制7 九、發明說明： 【發明所屬之技術領域】 _本===，_有關" 5【先前技術】 習知電動助力自行車不同 行車之設計目的並非代替騎動代步車電動助力自 助騎乘老/阳乘者提供動力’其目的在於輔 十你η 力較大的騎乘環境適時地補償助力，例如： ⑴==使期間進行助力補償，藉以增加騎乘者在 f仏的舒縣，同時也㈣了騎乘者以自身力量騎乘的 =寻自行車的運作原理係經由多數感測 鍉供扭力’藉以達到助力補償之目的。 ，違 敘述:ί閱者】:::助力自行車的助力補償方式 -助力補償，即助力ί:用^該馬達依-常數Κ提供 力產生者踏力Χ常數Κ;當使用者無踏 使用者自ϋ定。,不提供助力補償；其中’該常數Κ係由 。-固3值==定依個人需求而有所不同，並無 發生下列情I 調整；若該常數〖設定不當，則會 二則無法有效提供助力補償。 n S定過高’則會因助力補償過度而致 1375637 使^體所^受到的阻力感過低；換言之，騎 =身力量騎乘自行車的感覺’進而降低 ‘ 有耗能的祕心，也會減似'要㈣能消耗，具 ^此’在如者不清楚貞載大小的情卿 難直接調整該常數κ而得到適當的助力補償；如 到路面變化以及個人需求等如果再考慮 定· L 素要調整該常數Κ具有— 疋的難度’換S之’習知電動助力自行車 便的缺點。 具有使用不方 綜上所陳，習知電動助力自行車之助力 上述之缺失而有待改進。 貝方法具有 【發明内容】 15 本發明之主要目的在於提供一種電動助力 力補償方法，其能夠主動推得—負載值而 ^助 償的大小，具有使用方便之特色。 _助力補 本發明之次-目的在於提供一種電動助力自 力補償方法，其能夠即_有效地提供適#助力 ^ 20 少電能的浪費，具有助力補償效果較佳以及節能之特^减 為達成上述目的，本發明所提供一種電動助力自 之助力補償方法，⑦含下列步驟：a)利用—扭力感 ^ 偵測該電動助力自行車之踏板輸出的扭力大小.利; 達轉速感測II ’以_該電動助力自行車之馬達 = 速；利用一輪速感測器，以偵測該電動助力自行車2車= (S ) 5 的轉速；b)利用—處理器依據上述資 處理器以該負載值為參考值，再控制 述步：此=明電動，自行車之助力補償方法透過上 態，進^^主動推付#負载值而調節該馬達的輸出狀 i估用士 _節助力補償的大小；其相較於習用者，具 便之特色。再者，本發明能夠㈣且有效地提供 助：上，同時減少電能的浪費；其相較於習用者，具有 補償效果較佳以及節能之特色。 【貫施方式】 為了詳細說明本發明之特徵及功效所在，茲舉以下較 佳實施例並配合圖式說明如後，其中： 第一圖為本發明一較佳實施例之步驟流程圖。 第一圖為本發明一較佳實施例之架構示意圖。 第二圖為本發明一較佳實施例之踩踏狀態示意圖，主 要揭不騎乘者於踩踏狀態的出力情形。 第四圖為本發明一較佳實施例之第一模式的流程圖。 第五圖為本發明一較佳實施例之馬達的出力示意圖， 主要揭示馬達於第一模式的助力補償情形。 第六圖為本發明一較佳實施例之第二模式的流程圖。 第七圖為本發明一較佳實施例之馬達的出力示意圖， 主要揭示馬達於第二模式的助力補償情形。 第八圖為本發明一較佳實施例之助力補償比較圖，主 要揭示第-模式、第二模式及f知者於助力補償時的差異 β >閱第圖至第二圖’其為本發明—較佳實施例所 提供-種電_力自行車之助力補償方法，包含下列步驟： a) 利用一扭力感測器⑽，用以偵測一電動助力自行車 (圖未示)之踏板輸出的扭力大小；利用―馬達轉速感測器 (20)，用則貞測該電動助力自行車之馬達⑴的輸出轉速； 本實施例中’該馬達⑴為直流馬達，在此僅為舉例說明， 並非作為限制要件；利用—輪速感測器(3())，用㈣測該電 動助力自行車之車輪(2)的轉速。 b) 利用一處理器（40)依據上述資訊推算而得到一負載 值；由於，扭力感測器⑽、該馬達轉速感測器⑽以及該 輪速感測器(30)為持續性偵測，使該負載值能夠因應騎乘者 的騎乘狀況以及路面狀況的變化而持續更新；本實施例中 所提供該負载值’在此僅為舉例說明，並非作為限制要件。 c) 該處理器(40)以該負載值為參考值，再主動控制該馬 達進行助力補償；本實施例中，該處理器(4〇)經由一驅動模 組(50)驅動該馬達(1) ’在此僅為舉例說明，並非作為限制 要件；該處理器(40)内建有一第一模式(6〇)以及一第二模式 (62)，以供騎乘者選擇；該處理器(4〇)以該第一模式(6…與 該第二模式(62)之中被選擇者進行助力補償：其中，該第一 模式(60)與該第二模式(62)的說明如下： 请配合參閱第四圖及第五圖，當騎乘者選擇該第 一模式(60)，該處理器(40)的處理程序如下： cl)利用該負載值推算而得到—常數，該常數會依 據該負載值變化而改變；換言之，該常數並非經由騎 乘者設定； 切當騎乘者的踩踏力4大於該負載值，該馬達⑴ 則依據遠常數輪出助力；當騎乘者的踩踏力量小於該 負載值’該馬達(1)則不輸出助力。 藉此，該常數能夠因應騎乘者的使用狀態而主動 調整該馬達⑴輸出；^夠助力，具有助力補償效果較佳 之特色再者，本實施例經由殘餘的少量負載形成使 人體能夠感受到的阻力感；換言之，騎乘者能夠有以 自身力量騎乘自行車的感覺，其相較於㈣者，本實 施例提高了騎乘的樂趣。 _再凊配合參㈣六圖及第七圖，當騎乘者選擇該 第二模式(62)，該處理器(40)的處理程序如下： c3)利用該扭力感測器（10)取得一扭力值； c4)騎乘者的踩踏力量增加即視為該扭力值辦 加；當該扭力值大於零，該馬達⑴輸出助力隨該扭力曰 值增加而增加；本實關中，該馬達⑴輪出助力與該 扭力值呈線性關係，在此僅為舉例說明，並非作為限 制要件；當該扭力值等於零，該馬達⑴則不輸出助力: 藉此，本實施例能夠直接利用該扭力值反映騎乘 者的使用狀態’此種方式相較於該第一模式(6〇)利用該 負載值推算者’該第二模式(62)更能夠即時因應騎乘者X 的使用狀態而進行補償；如第七圖所示，該第二模 1375637System 7 IX, invention description: [Technical field of invention] _ this ===, _ related " 5 [prior art] The purpose of the different electric bicycles is not to replace the riding scooter electric assist self-ride The old/positive passengers provide power. The purpose is to compensate the assisting force in a timely riding environment with a large force. For example: (1) == Make the assist compensation during the period, so as to increase the rider’s Shuxian in f仏. At the same time, (4) the rider rides with his own strength = the principle of finding a bicycle is based on the majority of the sense of torque supply to achieve the purpose of assist compensation. , violation of the narrative: _reader]::: power assisted bicycle compensation method - assist compensation, that is, power ί: use the motor according to the constant Κ constant force 踏 Χ constant Κ; when the user does not step on the user Set. , no power compensation is provided; where 'the constant is determined by . - Solid 3 value == will vary according to individual needs, and the following situation I adjustment does not occur; if the constant is not set properly, then the second will not effectively provide assistance compensation. If n S is too high, it will cause the resistance of the body to be too low due to excessive compensation. In other words, the feeling of riding the body and riding the bicycle 'reduced' the energy-conscious secret, also It will be reduced to 'I want (4) to be able to consume, and if this is not clear, the size of the lover is difficult to directly adjust the constant κ and get appropriate assistance compensation; if the road changes and personal needs, etc. L is to adjust the constant Κ has the disadvantage of — 换 换 换 习 习 习 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动. With the use of the incomprehensible, the power of the conventional electric assist bicycle has been improved and needs to be improved. The present invention has a main object of the present invention to provide an electric assisting force compensating method which is capable of actively pushing a load value and a compensating size, and has the characteristics of being convenient to use. _Assisting to supplement the invention - the purpose is to provide an electric assist self-reliance method, which can effectively provide the power of the electric power, the power compensation, and the energy saving. OBJECTS OF THE INVENTION The present invention provides an electric assist self-assisted compensation method, 7 comprising the following steps: a) utilizing the torque sense ^ to detect the torque output of the electric assist bicycle pedal output. Li; the speed sensing II 'to _ The motor of the electric assist bicycle = speed; using a wheel speed sensor to detect the speed of the electric bicycle 2 (=) 5; b) utilizing the processor according to the load processor Value, then control step: This = Ming electric, bicycle power compensation method through the upper state, into the ^ ^ active push to pay the load value and adjust the output of the motor i estimate the size of the use of the _ section of the power compensation; Compared with the learner, it has a special feature. Furthermore, the present invention can (4) effectively provide support: while reducing waste of electrical energy; it has better compensation effects and energy saving characteristics than the conventional one. The following is a detailed description of the features and advantages of the present invention. The first figure is a schematic diagram of the architecture of a preferred embodiment of the present invention. The second figure is a schematic view of a stepping state according to a preferred embodiment of the present invention, which mainly reveals the situation of the rider's output in the state of stepping on. The fourth figure is a flow chart of a first mode of a preferred embodiment of the present invention. The fifth figure is a schematic diagram of the output of the motor according to a preferred embodiment of the present invention, and mainly discloses the assist compensation situation of the motor in the first mode. Figure 6 is a flow chart of a second mode of a preferred embodiment of the present invention. The seventh figure is a schematic diagram of the output of the motor according to a preferred embodiment of the present invention, and mainly discloses the assist compensation situation of the motor in the second mode. FIG. 8 is a comparison diagram of the assist compensation according to a preferred embodiment of the present invention, mainly showing the difference between the first mode, the second mode, and the helper in the assist compensation; FIG. 2 to FIG. The invention provides a power compensation method for a bicycle, comprising the following steps: a) using a torque sensor (10) for detecting the pedal output of an electric assist bicycle (not shown) The torque is used; the motor speed sensor (20) is used to measure the output speed of the motor (1) of the electric assist bicycle; in this embodiment, the motor (1) is a DC motor, which is merely illustrative and not limiting. The speed of the wheel (2) of the electric assist bicycle is measured by (4) using the wheel speed sensor (3 ()). b) using a processor (40) to derive a load value based on the above information; since the torsion sensor (10), the motor speed sensor (10), and the wheel speed sensor (30) are continuous detection, The load value can be continuously updated in response to the rider's riding condition and the change of the road surface condition; the load value provided in the present embodiment is merely an example and is not a limitation. c) The processor (40) uses the load value as a reference value, and then actively controls the motor to perform power compensation; in this embodiment, the processor (4〇) drives the motor via a driving module (50) (1) ' is merely an example here, not as a limitation; the processor (40) has a first mode (6〇) and a second mode (62) built in for the rider to select; the processor ( 4)) assisting the selected one of the first mode (6... and the second mode (62): wherein the first mode (60) and the second mode (62) are as follows: Referring to the fourth and fifth figures, when the rider selects the first mode (60), the processing procedure of the processor (40) is as follows: cl) using the load value to derive a constant, the constant will be based on The load value changes and changes; in other words, the constant is not set by the rider; when the rider's pedaling force 4 is greater than the load value, the motor (1) rotates according to the far constant; when the rider's pedaling force Less than the load value 'The motor (1) does not output boost. Thereby, the constant can actively adjust the output of the motor (1) according to the state of use of the rider; ^ is sufficient for assistance, and has the advantage of better assisting compensation effect. Furthermore, the present embodiment is formed by the residual small amount of load to make the human body feel The feeling of resistance; in other words, the rider can have the feeling of riding the bicycle with his own strength, which is better than the (four), the embodiment improves the riding pleasure. _ 凊 凊 参 ( 四 四 四 四 四 四 四 四 四 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Torque value; c4) The rider's pedaling force is increased as the torque value; when the torque value is greater than zero, the motor (1) output assist increases as the torque 曰 value increases; in the actual close, the motor (1) wheel The assisting force has a linear relationship with the torque value, which is merely an example and is not a limiting element; when the torque value is equal to zero, the motor (1) does not output the assisting force: thereby, the present embodiment can directly utilize the torque value to reflect the riding. The use state of the occupant is such that the second mode (62) is more capable of compensating for the use state of the rider X in comparison with the first mode (6 〇) using the load value estimator; The seventh figure shows the second mode 1375637
10 供，力補償，具有助力補償效果較佳之特色。再者， 該第二模式(62)相較於該第一模式(60)較不易產生多 餘的助力，進而使人體能夠感受到的阻力感與實際阻 力，化較為—致；換言之，魏者同樣能财以自身 力量騎乘自行車的感覺而保留騎乘的樂趣。 (62)忐夠在起步時提供較大的助力而利於該電動助力 自行車前進；換言之，該第二模式(62)的助力補償方式 近似於騎乘者的踩踏狀態，該馬達⑴能夠更有效地提 睛參閱第八圖，本實施例之該第一模式⑽能夠改善助 力過度補償的問題’進而減少電能的浪費；其相教於習知 者，具有助力補償效果較佳以及節能之特色。再者，'° 施例之該第二模式(62)’由於該電動助力自行車於騎乘期二 已經帶有加速度’該電動助力自行車對於助力的; 降，該第二模式(62)能夠因應此種情形而調節助力補償 樣具有助力補償效果較佳以及節能之特色。 α 綜上贿，本實施例透過上述步驟，其能夠 該負載值_軸騎⑴的輸域f^ 補償的大小；其相較於制者，具有使財便10 supply, force compensation, with the characteristics of better compensation effect. Furthermore, the second mode (62) is less prone to generate extra help than the first mode (60), so that the sense of resistance and actual resistance that the human body can feel is more versatile; in other words, Wei is the same I am able to ride the bicycle with my own strength and retain the fun of riding. (62) It is sufficient to provide greater assistance at the start to facilitate the advancement of the electric assist bicycle; in other words, the assist compensation method of the second mode (62) approximates the pedaling state of the rider, and the motor (1) can be more effectively Referring to the eighth figure, the first mode (10) of the present embodiment can improve the problem of over-compensation of power assisting, thereby reducing the waste of electric energy; it is taught by the prior art, and has the advantages of better compensation effect and energy saving. Furthermore, the second mode of the '° example (62) 'because the electric assisted bicycle has an acceleration during the riding period 2', the electric assisted bicycle is assisted; and the second mode (62) can respond In this case, the adjustment of the assist compensation sample has the characteristics of better compensation effect and energy saving. According to the above steps, the embodiment can achieve the load value _ axle ride (1) of the transmission domain f ^ compensation size; compared with the maker, has a financial
者，本發夠即軌有效地提供適當助力時U 節能之特色。 〜㈣力_效果較佳以及 9 20 【圖式簡單說明】 第一圖為本發明一較佳實施例之步驟流程圖。 第二圖為本發明一較佳實施例之架構示意圖。 第二圖為本發明一較佳實施例之踩踏狀態示意圖，主 要揭示騎乘者於踩踏狀態的出力情形。 第四圖為本發明一較佳實施例之第一模式的流程圖。 第五圖為本發明一較佳實施例之馬達的出力示意圖，In this case, this is a feature that U can save energy when it is effective to provide proper boost. ~ (4) Force_Effective and 9 20 [Simple Description of the Drawings] The first figure is a flow chart of the steps of a preferred embodiment of the present invention. The second figure is a schematic diagram of the architecture of a preferred embodiment of the present invention. The second figure is a schematic view of a stepping state according to a preferred embodiment of the present invention, which mainly discloses the situation of the rider's output in the state of stepping on. The fourth figure is a flow chart of a first mode of a preferred embodiment of the present invention. Figure 5 is a schematic view showing the output of a motor according to a preferred embodiment of the present invention.
第六圖為本發明一較佳實施例之第二模式的流程圖。 第七圖為本發明一較佳實施例之馬達的出力示意圖， 主要揭不馬達於第二模式的助力補償情形。 第八圖為本發明—較佳實施例之助力補償比較圖，主 要揭不第-模式、第二模式及習知者於助力補償時的差異 第九圖為習知補償方法之馬達的出力示意圖，主要揭 示馬達的助力補償情形。 【主要元件符號說明】 馬達(1) 扭力感測器（10) 輪速感測器(30) 驅動模組(50) 第二模式(62) 車輪(2) 馬達轉速感測器(20) 處理器(40) 第一模式(60)Figure 6 is a flow chart of a second mode of a preferred embodiment of the present invention. The seventh figure is a schematic diagram of the output of the motor according to a preferred embodiment of the present invention, which mainly discloses the assist compensation situation of the motor in the second mode. Figure 8 is a comparison diagram of the assist compensation of the preferred embodiment of the present invention, mainly showing the difference between the first mode, the second mode, and the prior art in the assist compensation. The ninth figure is the schematic diagram of the output of the motor of the conventional compensation method. It mainly reveals the power compensation situation of the motor. [Main component symbol description] Motor (1) Torque sensor (10) Wheel speed sensor (30) Drive module (50) Second mode (62) Wheel (2) Motor speed sensor (20) Processing (40) first mode (60)