JP3760928B2

JP3760928B2 - Driving force assisting device and control method of driving force assisting device

Info

Publication number: JP3760928B2
Application number: JP2003133273A
Authority: JP
Inventors: 弘宮沢; 博中里; 豊高田; 邦章田中; 勝美新海
Original assignee: Seiko Epson Corp
Current assignee: Seiko Epson Corp
Priority date: 2003-05-12
Filing date: 2003-05-12
Publication date: 2006-03-29
Anticipated expiration: 2021-03-29
Also published as: JP2004001735A

Description

【０００１】
【産業上の利用分野】
本発明は、人力で駆動される例えば自転車等の軽車両やボート等の人力の負荷を軽減する駆動力補助装置に関する。
【０００２】
【従来の技術】
人力による駆動力の補助をするための自転車において、人力の駆動力を検出しこの駆動力の大きさに対応して電動モータの駆動力を制御し、人力の負荷を軽減することにより坂道での走行性の改善や疲労の低減を図ることはすでに知られている。
【０００３】
人力の駆動力を検出する方法としては、特開平２−７４４９１号公報２頁に示されるようにチェーンの張力やペタル近傍に設置された感圧センサーによりペタルを踏み込む力（人力）を検出する方法や、同号公報４頁の実施例３に示されるようにペタル回転速度を発電機により検出する方法がある。このような方法にて検出された駆動力に応じてモータを制御することにより、快適な乗り心地が得られることが提案されている。
【０００４】
また、乗り心地の向上や電力の効率的な使い方を図るため、特開平５−２４６３７７公報４頁[００３１]〜[００３５]に示されるようにモータの無負荷回転数を車速に対応した回転数に合わせたモータ駆動力の遅れを小さくする制御方法や、特開平５−２４６３７８公報３頁〜４頁[００２４]〜[００３１]に示されるように小さな人力で走る場合にはモータ駆動力を０とし電池の消費を抑える方法が提案されている。
【０００５】
【発明が解決しようとする課題】
従来の駆動力補助装置においては、人力の大きさやペタルの回転速度に合わせて補助動力を与えているために、体力のある人には補助動力が過大となったり、登り坂では補助動力が不足した感じとなったりする。また、運転者の疲労度合によっても受ける補助動力の感覚は変わり、最初は過大に感じても、疲労してくれば不足に感じることもある。また、ペタルに加わる人力は周期的に変化しているため、補助動力が人力に応じて時間の遅れなく周期的に供給されなければ運転者は違和感が感じられる。人力は周期的に変化しているため下死点にきた時にはほぼ０になるため、補助動力も０となり動力発生のモータは停止状態となる。モータが停止状態からある出力を発生するためには時間的に遅れが生じるため、遅れを小さくするためには出力の大きなモータが必要となる。また、遅れを生じさせないようにペタルの回転数に同期させ回転させておくことは、消費電力の増加をまねき走行距離が低下してしまう。
【０００６】
更に、装置の構成においても、人力の検出器が外部にあれば転倒した場合など強い衝撃が加わった場合壊れ易く信頼性に問題がある。さらに、雨等の自然環境にさらされることや走行時における泥等により寿命が短くなることや故障が発生しやすくなるという問題がある。また、ペタル軸近傍でケース内部に設置する場合、限られたスペースの中には人力と車速の検出器を入れることが難しいという問題点を有する。
【０００７】
本発明は、以上のような問題点を解決するもので、運転者の疲労や体調といった状態に合わせ、また登り坂や向い風等環境によって負荷が大きく変化しても常に適切な補助動力が与えられ快適な走行ができるとともに小型でスペースを取らず高い信頼性が得られ経済性に優れた駆動力補助装置および駆動力補助装置の制御方法を提供することを目的とする。
【０００８】
【課題を解決するための手段】
人力駆動手段と補助動力駆動手段を随時使用できるようにした駆動力補助装置において、人力駆動力の大小を検出する人力検出手段と、車速を検出する車速検出手段と、運転者の運転状況を検出する運転状況検出手段と、装置が使われる環境を検出する環境検出手段と、前記各々検出手段より検出された値より補助動力を比較決定する比較決定手段と、比較決定手段より補助動力を制御するコントローラとを備えていることが好ましい。
【０００９】
また、人力駆動手段と補助動力駆動手段を随時使用できるようにした駆動力補助装置において、人力の大小を検出する人力検出手段と、車速を検出する車速検出手段と、運転者の運転状況を検出する運転状況検出手段と、装置が使われる環境を検出する環境検出手段と、前記各々検出手段より検出された値より補助動力を比較決定する比較決定手段と、比較決定手段より補助動力を制御するコントローラとを備え、人力、車速、運転状況および環境の検出値のいずれか一つまたはこれらの組合せにより原動機から供給される補助動力の比率を決定し、原動機の出力を制御することが好ましい。
【００１０】
また、駆動力補助装置の電源を投入後、人力検出手段から検出された値が基準値未満であれば補助動力の供給を開始すると共に運転時間の計測を開始し、前記運転時間より運転状況を検出することが好ましい。
【００１１】
また、駆動力補助装置の電源を投入後、人力検出手段から検出された値が基準値未満であれば補助動力の供給と装置の運転時間の計測を開始し、人力検出手段からの値が基準値以上の場合運転時間を積算することが好ましい。
【００１２】
また、人力検出手段から検出された値が基準値未満で且つ車速検出手段から検出された値が基準値未満の場合運転休止時間を計測積算することが好ましい。
【００１３】
また、前記運転休止時間が基準値以上になれば、運転時間と運転休止時間の積算時間を０にリセットすることが好ましい。
【００１４】
また、前記運転時間の計測を開始後、比較時間帯を設け前記比較時間帯を前半と後半とに分け、比較時間帯前半と比較時間帯後半とに検出された人力検出手段の値または車速検出手段の値の変化を比較することより運転状況を検出することが好ましい。
【００１５】
また、前記比較時間帯内で比較する人力検出手段の値または車速検出手段の値は比較時間帯前半と比較時間帯後半各々３点以上の検出値を用いることが好ましい。
【００１６】
また、運転者の体の一部に設けたセンサーからの検出値により運転者の身体状況を判別し運転状況を検出することが好ましい。
【００１７】
また、運転者が常時握る装置のハンドルグリップに運転者の身体状況が検出できるセンサーを設け、前記センサーからの検出値により運転状況を検出することが好ましい。
【００１８】
また、前記身体状況は血圧、心拍数、体温、発汗、呼吸数およびハンドルに加わる歪み応力または圧力から選ばれるいずれか１つまたはこれらの組合せであることが好ましい。
【００１９】
また、サドルに運転者の重量を計測するセンサーを設け、前記センサーからの検出値により運転者の身体状況を検出することが好ましい。
【００２０】
また、駆動力補助装置の進行方向の傾斜より、装置が使われている環境を検出することが好ましい。
【００２１】
また、駆動力補助装置が受ける風と、駆動力補助装置の車速検出手段で検出される車速とを比較することにより、装置が使われている環境を検出することが好ましい。
【００２２】
また、駆動力補助装置の前面に設置され、駆動力補助装置が受ける風を導入口より導き複数個の翼で風を回転に変え、翼の回転数より風速を求め、前記風速と車速検出手段で検出される車速を比較することにより、装置が使われている環境を検出することが好ましい。
【００２３】
また、駆動力補助装置の前面に設置され駆動力補助装置が受ける風を導入口より導き、前記導入口の後方に設けた風圧検出器で風圧を求め、車速検出手段で検出された車速より受けるであろうと予測される風圧と前記風圧検出器より求められた風圧とを比較することにより、装置が使われている環境を検出することが好ましい。
【００２４】
また、人力駆動手段と補助動力駆動手段を随時使用できるようにした駆動力補助装置であって、人力駆動軸に固定された固定部材と、該固定部材と弾性体で結合され回転する回転部材と、前記固定部材と共に回転しながら前記回転部材に設けられた案内溝により案内され前記人力駆動軸の軸方向に可動する移動体と、該移動体の軸方向への移動量を検出する第１の検出素子により、人力の大きさに応じてたわむ前記弾性体のたわみ量を前記移動体の軸方向の移動量に変え、前記移動体の軸方向の移動量より人力の大小を検出する人力検出手段と、前記人力駆動軸、前記固定部材、前記回転部材、前記移動体から選ばれるいずれか一つ以上の回転を検出する第２の検出素子と、該第２の検出素子の検出値より求めた回転量より車速を検出する車速検出手段と、前記人力検出手段と前記車速検出手段で検出された値を比較して補助動力を制御するコントローラと、車速に対応する補助動力装置の回転数を求め、前記人力検出手段から検出された値が基準値以下の場合には、前記補助動力装置の回転数を０以上、車速と同等回転数未満に制御する制御手段とを有することを特徴とする。
【００２５】
また、人力駆動手段と補助動力駆動手段を随時使用できるようにした駆動力補助装置であって、人力駆動軸に固定された固定部材と、該固定部材に設けられた斜面をもつ溝と噛み合うように構成された突起で結合され前記人力駆動軸の軸方向に可動する移動体と、該移動体と回転方向の動きを拘束されながら回転する回転部材と、前記移動体を前記固定部材方向に力を加える弾性体と、前記移動体の軸方向への移動量を検出す第１の検出素子により、人力の大きさに応じてたわむ前記弾性体のたわみ量を前記移動体の軸方向の移動量に変え、前記移動体の軸方向の移動量より人力の大小を検出する人力検出手段と、前記人力駆動軸、前記固定部材、前記回転部材、前記移動体から選ばれるいずれか一つ以上の回転を検出する第２の検出素子と、該第２の検出素子の検出値より求めた回転量より車速を検出する車速検出手段と、前記人力検出手段と前記車速検出手段で検出された値を比較して補助動力を制御するコントローラと、車速に対応する補助動力装置の回転数を求め、前記人力検出手段から検出された値が基準値以下の場合には、前記補助動力装置の回転数を０以上、車速と同等回転数未満に制御する制御手段とを有することを特徴とする。
【００２７】
また、前記人力駆動軸と前記固定部材は一方向クラッチで結合されていることを特徴とする。
【００２８】
また、前記弾性体は金属バネまたはゴムから成ることを特徴とする。
【００２９】
また、人力入力時に回転する前記人力駆動軸、前記固定部材、前記回転部材、前記移動体から選ばれる一つの部材に、形状、磁気的、光学的、静電容量から選ばれる異質な部分を前記第２の検出素子の信号値が１回転中に少なくとも１回以上変化するように設け、変化する信号値より回転数を求め、求めた回転数より車速を検出することを特徴とする。
【００３０】
また、前記異質な部分は、切り欠け、穴、突起、溝、磁性、面粗度、色および異質または同質材料の張り合わせの中より選ばれたことを特徴とする。
【００３１】
また、前記検出素子に用いる検出手段は、光学的、磁気的、静電気容量的、超音波的および機械電気的から選ばれるいずれか１つまたはこれらの組合せであることを特徴とする。
【００３２】
また、前記移動体の軸方向移動量の検出と、回転数の検出とを１個の前記検出素子で同時に行なうことを特徴とする。
【００３３】
また、前記移動体は高透磁率材料から成り、少なくとも１個以上の磁石を前記移動体の中または前記移動体と対向する位置に配置し、前記移動体の移動量に応じて変化する磁束量を、前記移動体と前記磁石とで構成する磁気回路の中に設けられた前記検出素子で検出することを特徴とする。
【００３４】
また、前記車速検出手段は、前記人力検出手段で検出される人力値の周期的変化の周波数を求め、該周波数より車速を検出することを特徴とする。
【００３５】
更に、少なくとも人力の大小を検出する人力検出手段と車速を検出する車速検出手段とを有し、前記各々検出手段より検出された値より補助動力を比較決定する比較決定手段と、比較決定手段より補助動力を制御するコントローラとを備え、車速に対応する補助動力装置の回転数を求め人力検出手段から検出された値が基準値以下の場合には、補助動力装置の回転数を０以上から車速と同等回転数未満に制御することを特徴とする。
【００３６】
また更に、人力駆動手段と補助動力駆動手段を随時使用できるようにした駆動力補助装置において、補助動力を供給する動力モータと電池と制御を含む電気回路と補助動力装置を収納するカバー等で構成される補助動力機構の重量を装置全重量の１／２以下にしたことを特徴とする。
【００３７】
【作用】
以上説明した駆動力補助装置によれば、運転車が駆動する人力駆動力（以下人力と表現する）と装置の速度と、運転車の運転状況と、装置が使われている環境を検出する手段と、各々検出手段より検出された値より補助動力を比較決定し補助動力を制御するコントローラとを備え、各々の検出手段より検出される人力または車速または運転状況または環境の検出値のいずれか一つまたは複数の組合せにより、装置が使われている状態や、運転者の体力や疲労など運転状況や、登り坂や向い風といった環境状況に応じて適切な補助動力を制御し供給するから快適な運転が得られる。また、常に適切な補助動力が供給されエネルギーが有効に使われることから積載する電池容量が少なく軽量化され、取り回しが楽になり安全が図られる。
【００３８】
駆動力補助装置の電源を投入後、人力検出手段から検出された値が基準値未満であれば補助動力の供給を開始すると共に運転時間の計測を開始する。
【００３９】
人力検出手段の値が基準値以上または車速検出器の値が基準値以上の場合、装置の運転時間を積算し、その時間より運転状況を判別し補助動力を制御する。
【００４０】
また、運転時間とは別に人力検出手段と車速検出器の値が基準値未満の時は運転を休止しているものと判断し、運転休止時間も積算していきこの時間があらかじめ決められた基準値以上になれば運転時間と運転休止時間を０にリセットする。人力検出器に基準値以上の入力が加わっている場合は運転状態であるから運転時間を積算するが、例えば下り坂で自走している場合は速度は基準値以上であるが、人力は基準値以下であるから運転時間には積算せず、人力と車速が基準値以下の場合は停止と判断し運転休止時間を積算していく。停止の場合、休息や信号待ちの僅かの停止であれば運転時間は継続してカウントし運転状況も継続し、長時間の休息の場合は体力も回復するから運転状況は初期状態とし運転時間を０にリセットすればよい。また、長時間使用しないのであればこれも初期状態にもどすことがよい。
【００４１】
また、運転者の疲労状況から運転状況を検出するには、運転者からの血圧、心拍数、体温、発汗や呼吸数といった身体からの情報を監視することや装置に設けた運転姿勢などから得ることができる。例えば身体情報からは、運転開始後時間経過と共に前述の血圧、心拍数、体温、発汗や呼吸数は増加してくる。これらは人各々により個人差はあるが、増加率をとらえある増加率以上になった場合疲労が増してきたと判断することができるし、疲労度合に応じて補助比率を増加すれば快適な運転が得られる。身体情報を得るには身体の一部、例えば腕や胸元にセンサーをバンドで取付て読取、その信号を例えばハンドルに取り付けられたコネクターより制御回路に送ればよい。これ以外にも人力や車速のパターン変化からも疲労をとらえることができる。運転当初は人力も強いし車速も速いが、疲労すれば人力や車速は低下してくる。この変化するパターンより運転状況が検出できる。
【００４２】
また、運転状況は運転者の姿勢からも得ることが可能である。大きな負荷に対応しなければならないときは、腕に力を入れハンドルを支えにしてペタルを踏み込むし、また、疲労してくれば踏み込む力が弱くなりサドルにどっかりと座ってしまう。だから、ハンドルに握力やハンドルに加わる歪みを検出することでも、またサドルに加わる圧力を検出することでも運転状況は検出できる。
【００４３】
また、装置の使われている環境は、進行方向に対する傾きや、装置または運転者が受ける風と車速を比較することから検出することができる。例えば、自転車では登り坂を上がる場合や向い風の中を運転する場合、運転者の疲労は通常状態に比べ大変大きなものとなる。そこで、進行方向の傾斜がプラス（登り坂）かマイナス（下り坂）かを判断しプラスの場合はその値に応じて補助比率を変える（増加する）ことで、運転者は疲労が少なく快適な運転ができる。
【００４４】
向い風を検出するには、装置の前面に設けた導入口より風を取込み、導入口の後端にある翼で回転に変えその回転数を読み取ることから風速を求め車速と比較すれば、向い風をどの程度受けているのかを判断できる。また、導入口の後端に圧力センサーを置き、その圧力と車速と比較することからも同様に向い風の量も判断できる。このようにして検出された向い風に対して補助比率を変えることより、運転者は疲労が少なく快適な運転ができる。
【００４５】
また、人力駆動軸に固定された固定部材と、該固定部材と弾性体で結合され回転する回転部材と、前記固定部材と共に回転しながら前記回転部材に設けられた案内溝により案内され前記人力駆動軸の軸方向に可動する移動体と、該移動体の軸方向への移動量を検出する第１の検出素子により、人力の大きさに応じてたわむ前記弾性体のたわみ量を前記移動体の軸方向の移動量に変え、前記移動体の軸方向の移動量より人力の大小を検出することができ、前記人力駆動軸、前記固定部材、前記回転部材、前記移動体から選ばれるいずれか一つ以上の回転を検出する第２の検出素子と、該第２の検出素子の検出値より求めた回転量より車速を検出することができる。これら検出器は容易な構成で得ることが可能で、小型化できることから原動機と減速機と共通のケースまたは個々の部品を収納するケースを組合わせることで簡単に補助動力発生装置が構成できる。この点より検出器が外部に露出することなく高い信頼性が容易に得られる。検出器は光学的な方法、磁気的な方法、静電気容量を使う方法や超音波を使う方法で構成できることより設計の自由度が大きいことや要求に対して幅広く応えることができる。また、磁気的な検出方法は１個以上の磁石を用い移動体を高透磁率材料とし、移動体と対向する位置に磁気検出素子を配置することでできる。
【００４６】
また、車速を検出するのに人力検出手段より検出された周期的に変化する人力値の周波数より計算により求めることができるから、部品点数が減り安価となる。
【００４７】
また、少なくとも人力検出手段と車速検出手段を有しそれらより得られた値により補助動力を決定する手段を備えた装置では、前記人力検出手段から検出された値が基準値以下の場合には、補助動力装置の回転数を、０以上、車速と同等回転数未満にすることにより、周期的に変動する人力に対して遅れを少なくし違和感を与えることなくまた消費電力を低減し一充電当たりの走行距離を延ばすことができる。
【００４８】
更に、随時補助動力が使用できる補助動力補助装置では、補助動力を発生させるモータ（必要な減速機を含む）と電池と制御を含む電気回路とこれらを収納するカバー等が装置全重量の１／２以下とすることにより、操縦感覚に違和感がなくまた補助動力が得られることより安全で快適な走行が得られる。また、走行中もしも電池が無くなっても補助動力装置の重量は装置全重量の半分以下であるから十分人力だけでも走行ができる。
【００４９】
【実施例】
（実施例１）
本発明の駆動力補助装置および駆動力補助装置の制御方法の一実施例について自転車の例を基に図面を参照し説明する。図１は本発明の駆動力補助装置の側面図である。自転車１は、ダウンパイプ３、トップパイプ２とシートパイプ４でメインフレームが構成され、シートパイプの上方にはサドル１１メインフレーム下部にはペタル６があり、ペタル６に加えられた駆動力はペタルスプロケット２８ａからチェーン５を通じて後輪スプロケットに伝達され後輪１２が駆動される。
【００５０】
ダウンパイプ３には、補助動力を供給する電動モータ７と減速機８が取り付けられている。シートパイプ４と後輪の間にはモータへ電力を供給する電池１０が取り付けられている。電池１０は鉛電池などのような充電可能な電池である。モータ７の前方上方向にはコントローラ５６やモータ駆動素子などを含む電気回路４６が取り付けられている。
【００５１】
次にモータ、減速機で構成される駆動ユニットについて更に詳細に説明する。図３は本発明の駆動ユニットの断面図であり、補助動力はモータ７の出力軸３０から減速機８へ入力される。減速機８は遊星歯車減速機３１で構成されその出力軸に取り付けられた傘歯車１６から傘歯車１７、一方向クラッチ１８ｂを通じて回転部材２３に伝えられるように構成されている。
【００５２】
駆動軸１４は軸受１９、２０、２１で保持されている。片側の軸受２０、２１の径方向に軸受２２を配置し回転部材２３が保持されている。駆動軸１４と固定部材２６の間には一方向クラッチ１８ａを介して組み付けられている。固定部材２６と回転部材２３は弾性体２５により連結され、回転部材２３の一方にはペタルスプロケット２８が固定されている。ペタルに加えられた力は駆動軸１４から一方向クラッチ１８ａで一方向の力を固定部材２６、弾性体２５、回転部材２３へと伝えられる。一方、補助動力のモータ出力は減速機８、一方向クラッチ１８ｂを介して回転部材２３に伝えられ、回転部材２３で人力と補助動力が合成されペタルスプロケット２８から後輪へと伝えられる。
【００５３】
一方向クラッチはペタルを逆転したときにモータの逆転防止として駆動軸１４と固定部材２６との間に、また、モータを駆動しない場合、モータと減速機の回転防止としてペタル駆動軸１４と傘歯車１７の間に配置してある。
【００５４】
駆動軸１４に加えられる人力の大きさを検出するために、回転部材２３には人力に応じて軸方向に移動する移動体２４があり、その移動量を検出する検出素子２７がケース２９に取り付けられている。
【００５５】
更に、検出方法について詳細に説明する。図４と図５は本発明の検出部分の断面図であり、図４は弾性体に金属コイルバネを用いた一例を示す。回転部材２３には螺旋の溝３２が設けられ、その溝３２に案内され軸方向に可動する移動体２４が組込まれている。大きな駆動力が加わった場合移動体２４を止めるストッパー３３が溝３２の終端に設けられている。移動体２４は固定部材２６に固定された案内棒３４により回転方向の動きを規制されているが、軸方向への移動は自在である。回転部材２３は固定部材２６と弾性体２５とつながれているため回転方向に制約されている。図示はしていないが弾性体２５と回転部材２３、固定部材２６とは回転方向に回らないように、例えば穴などに弾性体の端または一部を入れて固定されている。
【００５６】
このような状態において、ペタル６を介して人力を加わえれば駆動力は、駆動軸１４、固定部材２６、弾性体２５、回転部材２３、ペタルスプロケット２８ａを通じて後輪に動力伝達するが、後輪に負荷があるから回転部材２３は、人力の大きさと弾性体２５との強さにの関係よりある量同期がずれて（位相がずれる）回転する。回転部材２３には螺旋の溝３２があることからずれた回転分だけ移動体２４は軸方向に移動することになる。例えば、図４に示すように駆動軸１４を右（図に示す矢印の方向）に回転させれば回転体２３は見かけ状左に回転し、移動体２４は溝３２に案内され検出素子２７から離れるように軸方向に移動する。この移動量は人力と弾性体２５の強さによりあらかじめ分かるから、静止状態からの移動量を検出素子２７で検出ことにより加えられた人力が測れる。また、人力が減少すれば移動体２４は弾性体２５により回転方向に戻され溝３２により軸方向の移動に変えられ元の位置に戻る。このようにしてペタルに加わる人力の大きさを測ることができる。
【００５７】
前述と同様な方法にて、図５に基づき他の方法について説明する。尚、図５では他の弾性体として高弾性体ゴムを用い、移動体と回転体の溝の他の一例を示す。固定部２６には円周方向に向かって径の変化する斜面４８をもつ溝４６が円周方向に複数あり、移動体２４には溝４６と噛み合うように構成された突起４７が同様に円周方向に複数設けられている。移動体２４には高弾性率からなる弾性体２５により固定部材２６の方向に押し付けられ、溝４６と突起４７の各々斜面４８で噛み合っている。駆動軸１４に人力が加わると、固定部材２５と移動体２４は捻じられ、斜面４８に案内され移動体２４は駆動軸１４方向に移動する。移動量は移動体２４の端面に設けた案内棒３４の移動量を検出素子２７で検出する。本実施例の場合、検出素子にポテンショメータを使い、電圧変化をとらえることで容易に移動量を検出できる。この移動量は、人力の大きさと弾性体２５の強さと斜面４８の円周方向の径の変化率に応じて決まるので、移動量を検出することで加えられた人力の大きさが測れる。
【００５８】
上述の本発明の実施例では、弾性体にねじりコイルバネ金属性バネや高弾性のゴムを用いた例について述べてきたが本発明はこれに限定されるものではなく、例えば圧縮バネやトーションバー等を用いて回転方向の力に変えられる弾性体ならば同様な効果を有するもので、本発明の主旨に沿うものである。
【００５９】
ここで用いた検出素子は、例えばレーザーや発光ダイオード等の発光素子の光を移動体に当てその反射光を受光素子で受け移動体の移動量を測る光学的な検出素子を用いる方法や、少なくとも検出素子と移動体との間で磁気回路を構成しホール素子やＭＲ素子等の磁気検出素子で移動量に応じて変化する磁束の変化量から移動量を測る磁気的な検出素子を用いる方法や、移動体２４の静電容量の変化より移動量を測る静電容量的な検出素子を用いる方法や、または移動体２４に超音波を当てその反射状況より移動量を測る超音波的な検出素子を用いる方法や、または機械的変位を電気的な変位に変える例えばポテンショメータを用いて移動量を電圧に変えて測る機械電気的な方法などが使える。以上述べてきたいずれの方法も移動体の移動変化量、つまり検出素子と移動体の距離の変化量を何等かの方法に変えて測ることによりその値から駆動軸に加わる人力を測るものである。従って本発明で述べた方法以外においても、移動体の距離の変化量を読み取れる方法であれば同様な効果を有するもので上記方法に限定されるものではない。また同様に、駆動軸に加えられた人力を軸方向の移動量に変える方法であれば、前述の方法に限定されるものではない。
【００６０】
図６は磁気検出素子を用いた検出方法を示す図であり、図６（ａ）は移動体と軸方向に対面するように検出素子を配置した例を、図６（ｂ）は検出素子を移動体の外径方向に配置した例である。図６（ａ）において移動体２４と回転体２３は高透磁率材料から成り、磁気検出素子３５は電気配線された基板３６に取り付けられている。磁気検出素子３５、基板３６の後方にはバックヨーク３８に取り付けられた永久磁石３７が配置されている。バックヨーク３８はケース２９に取付（図示せず）と、回転部材２３と磁気回路３９を構成するために必要な形状が一体化された形状となっている。永久磁石３７の磁束は磁気回路３９を通り、磁気検出素子３５で磁束を検出する構成から、移動体２４が磁気検出素子３５に近づけば磁束量（磁束密度も同様に）が増える。一方、反対に移動体２４が磁気検出素子３５から離れれば磁束量は減少する。このように磁束の変化量より移動量を測定できる。
【００６１】
図６（ｂ）も同様に、高透磁率材料から成る移動体２４の径方向に磁気検出素子３５、基板３６、永久磁石３７、バックヨーク３８が配置され、それらは図示してないがケースに取付られている。前述と同様に、移動体２４の移動量に応じて永久磁石３７からの磁束が変化することより同様な効果を有する。但、本実施例の場合、磁束はピークをもつ左右対象の変化をするからピークの片側だけを使わなければならない。つまり移動体２４と磁気検出素子３５の中心を正確に合わせるか、または磁気検出素子３５の中心を移動体２４の移動方向と反対側にわずかにずらしておく必要がある。
【００６２】
以上、本発明の磁気検出方法では永久磁石を１個用いた例について述べたが、これ以外に例えば移動体の方に配置しても、または複数個用いて磁気回路を構成しても同様な効果を有するもので本実施例に限定されるものではない。また、回転部材２３も高透磁率材料を用い磁気回路を構成される例で述べたが、回転部材２３は非磁性とし移動体と永久磁石３７、バックヨーク３８だけで磁気回路を構成しても同様な効果を有するものである。
【００６３】
次に車速検出手段について述べる。装置の速度を検出するには、前輪１３の回転数を読み取る方法もあるが、移動体２４の回転数からも検出できる。移動体２４の一部に形状、磁気的または光学的に異質な部分を設け、検出素子の出力信号が回転に応じて変化する例えば１回転で１パルス信号が出る部分を作ればよい。異質な部分とは、全体の中より異なる部分であればよい。切り欠け、穴、突起、溝、面粗度など形状や磁性非磁性といった磁気的なもの、色、異質材料または同質材料の張り合わせなどの光学的なものがある。光学検出素子の場合、反射光に変化が現れればよいから、切り欠け、穴、突起、溝、面粗度、色、異質材料または同質材料の張り合わせで異質な部分ができるからこの中より選べばよい。また同様に、磁気検出素子の場合、磁気的な変化が現れればよいから、切り欠け、穴、突起、溝、非磁性、異質材料または同質材料の張り合わせの中より選べばよい。また同様に、静電容量検出素子の場合、静電容量が変化すればよいから、切り欠け、穴、突起、溝、面粗度、異質材料または同質材料の張り合わせの中より選べばよい。また同様に、超音波検出素子の場合、切り欠け、穴、突起、溝、面粗度、異質材料または同質材料の張り合わせの中より選べばよい。
【００６４】
移動体２４の回転を検出するのに、移動量を検出する素子１個を共通で使っても、また移動量と回転検出に各々専用に検出素子を用いてもどちらでもよい。１個の場合部品点数も少なくなるから装置を小さく安価に構成できる。また、以上述べた方法以外にも、周期的に変化する人力の周波数変化や駆動軸、回転体などの回転数からも車速を求めることができる。
【００６５】
次に運転者の運転状況の検出手段について述べる。運転者の運転状況は、運転者の疲労や通常に比べ大きな負荷が加わった場合を検出すればいいから、運転時間から検出する方法、運転者の血圧、心拍数、体温発汗、呼吸数といった生理的な変化からの身体状況を検出する方法、腕や手に力が入る、サドルにしっかり座ってしまうなど運転者の姿勢が変化する状況から身体状況を検出する方法で検出できる。
【００６６】
更に詳細に説明する。図７は運転時間計測の動作図であり、図７をもとに運転時間より運転状況を検出する方法について説明する。キースイッチ（図示せず）で電源をＯＮして（ステップ１００）作動を開始し、人力＜基準値であるかを判別（ステップ１０１）する。人力≧基準値であれば何か異常があるものとして動作を中止する。人力＜基準値であれば正常として補助動力の補助を開始（ステップ１０２）し、時計計測を開始（ステップ１０３）する。次に人力≧基準値の場合運転時間ｔを積算する（ステップ１０４、ＹＥＳ→ステップ１０５）。人力＜基準値の場合（ステップ１０４、ＮＯ→ステップ１０６）車速を基準値と比較し車速≧基準値ならばペタルは踏み込んでいないけれど運転は継続している（例えば下り坂など）ものとみなしステップ１０４に戻す（ステップ１０６、ＹＥＳ→ステップ１０４）。車速＜基準値の場合、人力も加わっていないし車速もない状態であるから装置は停止または休憩しているものとみなし運転休止時間ｔａを積算する（ステップ１０６、ＮＯ→ステップ１０７）。次に運転休止時間ｔａを基準値と比較してｔａ≦基準値ならばステップ１０４に戻す（ステップ１０８、ＹＥＳ→ステップ１０４）。ｔａ＞基準値ならば休憩後疲労は回復したとみなし、運転時間ｔと運転休止時間ｔａを０にリセットして時計を停止しておわり、元に戻す（ステップ１０８、ＮＯ→ステップ１１０→ステップ１１１）。以上のような方法にて運転時間と運転休止時間を得ることができる。
【００６７】
運転者の生理的変化する身体状況から運転状況を検出するには、図８に示すセンサー７１を腕または胸など身体の一部に付け、転者の血圧や心拍数や体温発汗や呼吸数など運転者の身体状況が運転することからの変化で読み取る。この場合、一つの項目、複数または全部の項目でもかまわない。また、これらの項目については運転者の個人差が大きいから、走行前に予め測定し運転後の変化量としてとらえる方が望ましい。センサー７１からの信号はリード線７２、リード線の先に付けたコネクタジャック７３をハンドル９に設けたコネクタ７４に接続し電気回路４６に伝えることで運転状況が検出できる。
【００６８】
運転者の姿勢の変化より運転状況を検出する方法として、ハンドルに加わる圧力や歪みを検出する方法がある。図９はハンドルグリップの斜視図であり、ハンドル９のグリップ４３の中に設けたセンサー４４でハンドルに加わる圧力や歪みで運転者の姿勢変化を検出する。つまり、大きな負荷が加われば運転者は腕に力を入れその反動を利用してペタルをこぐ姿勢となり、ハンドルは運転者の方に引かれる形となる。それをセンサー４４で圧力または歪みとして読むことで運転状況がとらえることができる。センサー４４の信号はセンサー４４から延びるリード線４５を電気回路４６に接続する。
【００６９】
また、運転者の姿勢の変化より運転状況を検出する別な方法として、サドルに加わる体重の変化より検出する方法がある。図１０はサドルの説明図であり、サドル１１には運転者の重量を検出するセンサー４２が設けられ、運転者の運転姿勢の変化より運転状況を検出する。運転者は、運転当初ペタルをしっかりこぐことから足で体重を支えサドルからはやや浮くような状態なのに対し、疲労してくればサドルにどっかりと座ることからサドルに加わる体重の変化を検出することで疲労度が分かる。
【００７０】
また、別な方法にて運転状況を検出するには、ある時間に対する人力または車速の変化を検出することでも可能である。図１２に示すように、運転時間の中に比較時間帯を設け、前半ａと後半ｂとに分け、その時間帯の人力または車速の変化するパターンより検出できる。図１２の例では、人力または車速が前半の比較時間帯ａではほぼ一定なのに対し後半の比較時間帯ｂでは低下傾向にある。これは疲労により低下していると見なせるから、人力または車速の傾向をとらえることで運転状況が検出できる。
【００７１】
この場合、前半後半の比較時間帯各々３点以上の検出値を使い変化する傾向をとらえれば比較できる。検出値は多ければ多いほど精度が高くなるがメモリー容量や演算時間が増える数十点を用いて比較することが望ましい。
【００７２】
次に環境検出手段について述べる。装置が使われている環境で、運転者に大きな負荷を与える要素としては登り坂や向い風がある。登り坂を検出するには傾斜計を用い、装置のが進行方向に対する傾きが、向い風を検出するには装置が受ける風と車速を比較すればよい。
【００７３】
図１１は風検出器の断面図であり、風検出器６０は装置１の前面に設置され、受ける風を導入口６１より複数の翼で構成された風車６２に導く。風車６２は風の強さに応じて回転するからその回転数を回転検出器６３により検出することで風速が分かる。装置が受ける風は、自然の風と装置が走行することにより受ける速度に依存する風があるから、風検出器６０の風速から車速に対応する風速分を減ずることで向い風がわかる。当然追い風の場合には求めた向い風の値がマイナスになるが走行負荷にはならないからこの値はつかわなければよい。風検出器６０で風速を得る別な方法として、風車６２の代わりに圧力センサーで風圧を検出し、圧力より前述と同様な方法にて風速を求めてもよい。
【００７４】
以上述べたような方法で検出された人力、車速、運転状況と環境状況は、図２に示す系統図により補助動力が与えられる。装置に加えられる人力５０は駆動軸１４を通じて後輪１２伝達されると共に、人力検出手段５１で大きさを検出される。車速検出手段５２で車速を、運転状況検出手段５３で運転者の運転状態を、環境検出手段５４で装置が使われている環境をそれぞれ検出し、比較決定手段５５で各々の検出値をもとにメモリーに記憶された特性と比較し補助動力の比率を決める。コントローラ５６は決められた補助動力の比率より原動機であるモータ出力の制御を行い、モータから与えられた補助動力５７は駆動軸１４で人力と合成され後輪１２へと伝達される。
【００７５】
ここで決められる補助動力の比率は、人力、車速、運転状況や環境の全ての条件より決めてもよいし、またこれらの条件の中よりどれか一つの条件または複数の条件より決めてもよい。快適な走行感を得るための補助動力の補助比率（パターン）は色々あるが、人力に対する補助比率を一つの基準として運転状況や環境の条件に応じて補助比率を可変することが望ましいパターンである。例えば、登り坂の傾斜や向かい風の強さに応じて平地を通常走行するよりも大きくしていき、通常走行になれば元に戻し、また身体状況の疲労に応じて徐々に大きくしていけばよい。図１３は補助比率パターンの一例を示す図であり、例えば身体状況や運転時間で運転状況を検出し、運転状況に対する補助比率の変化を示している。運転者は運転時間と共に疲労するから、運転時間や身体状況と共に補助比率を上げていくことで運転者の疲労を低減し快適な運転ができるようにしてある。補助比率の変化もステップ状８２に変化させてもリニア的８２に変化させてもどちらでもよいが、急激に大きな変化が現れれば違和感を運転者に与えるから、違和感が感じられない程度にするのが望ましい。
【００７６】
（実施例２）
図１４は人力と補助動力の変動を説明する図であり、ペタルに加えられる人力５０は周期的に変化し、人力に対応して補助動力５７が付加されている。人力が０付近では補助動力の付加が停止される。なぜならば、人力が０ならば駆動力がないから補助動力もない。また、０付近は人力検出器の誤差などが発生することから、ある基準値９０を設け基準値未満の場合も補助動力は付加されない。
【００７７】
補助動力５７を付加させない基準値９０未満のときにモータを停止させるのではなく、モータの回転数を０以上から車速と同等回転数未満に回転させておき、次の人力の山がきた時に合わせてモータ出力を上げれば遅れが少なく同期して補助が与えられる。モータ回転数を０（停止）にしたのでは遅れが生じるし、車速に合わせて回転させていれば本来必要でないエネルギーを使うこととなり消費電力が大きくなり一充電当たりの走行距離が低下する。従って、モータ回転数は上記条件の０以上から車速と同等回転数未満の中より設定するのがよい。その場合、設定回転数は一定でもよいし、車速に比例させても可変してもよい。このようにすれば低消費電力化ができ一充電当たりの走行距離を伸ばすことができる。そして補助動力の遅れが少ないから違和感なく快適な走行感が得られる。
【００７８】
（実施例３）
補助動力は、大きければ大きい程、また一充電当たりの走行距離は長ければ長い程良いが、大きな駆動力を得るためには大きなモータが必要になるし、走行距離を長くすれば電池も多くなり重量の増加をまねき、本来持っている自転車の軽快な取り回しができなくなる。本来持つ装置の機能を損なわず更に補助動力の付加ができる条件を検討する。
【００７９】
駆動力補助装置として自転車を使い、走行や駐輪時の取り回しと電池が切れた場合人力のみで大きな負担なく走行でき、日常使用で問題ない一充電当たりの走行距離を約１５〜３０ｋｍとした時の装置の重量を測った。結果を表１に示す。
【００８０】
【表１】

【００８１】
自転車と補助動力を与えるための補助動力機構（モータ、減速機、各種検出器、コントローラを含む電気回路、電源の電池とそれらを構成するためのケースやカバーなど）の重量は装置全重量の半分以下であれば問題ないことが分かった。
【００８２】
補助動力は装置に付加を与えるものであることからも、付加機構が本来の装置以下であることは望ましいことと言える。
【００８３】
以上本実施例の駆動力補助装置には自転車の例を基に説明してきたが、これ以外に足で漕ぐボートなどにも適用できることはもちろん可能であり、実施例に限定されるものではない。
【００８４】
【発明の効果】
本発明は、以上説明したように構成されているので以下に記載されるような効果を有する。
【００８５】
容易に人力と車速を測定することができ、運転者の疲労や体調といった状態に合わせ、また登り坂や向い風等環境によって負荷が大きく変化しても常に適切な補助動力が与えられ快適な走行ができるとともに、これら機構部品は一体のケースに内蔵されるため雨や泥等が入らず信頼性に優れる。
【００８６】
また、人力検出手段から検出された値が基準値以下の場合には補助力駆動装置の回転数を０以上から車速と同等回転数未満に保つことから、補助動力の供給の遅れが少なく違和感のない走行感が得られ、且つ低消費電力化が図られ、一充電当たりの走行距離を延ばすことができる。
【００８７】
更に、補助動力を供給する補助動力機構の重量を補助動力装置の全重量に対して１／２以下としたことにより、装置本来の機能を損なうことなく補助動力が得られる。
【図面の簡単な説明】
【図１】本発明の駆動力補助装置の側面図。
【図２】本発明の駆動力補助装置の動力系図。
【図３】本発明の駆動ユニットの断面図。
【図４】本発明の検出部分の断面図。
【図５】本発明の検出部分の断面図。
【図６】磁気検出素子を用いた検出方法を示す図。
【図７】本発明の運転時間計測の動作図。
【図８】運転者の生理的変化を検出する図。
【図９】ハンドルグリップの斜視図。
【図１０】サドルの説明図。
【図１１】風検出器の断面図。
【図１２】運転状況検出を説明する図。
【図１３】補助比率パターンの一例を示す図。
【図１４】人力と補助動力の変動を説明する図。
【符号の説明】
１自転車
２トップパイプ
３ダウンパイプ
４シートパイプ
５チェーン
６ペタル
７モータ
８減速機
９ハンドル
１０電池
１１シート
１２後輪
１３前輪
１４駆動軸
１５クランク
１６、１７傘歯車
１８ａ、１８ｂ一方向クラッチ
１９、２０、２１、２２軸受
２３回転部材
２４移動体
２５弾性体
２６固定部材
２７検出素子
２８ａ、２８ｂスプロケット
２９ケース
３０モータ出力軸
３１遊星歯車
３２、４６溝
３３ストッパー
３４案内棒
３５磁気検出素子
３６基板
３７永久磁石
３８バックヨーク
３９磁気回路
４０キー
４２、４４センサー
４３グリップ
４５、７２リード線
４７突起
４８斜面
５０人力
５１人力検出手段
５２車速検出手段
５３運転状況検出手段
５４環境状況検出手段
５５比較決定手段
５６コントローラ
５７補助動力
５８メモリー
６０風検出器
６１導入口
６２風車
６３回転検出器
７１センサー
７３コネクタージャック
７４コネクタ[0001]
[Industrial application fields]
The present invention relates to a driving force assisting device that reduces the load of human power such as a light vehicle such as a bicycle or a boat driven by human power.
[0002]
[Prior art]
In a bicycle for assisting the driving force by human power, the driving force of human power is detected, the driving force of the electric motor is controlled according to the magnitude of this driving force, and the load on human power is reduced by reducing the load of human power It is already known to improve running performance and reduce fatigue.
[0003]
As a method for detecting the driving force of human power, as shown in Japanese Patent Laid-Open No. 2-74491, page 2, a method of detecting the force (human power) of stepping on the petal by the tension of the chain or a pressure-sensitive sensor installed in the vicinity of the petal. Alternatively, as shown in Example 3 on page 4 of the same publication, there is a method of detecting the petal rotation speed with a generator. It has been proposed that a comfortable ride can be obtained by controlling the motor in accordance with the driving force detected by such a method.
[0004]
Further, in order to improve riding comfort and efficient use of electric power, as disclosed in JP-A-5-246377, pages 4 [0031] to [0035], the no-load rotational speed of the motor corresponds to the vehicle speed. In the control method for reducing the delay of the motor driving force in accordance with the above, or in the case of running with a small human power as shown in JP-A-5-246378, pages 3 to 4 [0024] to [0031], the motor driving force is reduced to 0. A method for suppressing battery consumption has been proposed.
[0005]
[Problems to be solved by the invention]
In the conventional driving force assisting device, auxiliary power is given according to the level of human power and the rotational speed of the petal, so that the auxiliary power is excessive for people with physical strength, or the auxiliary power is insufficient on the uphill. I feel like that. Also, the sense of assist power received by the driver's degree of fatigue changes, and at first it may feel excessive, but if it gets tired, it may feel deficient. In addition, since the human power applied to the petals changes periodically, the driver feels uncomfortable if the auxiliary power is not periodically supplied according to the human power without a time delay. Since the human power changes periodically, it becomes almost zero when the bottom dead center is reached, so the auxiliary power is also zero and the power generating motor is stopped. In order for the motor to generate a certain output from the stop state, a delay occurs in time. Therefore, a motor with a large output is required to reduce the delay. Further, if the rotation is performed in synchronization with the rotational speed of the petal so as not to cause a delay, an increase in power consumption is caused and the travel distance is reduced.
[0006]
Further, in the configuration of the apparatus, there is a problem in reliability because it is easily broken when a strong impact is applied, such as a fall when the human power detector is outside. Furthermore, there is a problem that the life is shortened due to exposure to the natural environment such as rain, mud or the like during traveling, and failure is likely to occur. In addition, when installed inside the case near the petal shaft, there is a problem that it is difficult to put a human power and vehicle speed detector in a limited space.
[0007]
The present invention solves the above-mentioned problems, and appropriate auxiliary power is always provided even if the load changes greatly depending on the driver's fatigue, physical condition, and the environment such as uphill or headwind. It is an object of the present invention to provide a driving force assisting device that can travel comfortably and that is compact and does not take up space, has high reliability, and is excellent in economy, and a method for controlling the driving force assisting device.
[0008]
[Means for Solving the Problems]
In a driving force assisting device that can use human power driving means and auxiliary power driving means at any time, human power detection means for detecting the magnitude of human power driving force, vehicle speed detection means for detecting vehicle speed, and detection of a driver's driving situation Operating condition detecting means, environment detecting means for detecting the environment in which the apparatus is used, comparison determining means for comparing and determining auxiliary power from values detected by the detecting means, and controlling the auxiliary power from the comparison determining means And a controller.
[0009]
Further, in the driving force assisting device that can use the manpower driving means and the auxiliary power driving means at any time, the human power detecting means for detecting the magnitude of the human power, the vehicle speed detecting means for detecting the vehicle speed, and the driving situation of the driver are detected. Operating condition detecting means, environment detecting means for detecting the environment in which the apparatus is used, comparison determining means for comparing and determining auxiliary power from values detected by the detecting means, and controlling the auxiliary power from the comparison determining means It is preferable that a controller is included to determine a ratio of auxiliary power supplied from the prime mover based on any one or a combination of detected values of human power, vehicle speed, driving conditions, and environment, and to control the output of the prime mover.
[0010]
Also, after the power of the driving force assisting device is turned on, if the value detected from the human power detecting means is less than the reference value, the auxiliary power supply is started and the operation time measurement is started. It is preferable to detect.
[0011]
In addition, after turning on the power of the driving force assisting device, if the value detected by the manpower detecting means is less than the reference value, supply of auxiliary power and measurement of the operation time of the device are started, and the value from the manpower detecting means is the reference value. When the value is greater than or equal to the value, it is preferable to integrate the operation time.
[0012]
Further, when the value detected from the human power detection means is less than the reference value and the value detected from the vehicle speed detection means is less than the reference value, it is preferable to measure and integrate the operation stop time.
[0013]
Moreover, it is preferable to reset the accumulated time of the operation time and the operation stop time to 0 when the operation stop time becomes equal to or more than a reference value.
[0014]
In addition, after the measurement of the driving time, a comparison time zone is provided, the comparison time zone is divided into the first half and the second half, and the value of the human power detection means or the vehicle speed detection detected in the first half and the second half of the comparison time zone It is preferable to detect the driving situation by comparing changes in the value of the means.
[0015]
Further, it is preferable to use three or more detection values for the first half of the comparison time zone and the second half of the comparison time zone for the value of the human power detection means or the value of the vehicle speed detection means to be compared within the comparison time zone.
[0016]
Further, it is preferable to detect the driving situation by determining the physical condition of the driver based on a detection value from a sensor provided on a part of the driver's body.
[0017]
In addition, it is preferable that a sensor capable of detecting the physical condition of the driver is provided on the handle grip of the device that is always held by the driver, and the driving condition is detected based on a detection value from the sensor.
[0018]
The physical condition is preferably any one selected from blood pressure, heart rate, body temperature, sweating, respiratory rate and strain stress or pressure applied to the handle, or a combination thereof.
[0019]
Further, it is preferable that a sensor for measuring the weight of the driver is provided on the saddle, and the physical condition of the driver is detected based on a detection value from the sensor.
[0020]
Moreover, it is preferable to detect the environment where the device is used from the inclination of the driving force assisting device in the traveling direction.
[0021]
Further, it is preferable to detect the environment in which the device is used by comparing the wind received by the driving force assisting device with the vehicle speed detected by the vehicle speed detecting means of the driving force assisting device.
[0022]
The wind power and vehicle speed detecting means is installed on the front surface of the driving force assisting device, guides the wind received by the driving force assisting device from the introduction port, changes the wind to rotation by a plurality of blades, obtains the wind speed from the rotational speed of the blades, and It is preferable to detect the environment in which the device is used by comparing the vehicle speeds detected in (1).
[0023]
Further, the wind received by the driving force assisting device installed in front of the driving force assisting device is guided from the introduction port, the wind pressure is obtained by the wind pressure detector provided behind the introducing port, and received from the vehicle speed detected by the vehicle speed detecting means. It is preferable to detect the environment in which the apparatus is used by comparing the wind pressure predicted to be with the wind pressure obtained from the wind pressure detector.
[0024]
A driving force assisting device that can use the manpower driving means and the auxiliary power driving means as needed, a fixing member fixed to the manpower driving shaft, a rotating member coupled with the fixing member by an elastic body, and rotating. A moving body that is guided by a guide groove provided in the rotating member while rotating together with the fixed member and that is movable in the axial direction of the human-powered driving shaft, and a first amount that detects the amount of movement of the moving body in the axial direction. Human power detection means for detecting the magnitude of human power from the amount of axial movement of the movable body by changing the amount of deflection of the elastic body according to the magnitude of human power to the amount of axial movement of the movable body by a detection element And a second detection element that detects one or more rotations selected from the human-powered drive shaft, the fixed member, the rotating member, and the moving body, and a detection value of the second detection element. A vehicle that detects the vehicle speed from the amount of rotation A detection means, a controller for controlling auxiliary power by comparing the values detected by the human power detection means and the vehicle speed detection means, and the number of revolutions of the auxiliary power device corresponding to the vehicle speed is obtained and detected from the human power detection means; Control means for controlling the rotational speed of the auxiliary power unit to 0 or more and less than the rotational speed equivalent to the vehicle speed.
[0025]
Further, the driving force assisting device is configured so that the manpower driving means and the auxiliary power driving means can be used at any time so as to mesh with a fixing member fixed to the manpower driving shaft and a groove having a slope provided on the fixing member. A movable body coupled by a protrusion configured to be movable in the axial direction of the human-powered drive shaft, a rotating member that rotates while restraining movement of the movable body in the rotational direction, and force the movable body toward the fixed member. The amount of deflection of the elastic body that bends in accordance with the magnitude of human power by the amount of movement of the movable body and the amount of movement of the movable body in the axial direction is detected by the first detection element that detects the amount of movement of the movable body in the axial direction. The human power detection means for detecting the magnitude of the human power from the amount of movement in the axial direction of the moving body, and at least one rotation selected from the human power driving shaft, the fixed member, the rotating member, and the moving body A second detection element for detecting Vehicle speed detection means for detecting a vehicle speed from a rotation amount obtained from a detection value of the second detection element; a controller for controlling auxiliary power by comparing values detected by the human power detection means and the vehicle speed detection means; The number of rotations of the auxiliary power unit corresponding to the vehicle speed is obtained, and when the value detected by the human power detection means is equal to or less than a reference value, the number of rotations of the auxiliary power unit is controlled to 0 or more and less than the number of rotations equivalent to the vehicle speed. And a control means.
[0027]
The human-powered drive shaft and the fixed member are connected by a one-way clutch.
[0028]
The elastic body is made of a metal spring or rubber.
[0029]
Further, the one part selected from the human-powered drive shaft, the fixed member, the rotating member, and the movable body that rotates when human power is input has a heterogeneous portion selected from shape, magnetic, optical, and capacitance. A signal value of the second detection element is provided so as to change at least once during one rotation, the rotation speed is obtained from the changing signal value, and the vehicle speed is detected from the obtained rotation speed.
[0030]
The heterogeneous portion is selected from notches, holes, protrusions, grooves, magnetism, surface roughness, color, and bonding of heterogeneous or homogeneous materials.
[0031]
Moreover, the detection means used for the detection element is any one selected from optical, magnetic, electrostatic capacitance, ultrasonic and mechanoelectric, or a combination thereof.
[0032]
Further, the detection of the amount of axial movement of the movable body and the detection of the rotational speed are simultaneously performed by one detection element.
[0033]
Further, the moving body is made of a high permeability material, and at least one or more magnets are arranged in the moving body or at a position facing the moving body, and the amount of magnetic flux that changes according to the moving amount of the moving body Is detected by the detection element provided in a magnetic circuit composed of the moving body and the magnet.
[0034]
Further, the vehicle speed detection means obtains a frequency of a periodic change in the human power value detected by the human power detection means, and detects the vehicle speed from the frequency.
[0035]
Furthermore, a comparison determination means that has at least a human power detection means for detecting the magnitude of human power and a vehicle speed detection means for detecting the vehicle speed, and compares and determines auxiliary power from the values detected by the respective detection means, and a comparison determination means A controller for controlling the auxiliary power, and when the value detected by the human power detection means is less than the reference value when the rotation speed of the auxiliary power device corresponding to the vehicle speed is less than the reference value, the rotation speed of the auxiliary power device is increased from 0 or more to the vehicle speed. It is characterized by controlling to less than the same number of revolutions.
[0036]
Further, in the driving force assisting device that can use the manpower driving means and the auxiliary power driving means as needed, the driving power assisting device includes a power motor for supplying the assisting power, a battery, an electric circuit including the control, a cover for housing the assisting power device, and the like. It is characterized in that the weight of the auxiliary power mechanism to be used is ½ or less of the total weight of the apparatus.
[0037]
[Action]
According to the driving force assisting device described above, the means for detecting the manpower driving force (hereinafter referred to as human power) driven by the driving vehicle, the speed of the device, the driving situation of the driving vehicle, and the environment in which the device is used. And a controller for comparing and determining auxiliary power from the values detected by the detection means and controlling the auxiliary power, and any one of detected values of human power, vehicle speed, driving situation or environment detected by each detection means. Comfortable driving by controlling and supplying appropriate auxiliary power according to the state in which the device is used, driving conditions such as the driver's physical strength and fatigue, and environmental conditions such as uphill and headwinds, depending on the combination of two or more Is obtained. In addition, since appropriate auxiliary power is always supplied and energy is used effectively, the battery capacity to be loaded is reduced and the weight is reduced, handling is facilitated and safety is achieved.
[0038]
After the power of the driving force assisting device is turned on, if the value detected by the human power detecting means is less than the reference value, the auxiliary power supply is started and the operation time measurement is started.
[0039]
When the value of the human power detection means is equal to or greater than the reference value or the value of the vehicle speed detector is equal to or greater than the reference value, the operation time of the device is integrated, and the driving situation is determined from that time to control the auxiliary power.
[0040]
In addition to the driving time, when the values of the human power detection means and the vehicle speed detector are less than the reference value, it is determined that the driving is stopped, and the driving stop time is also integrated and this time is determined in advance. If it exceeds the value, the operation time and operation stop time are reset to zero. If an input exceeding the reference value is applied to the human power detector, the operating time is accumulated because it is in the driving state.For example, if you are running downhill, the speed is above the reference value, but the human power is the reference Since it is less than the value, it is not accumulated in the driving time, but when the manpower and the vehicle speed are less than the reference value, it is determined that the vehicle is stopped and the operation pause time is accumulated. In the case of a stop, the driving time will continue to be counted and the driving situation will continue if it is a short stop while resting or waiting for a signal. What is necessary is just to reset to 0. Also, if it is not used for a long time, it is also preferable to return it to the initial state.
[0041]
In addition, in order to detect the driving situation from the driver's fatigue situation, it is obtained from monitoring the information from the body such as blood pressure, heart rate, body temperature, sweating and respiration rate from the driver, the driving posture provided in the device, etc. be able to. For example, from the body information, the blood pressure, heart rate, body temperature, sweating and respiration rate increase with the passage of time after the start of driving. There are individual differences depending on each person, but it can be judged that fatigue has increased when the increase rate is exceeded, and if the auxiliary ratio is increased according to the degree of fatigue, comfortable driving is possible. can get. In order to obtain physical information, a sensor is attached to a part of the body, for example, an arm or chest, with a band and read, and the signal is sent to the control circuit from a connector attached to the handle, for example. In addition to this, fatigue can be captured from changes in human power and vehicle speed patterns. At the beginning of driving, the manpower is strong and the vehicle speed is fast, but if you get tired, the manpower and the vehicle speed will decrease. The driving situation can be detected from this changing pattern.
[0042]
The driving situation can also be obtained from the posture of the driver. When you have to deal with a heavy load, put your arms in your arms and step on the petals with the handle as a support, and if you get tired, you will sit down on the saddle because your stepping force will weaken. Therefore, the driving situation can be detected by detecting gripping force on the steering wheel and distortion applied to the steering wheel, or detecting pressure applied to the saddle.
[0043]
Further, the environment in which the apparatus is used can be detected by comparing the inclination with respect to the traveling direction and the wind speed and vehicle speed received by the apparatus or the driver. For example, with a bicycle, when driving up an uphill or driving in a headwind, the driver's fatigue is much greater than in normal conditions. Therefore, it is judged whether the inclination in the traveling direction is plus (uphill) or minus (downhill), and if it is positive, the assist ratio is changed (increased) according to the value, so that the driver is less fatigued and comfortable. I can drive.
[0044]
To detect the headwind, take the wind from the inlet at the front of the device, change it to rotation with the blades at the rear end of the inlet, read the rotation speed, find the wind speed, and compare it with the vehicle speed. You can judge how much you are receiving. In addition, the amount of heading wind can be similarly determined by placing a pressure sensor at the rear end of the inlet and comparing the pressure with the vehicle speed. By changing the auxiliary ratio with respect to the head wind detected in this way, the driver can drive comfortably with less fatigue.
[0045]
Further, the fixing member fixed to the manpower driving shaft, the rotating member coupled with the fixing member by an elastic body and rotating, and the manpower driving guided by the guide groove provided in the rotating member while rotating together with the fixing member. A movable body that moves in the axial direction of the shaft and a first detection element that detects the amount of movement of the movable body in the axial direction can determine the amount of deflection of the elastic body that bends according to the magnitude of human power. Instead of the amount of movement in the axial direction, the magnitude of human power can be detected from the amount of movement of the moving body in the axial direction, and any one selected from the human-powered drive shaft, the fixed member, the rotating member, and the moving body. The vehicle speed can be detected from the second detection element that detects two or more rotations and the rotation amount obtained from the detection value of the second detection element. Since these detectors can be obtained with an easy configuration and can be reduced in size, an auxiliary power generation device can be easily configured by combining a common case with a prime mover and a speed reducer or a case housing individual components. From this point, high reliability can be easily obtained without exposing the detector to the outside. Since the detector can be configured by an optical method, a magnetic method, a method using electrostatic capacity, or a method using ultrasonic waves, it can meet a wide range of needs and requirements with a greater degree of design freedom. Further, the magnetic detection method can be performed by using one or more magnets, using a moving body as a high permeability material, and disposing a magnetic detecting element at a position facing the moving body.
[0046]
Further, since the vehicle speed can be detected by calculation from the frequency of the manually changing human power value detected by the human power detecting means, the number of parts is reduced and the cost is reduced.
[0047]
Further, in an apparatus having at least a human power detection means and a vehicle speed detection means and a means for determining auxiliary power based on a value obtained from them, when the value detected from the human power detection means is equal to or less than a reference value, By setting the rotation speed of the auxiliary power unit to 0 or more and less than the rotation speed equivalent to the vehicle speed, the delay is reduced with respect to the human power that fluctuates periodically, and there is no sense of incongruity. The mileage can be extended.
[0048]
Further, in the auxiliary power assisting device that can use the auxiliary power at any time, a motor (including necessary speed reducer) that generates the auxiliary power, an electric circuit including the battery and the control, a cover for storing these, etc. By setting it to 2 or less, there is no sense of incongruity in the steering feeling, and auxiliary power can be obtained, so that safe and comfortable driving can be obtained. Even if the battery runs out during running, the weight of the auxiliary power unit is less than half of the total weight of the unit, so that it can be run with sufficient human power alone.
[0049]
【Example】
Example 1
An embodiment of a driving force assisting device and a driving force assisting device according to the present invention will be described with reference to the drawings based on a bicycle example. FIG. 1 is a side view of the driving force assisting device of the present invention. In the bicycle 1, a main frame is constituted by a down pipe 3, a top pipe 2 and a seat pipe 4. A saddle 11 is provided above the seat pipe and a petal 6 is provided at the lower part of the main frame. The driving force applied to the petal 6 is petal. The rear wheel 12 is driven by being transmitted from the sprocket 28a through the chain 5 to the rear wheel sprocket.
[0050]
An electric motor 7 and a speed reducer 8 for supplying auxiliary power are attached to the down pipe 3. A battery 10 for supplying power to the motor is attached between the seat pipe 4 and the rear wheel. The battery 10 is a rechargeable battery such as a lead battery. An electric circuit 46 including a controller 56 and a motor driving element is attached to the front upper direction of the motor 7.
[0051]
Next, the drive unit composed of a motor and a speed reducer will be described in more detail. FIG. 3 is a cross-sectional view of the drive unit of the present invention, and auxiliary power is input from the output shaft 30 of the motor 7 to the speed reducer 8. The speed reducer 8 is constituted by a planetary gear speed reducer 31 and is transmitted from the bevel gear 16 attached to the output shaft thereof to the rotating member 23 through the bevel gear 17 and the one-way clutch 18b.
[0052]
The drive shaft 14 is held by

bearings

19, 20, and 21. A bearing 22 is arranged in the radial direction of the

bearings

20 and 21 on one side, and a rotating member 23 is held. The drive shaft 14 and the fixed member 26 are assembled via a one-way clutch 18a. The fixed member 26 and the rotating member 23 are connected by an elastic body 25, and a petal sprocket 28 is fixed to one of the rotating members 23. The force applied to the petal is transmitted from the drive shaft 14 to the fixed member 26, the elastic body 25, and the rotating member 23 by the one-way clutch 18a. On the other hand, the motor output of the auxiliary power is transmitted to the rotating member 23 via the speed reducer 8 and the one-way clutch 18b, and the manpower and auxiliary power are combined by the rotating member 23 and transmitted from the petal sprocket 28 to the rear wheel.
[0053]
The one-way clutch is provided between the drive shaft 14 and the fixed member 26 to prevent the reverse rotation of the motor when the petal is reversed, and when the motor is not driven, the petal drive shaft 14 and the bevel gear are used to prevent the rotation of the motor and the speed reducer. 17 between them.
[0054]
In order to detect the magnitude of human power applied to the drive shaft 14, the rotating member 23 has a moving body 24 that moves in the axial direction according to human power, and a detection element 27 that detects the amount of movement is attached to the case 29. It has been.
[0055]
Further, the detection method will be described in detail. 4 and 5 are sectional views of the detection portion of the present invention, and FIG. 4 shows an example in which a metal coil spring is used as an elastic body. The rotating member 23 is provided with a spiral groove 32, and a moving body 24 guided in the groove 32 and movable in the axial direction is incorporated. A stopper 33 that stops the moving body 24 when a large driving force is applied is provided at the end of the groove 32. The moving body 24 is restricted in movement in the rotational direction by a guide bar 34 fixed to the fixing member 26, but is movable in the axial direction. Since the rotation member 23 is connected to the fixing member 26 and the elastic body 25, the rotation member 23 is restricted in the rotation direction. Although not shown, the elastic body 25, the rotating member 23, and the fixing member 26 are fixed by putting an end or a part of the elastic body in, for example, a hole so as not to rotate in the rotation direction.
[0056]
In this state, if human power is applied through the petal 6, the driving force is transmitted to the rear wheel through the driving shaft 14, the fixing member 26, the elastic body 25, the rotating member 23, and the petal sprocket 28a. Therefore, the rotating member 23 rotates with a certain amount of synchronization (out of phase) due to the relationship between the magnitude of human power and the strength of the elastic body 25. Since the rotating member 23 has the spiral groove 32, the moving body 24 moves in the axial direction by the amount of rotation shifted. For example, as shown in FIG. 4, when the drive shaft 14 is rotated to the right (in the direction of the arrow shown in the figure), the rotating body 23 rotates to the left in an apparent manner, and the moving body 24 is guided by the groove 32 and is detected from the detection element 27. Move axially away. Since this amount of movement is known in advance by the human power and the strength of the elastic body 25, the applied human power can be measured by detecting the amount of movement from the stationary state by the detection element 27. If the human power is reduced, the moving body 24 is returned to the rotational direction by the elastic body 25 and changed to the axial movement by the groove 32 to return to the original position. In this way, the magnitude of human power applied to the petals can be measured.
[0057]
Another method will be described based on FIG. 5 in the same manner as described above. FIG. 5 shows another example of the groove of the moving body and the rotating body using high elastic rubber as another elastic body. The fixed portion 26 has a plurality of circumferential grooves 46 each having an inclined surface 48 whose diameter changes in the circumferential direction, and the movable body 24 is similarly provided with a protrusion 47 configured to mesh with the groove 46. A plurality are provided in the direction. The movable body 24 is pressed in the direction of the fixed member 26 by an elastic body 25 having a high elastic modulus, and meshes with the inclined surfaces 48 of the grooves 46 and the protrusions 47. When human power is applied to the drive shaft 14, the fixing member 25 and the moving body 24 are twisted and guided by the inclined surface 48, and the moving body 24 moves in the direction of the drive shaft 14. As for the movement amount, the detection element 27 detects the movement amount of the guide bar 34 provided on the end face of the moving body 24. In the case of the present embodiment, the amount of movement can be easily detected by using a potentiometer as a detection element and capturing a voltage change. Since the amount of movement is determined according to the magnitude of human power, the strength of the elastic body 25, and the rate of change of the diameter of the inclined surface 48 in the circumferential direction, the magnitude of the added human power can be measured by detecting the amount of movement.
[0058]
In the above-described embodiment of the present invention, an example in which a torsion coil spring, a metallic spring, or a highly elastic rubber is used as an elastic body has been described. However, the present invention is not limited to this, for example, a compression spring, a torsion bar, or the like. If it is an elastic body which can be changed to a force in the rotational direction by using the above, it has the same effect and is in line with the gist of the present invention.
[0059]
The detection element used here is, for example, a method using an optical detection element that measures the amount of movement of the moving body by receiving light of a light emitting element such as a laser or a light emitting diode on the moving body and receiving the reflected light by the light receiving element. A method of using a magnetic detection element that forms a magnetic circuit between a detection element and a moving body and measures the amount of movement from the amount of change in magnetic flux that changes according to the amount of movement in a magnetic detection element such as a Hall element or MR element, A method using a capacitive detection element that measures the amount of movement from a change in capacitance of the moving body 24, or an ultrasonic detection element that measures the amount of movement from the reflection state by applying ultrasonic waves to the moving body 24 Or a mechanical electrical method in which a mechanical displacement is changed to an electrical displacement, for example, a moving amount is changed to a voltage using a potentiometer. In any of the methods described above, the amount of change in movement of the moving body, that is, the amount of change in the distance between the detection element and the moving body is changed to some method, and the human force applied to the drive shaft is measured from that value. . Therefore, the method other than the method described in the present invention is not limited to the above method as long as it can read the amount of change in the distance of the moving body and has the same effect. Similarly, the method is not limited to the above-described method as long as the human force applied to the drive shaft is changed to the amount of movement in the axial direction.
[0060]
FIG. 6 is a diagram showing a detection method using a magnetic detection element. FIG. 6A shows an example in which the detection element is arranged so as to face the moving body in the axial direction, and FIG. 6B shows the detection element. It is the example arrange | positioned in the outer-diameter direction of a moving body. In FIG. 6A, the moving body 24 and the rotating body 23 are made of a high magnetic permeability material, and the magnetic detection element 35 is attached to a substrate 36 that is electrically wired. A permanent magnet 37 attached to a back yoke 38 is disposed behind the magnetic detection element 35 and the substrate 36. The back yoke 38 is attached to the case 29 (not shown), and the shape necessary for constituting the rotating member 23 and the magnetic circuit 39 is integrated. Since the magnetic flux of the permanent magnet 37 passes through the magnetic circuit 39 and the magnetic detection element 35 detects the magnetic flux, the magnetic flux amount (same as the magnetic flux density) increases as the moving body 24 approaches the magnetic detection element 35. On the other hand, if the moving body 24 moves away from the magnetic detection element 35, the amount of magnetic flux decreases. Thus, the movement amount can be measured from the change amount of the magnetic flux.
[0061]
Similarly, in FIG. 6B, a magnetic detection element 35, a substrate 36, a permanent magnet 37, and a back yoke 38 are arranged in the radial direction of the moving body 24 made of a high permeability material. It is attached. Similar to the above, the magnetic flux from the permanent magnet 37 changes according to the amount of movement of the moving body 24, so that the same effect is obtained. However, in this embodiment, since the magnetic flux changes between left and right objects having a peak, only one side of the peak must be used. That is, it is necessary to accurately align the center of the moving body 24 and the magnetic detection element 35 or to slightly shift the center of the magnetic detection element 35 to the side opposite to the moving direction of the moving body 24.
[0062]
As described above, in the magnetic detection method of the present invention, an example in which one permanent magnet is used has been described. However, for example, it may be arranged in the direction of a moving body or a magnetic circuit may be configured by using a plurality of magnets. It has an effect and is not limited to the present embodiment. The rotating member 23 is also described as an example in which a magnetic circuit is formed using a high magnetic permeability material. However, the rotating member 23 may be non-magnetic, and the magnetic circuit may be configured by only the moving body, the permanent magnet 37, and the back yoke 38. It has the same effect.
[0063]
Next, vehicle speed detection means will be described. To detect the speed of the apparatus, there is a method of reading the rotational speed of the front wheel 13, but it can also be detected from the rotational speed of the moving body 24. A part that is different in shape, magnetically or optically may be provided in a part of the moving body 24, and a part in which one pulse signal is output in one rotation, for example, in which the output signal of the detection element changes according to the rotation may be formed. The heterogeneous part may be a different part from the whole. There are magnetic things such as notches, holes, protrusions, grooves, and surface roughness, and magnetic things such as magnetic non-magnetism, and optical things such as colors, heterogeneous materials, or bonding of homogeneous materials. In the case of an optical detection element, it is only necessary to change the reflected light. Therefore, a cutout, hole, protrusion, groove, surface roughness, color, dissimilar material or a heterogeneous material can be formed, so if you select from these Good. Similarly, in the case of a magnetic detection element, it is only necessary to cause a magnetic change, and therefore, it may be selected from notches, holes, protrusions, grooves, non-magnetic, heterogeneous materials, or bonding of homogeneous materials. Similarly, in the case of a capacitance detecting element, it is sufficient that the capacitance is changed, and therefore, it may be selected from notches, holes, protrusions, grooves, surface roughness, heterogeneous materials, or bonding of homogeneous materials. Similarly, in the case of an ultrasonic detection element, it may be selected from notches, holes, protrusions, grooves, surface roughness, heterogeneous materials, or bonding of homogeneous materials.
[0064]
In order to detect the rotation of the moving body 24, one element for detecting the amount of movement may be used in common, or a detection element may be used exclusively for detecting the amount of movement and rotation. In the case of one, the number of parts is reduced, so that the apparatus can be made small and inexpensive. In addition to the method described above, the vehicle speed can also be obtained from the frequency change of human power that periodically changes and the rotational speed of the drive shaft, rotating body, and the like.
[0065]
Next, a means for detecting the driving situation of the driver will be described. The driver's driving situation can be detected only when the driver's fatigue or a greater load than normal is detected, so the method of detecting from the driving time, the driver's blood pressure, heart rate, body temperature sweating, respiratory rate, etc. It can be detected by a method of detecting the physical condition from a situation where the posture of the driver changes, such as a method of detecting a physical condition from a physical change, a force applied to an arm or hand, or sitting firmly on a saddle.
[0066]
Further details will be described. FIG. 7 is an operation diagram for measuring the driving time. A method for detecting the driving situation from the driving time will be described with reference to FIG. The power is turned on with a key switch (not shown) (step 100) and the operation is started, and it is determined whether or not human power <reference value (step 101). If human power ≧ reference value, the operation is canceled as something abnormal. If the human power is smaller than the reference value, the auxiliary power assist is started as normal (step 102), and the clock measurement is started (step 103). Next, when human power ≧ reference value, the operation time t is integrated (step 104, YES → step 105). If human power <reference value (step 104, NO → step 106), the vehicle speed is compared with the reference value, and if the vehicle speed ≧ reference value, the petal is not depressed but the operation is continued (eg, downhill) Return to 104 (step 106, YES → step 104). If the vehicle speed is smaller than the reference value, there is no human power and no vehicle speed, so the device is regarded as being stopped or resting, and the operation pause time ta is integrated (step 106, NO → step 107). Next, the operation stop time ta is compared with the reference value, and if ta ≦ reference value, the process returns to step 104 (step 108, YES → step 104). If ta> reference value, it is considered that the fatigue has been recovered after the break, the driving time t and the driving pause time ta are reset to 0, the clock is stopped and restored (step 108, NO → step 110 → step 111). ). The operation time and the operation stop time can be obtained by the method as described above.
[0067]
In order to detect the driving situation from the physiological condition of the driver, the sensor 71 shown in FIG. 8 is attached to a part of the body such as the arm or chest, and the blood pressure, heart rate, body temperature sweating, respiratory rate, etc. Read by changes in the driver's physical condition from driving. In this case, one item, a plurality of items, or all items may be used. In addition, since there are large individual differences among drivers regarding these items, it is desirable to measure them in advance before driving and capture them as changes after driving. A signal from the sensor 71 can be detected by connecting a lead wire 72 and a connector jack 73 attached to the tip of the lead wire to a connector 74 provided on the handle 9 and transmitting the signal to the electric circuit 46.
[0068]
As a method for detecting a driving situation based on a change in the posture of the driver, there is a method for detecting pressure or strain applied to the steering wheel. FIG. 9 is a perspective view of the handle grip. A sensor 44 provided in the grip 43 of the handle 9 detects a change in the posture of the driver based on pressure or strain applied to the handle. In other words, when a large load is applied, the driver puts a force on the arm and takes a petal using the reaction, and the steering wheel is pulled toward the driver. By reading it as pressure or strain with the sensor 44, the driving situation can be captured. The signal from the sensor 44 connects a lead 45 extending from the sensor 44 to the electrical circuit 46.
[0069]
As another method for detecting the driving situation based on a change in the driver's posture, there is a method for detecting the change based on the weight applied to the saddle. FIG. 10 is an explanatory diagram of the saddle. The saddle 11 is provided with a sensor 42 for detecting the weight of the driver, and detects a driving situation from a change in the driving posture of the driver. The driver detects the change in the weight applied to the saddle because it sits loosely on the saddle when it gets tired, while the driver supports the weight with the foot because the petal is firmly padded at the beginning of driving and it is slightly floating from the saddle You can see the degree of fatigue.
[0070]
Further, to detect the driving situation by another method, it is also possible to detect a change in human power or vehicle speed with respect to a certain time. As shown in FIG. 12, a comparative time zone is provided in the driving time, which is divided into a first half a and a second half b, which can be detected from a pattern in which human power or vehicle speed changes in that time zone. In the example of FIG. 12, the human power or the vehicle speed is almost constant in the first comparative time zone a, but tends to decrease in the second comparative time zone b. Since this can be regarded as being reduced by fatigue, the driving situation can be detected by grasping the tendency of human power or vehicle speed.
[0071]
In this case, the comparison can be made by using a detected value of three or more points for each comparison time zone in the first half and the second half and grasping the changing tendency. The more detection values, the higher the accuracy, but it is desirable to compare using several tens of points that increase the memory capacity and calculation time.
[0072]
Next, the environment detection means will be described. In the environment where the device is used, factors that give a heavy load to the driver include climbing slopes and headwinds. An inclinometer is used to detect the uphill, and the wind speed received by the device and the vehicle speed may be compared to detect the heading of the device with respect to the direction of travel.
[0073]
FIG. 11 is a cross-sectional view of the wind detector. The wind detector 60 is installed on the front surface of the apparatus 1 and guides the received wind from the introduction port 61 to the wind turbine 62 composed of a plurality of blades. Since the windmill 62 rotates according to the strength of the wind, the wind speed can be determined by detecting the number of rotations by the rotation detector 63. The wind received by the apparatus includes natural wind and wind that depends on the speed received by the apparatus traveling. Therefore, the head wind can be determined by subtracting the wind speed corresponding to the vehicle speed from the wind speed of the wind detector 60. Naturally, in the case of a tailwind, the obtained value of the head wind becomes negative, but it does not become a running load, so this value should not be used. As another method for obtaining the wind speed by the wind detector 60, the wind pressure may be detected by a pressure sensor instead of the windmill 62, and the wind speed may be obtained from the pressure by the same method as described above.
[0074]
The human power, the vehicle speed, the driving situation and the environmental situation detected by the method described above are given auxiliary power by the system diagram shown in FIG. The human power 50 applied to the apparatus is transmitted to the rear wheel 12 through the drive shaft 14 and the size is detected by the human power detection means 51. The vehicle speed detecting means 52 detects the vehicle speed, the driving condition detecting means 53 detects the driving state of the driver, the environment detecting means 54 detects the environment in which the device is used, and the comparison determining means 55 detects each detected value. Compare the characteristics stored in the memory to determine the ratio of auxiliary power. The controller 56 controls the motor output as a prime mover based on the determined ratio of auxiliary power, and the auxiliary power 57 given from the motor is combined with human power by the drive shaft 14 and transmitted to the rear wheel 12.
[0075]
The ratio of auxiliary power determined here may be determined from all conditions of human power, vehicle speed, driving situation and environment, or may be determined from any one of these conditions or a plurality of conditions. . There are various auxiliary ratios (patterns) of auxiliary power to obtain a comfortable driving feeling, but it is desirable to vary the auxiliary ratio according to driving conditions and environmental conditions using the auxiliary ratio for human power as one reference. . For example, if it is larger than normal driving on flat ground according to the slope of the uphill and the strength of the head wind, it will return to normal when it starts normal driving, and gradually increase according to fatigue of the physical condition Good. FIG. 13 is a diagram illustrating an example of the assist ratio pattern. For example, the driving condition is detected based on the body condition and the driving time, and changes in the assist ratio with respect to the driving condition are illustrated. Since the driver gets tired with the driving time, the driver's fatigue is reduced by increasing the auxiliary ratio along with the driving time and the physical condition so that the driver can drive comfortably. The change in the auxiliary ratio may be either stepped 82 or linear 82, but if a large change suddenly appears, the driver feels uncomfortable, so that the uncomfortable feeling is not felt. Is desirable.
[0076]
(Example 2)
FIG. 14 is a diagram for explaining fluctuations in human power and auxiliary power. A human power 50 applied to a petal changes periodically, and an auxiliary power 57 is added corresponding to the human power. When the human power is near zero, the addition of auxiliary power is stopped. This is because if there is no human power, there is no driving power and no auxiliary power. Further, since an error of a human power detector occurs near 0, auxiliary power is not added even when a certain reference value 90 is set and less than the reference value.
[0077]
Rather than stopping the motor when the auxiliary power 57 is not added and the reference value is less than 90, the motor rotation speed is rotated from 0 or more to less than the rotation speed equivalent to the vehicle speed, and is adjusted when the next peak of human power comes. If the motor output is increased, there is little delay and assistance is provided synchronously. If the motor rotational speed is set to 0 (stop), a delay occurs. If the motor speed is rotated in accordance with the vehicle speed, energy that is not necessary is used and power consumption increases, and the travel distance per charge decreases. Therefore, it is preferable to set the motor rotational speed from 0 or more of the above conditions to less than the rotational speed equivalent to the vehicle speed. In that case, the set rotational speed may be constant, or may be proportional to the vehicle speed or variable. In this way, power consumption can be reduced and the travel distance per charge can be extended. And since there is little delay of auxiliary power, a comfortable driving feeling can be obtained without a sense of incongruity.
[0078]
Example 3
The larger the auxiliary power and the longer the distance traveled per charge, the better. However, a large motor is required to obtain a large driving force, and the longer the distance traveled, the more batteries will be required. This increases the weight and makes it difficult to handle the bicycle you have. We will consider the conditions under which auxiliary power can be added without impairing the functions of the original device.
[0079]
When a bicycle is used as a driving force assisting device, when running and parking, and when the battery runs out, it can run without much burden with human power alone, and the running distance per charge is about 15 to 30 km which is not a problem for daily use Weighed the device. The results are shown in Table 1.
[0080]
[Table 1]

[0081]
The weight of the auxiliary power mechanism (motor, speed reducer, various detectors, electric circuit including the controller, battery of the power source, case and cover for constituting them, etc.) for supplying auxiliary power to the bicycle is half the total weight of the device. It turns out that there is no problem if it is below.
[0082]
Since the auxiliary power gives the device an addition, it can be said that it is desirable that the addition mechanism is less than the original device.
[0083]
As described above, the driving force assisting device of the present embodiment has been described based on the example of the bicycle. However, it is of course possible to apply to a rowing boat with a foot other than this, and is not limited to the embodiment.
[0084]
【The invention's effect】
Since the present invention is configured as described above, it has the following effects.
[0085]
It can easily measure human power and vehicle speed, according to the driver's fatigue, physical condition, etc., and even if the load changes greatly due to the environment such as uphill or headwind, appropriate auxiliary power is always given and comfortable driving is possible At the same time, these mechanical parts are built in an integrated case, so that rain and mud do not enter and the reliability is excellent.
[0086]
In addition, when the value detected by the human power detection means is less than the reference value, the rotation speed of the auxiliary force driving device is kept from 0 to less than the rotation speed equivalent to the vehicle speed. A sense of running that is not necessary can be obtained, power consumption can be reduced, and the running distance per charge can be extended.
[0087]
Furthermore, by setting the weight of the auxiliary power mechanism for supplying auxiliary power to ½ or less of the total weight of the auxiliary power device, auxiliary power can be obtained without impairing the original function of the device.
[Brief description of the drawings]
FIG. 1 is a side view of a driving force assisting device of the present invention.
FIG. 2 is a power system diagram of the driving force assisting device of the present invention.
FIG. 3 is a cross-sectional view of a drive unit according to the present invention.
FIG. 4 is a cross-sectional view of a detection portion of the present invention.
FIG. 5 is a cross-sectional view of a detection portion of the present invention.
FIG. 6 is a diagram showing a detection method using a magnetic detection element.
FIG. 7 is an operation diagram of operation time measurement according to the present invention.
FIG. 8 is a diagram for detecting a physiological change of a driver.
FIG. 9 is a perspective view of a handle grip.
FIG. 10 is an explanatory diagram of a saddle.
FIG. 11 is a cross-sectional view of a wind detector.
FIG. 12 is a diagram for explaining operation status detection.
FIG. 13 is a diagram illustrating an example of an auxiliary ratio pattern.
FIG. 14 is a diagram for explaining fluctuations in human power and auxiliary power.
[Explanation of symbols]
1 bicycle
2 Top pipe
3 Down pipe
4 Seat pipe
5 Chain
6 Petals
7 Motor
8 Reducer
9 Handle
10 batteries
11 sheets
12 Rear wheel
13 Front wheel
14 Drive shaft
15 cranks
16, 17 Bevel gear
18a, 18b one-way clutch
19, 20, 21, 22 Bearing
23 Rotating member
24 Mobile
25 Elastic body
26 Fixing member
27 Detection element
28a, 28b Sprocket
29 cases
30 Motor output shaft
31 planetary gear
32, 46 groove
33 Stopper
34 Information stick
35 Magnetic detection element
36 substrates
37 Permanent magnet
38 Back yoke
39 Magnetic circuit
40 keys
42, 44 sensors
43 grip
45, 72 Lead wire
47 Protrusions
48 slopes
50 manpower
51 Human power detection means
52 Vehicle speed detection means
53 Driving status detection means
54 Environmental status detection means
55 Comparison determining means
56 controller
57 Auxiliary power
58 memory
60 wind detector
61 Introduction
62 Windmill
63 Rotation detector
71 sensors
73 Connector jack
74 connector

Claims

A driving force assisting device capable of using the manpower driving means and the auxiliary power driving means as needed, a fixing member fixed to the manpower driving shaft, a rotating member coupled with the fixing member by an elastic body and rotating, A moving body that is guided by a guide groove provided in the rotating member while rotating together with the fixed member and moves in the axial direction of the human-powered drive shaft, and a first detection element that detects an amount of movement of the moving body in the axial direction Therefore, the human power detecting means for detecting the magnitude of the human power from the amount of movement of the movable body in the axial direction by changing the amount of deflection of the elastic body according to the magnitude of human power to the amount of movement of the movable body in the axial direction, A second detection element that detects any one or more rotations selected from the human-powered drive shaft, the fixed member, the rotating member, and the moving body, and a rotation amount obtained from a detection value of the second detection element Vehicle speed detection that detects vehicle speed more A controller for controlling auxiliary power by comparing the values detected by the human power detecting means and the vehicle speed detecting means, and determining the rotational speed of the auxiliary power device corresponding to the vehicle speed, detected from the human power detecting means When the value is less than or equal to a reference value, the driving force assisting device includes control means for controlling the rotational speed of the auxiliary power device to be not less than 0 and less than the rotational speed equivalent to the vehicle speed.

A driving force assisting device capable of using human power driving means and auxiliary power driving means at any time, and configured to mesh with a fixing member fixed to the human power driving shaft and a groove having a slope provided on the fixing member. A movable body coupled by the projected protrusions and movable in the axial direction of the human-powered drive shaft, a rotating member that rotates while restraining movement of the movable body in the rotational direction, and applying force to the movable body in the direction of the fixed member By the elastic body and the first detection element that detects the amount of movement of the movable body in the axial direction, the amount of deflection of the elastic body deflected according to the magnitude of human power is changed to the amount of movement of the movable body in the axial direction. Detecting a human power detecting means for detecting the magnitude of the human power from an axial movement amount of the moving body, and detecting at least one rotation selected from the human power driving shaft, the fixed member, the rotating member, and the moving body. A second sensing element that performs the second sensing element; Vehicle speed detection means for detecting the vehicle speed from the amount of rotation obtained from the detection value of the detection element, a controller for controlling auxiliary power by comparing the values detected by the human power detection means and the vehicle speed detection means, and corresponding to the vehicle speed Control means for obtaining the rotational speed of the auxiliary power unit to be controlled and controlling the rotational speed of the auxiliary power system to be equal to or greater than 0 and less than the rotational speed equivalent to the vehicle speed when the value detected from the human power detection means is equal to or less than a reference value And a driving force assisting device.

The driving force assisting device according to claim 1, wherein the manpower driving shaft and the fixing member are coupled by a one-way clutch.

The driving force assisting device according to any one of claims 1 to 3, wherein the elastic body is made of a metal spring or rubber.

One member selected from the human-powered drive shaft, the fixed member, the rotating member, and the movable body that rotates when a human power is input has a different portion selected from the shape, magnetic, optical, and capacitance. 5. The detection element according to claim 1 is provided so that the signal value of the detection element changes at least once during one rotation, the rotation speed is obtained from the changing signal value, and the vehicle speed is detected from the obtained rotation speed. The driving force assisting device according to any one of the above.

6. The heterogeneous portion is selected from notches, holes, protrusions, grooves, magnetism, surface roughness, color, and bonding of heterogeneous or homogeneous materials. The driving force assisting device according to 1.

The detection means used for the detection element is any one selected from optical, magnetic, electrostatic capacitance, ultrasonic and mechanoelectric, or a combination thereof. The driving force assisting device according to any one of the preceding claims.

8. The driving force assisting device according to claim 1, wherein the detection of the amount of movement of the moving body in the axial direction and the detection of the number of rotations are performed simultaneously by one detection element. 9.

The moving body is made of a high permeability material, and at least one or more magnets are arranged in the moving body or at a position facing the moving body, and the amount of magnetic flux that changes according to the moving amount of the moving body, The driving force assisting device according to any one of claims 1 to 8, wherein detection is performed by the detection element provided in a magnetic circuit configured by the moving body and the magnet.

The said vehicle speed detection means calculates | requires the frequency of the periodic change of the human power value detected by the said human power detection means, and detects a vehicle speed from this frequency, The vehicle speed of Claim 1 characterized by the above-mentioned. Driving force assist device.

The driving force assisting device in which the manpower driving means and the auxiliary power driving means can be used at any time, and includes a power motor for supplying the assisting power, a battery, an electric circuit including control, and a cover for housing the assisting power device. The driving power assisting device according to any one of claims 1 to 10, wherein the weight of the auxiliary power mechanism configured by the above-mentioned is set to ½ or less of the total weight of the device.

A comparison / determination unit comprising: the human-power detection unit that detects at least the magnitude of human power; and the vehicle speed detection unit that detects a vehicle speed; and a comparison / determination unit that compares and determines auxiliary power from values detected by the detection units. And the controller for controlling the auxiliary power from the means, the number of rotations of the auxiliary power device corresponding to the vehicle speed is obtained, and when the value detected from the human power detection means is below a reference value, A method for controlling a driving force assisting device, wherein the rotational speed is controlled to be greater than or equal to 0 and less than the rotational speed equivalent to the vehicle speed.