rz is quantitatively detected, and in order to measure the normal force R, either the bending deformation y or the tensile deformation z is quantitatively detected. Just do it.

Here, it is arranged as shown in FIG. 4, and is connected by the measurement module strain detection circuit 365 to which the first strain gauge 369a, the second strain gauge 369b, the third strain gauge 369c, and the fourth strain gauge 369d are connected as shown in FIG. , Bending deformation x, bending deformation y, tensile deformation z, and torsional deformation rz will be detected (measured).

In the bending deformation x, the right crank 105R is deformed from the upper surface 117 toward the lower surface 118, or in the opposite direction. In this case, in the first detection circuit 373a, the fifth strain gauge 369e is compressed to decrease the resistance value, the sixth strain gauge 369f is expanded to increase the resistance value, and the t output increases, or the fifth strain gauge increases. The 369e is stretched to increase the resistance value, and the sixth strain gauge 369f is compressed to decrease the resistance value to decrease the t output (determined by the direction of deformation). The second detection circuit 373b only bends the third strain gauge 369c and the fourth strain gauge 369d, does not compress or expand, and the resistance value does not change, so that the r output does not change. As shown in FIG. 7, in the third detection circuit 373c, one end of the first strain gauge 369a is expanded, but the other end is compressed. As a result, both expansion and compression occur inside the first strain gauge 369a, and the resistance value of the first strain gauge 369a does not change. The same applies to the second strain gauge 369b. Therefore, the k output does not change.

In the bending deformation y, the right crank 105R is deformed from the outer surface 120 toward the inner surface 119 or in the opposite direction. In this case, whether the first detection circuit 373a expands both the fifth strain gauge 369e and the sixth strain gauge 369f to increase the resistance value, or compresses both to decrease the resistance value. Since it is either, the t output does not change. In the second detection circuit 373b, the third strain gauge 369c is expanded to increase the resistance value, the fourth strain gauge 369d is compressed to decrease the resistance value and the r output is decreased, or the third strain gauge 369c is compressed. Then, the resistance value decreases, the fourth strain gauge 369d is extended, the resistance value increases, and the r output increases. The third detection circuit 373c either expands both the first strain gauge 369a and the second strain gauge 369b to increase the resistance value, or compresses both to decrease the resistance value. Therefore, the k output does not change.

The tensile deformation z deforms so that the right crank 105R is stretched or compressed in the longitudinal direction. In this case, whether the first detection circuit 373a expands both the fifth strain gauge 369e and the sixth strain gauge 369f to increase the resistance value, or compresses both to decrease the resistance value. Since it is either, the t output does not change. In the second detection circuit 373b, the third strain gauge 369c is expanded to increase the resistance value, the fourth strain gauge 369d is compressed to decrease the resistance value and the r output is decreased, or the third strain gauge 369c is compressed. Then, the resistance value decreases, the fourth strain gauge 369d is extended, the resistance value increases, and the r output increases. The third detection circuit 373c either expands both the first strain gauge 369a and the second strain gauge 369b to increase the resistance value, or compresses both to decrease the resistance value. Therefore, the k output does not change.

In the torsional deformation rz, the right crank 105R is deformed so as to be twisted. In this case, in the first detection circuit 373a, the fifth strain gauge 369e is stretched to increase the resistance value, but the sixth strain gauge 369f is neither compressed nor stretched, so that the resistance value does not change, so that the t output decreases. In the second detection circuit 373b, the third strain gauge 369c is stretched to increase the resistance value, but the fourth strain gauge 369d is neither compressed nor stretched, so that the resistance value does not change, so that the r output decreases. In the third detection circuit 373c, the first strain gauge 369a is compressed to decrease the resistance value, the second strain gauge 369b is expanded to increase the resistance value and the k output is increased, or the first strain gauge 369a is expanded. Then, the resistance value increases, the second strain gauge 369b is compressed, the resistance value decreases, and the k output decreases.

As described above, the bending deformation x can be detected by detecting the change in the t output of the first detection circuit 373a, and the bending deformation y and the tension can be detected by detecting the change in the r output of the second detection circuit 373b. Deformation z can be detected. Further, the torsional deformation rz can be detected by detecting the change in the k output of the third detection circuit 373c. That is, the fifth strain gauge 369e and the sixth strain gauge 369f constituting the first detection circuit 373a are the first strain gauge section, and the first strain gauge 369a and the second strain gauge 369b constituting the third detection circuit 373c are the second. It becomes a strain gauge part. Then, the t output of the first detection circuit 373a and the k output of the third detection circuit 373c represent the output values of the strain detecting means.

Next, from the t output of the first detection circuit 373a, the r output of the second detection circuit 373b, and the k output of the third detection circuit 373c, the measurement module control unit 351 calculates the tangential force T, the normal force R, and the torsion torque K. The calculation method will be described. The torsional torque is a torque when a torsional deformation rz occurs in the crank 105, that is, a torque acting in a direction in which the crank 105 is twisted. First, the matrix A is assumed as shown in the following equation (1).

In equation (1), t is the t output, r is the r output, and k is the measured value (voltage value) of the k output. Further, T indicates a tangential force T, R indicates a normal force R, and K indicates a torsion torque K.

Next, as shown in FIG. 8, a state in which the crank 105 is oriented horizontally forward and a known load W is applied to a position on the pedal 103 separated from the central axis C1 of the crank 105 by a distance L1 (first state). Assuming that the t output, r output, and k output in the above are tp, rp, and kp, respectively, the equation (1) is expressed as the equation (2). Here, FIG. 8A is a view seen from the upper surface 117 of the crank 105, and FIG. 8B is a view seen from the outer surface 120 of the crank.

P is the first reference torsional torque applied to the crank 105, and is represented by P = W · L1 (N · m).

Next, as shown in FIG. 9, a state in which the crank 105 is oriented horizontally forward and a known load W is applied to a position on the pedal 103 separated from the central axis C1 of the crank 105 by a distance L2 different from the distance L1. Assuming that the t output, r output, and k output in the (second state) are tq, rq, and kq, respectively, the equation (1) is expressed as the equation (3). Here, FIG. 9A is a view seen from the upper surface 117 of the crank 105, and FIG. 9B is a view seen from the outer surface 120 of the crank.

Q is the second reference torsional torque applied to the crank 105, and is represented by Q = W · L2 (N · m).

Next, as shown in FIG. 10, the crank 105 was oriented vertically downward, and a known load W was applied to a position on the extension of the central axis C1 of the crank 105 (or a position as close as possible to the central axis of the crank 105). Assuming that the t-output, r-output, and k-output of the state (third state) are t0, r0, and k0, respectively, the equation (1) is expressed as the equation (4). 10 (a) is a view seen from the upper surface 117 of the crank 105, and FIG. 10 (b) is a view seen from the outer surface 120 of the crank.

Next, the components a to i of the matrix A are calculated from the equations (2) to (4). From the equations (2) and (3), the components c, a, f, d, i and g are as shown in the following equations (5) to (10). Further, from the equation (4), the components b, e, and h are as shown in the equations (11) to (13) next. Here, the components of the equations (6), (8), and (10) remain, but the calculated components may be substituted. For example, the component c of the equation (6) is substituted with the calculation result of the equation (5). Alternatively, the formula may be substituted instead of the calculation result. In this way, the components a to i of the matrix A are calculated from the values of t output, r output, and k output in the states of FIGS. 8 to 10, the known load W, and the known distances L1 and L2. ..

Then, the inverse matrix A-1 of the calculated matrix A is calculated, and the tangential force T, the normal force R, and the torsion torque K are calculated by the following equation (14). Therefore, by calculating the inverse matrix A-1 in advance, the tangential force T, the normal force R, and the torsion torque K can be calculated in real time from the values of the t output, r output, and k output.

Since the equation (14) can be expressed by a polynomial having the component of the inverse matrix A-1 as a coefficient, the tangential force T and the torsional torque K are the t outputs output by the first detection circuit 373a to the third detection circuit 373c. It is calculated by substituting the r output and k output into a predetermined polynomial.

Then, the distance L is calculated from the calculated tangential force T and the torsional torque K from the central axis of the crank 105 to the center of the load applied to the pedal 103 by the driver. Here, the center of the load means a point at which the load acting on each part of the pedal 103 is represented by a single force. The distance L from the central axis of the crank 105 to the center of the load applied to the pedal 103 by the driver can be calculated by L (m) = K / T. In this embodiment, the calculated distance L is used as the load center position applied to the pedal 103.

Next, the block configuration of the cycle computer 201 will be described. As shown in FIG. 3, the cycle computer 201 includes a cycle computer display unit 203, a cycle computer operation unit 205, a cycle computer cadence radio reception unit 207, a cycle computer radio reception unit 209, a cycle computer timer 261 and a cycle computer storage unit 253. It also has a cycle computer control unit 251.

The cycle computer display unit 203 displays various information based on a user's instruction or the like. In this embodiment, the propulsive force (tangential force T) and the loss force (normal force R) are visualized and displayed. The visualization method may be any method. The visualization method in the cycle computer display unit 203 may be, for example, a vector display, a graph display, a color-coded display, a symbol display, a three-dimensional display, or the like, and may be any method. Further, it may be a combination thereof or the like.

Further, the cycle computer display unit 203 visualizes and displays the load center position applied to the pedal 103 calculated by the measurement module control unit 351. FIG. 11 shows a display example.

FIG. 11 displays the load center positions detected for the left and right pedals 103 side by side on the screen. In FIG. 11, the load center position detected by the right pedal 103R is displayed as the measured value LMR, and the load center position detected by the left pedal 103L is displayed as the measured value LML. Further, the load center position set in advance as a reference is displayed as a reference value LRR (right side) and a reference value LRL (left side) superimposed on the measured values LMR and LML. The reference values LRR and LRL are shown as, for example, recommended pedal depression positions (positions to which a load should be applied). That is, the measured values LMR and LML and the reference values LRR and LRL are displayed (output) in a comparable manner. In FIG. 11, the reference values LRR and LRL are substantially the center of the pedal 103, but the reference values are not limited to this. For example, it may be changed based on the shape of the bicycle 1 or the crank 105, the physique of the driver, or the like.

In FIG. 11, the measured values LMR and LML are filled with an ellipse, and the reference values LRR and LRL are displayed as ellipses (broken lines) so that they can be easily visually recognized when they are superimposed and displayed. The measured values LMR, LML, reference values LRR, and LRL are not limited to the shapes shown in FIG. 11, and may be points, circles, straight lines, foot shapes, or the like. Further, the actually measured values LMR and LML and the reference values LRR and LRL are not limited to the filled and broken lines, and may be any display mode in which they can be distinguished from each other.

In the example shown in FIG. 11, the actually measured value and the reference value are shown by an image, but the present invention is not limited to this, and may be shown in other formats such as numerical values. Further, the measured value for an arbitrary period may be stored and displayed so that the transition of the movement of the position can be understood.

The cycle computer operation unit 205 receives a user's instruction (input). For example, the cycle computer operation unit 205 receives an instruction of display contents from the user to the cycle computer display unit 203.

The cycle computer cadence radio receiver 207 receives the cadence information transmitted from the cadence sensor 501.

The cycle computer radio receiving unit 209 receives the propulsive force, the loss, the position under load applied to the pedal 103, and the like transmitted from the measurement module 301.

The cycle computer timer 261 is a timer counter and counts timers. This timer value information generated by the cycle computer timer 261 is variously used by the cycle computer control unit 251 and the like.

Various information is stored in the cycle computer storage unit 253. The various information is, for example, a control program of the cycle computer control unit 251 and temporary information required when the cycle computer control unit 251 performs control. The cycle computer storage unit 253 is composed of a cycle computer RAM 255 and a cycle computer ROM 257. The cycle computer ROM 257 stores a control program, various parameters, constants, and the like for converting propulsive force, loss force, or load center position into data visually displayed on the cycle computer display unit 203.

The cycle computer control unit 251 comprehensively controls the cycle computer 201. Further, the cadence sensor 501 and the measurement module 301 may be comprehensively controlled. The cycle computer control unit 251 converts the propulsive force, the loss force, or the load center position into data visually displayed on the cycle computer display unit 203.

Next, the processing of the cadence sensor 501 and the processing of the measurement module 301 and the cycle computer 201 will be described with reference to FIGS. 12 and 13.

First, the processing of the cadence sensor 501 will be described. In step ST51, the cadence sensor control unit 551 of the cadence sensor 501 detects the change of the magnetic sensor 505 to ON. Then, when the cadence sensor control unit 551 detects a change in the magnetic sensor 505, it interrupts the process and starts the process in step ST53 or lower. Interrupting means interrupting the processing up to that point and executing the specified processing.

Next, in step ST53, the cadence sensor control unit 551 calculates the cadence value. The cadence sensor control unit 551 calculates the time (cycle) [seconds] in which the magnetic sensor 505 is turned on by multiplying the count number (C) of the timer value information and the one-time count interval (T). Then, the cadence sensor control unit 551 calculates the cadence [rpm] by dividing 60 by this time (cycle). Further, the cadence sensor control unit 551 stores the cadence information in the cadence sensor RAM 555 of the cadence sensor storage unit 553.

Next, in step ST55, the cadence sensor control unit 551 outputs a counter value reset command to the cadence sensor timer 561. This completes the main flow of control of the cadence sensor control unit 551. Then, when the magnetic sensor 505 is turned on next, the interrupt is performed again, and the process is restarted from step ST51.

On the other hand, in step ST57, the cadence sensor control unit 551 transmits the cadence information stored in the cadence sensor storage unit 553 to the cycle computer 201 by using the cadence sensor radio transmission unit 507. Note that transmission may be performed only by the cadence sensor wireless transmission unit 507 without going through the cadence sensor control unit 551.

Next, in step ST59, the cadence sensor control unit 551 waits for 1 second. The wait time is variable.

Next, the processing of the measurement module 301 and the like will be described. In step ST11, the measurement module A / D363 A / D-converts the outputs (t output, r output, k output) from the measurement module strain detection circuit 365 from analog values to digital values.

Next, in step ST13, the strain information detected (converted) by the measurement module A / D363 is stored in the measurement module RAM 355 of the measurement module storage unit 353.

Next, in step ST15, the process is waited for 1 / N seconds. Here, the value of N is the number of data points measured per second. That is, the larger the value of N, the larger the number of strain information and the higher the resolution in seconds. The larger the N value, the better, but if the N value is too large, the measurement module RAM 355 must have a large capacity, which increases the cost. Therefore, the N value can be determined by the cost, the required time resolution, the time required for the measurement module A / D363 to perform A / D conversion, and the like. When the process of step ST15 is completed, the process returns to the process of step ST11 again. That is, the processes of steps ST11 to ST15 are repeated N times per second.

Further, the measurement module control unit 351 performs the process of FIG. 9B. In step ST31, the measurement module control unit 351 saves strain information data. Explain the reason. First, the capacity of the measurement module RAM 355 of the measurement module storage unit 353 is limited. Here, if the capacity of the measurement module RAM 355 is increased, it is not necessary to save the strain information data, but if the design is made with a large margin, the cost will increase and it is not appropriate. Further, since the strain information is continuously written one after another, if the data is not saved, new information is overwritten before the tangential force T, the normal force R, and the distance L are calculated by the processing in step ST33 described later. This is because there is a risk of being evacuated.

Next, in step ST33, the measurement module control unit 351 calculates the tangential force T, the normal force R, and the distance L. Specifically, the measurement module control unit 351 calculates the tangential force T, the normal force R, and the distance L by the above-mentioned equation (14) and the equation of L = K / T. That is, this step functions as a calculation process. Further, the measurement module control unit 351 may calculate N tangential forces T, normal forces R, and distances L, and calculate the average thereof. That is, the measurement module control unit 351 may calculate the average (average tangential force (propulsion) force and average normal (loss) force) of the tangential force T and the normal force R for one second. As described above, the measurement of the first state to the third state, the calculation of the components, and the like are performed in advance before the execution of this flowchart.

Next, in step ST35, the measurement module control unit 351 determines the calculated tangential force T and normal force R or the average tangential force and average normal force, and the distance L via the measurement module wireless transmission unit 309. To send. The transmitted tangential force T, normal force R, and the distance L are received by the cycle computer radio receiving unit 209 of the cycle computer 201. That is, information on the center position of the load applied to the pedal 103 connected to the crank 105 is output based on the tangential force T calculated based on the output value of the strain gauge 369 and the torsional torque K. ..

Next, in step ST37, wait for 1 second. Note that 1 second is an example and is variable as needed. When the process of step ST37 is completed, the process returns to the process of step ST31 again. That is, the processes of steps ST31 to ST35 are repeated once per second.

Further, the cycle computer control unit 251 of the cycle computer 201 performs the process of FIG. 9 (c). In step ST71, when the cycle computer control unit 251 receives the propulsion force (tangential force T), the loss force (normal force R), the load center position (distance L), and the cadence information, an interruption is performed. That is, when the cycle computer control unit 251 detects that the cycle computer radio reception unit 209 has received the propulsion force, the loss force, the load center position and the cadence information, the cycle computer control unit 251 interrupts the processing up to that point ( Interrupt) and start the processing in step ST73 and below.

Next, in step ST73, the cycle computer control unit 251 causes the cycle computer display unit 203 to display the propulsive force, the loss force, the load center position, and the cadence information. That is, this step functions as an output process. The cycle computer display unit 203 displays these information as numerical values, or transmits the information to the user by other visual, auditory, and tactile methods. It should be noted that these pieces of information do not have to be displayed at the same time, and may be displayed individually by a switching operation by the user or the like.

Next, in step ST75, the cycle computer control unit 251 stores the propulsion force, the loss force, the load center position, and the cadence information in the cycle computer display unit 203 in the cycle computer RAM 255 of the cycle computer storage unit 253. After that, the cycle computer control unit 251 performs other processing until the interrupt of step ST51 is performed again.

In the above description, the load center position (distance L) was calculated by the measurement module 301, but the torsion torque K is transmitted to the cycle computer 201 instead of the load center position (distance L), and the cycle computer 201 The load center position (distance L) may be calculated with.

According to this embodiment, a strain gauge 369 is provided on the inner surface 119 of the crank 105 of the bicycle 1 to detect the strain generated in the crank 105. Then, the cycle computer display unit 203 was connected to the crank 105 based on the tangential force T and the torsional torque K calculated based on the output values of the first strain gauges 369a to the sixth strain gauges 369f. An image showing the position of the center of load applied to the pedal 103 is displayed. By doing so, it is possible to calculate and output an image showing the position of the center of load applied to the pedal 103, so that efficient pedaling and the like can be performed based on this information.

Further, strain gauges 369 are provided on the inner surfaces 119 of the cranks 105 provided on the left and right pairs of the bicycle 1, and the cycle computer display unit 203 indicates the center position of the load applied to the pedals 103 connected to the left and right cranks 105. The images are displayed side by side. By doing so, the user or the like can compare and confirm the left and right pedaling balance and the like, which can be useful for improving the pedaling form and the like.

Further, the cycle computer display unit 203 displays an image in which the reference values LRR and LRL are superimposed on the actually measured values LMR and LML detected by the strain gauge 369 in advance. By doing so, for example, the user or the like can compare the load center in his / her pedaling with the load center in appropriate pedaling, which can be useful for improving the pedaling form or the like.

Further, the strain gauges 369 include a first strain gauge 369a and a second strain gauge 369b for detecting the bending deformation x generated in the crank 105, and a fifth strain gauge 369e and a sixth strain gauge 369e for detecting the torsional deformation rz generated in the crank 105. It has a plurality of strain gauges including 369f. Further, the strain gauge 369 is a voltage corresponding to the amount of deformation of the crank 105 in the direction in which the first strain gauge 369a and the second strain gauge 369b and the fifth strain gauge 369e and the sixth strain gauge 369f detect strain. The value is output. By doing so, the tangential force T and the torsional torque K of the crank 105 can be calculated from the output voltage values of the plurality of strain gauges 369.

Further, the tangential force T and the torsional torque K of the crank 105 are composed of a third detection circuit 373c composed of a first strain gauge 369a and a second strain gauge 369b, a fifth strain gauge 369e and a sixth strain gauge 369f. It is calculated by substituting the voltage values (t output, k output) output by the first detection circuit 373a and the first detection circuit 373a into a predetermined polynomial. By doing so, for example, it can be calculated by an operation using a CPU or the like.

Further, the coefficient of each term of the predetermined polynomial is the first applied to the crank 105 in the first state in which a predetermined load W is applied to the position on the pedal 103 separated by the first distance L1 from the central axis of the crank 105. The reference torsion torque P and the second reference torsion torque Q applied to the crank 105 in the second state in which a predetermined load W is applied to a position on the pedal 103 separated by a second distance L2 from the central axis of the crank 105. It is preset based on the t output and the k output in each of the first state and the second state. By doing so, the coefficient can be calculated in advance based on the first reference torsion torque P, the second reference torsion torque Q, and the output voltage value (tp, kp, tq, kq) that can be calculated by known numerical values. can. Therefore, the tangential force T of the crank 105 and the torsional torque K of the crank 105 can be calculated only by substituting the values actually measured by the first detection circuit 373a and the third detection circuit 373c into the polynomial. Further, since the coefficient can be changed according to the crank, it can be calculated accurately for each crank.

The information output device according to the second embodiment of this embodiment will be described with reference to FIG. The same parts as those in the first embodiment described above are designated by the same reference numerals, and the description thereof will be omitted.

In the first embodiment, six strain gauges were used, but when the normal force R (loss force) is not calculated, the number of strain gauges is reduced, the coefficient is calculated, and the torsional torque K extending the tangential force T is reached. The amount of calculation required can be reduced. FIG. 14 shows the arrangement of the strain gauge 369 on the crank 105 in this embodiment. In this embodiment, the third strain gauge 369c and the fourth strain gauge 369d shown in FIG. 4 are deleted, which is different from the first embodiment. Therefore, the measurement module strain detection circuit 365 of this embodiment does not have the second detection circuit 373b.

The r output of the second detection circuit 373b detects the bending deformation y and the tensile deformation z as described in the first embodiment. These are deformations caused by the normal force R, and may not be detected if the normal force R is not calculated. Then, the formula (1) shown in the first embodiment is changed to the following formula (15), the formula (2) is changed to the following formula (16), the formula (3) is changed to the following formula (17), and so on. Equation (14) is changed to the following equation (18), respectively. In this embodiment, as is clear from the equations (15) to (17), the components of the matrix A are in the first reference torsion torque P, the second reference torsion torque Q, and in the first state and the second state, respectively. It can be calculated based on the t output and the k output.

In this embodiment, since the tangential force T and the torsional torque K are calculated, the matrix A has 2 rows and 2 columns, and the number of components is reduced. The distance L from the calculated tangential force T and the torsional torque K to the center of the load applied to the pedal 103 by the driver from the central axis of the crank 105 is L (m) = K / T as in the first embodiment. Calculated by

According to this embodiment, since only the tangential force T and the torsional torque K are calculated, the number of strain gauges can be reduced. Further, since the term of the polynomial when calculating the tangential force T and the torsional torque K is reduced, the calculation amount can be reduced.

In the above two embodiments, the cycle computer display unit 203 has been described as an output means, but the output means is not limited to the means for transmitting to the driver by display, voice, or the like. For example, as shown in FIG. 15, a cycle computer external communication unit 271 is added to the cycle computer 201 to cycle information such as a distance L from the central axis of the crank 105 to the center of the load applied to the pedal 103 by the driver. The output may be made from the computer external communication unit 271 to the server S connected via the public line N such as the Internet. In this case, the output means is the cycle computer external communication unit 271. Further, the measurement module 301 may be output to the server S directly connected via the public line N.

Further, in the above two embodiments, the strain gauge 369 is described as being provided near the center of the crank 105, but it may be provided near the pedal 103 or the crank shaft 107. If it is provided near the pedal 103, the life of the strain gauge 369 can be extended because the amount of strain of the crank 105 is small. If it is provided near the crank shaft 107, the output of the strain gauge 369 becomes large due to this principle, and the influence of noise can be reduced.

Further, in the above-mentioned two embodiments, the information output device is composed of the cycle computer 201 and the measurement module 301, but the information output device in the present invention is a part of the cycle computer 201 and the measurement module 301. It may be present or it may be another independent device. Further, it may be an aggregate of a plurality of physically separated devices. In some cases, devices other than the strain gauge 369 (measurement module strain detection circuit 365) may be installed via communication and may be located at a completely different location.

The human-powered machine in the present invention refers to a machine such as a bicycle 1 or a fitness bike equipped with a crank 105 and driven by human power. That is, any human-powered machine may be used as long as it is a machine equipped with a crank 105 and driven by human power (it does not necessarily have to be moved in place).

Further, the present invention is not limited to the above examples. That is, those skilled in the art can carry out various modifications according to conventionally known knowledge within a range that does not deviate from the gist of the present invention. Even with such a modification, as long as the configuration of the information output device of the present invention is still provided, it is, of course, included in the category of the present invention.

1 Bicycle (human-powered machine)
103 Pedal 105 Crank 119 Inner surface (side surface)
203 Cycle computer display unit (output means)
271 Cycle computer external communication unit (output means)
369a 1st strain gauge (strain detecting means, 2nd strain gauge part)
369b 2nd strain gauge (strain detecting means, 2nd strain gauge part)
369c 3rd Strain Gauge 369d 4th Strain Gauge 369e 5th Strain Gauge (Strain Detection Means, 1st Strain Gauge)
369f 6th strain gauge (strain detecting means, 1st strain gauge part)
373a 1st detection circuit 373b 2nd detection circuit 373c 3rd detection circuit C1 Central axis K Twist torque (torque acting in the direction that causes the crank to twist)
Distance to the center of the load applied to the L pedal (information on the center position of the load applied to the pedal)
P 1st reference torsion torque Q 2nd reference torsion torque T Tangent force (force acting in the tangential direction of the circle defined by the rotational movement of the crank)
ST33 Tangent force, distance calculation to load center position (calculation process)
ST73 data display (output process)

Claims (17)

A strain detecting means provided on the crank of a human-powered machine to detect the strain generated in the crank, and
An output means for displaying the load applied to the pedal connected to the crank and the position of the load applied to the pedal based on the output value of the strain detecting means is provided.
The output means displays the center position of the load applied to the pedal and the center position of the load as a reference in a manner comparable to each other.
An information output device characterized by the fact that. The information output device according to claim 1, wherein the position of the load applied to the pedal is displayed based on the torque acting in the direction in which the crank is twisted. The position of the load applied to the pedal is displayed based on the torque acting in the direction of causing the crank to twist and the force acting in the tangential direction of the circle defined by the rotational movement of the crank. The information output device according to claim 1. The information output device according to any one of claims 1 to 3, wherein the deviation of the position of the load with respect to the center of the pedal is displayed. The information output device according to any one of claims 1 to 4, wherein the center position of the load as the reference is a position recommended as a position to which the load should be applied. The central position of the load as the reference can be changed based on the shape of the human-powered machine, the shape of the crank, or the physique of the driver, according to any one of claims 1 to 5. The information output device described. The information output device according to any one of claims 1 to 4, wherein the center position of the load as the reference is the center position of the pedal. The information output according to any one of claims 1 to 7, wherein the displayed center position of the load as the reference and the center position of the load applied to the pedal have a foot shape. Device. The invention according to any one of claims 1 to 8, wherein the displayed center position of the load as the reference and the center position of the load applied to the pedal can be displayed on top of each other. Information output device. An information output program provided on the crank of a human-powered machine and executed by a computer of an information output device provided with a strain detecting means for detecting the strain generated in the crank.
A step of receiving information from the strain detecting means provided on the crank, and
A step of displaying the load applied to the pedal connected to the crank and the position of the load applied to the pedal based on the output value of the strain detecting means via the output means.
To the computer to execute
The display step further causes the computer to display the center position of the load applied to the pedal and the center position of the load as a reference in a mutually comparable manner.
An information output program characterized by this. The information output program according to claim 10, wherein the display step displays the position of a load applied to the pedal based on a torque acting in a direction that causes the crank to twist. In the step of displaying, the position of the load applied to the pedal is determined based on the torque acting in the direction of causing the crank to twist and the force acting in the tangential direction of the circle defined by the rotational movement of the crank. The information output program according to claim 10, wherein the information output program is displayed. The information output program according to any one of claims 10 to 12, wherein the display step displays a deviation of the position of the load with respect to the center of the pedal. A means provided on the crank of a human-powered machine to detect the strain generated in the crank,
A means for displaying the load applied to the pedal connected to the crank and the position of the load applied to the pedal based on the output value of the means for detecting the strain are provided.
The display means displays the center position of the load applied to the pedal and the center position of the load as a reference in a manner comparable to each other.
An information output device characterized by the fact that. 14. The information output device according to claim 14, wherein the position of the load applied to the pedal is displayed by the display means according to the torque acting in the direction of causing the crank to twist. The position of the load applied to the pedal is determined by the means indicated according to the torque acting in the direction of causing the crank to twist and the force acting in the tangential direction of the circle defined by the rotational movement of the crank. The information output device according to claim 14, wherein the information output device is displayed. The information output device according to any one of claims 14 to 16, wherein the deviation of the position of the load with respect to the center of the pedal is displayed.

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