JP6032377B1 - Bicycle with motor - Google Patents

Abstract

The motor-equipped bicycle includes each motor (2a, 2b) that applies assist or load to the left front wheel (1a) and the right front wheel (1b), and a battery that transfers power to and from the motor (2a, 2b), Handle (3) for determining the direction of the left front wheel (1a) and the right front wheel (1b), the rear wheel (6), the transmission means for transmitting the driving force to the rear wheel (6), and the drive to the transmission means Pedal (5) for transmitting force, torque sensor (11) for measuring the torque of pedal (5), information terminal (8) for determining torque information, torque information from information terminal (8), torque A control circuit (10) for controlling the motor (2a, 2b) based on the torque value of the sensor (11). The control circuit (10) includes torque information from the information terminal (8), torque Based on the difference in torque value of sensor (11) By controlling whether power is supplied to the motors (2a, 2b) to assist, or the motors (2a, 2b) are caused to generate power and load, the pedaling force can be set to a desired torque. it can.

Description

  The present invention relates to a bicycle with a motor.

A motor-equipped bicycle is a bicycle that assists human power with a motor, and a motor assists with a torque corresponding to the pedaling force of a passenger stepping on a pedal. Sensors detect the pedaling force and the number of rotations, and the installed motor reduces the pedaling force of the drive unit. Among them, a motor-equipped bicycle is disclosed that determines an assist amount based on position information from GPS and terrain information from map information.
(See Patent Documents 1 and 2).

JP 2011-178341 A JP 2012-121338 A

  A motor-equipped bicycle can assist the motor with torque according to the pedaling force of the driving unit, position information from GPS, and terrain information from map information, but for example, like a training machine, There was a problem that control could not be performed to achieve a desired torque.

  The present invention has been made in view of such a situation, and an object of the present invention is to make a torque of a drive unit by a force of stepping on a pedal a desired torque.

  In order to solve the above-described problems and achieve the object, the present invention provides each motor that provides assist or load to the left front wheel and the right front wheel, a battery that transfers power to and from the motor, A handle for determining the direction of the right front wheel, a rear wheel, a transmission means for transmitting a driving force to the rear wheel, a driving part for transmitting the driving force to the transmitting means, and a torque sensor for measuring the torque of the driving part; Either assisting by supplying power to each motor based on the information terminal that determines torque information, torque information from the information terminal that is the amount of torque that the driver gives to the drive, and the torque value of the torque sensor, And a control circuit that controls whether each motor generates power and loads.

  Since the device according to the present invention has the above-described configuration, it has an effect that the torque of the drive unit by the force of stepping on the pedal can be set to a desired torque.

FIG. 3 is a front view of the motor-equipped bicycle according to the first embodiment. 1 is a side view of a motor-equipped bicycle according to Embodiment 1. FIG. FIG. 3 is an electrical configuration diagram of the motor-equipped bicycle according to the first embodiment. 1 is a configuration diagram of an information terminal 8 in Embodiment 1. FIG. 5 is a flowchart showing the operation of the information terminal 8 in the first embodiment. 5 is a flowchart when a simulation mode in the first embodiment is selected. The flowchart at the time of selecting the health state of FIG.5 S102 in Embodiment 1. FIG.

  Embodiments of a motor-equipped bicycle according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
1 is a front view of a motor-equipped bicycle according to Embodiment 1. FIG.
FIG. 2 is a side view of the motor-equipped bicycle according to the first embodiment.
The configuration will be described.

  In FIG. 1, the front wheel of the motorized bicycle is composed of two wheels, and is composed of a left front wheel 1a and a right front wheel 1b. There is a motor 2a that gives a driving force to the left front wheel 1a, and there is a motor 2b that gives a driving force to the right front wheel. The left front wheel 1a and the right front wheel are independent of each other 1b, and the motor 2a and the motor 2b are also independent of each other, and the left front wheel 1a and the right front wheel give driving force to 1b. In addition, the direction in which the left front wheel 1a and the right front wheel 1b are advanced by a supported handle 3 that is rotatable with respect to each rotation is determined.

In FIG. 2, the motor-equipped bicycle instructs the direction of the two front wheels 1a and 1b by the handle 3, and the frame 4 instructs the handle 3 to be rotatable.
The frame 4 instructs the rear wheel 6 to be rotatable, and also instructs the drive unit 5 including a pedal for driving the rear wheel 6 to be rotatable. The driving force from the driving unit 5 including the pedal is transmitted to the rear wheel 6 via the shaft 12 with gears and the like. In addition, it is not limited to the shaft 12 that transmits the driving force from the driving unit 5 including the pedal to the rear wheel 6, but may be other transmission means such as a chain.
The frame 4 holds a saddle 7.

  Further, the frame 4 holds electric power for driving the motors 2a and 2b, and holds a battery 9 that holds electric power generated from the motors 2a and 2b. Further, the control circuit 10 controls the motor 2a and the motor 2b to supply electric power or generate power so as to obtain a desired torque of the driving unit 5 by the pedaling force of the pedal. A torque sensor 11 for measuring torque is held.

  An information terminal 8 is attached to the handle 3. Information communication between the information terminal 8 and the control circuit 10 is possible. The control circuit 10 receives information from the torque sensor 11 and controls power between the battery 9 and the motors 2a and 2b.

Next, an electrical configuration will be described.
FIG. 3 is an electrical configuration diagram of the motor-equipped bicycle according to the first embodiment.
Desired torque information is transmitted from the information terminal 8 to the control circuit 10. Further, torque information from the torque sensor 11 is transmitted to the control circuit 10.
The control circuit 10 supplies power from the battery 9 to the motor 2a and the motor 2b according to the difference between the torque information from the desired torque sensor 11 from the information terminal 8 and the torque information from the torque sensor 11, or the motor 2a. The power generation from the motor 2b is controlled to charge the battery 9.

In a motor-equipped bicycle in which a normal motor assists the driving force of a driving unit including a pedal, the control circuit 10 sets the torque information from the torque sensor 11 to about half when the desired torque is not assisted. Then, the control circuit 10 performs control so that the motor 2a and the motor 2b assist the remaining half of the torque. Therefore, a person who rides a bicycle may have a force that is about half of the torque of the drive unit 5 that is usually required when pedaling.
On the other hand, in the present invention, the desired torque information can be set to a constant value while being able to be set at the assist rate based on the torque information from the torque sensor 11 when not assisting. Furthermore, the desired torque information set by the information circuit can be set larger than the torque information from the torque sensor 11 when not assisting. In that case, the control circuit 10 controls the motor 2a and the motor 2b to generate the difference between the desired torque and the torque when not assisting, and charge the battery 10 with the generated power.
Even when the motor 2a and the motor 2b generate power, the desired torque information can be set as a load factor with respect to the torque information from the torque sensor 11 when not assisting, or can be set to a constant value.

Therefore, when the motor generates electricity, it is difficult to balance the driving of the bicycle, just like going up a hill. Therefore, the balance of the bicycle is stabilized by using two front wheels of the motorized bicycle. There is. Further, also on the assist surface, the straight running stability can be further improved by driving the front wheel side with a motor instead of driving the rear wheel with a motor.
Further, since the motor 2a and the motor 2b are arranged on the left front wheel 1a and the right front wheel 1b, respectively, for example, when turning left, the control circuit 10 assists the left motor 2a. Falling can be suppressed by increasing the amount. In this case, since the right front wheel 1b floats from the ground, it is possible to determine that the motor 2b is likely to fall to the left because torque control cannot be performed on the motor 2b.

Next, the information terminal 8 that outputs desired torque information will be described.
FIG. 4 is a configuration diagram of the information terminal 8 in the first embodiment.
The information terminal 8 includes a GPS receiver 801 that acquires its own position, a wireless transmitter / receiver 802 that transmits and receives information from a wireless line, and a program and data for temporarily storing information and processing it by a processing unit , A display unit 805 for receiving a request and displaying a processing result in the processing unit 803, and receiving desired torque information from the processing unit 803 to the control circuit 10. And an output unit 806 for outputting.
The processing unit 803 executes an application stored in the memory 804 in response to a request from the display unit 805. Further, the processing unit 803 obtains position information from the GPS receiver 801 in response to a request from the display unit 805 or an application, requests information via a wireless line via the wireless transceiver 802, and receives the received request information. To process. Then, the processing unit 803 controls the display unit 805 to display information based on the processing result, or outputs desired torque information to the output unit 806.

Next, an operation for obtaining desired torque information will be described.
FIG. 5 is a flowchart showing the operation of the information terminal 8 in the first embodiment.

In step S101, the processing unit 803 reads and processes an application for selecting a menu from the memory 804, and causes the display unit 805 to display a menu selection mode. The menu selection mode is either assist mode or training mode.
The assist mode basically assists the pedaling force of the pedal when there is no assist using the motors 2a and 2b, and the training mode basically motors the pedaling force when there is no assist. A load is further applied to the pedal using 2a and 2b. The driver of the motorized bicycle selects the assist mode or the training mode for the display unit 805. The display unit 805 is a touch panel, and may return any information to the processing unit 803 based on the selected display area, or may return selection information of buttons provided in the display unit 805 to the processing unit 803. .

  In step S102, the processing unit 803 reads an application for selecting a menu from the memory 804 based on the answer information in step S101, processes the application, and causes the display unit 805 to display a detailed menu selection mode. The menu selection mode selects what kind of control (whether based on health, manual, constant, simulation, etc.) is to be controlled for either the assist mode or the training mode.

The health mode determines the amount of torque based on the assist rate or the load rate in the assist mode or the training mode based on his / her health status.
FIG. 7 is a flowchart when the health state mode in step S102 of FIG. 5 is selected.
After the health state mode is selected (step S102-K2), the processing unit 803 in FIG. 4 causes the display unit 805 to display a menu such as “good physical condition”, “normal” or “tired”. The processing unit 803 selects one of them (step S102-K2), and the processing unit 803 refers to a database in the memory 104 to determine torque information based on the assist rate or the load rate. (Step S102-K4). For example, when the physical condition is better, the torque amount is obtained by decreasing the assist rate or increasing the load factor. When tired, the torque information is obtained by increasing the assist rate or decreasing the load rate.
Moreover, you may add the menu determined from biometric information (step S102-K2).

When the menu to be acquired from the biological information displayed on the display unit 805 is selected (step S102-K2), the processing unit 803 that has received the information transmits the biological body held by the driver via the wireless transmission / reception unit 802. An inquiry is made for information, and biometric information is acquired (step S102-K3). For example, if a device worn by the driver and acquiring biometric information (pulse, correspondence, etc.) can be responded wirelessly or directly via a server, Based on the response information, the processing unit 803 determines torque information based on the assist rate or the load rate based on a predefined database of the application stored in the memory 804 (step S102-K4).
If the biometric information cannot be obtained even if the menu acquired from the biometric information is selected, the processing unit causes the display unit 805 to redisplay the menu indicating that the physical condition is good, normal, or tired.

The manual mode in step S102 of FIG. 5 determines torque information based on the assist rate or the load rate in the direct assist mode or the training mode.
The constant mode in step S102 in FIG. 5 is to make the torque generated by the drive unit 5 constant when the driver depresses the pedal. When the amount of torque is small, it becomes an assist, and when it is large, it becomes a load.
In this case, the torque amount input by the driver to the display unit 805 is output to the control circuit 10 via the processing unit 803 and the output unit 806.
In the constant mode, the motors 2a and 2b always assist when the torque of the drive unit 5 by sufficiently pedaling is small, and when the torque is sufficiently large, the motors 2a and 2b are loaded, but the normal speed of the bicycle increases. Accordingly, since the torque required for the drive unit 5 for pedaling increases, for example, when the torque required for traveling at 10 km / h is set, the motors 2a and 2b are loaded when the speed is less than 10 km / h, and 10 km / h or more Then, the motors 2a and 2b can be set to always assist.

The simulation mode in step S102 of FIG. 5 will be described.
The simulation mode is a mode that regulates a torque amount according to a certain distance. For example, when traveling 10 km, 5 km can determine the assist mode, and the remaining 5 km can determine the training mode. It is also possible to set a torque amount according to the undulations of a famous bicycle race course or marathon course.

FIG. 6 is a flowchart when the simulation mode in the first embodiment is selected.
First, in step S102-S1 in FIG. 6, when the simulation mode is selected from the detailed menu selection modes displayed on the display unit 805, the processing unit 803 that has received the simulation mode information receives details of the simulation mode from the memory 804. Menu information is obtained and displayed on the display unit 805 (steps S102 to S2 in FIG. 6). If the detailed menu information in the simulation mode is already stored in the memory 804, the processing unit 803 sets the torque amount based on the detailed menu information in the memory 804. If not stored in the memory 804, the processing unit 803 obtains distance and altitude information from a map site or the like for detailed menu information (course information) via the wireless transceiver 802 (steps S102 to S2 in FIG. 6). ). The processing unit 803 determines a torque amount corresponding to the course undulation from the distance and altitude information.

Next, input of the destination in step S103 in FIG. 5 will be described.
When the detailed menu selection mode is terminated on the display unit 805, a destination is next selected (steps S103 to S1 in FIG. 6). If this step is unnecessary, it may be skipped. The case where a destination is selected will be described below.
In advance, the processing unit 803 obtains current location information from the GPS receiver 801 (steps S103 to S2 in FIG. 6). Next, the processing unit 803 displays the map information stored in the memory 804 in advance on the display unit 805 and also displays the current value on the map. If there is no map information stored in the memory 804, the processing unit 803 obtains map site information via the wireless transceiver 802 (steps S103-S3 in FIG. 6). The processing unit 803 requests the display unit 805 to display the map site information and the current value information together with the current value information, or to display the map site with the current value together with the current value information. May be displayed (steps S103 to S4 in FIG. 6).

  Next, a destination is selected from the map displayed on the display unit 805 (steps S103 to S5 in FIG. 6). If the display unit 805 is displayed on the touch panel, the driver can select the destination only by touching the destination on the map displayed on the display unit 805. From the selected destination position, the processing unit 803 accesses the map information via the memory 804 or the wireless transceiver 802 to obtain position information, route information, information about the gradient in the route or altitude on the route. The obtained information is displayed on the display unit 805 (steps S103 to S6 in FIG. 6).

Finally, step S104 will be described.
When the travel is started, the control circuit 10 determines the assist amounts of the motor 2a and the motor 2b based on the torque amount input from the output unit 806 of the information terminal 8 and the torque amount of the drive unit 5 by the driver stroking the pedal. decide.
At that time, when the simulation mode is selected on the display unit S102, the processing unit 803 sequentially requests the GPS receiver 801 to obtain position information. The processing unit 803 calculates a travel distance from the difference between the position information obtained from the GPS receiver 803 and the position information at the start of travel (step S104-S1 in FIG. 6). Then, the processing unit 803 determines torque information based on the calculated travel distance and gradient information based on the distance from the start of the course selected in the simulation mode (steps S104 to S2 in FIG. 6). The determined torque information is sequentially sent to the control circuit 10 via the output unit 806.
Therefore, the control circuit 10 controls the motors 2a and 2b based on the assist or load based on the torque information updated sequentially.

  Accordingly, the motor-equipped bicycle according to the present invention includes the motors 2a and 2b that apply assist or load to the left front wheel 1a and the right front wheel 1b, the battery that transfers power to and from the motors 2a and 2b, and the left front wheel 1a. And the handle 3 for determining the direction of the right front wheel 1b, the rear wheel 6, the transmission means for transmitting the driving force to the rear wheel 6, the drive unit 5 for transmitting the driving force to the transmission unit, Based on the torque sensor 11 that measures torque, the information terminal 8 that determines torque information that is the amount of torque that the driver gives to the drive unit 5, the torque information from the information terminal 8, and the torque value of the torque sensor 11 A control circuit 10 for controlling the motors 2a and 2b. The control circuit 10 supplies power to the motors 2a and 2b based on the difference between the torque information from the information terminal 8 and the torque value of the torque sensor 11. Either deliver assisted, by controlling whether to the motor 2a, to generate electricity 2b load, the torque generated in the drive unit by a force pedaling can be made to be a desired torque.

  Further, the torque information can be set as a fixed value or an assist rate or a load factor based on torque information from the torque sensor 11 when not assisting. In particular, in the case of a fixed value, the motor can be switched between load and assist according to the speed and gradient.

  In addition, the information terminal 8 can set torque amount according to the undulation of a famous bicycle race course or marathon course, for example, by transmitting torque information according to the distance from the departure value to the control circuit 10. it can. In particular, when the simulation mode is set on a flat land, the load is suddenly applied. Therefore, the fall can be suppressed by making the front wheels two.

1a left front wheel 1b right front wheel 2a motor 2b motor 3 handle 4 frame 5 drive unit including pedal 6 rear wheel 7 saddle
8 Information terminal 9 Battery 10 Control circuit 11 Torque sensor 12 Shaft 801 GPS receiver 802 Wireless transceiver 803 Processing unit 804 Memory 805 Display unit 806 Output unit

Claims (1)

Each motor that applies assist or load to the left front wheel and the right front wheel;
A battery for transferring power to and from each of the motors;
A handle for determining a direction of the left front wheel and the right front wheel;
The rear wheel,
A transmission means for transmitting a driving force to the rear wheel;
A drive unit for transmitting a driving force to the transmission means;
A torque sensor for measuring the torque of the drive unit;
An information terminal for determining torque information given to the drive unit by the driver;
A control circuit for controlling whether to supply and assist each motor based on the torque information from the information terminal and the torque value of the torque sensor, or to control each motor to generate power and load;
With
The information terminal, based on the map information having the altitude information, transmits the torque information according to the distance from the starting point in the course with undulations to the control circuit,
The control circuit, when one of the front left wheel or the right front wheel is floated on the ground is characterized by increasing the assist amount of the left front wheel or the front right wheel is the other irrespective of the torque information Bicycle with motor.

Images