TWI532643B - Bicycle automatic transmission system - Google Patents
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- TWI532643B TWI532643B TW103102433A TW103102433A TWI532643B TW I532643 B TWI532643 B TW I532643B TW 103102433 A TW103102433 A TW 103102433A TW 103102433 A TW103102433 A TW 103102433A TW I532643 B TWI532643 B TW I532643B
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Description
本發明是有關於一種自行車自動變速系統，特別是有關於一種應用概率密度函數演算法之自行車自動變速系統。 The present invention relates to an automatic bicycle shifting system, and more particularly to an automatic bicycle shifting system using a probability density function algorithm.
於現今這個緊張忙碌的社會中，各行各業之競爭日益增加，人們的壓力亦日益增加，若不適當地釋放壓力，將損耗掉人們之健康。因此，現今之人們藉由休閒娛樂活動以釋放日常生活中之壓力。其中，騎車兜風亦是一種常見之休閒娛樂活動。此外，現今社會中之油價高漲，愈來愈多之人們紛紛選擇騎乘自行車以替代需耗油之機車或轎車。 In today's busy and busy society, competition in all walks of life is increasing, and people's pressure is increasing. If pressure is not properly released, people's health will be lost. Therefore, today's people use leisure and entertainment activities to release the pressure of daily life. Among them, cycling is also a common leisure and entertainment activity. In addition, the price of oil in today's society is soaring, and more and more people are choosing to ride bicycles instead of locomotives or cars that consume fuel.
然而，一般變速自行車僅提供手動變檔速裝置，且因應不同之地形及速度，會有不同之最佳檔位。但如果騎乘者為初學者或是不熟悉路況之騎乘者，則其不容易手動地將變檔速裝置調整為最佳之檔位，容易造成騎乘上之不便。 However, general variable speed bicycles only provide manual variable speed devices, and depending on the terrain and speed, there will be different optimal gear positions. However, if the rider is a beginner or a rider who is not familiar with the road conditions, it is not easy to manually adjust the variable speed device to the optimal gear position, which is liable to cause inconvenience in riding.
有鑑於上述習知技藝之問題，本發明之目的就是在提供一種自行車自動變速系統，使得自行車可因應不同之地形、騎乘者之狀況及自行車之速度而智慧型地自動變速，藉以節省騎乘者 之體力以及使得騎乘者得到較多之快樂及便利性。 In view of the above-mentioned problems of the prior art, the object of the present invention is to provide an automatic bicycle shifting system, which enables the bicycle to automatically shift gears in response to different terrains, riders' conditions and bicycle speeds, thereby saving rides. By The physical strength and the rider get more happiness and convenience.
為達上述目的，本發明提供一種自行車自動變速系統， 設置於自行車上，本發明之自行車自動變速系統包含：車輪轉速感測器，設置於自行車之輪軸上，此車輪轉速感測器感測自行車之車輪轉速資訊；曲柄軸轉速感測器，設置於自行車之曲柄軸上，此曲柄軸轉速感測器感測曲柄軸之曲柄軸轉速資訊；處理器，電性連接車輪轉速感測器及曲柄軸轉速感測器，以接收車輪轉速資訊及曲柄軸轉速資訊，此處理器利用一概率密度函數演算法對車輪轉速資訊及曲柄軸轉速資訊進行運算動作，藉以得到自行車之最佳檔位；以及電子變速機構，設置於自行車之後輪上且電性連接處理器，此電子變速機構變更自行車之現行檔位為最佳檔位，以自動變速自行車。 In order to achieve the above object, the present invention provides an automatic bicycle shifting system, The bicycle automatic shifting system of the present invention comprises: a wheel speed sensor disposed on the axle of the bicycle, the wheel speed sensor sensing the wheel speed information of the bicycle; the crankshaft speed sensor is disposed on the On the crankshaft of the bicycle, the crankshaft speed sensor senses the crankshaft speed information of the crankshaft; the processor electrically connects the wheel speed sensor and the crankshaft speed sensor to receive the wheel speed information and the crankshaft Speed information, the processor uses a probability density function algorithm to calculate the wheel speed information and the crankshaft speed information to obtain the optimal gear position of the bicycle; and the electronic shifting mechanism is disposed on the rear wheel of the bicycle and electrically connected The processor, the electronic shifting mechanism changes the current gear position of the bicycle to the optimal gear position to automatically shift the bicycle.
其中，本發明之自行車自動變速系統更可包含扭力感測 器，設置於自行車之大齒盤中且電性連接處理器，此扭力感測器感測自行車之曲柄扭力資訊，而處理器更可利用概率密度函數演算法對曲柄扭力資訊進行運算動作以進一步調整自行車之最佳檔位。 Wherein, the bicycle automatic shifting system of the present invention can further include torque sensing The device is disposed in the large toothed disc of the bicycle and electrically connected to the processor. The torque sensor senses the crank torque information of the bicycle, and the processor can further calculate the crank torque information by using a probability density function algorithm to further Adjust the best gear for your bike.
其中，電子變速機構可具有伺服馬達，處理器根據所得 之最佳檔位以控制伺服馬達之脈波寬度，使得電子變速機構自動變更現行檔位為最佳檔位。 Wherein, the electronic shifting mechanism can have a servo motor, and the processor is based on the The optimal gear position controls the pulse width of the servo motor, so that the electronic shifting mechanism automatically changes the current gear position to the optimal gear position.
其中，處理器具有相互電性連接之概率密度計算模組及 脈衝寬度調變模組，此概率密度計算模組利用概率密度函數演算法對車輪轉速資訊及曲柄軸轉速資訊進行運算動作。而脈衝寬度調變模組依據概率密度計算模組所得之最佳檔位，控制伺服馬達 之脈波寬度，藉以使得電子變速機構變更現行檔位為最佳檔位。 Wherein, the processor has a probability density calculation module electrically connected to each other and The pulse width modulation module uses the probability density function algorithm to calculate the wheel speed information and the crankshaft speed information. The pulse width modulation module controls the servo motor according to the optimal gear position obtained by the probability density calculation module. The pulse width is such that the electronic shifting mechanism changes the current gear position to the optimal gear position.
其中，本發明之自行車自動變速系統更可包含開關裝置，電性連接處理器、車輪轉速感測器及曲柄軸轉速感測器以開啟或關閉處理器、車輪轉速感測器及曲柄軸轉速感測器。 Wherein, the bicycle automatic shifting system of the present invention may further comprise a switching device electrically connected to the processor, the wheel speed sensor and the crankshaft speed sensor to turn on or off the processor, the wheel speed sensor and the crankshaft speed sense Detector.
其中，本發明之自行車自動變速系統更可包含手動換檔裝置，設置於自行車之把手上且連接電子變速機構，用以使得電子變速機構依據手動換檔裝置提供之訊息而變更自行車之現行檔位。 The bicycle automatic shifting system of the present invention may further comprise a manual shifting device disposed on the handle of the bicycle and connected to the electronic shifting mechanism for causing the electronic shifting mechanism to change the current gear position of the bicycle according to the information provided by the manual shifting device. .
其中，本發明之自行車自動變速系統更可包含傳輸裝置，電性連接處理器、車輪轉速感測器、曲柄軸轉速感測器及電子變速機構，處理器藉由傳輸裝置以接收車輪轉速資訊及曲柄軸轉速資訊以及傳送最佳檔位之資訊至電子變速機構。其中，傳輸裝置可為藍芽傳輸裝置。 The bicycle automatic transmission system of the present invention may further comprise a transmission device, an electrical connection processor, a wheel speed sensor, a crankshaft speed sensor and an electronic shifting mechanism, and the processor receives the wheel speed information by using the transmission device. Information on the crankshaft speed and information on the best gear to the electronic shifting mechanism. Wherein, the transmission device can be a Bluetooth transmission device.
其中，車輪轉速感測器可為霍爾元件轉速感測器。 Wherein, the wheel speed sensor can be a Hall element speed sensor.
其中，曲柄軸轉速感測器可為紅外線轉速感測器。 Wherein, the crankshaft speed sensor can be an infrared speed sensor.
因此，依本發明之自行車自動變速系統，可具有一或多個下述優點： Therefore, the bicycle automatic shifting system according to the present invention may have one or more of the following advantages:
(1)藉由車輪轉速感測器及曲柄軸轉速感測器，藉以感測自行車之速度。 (1) The speed of the bicycle is sensed by the wheel speed sensor and the crankshaft speed sensor.
(2)藉由處理器利用概率密度函數演算法對車輪轉速資訊及曲柄軸轉速資訊進行運算動作，藉以得到自行車之最佳檔位。 (2) The processor uses the probability density function algorithm to calculate the wheel speed information and the crankshaft speed information, so as to obtain the optimal gear position of the bicycle.
(3)藉由處理器利用概率密度函數演算法進行運算動 作，藉以使得所得之最佳檔位較為精準。 (3) The operation is performed by the processor using the probability density function algorithm In order to make the best gears obtained more accurate.
(4)藉由電子變速機構利用處理器所得之最佳檔位以自動調整現行檔位為此最佳檔位，藉以達到自動變速自行車之功能。 (4) The electronic gear shifting mechanism utilizes the optimal gear position obtained by the processor to automatically adjust the current gear position to the optimal gear position, thereby achieving the function of the automatic shifting bicycle.
100‧‧‧自行車自動變速系統 100‧‧‧Bicycle automatic transmission system
110‧‧‧車輪轉速感測器 110‧‧‧Wheel speed sensor
120‧‧‧曲柄軸轉速感測器 120‧‧‧ crankshaft speed sensor
130‧‧‧處理器 130‧‧‧Processor
131‧‧‧概率密度計算模組 131‧‧‧Probability Density Computing Module
132‧‧‧脈衝寬度調變模組 132‧‧‧ pulse width modulation module
140‧‧‧電子變速機構 140‧‧‧Electronic shifting mechanism
141‧‧‧伺服馬達 141‧‧‧Servo motor
150‧‧‧扭力感測器 150‧‧‧Torque sensor
160‧‧‧開關裝置 160‧‧‧Switching device
170‧‧‧手動換檔裝置 170‧‧‧Manual shifting device
180‧‧‧傳輸裝置 180‧‧‧Transportation device
200‧‧‧自行車 200‧‧‧Bicycle
210‧‧‧輪軸 210‧‧‧Axle
220‧‧‧曲柄軸 220‧‧‧ crankshaft
230‧‧‧後車輪 230‧‧‧ rear wheel
240‧‧‧大齒盤 240‧‧‧Spindle
250‧‧‧把手 250‧‧‧Handle
300‧‧‧手持裝置 300‧‧‧Handheld devices
901-907‧‧‧步驟 901-907‧‧‧Steps
第1圖係為本發明之自行車自動變速系統之結構示意圖。 Figure 1 is a schematic view showing the structure of the bicycle automatic shifting system of the present invention.
第2圖係為本發明之自行車自動變速系統之系統方塊圖。 Figure 2 is a block diagram of the system of the bicycle automatic shifting system of the present invention.
第3圖係為本發明之自行車自動變速系統之運作流程圖。 Figure 3 is a flow chart showing the operation of the automatic bicycle shifting system of the present invention.
請參閱第1圖至第2圖，第1圖係為本發明之自行車自動變速系統之結構示意圖，第2圖係為本發明之自行車自動變速系統之系統方塊圖。如第1圖至第2圖所示，本發明之自行車自動變速系統100係設置於自行車200上，本發明之自行車自動變速系統100包含車輪轉速感測器110、曲柄軸轉速感測器120、處理器130以及電子變速機構140。 Please refer to FIG. 1 to FIG. 2 . FIG. 1 is a schematic structural view of an automatic bicycle shifting system according to the present invention, and FIG. 2 is a system block diagram of the bicycle automatic shifting system of the present invention. As shown in FIGS. 1 to 2, the bicycle automatic transmission system 100 of the present invention is disposed on a bicycle 200. The bicycle automatic transmission system 100 of the present invention includes a wheel speed sensor 110, a crankshaft speed sensor 120, The processor 130 and the electronic shifting mechanism 140.
其中，車輪轉速感測器110設置於自行車200之輪軸210上，且車輪轉速感測器110感測自行車200之車輪轉速資訊。舉例而言，車輪轉速感測器110可例如為霍爾元件轉速感測器，且設置於自行車200之前車輪或後車輪230之輪軸上，藉以使得霍爾元件轉速感測器可感測前車輪或後車輪230之轉動圈數，並進 而可計算出前車輪或後車輪230之轉動速度以作為自行車200之車輪轉速資訊。而曲柄軸轉速感測器120係設置於自行車200之曲柄軸220上，且曲柄軸轉速感測器120感測曲柄軸220之曲柄軸轉速資訊。舉例而言，曲柄軸轉速感測器120可例如為紅外線轉速感測器，藉以感測曲柄軸220之轉動速度以作為曲柄軸轉速資訊。 The wheel speed sensor 110 is disposed on the axle 210 of the bicycle 200, and the wheel speed sensor 110 senses the wheel speed information of the bicycle 200. For example, the wheel speed sensor 110 can be, for example, a Hall element speed sensor and disposed on the axle of the front wheel or the rear wheel 230 of the bicycle 200, so that the Hall element speed sensor can sense the front wheel Or the number of turns of the rear wheel 230, and The rotational speed of the front or rear wheel 230 can be calculated as the wheel speed information of the bicycle 200. The crankshaft speed sensor 120 is disposed on the crankshaft 220 of the bicycle 200, and the crankshaft speed sensor 120 senses the crankshaft speed information of the crankshaft 220. For example, the crankshaft speed sensor 120 can be, for example, an infrared speed sensor to sense the rotational speed of the crankshaft 220 as crankshaft rotational speed information.
因此，本發明之自行車自動變速系統100可藉由車輪轉速感測器110及曲柄軸轉速感測器120，藉以感測自行車200之速度。 Therefore, the bicycle automatic transmission system 100 of the present invention can sense the speed of the bicycle 200 by the wheel speed sensor 110 and the crankshaft speed sensor 120.
此外，本發明之自行車自動變速系統100之車輪轉速感測器110及曲柄軸轉速感測器120亦可電性連接手持裝置300，藉以使得手持裝置300可即時顯示車輪轉速資訊及曲柄軸轉速資訊。 In addition, the wheel speed sensor 110 and the crankshaft speed sensor 120 of the bicycle automatic transmission system 100 of the present invention can also be electrically connected to the handheld device 300, so that the handheld device 300 can instantly display the wheel speed information and the crankshaft speed information. .
另外，處理器130電性連接車輪轉速感測器110及曲柄軸轉速感測器120，使得當車輪轉速感測器110感測到自行車200之車輪轉速資訊及/或當曲柄軸轉速感測器120感測到曲柄軸220之曲柄軸轉速資訊後，處理器130可接收到此自行車200目前之車輪轉速資訊及/或曲柄軸轉速資訊。舉例而言，處理器130可設置於自行車200上，且處理器130、車輪轉速感測器110及曲柄軸轉速感測器120均電性連接傳輸裝置180，以使得車輪轉速感測器110及/或曲柄軸轉速感測器120可透過傳輸裝置180將車輪轉速資訊及/或曲柄軸轉速資訊，傳輸至處理器130以使得處理器130可接收車輪轉速資訊及/或曲柄軸轉速資訊。其中，傳輸裝置180可例如為藍牙傳輸裝置，且可設置於自行車200上。除此之外，處理器130亦可透過傳輸裝置180命令車輪轉速感測器110 及曲柄軸轉速感測器120感測車輪轉速資訊及/或曲柄軸轉速資訊，並傳送回感測到之車輪轉速資訊及/或曲柄軸轉速資訊。 In addition, the processor 130 is electrically connected to the wheel speed sensor 110 and the crankshaft speed sensor 120 such that when the wheel speed sensor 110 senses the wheel speed information of the bicycle 200 and/or when the crankshaft speed sensor After sensing the crankshaft rotational speed information of the crankshaft 220, the processor 130 can receive the current wheel speed information and/or the crankshaft rotational speed information of the bicycle 200. For example, the processor 130 can be disposed on the bicycle 200, and the processor 130, the wheel speed sensor 110, and the crankshaft speed sensor 120 are electrically connected to the transmission device 180, so that the wheel speed sensor 110 and The crankshaft speed sensor 120 can transmit wheel speed information and/or crankshaft speed information to the processor 130 via the transmission device 180 to enable the processor 130 to receive wheel speed information and/or crankshaft speed information. The transmission device 180 can be, for example, a Bluetooth transmission device and can be disposed on the bicycle 200. In addition, the processor 130 can also command the wheel speed sensor 110 through the transmission device 180. And the crankshaft speed sensor 120 senses the wheel speed information and/or the crankshaft speed information, and transmits back the sensed wheel speed information and/or the crankshaft speed information.
續言之，當處理器130接收到車輪轉速資訊及/或曲柄軸轉速資訊後，可利用概率密度函數演算法對接收到之車輪轉速資訊及/或曲柄軸轉速資訊進行運算動作，藉以可得到自行車200之最佳檔位。舉例而言，以處理器130接收到車輪轉速資訊為例，由機率定義：
其中，本發明之自行車自動變速系統100所使用之概率密度函數演算法中之機率分布方式可為高斯分布(Gaussian distribution)。其中，高斯機率分布可表示為：
因此，本發明之自行車自動變速系統100所使用之概率密度函數演算法可為
所以，當處理器130接收到車輪轉速感測器110所感測到之車輪轉速資訊後，可將車輪轉速資訊中之車輪轉動速度，以及各個檔位所對應到之車輪轉動速度代入例如為計算式(1)之概率密度函數演算法中，藉以計算各個檔位於目前之車輪轉速資訊之情況下所應對應之機率。之後，處理器130可選擇對應之機率為全部之機率中之最大值的檔位，並將此選擇出的檔位指定為目前自行車200之最佳檔位。 Therefore, when the processor 130 receives the wheel speed information sensed by the wheel speed sensor 110, the wheel rotation speed in the wheel speed information and the wheel rotation speed corresponding to each gear position can be substituted into, for example, a calculation formula. (1) In the probability density function algorithm, the probability that each file is located in the current wheel speed information should be calculated. Thereafter, the processor 130 may select a gear position corresponding to the highest of all the probability, and designate the selected gear as the optimal gear of the current bicycle 200.
此外，處理器130對於曲柄軸轉速資訊的處理可類似於對於車輪轉速資訊的處理。亦即，對於曲柄軸轉速資訊的處理而言，計算式(1)中之x i 為對應符號i的檔位所應對應之曲柄軸轉動速度，x為目前處理器130所接收到之曲柄軸轉動速度，而p(x i )則為基於曲柄軸轉速資訊之對應符號i的檔位所應對應之機率。另外，當處理器130同時接收到車輪轉速資訊及曲柄軸轉速資訊時，亦可各別利用計算式(1)對車輪轉動速度及曲柄軸轉動速度，計算對應符號i的檔位所應對應之機率，再對於每一檔位，將基於車輪轉動速度所對應之機率及基於曲柄軸轉動速度所對應之機率相加或進行運算處理，藉以得到每一檔位之比較數值。之後，處理器130可選擇具有最大之比較數值之檔位為最佳檔位。 Moreover, the processing of the crankshaft speed information by the processor 130 can be similar to the processing of wheel speed information. That is, for the processing of the crankshaft rotational speed information, x i in the formula (1) is the crankshaft rotational speed corresponding to the gear position corresponding to the symbol i, and x is the crankshaft currently received by the processor 130. The rotational speed, and p ( x i ) is the probability that the gear position corresponding to the corresponding symbol i based on the crankshaft rotational speed information should correspond. In addition, when the processor 130 receives the wheel speed information and the crankshaft speed information at the same time, the wheel rotation speed and the crank shaft rotation speed of the calculation formula (1) may be separately used, and the gear position corresponding to the symbol i shall be calculated. Probability, for each gear position, the probability corresponding to the rotational speed of the wheel and the probability corresponding to the rotational speed of the crankshaft are added or calculated, so as to obtain the comparison value of each gear. Thereafter, the processor 130 may select the gear having the largest comparison value as the optimal gear.
因此，本發明之自行車自動變速系統100可藉由處理器130利用概率密度函數演算法，對車輪轉速資訊及曲柄軸轉速資訊進行運算動作，藉以得到自行車200之最佳檔位。除此之外，由於處理器130係利用概率密度函數演算法對接收到之資訊進行運算動作，因此可使得所得之最佳檔位較為精準。 Therefore, the bicycle automatic transmission system 100 of the present invention can perform the operation of the wheel speed information and the crankshaft speed information by the processor 130 using the probability density function algorithm, thereby obtaining the optimal gear position of the bicycle 200. In addition, since the processor 130 uses the probability density function algorithm to perform arithmetic operations on the received information, the optimal gear position obtained can be made more accurate.
另外，電子變速機構140係設置於自行車200之後車輪 230上以變速自行車200。並且，電子變速機構140電性連接處理器130，以使得當處理器130計算出自行車200之最佳檔位後，電子變速機構140可變更自行車200之現行檔位(亦即目前之自行車200之檔位)為最佳檔位，藉以自動變速自行車200。其中，電子變速機構140亦可電性連接傳輸裝置180，以使得處理器130將計算出之最佳檔位轉為一資訊並將此資訊傳輸至電子變速機構140，藉以使得電子變速機構140變更自行車200之現行檔位為接收到之最佳檔位。 In addition, the electronic shifting mechanism 140 is disposed on the wheel behind the bicycle 200 230 on the variable speed bicycle 200. Moreover, the electronic shifting mechanism 140 is electrically connected to the processor 130, so that when the processor 130 calculates the optimal gear position of the bicycle 200, the electronic shifting mechanism 140 can change the current gear position of the bicycle 200 (ie, the current bicycle 200). The gear position is the best gear, and the automatic shift bicycle 200 is used. The electronic shifting mechanism 140 can also be electrically connected to the transmission device 180, so that the processor 130 converts the calculated optimal gear position into a piece of information and transmits the information to the electronic shifting mechanism 140, so that the electronic shifting mechanism 140 is changed. The current gear of the bicycle 200 is the best gear received.
除此之外，當處理器130得到自行車200目前之最佳檔 位後，亦可控制電子變速機構140變更自行車200之現行檔位為處理器130所計算出之最佳檔位。舉例而言，電子變速機構140可例如具有伺服馬達141，使得處理器130可根據得到之最佳檔位而控制伺服馬達141之脈波寬度，藉以使得電子變速機構140變更自行車200之現行檔位為最佳檔位。其中，處理器130可例如具有相互電性連接之概率密度計算模組131及脈衝寬度調變模組132，此概率密度計算模組131係接收車輪轉速感測器110所傳送之車輪轉速資訊及曲柄軸轉速感測器所傳送之曲柄軸轉速資訊，再利用例如為計算式(1)或基於計算式(1)之概率密度函數演算法，對接收到之車輪轉速資訊及曲柄軸轉速資訊進行運算動作，藉以得到自行車200之最佳檔位。而脈衝寬度調變模組132則可於接收到概率密度計算模組131所得到之最佳檔位之資訊後，根據此最佳檔位之資訊控制伺服馬達141之脈波寬度，藉以使得電子變速機構140變更自行車200之現行檔位為最佳檔位。 In addition, when the processor 130 obtains the current best gear of the bicycle 200 After the position, the electronic shifting mechanism 140 can also be controlled to change the current gear position of the bicycle 200 to the optimal gear position calculated by the processor 130. For example, the electronic shifting mechanism 140 can have, for example, a servo motor 141 such that the processor 130 can control the pulse width of the servo motor 141 according to the obtained optimal gear position, thereby causing the electronic shifting mechanism 140 to change the current gear position of the bicycle 200. For the best gear. The processor 130 can have, for example, a probability density calculation module 131 and a pulse width modulation module 132 electrically connected to each other. The probability density calculation module 131 receives the wheel rotation speed information transmitted by the wheel speed sensor 110 and The crankshaft speed information transmitted by the crankshaft speed sensor is used to calculate the received wheel speed information and the crankshaft speed information using, for example, a calculation formula (1) or a probability density function algorithm based on the calculation formula (1). The operation is performed to obtain the best gear of the bicycle 200. The pulse width modulation module 132 can control the pulse width of the servo motor 141 according to the information of the optimal gear position after receiving the information of the optimal gear position obtained by the probability density calculation module 131. The shifting mechanism 140 changes the current gear position of the bicycle 200 to the optimal gear position.
因此，本發明之自行車自動變速系統100可藉由電子變 速機構140利用處理器130所得之最佳檔位，自動調整自行車200之現行檔位為最佳檔位，藉以達到自動變速自行車200之功能。 Therefore, the bicycle automatic shifting system 100 of the present invention can be changed by electronic The speed mechanism 140 automatically adjusts the current gear position of the bicycle 200 to the optimal gear position by using the optimal gear position obtained by the processor 130, thereby achieving the function of the automatic shift bicycle 200.
再者，本發明之自行車自動變速系統100更可包含扭力感測器150，設置於自行車200之大齒盤240中且電性連接處理器130。其中，扭力感測器150感測自行車200之曲柄扭力資訊並傳送至處理器130，使得處理器130更利用例如計算式(1)之概率密度函數演算法，對接收到之曲柄扭力資訊進行運算動作，藉以計算出基於曲柄扭力資訊之對應於各個檔位之機率。 Furthermore, the automatic bicycle shifting system 100 of the present invention may further include a torque sensor 150 disposed in the large toothed disc 240 of the bicycle 200 and electrically connected to the processor 130. The torque sensor 150 senses the crank torque information of the bicycle 200 and transmits it to the processor 130, so that the processor 130 further calculates the received crank torque information by using, for example, a probability density function algorithm of the formula (1). The action is used to calculate the probability corresponding to each gear position based on the crank torque information.
除此之外，當處理器130利用例如計算式(1)計算出基於車輪轉速資訊之對應於各個檔位之機率(第一機率)、基於曲柄軸轉速資訊之對應於各個檔位之機率(第二機率)以及基於曲柄扭力資訊之對應於各個檔位之機率(第三機率)後，可將對應於各個檔位之第一機率、第二機率及第三機率相加、任取其中之二者相加或任取其中之一者，藉以作為各個檔位之比較數值。之後，處理器130再取出各個檔位之比較數值中之最大值，並將此最大值所對應之檔位作為自行車200之最佳檔位，以使得電子變速機構140可變更自行車200之現行檔位為此得到之最佳檔位，藉以自動變速自行車200。 In addition, when the processor 130 calculates the probability (corresponding to each gear position) based on the wheel speed information based on the wheel speed information, the probability corresponding to each gear position based on the crankshaft speed information is calculated by using, for example, the calculation formula (1). The second probability) and the probability (corresponding to the third probability) corresponding to each gear position based on the crank torque information may add the first probability, the second probability and the third probability corresponding to each gear position, and take any of them Add or take one of them as a comparison value for each gear. Thereafter, the processor 130 takes out the maximum value of the comparison values of the respective gear positions, and uses the gear position corresponding to the maximum value as the optimal gear position of the bicycle 200, so that the electronic shifting mechanism 140 can change the current gear of the bicycle 200. The best gear for this purpose is the automatic shifting bicycle 200.
因此，本發明之自行車自動變速系統100可綜合利用車輪轉速資訊、曲柄軸轉速資訊及曲柄扭力資訊，並搭配概率密度函數演算法，藉以降低因單一資訊異常時所產生之錯誤發生率。 Therefore, the bicycle automatic transmission system 100 of the present invention can comprehensively utilize wheel speed information, crankshaft speed information and crank torque information, and is matched with a probability density function algorithm to reduce the incidence of errors caused by a single information anomaly.
請接續參閱第3圖，第3圖係為本發明之自行車自動變速系統之運作流程圖。如第1圖至第3圖所示，本發明之自行車自動變速系統100係先進行步驟901：判斷是否自動變速。舉例 而言，本發明之自行車自動變速系統100可更包含開關裝置160，且開關裝置160電性連接處理器130、車輪轉速感測器110、曲柄軸轉速感測器120及扭力感測器150，藉以開啟或關閉處理器130、車輪轉速感測器110、曲柄軸轉速感測器120及扭力感測器150。其中，開關裝置160可例如為獨自之裝置，亦或者，可例如為手持裝置300之一應用程式。舉例而言，開關裝置160可傳送開啟訊號或關閉訊號至處理器130、車輪轉速感測器110、曲柄軸轉速感測器120及扭力感測器150，藉以開啟或關閉處理器130、車輪轉速感測器110、曲柄軸轉速感測器120及扭力感測器150，並可使得處理器130根據此開啟訊號或關閉訊號而判斷自行車200是否需要進行自動變速。 Please refer to FIG. 3, which is a flow chart of the operation of the bicycle automatic shifting system of the present invention. As shown in FIGS. 1 to 3, the automatic bicycle shifting system 100 of the present invention first performs step 901: determining whether or not the automatic shifting is performed. Example The bicycle automatic transmission system 100 of the present invention may further include a switching device 160, and the switching device 160 is electrically connected to the processor 130, the wheel speed sensor 110, the crankshaft speed sensor 120, and the torque sensor 150. The processor 130, the wheel speed sensor 110, the crankshaft speed sensor 120, and the torque sensor 150 are turned on or off. The switch device 160 can be, for example, a stand-alone device, or can be, for example, an application of the handheld device 300. For example, the switching device 160 can transmit an enable signal or a shutdown signal to the processor 130, the wheel speed sensor 110, the crankshaft speed sensor 120, and the torque sensor 150, thereby turning on or off the processor 130 and the wheel speed. The sensor 110, the crankshaft speed sensor 120 and the torque sensor 150, and can cause the processor 130 to determine whether the bicycle 200 needs to perform automatic shifting according to the turn-on signal or the turn-off signal.
若“否”，則進行步驟907：判斷是否手動換檔。舉例而 言，當處理器130接收到關閉訊號時，不進行自動變速。並且，本發明之自行車自動變速系統100可更包含手動換檔裝置170，且此手動換檔裝置170設置於自行車200之把手250上且連接電子變速機構140，使得電子變速機構140可根據手動換檔裝置170是否調整或傳送訊號出來，藉以判斷自行車200之騎乘者是否手動換檔。若“是”，則進行步驟906：切換檔位，亦即電子變速機構140變更現行檔位為騎乘者利用手動換檔裝置170所欲調整到之檔位；若“否”，則再進行步驟901。 If "No", proceed to step 907: determine whether to manually shift. For example In other words, when the processor 130 receives the shutdown signal, no automatic shifting is performed. Moreover, the automatic bicycle shifting system 100 of the present invention may further include a manual shifting device 170, and the manual shifting device 170 is disposed on the handle 250 of the bicycle 200 and connected to the electronic shifting mechanism 140, so that the electronic shifting mechanism 140 can be manually changed. Whether the gear unit 170 adjusts or transmits the signal comes out to determine whether the rider of the bicycle 200 has manually shifted gears. If YES, proceed to step 906: switch the gear position, that is, the electronic shifting mechanism 140 changes the current gear position to the gear position that the rider wants to adjust by the manual shifting device 170; if "No", then proceed Step 901.
而若於步驟901中，本發明之自行車自動變速系統100之處理器130判定自行車200之騎乘者欲進行自動變速，則本發明之自行車自動變速系統100先進行步驟902：感測轉速及扭力，亦即，利用車輪轉速感測器110、曲柄軸轉速感測器120及扭力感測器150各別感測車輪轉速資訊、曲柄軸轉速資訊以及曲柄扭 力資訊。之後，再進行步驟903：進行概率密度函數演算，亦即處理器130可利用例如為計算式(1)之概率密度函數演算法而得到自行車200之最佳檔位。其中，若本發明之自行車自動變速系統100電性連接例如為手機之手持裝置300時，亦可於得到最佳檔位或得到車輪轉速資訊、曲柄軸轉速資訊以及曲柄扭力資訊後，進行步驟904：傳輸感測資訊及運算資訊，亦即本發明之自行車自動變速系統100可利用傳輸裝置180將所得到之最佳檔位及/或車輪轉速資訊、曲柄軸轉速資訊以及曲柄扭力資訊，傳輸至手持裝置300，藉以使得騎乘者可即時得知自行車200目前之資訊。 而當處理器130得到自行車200之最佳檔位後，可進行步驟905：判斷是否需要切換檔位。舉例而言，處理器130可比對得到之最佳檔位與自行車200之現行檔位是否一樣，若“是”，則判斷自行車200不需要切換檔位；若“否”，則判斷自行車200需要切換檔位。而於步驟905中，若處理器130判斷需要切換檔位，則先進行步驟906以使得電子變速機構140變更自行車200之現行檔位為最佳檔位後，再進行另一次之步驟901；反之，若於步驟905中處理器130判斷不需要切換檔位，則本發明之自行車自動變速系統100可直接再次進行步驟901。 If, in step 901, the processor 130 of the automatic bicycle shifting system 100 of the present invention determines that the rider of the bicycle 200 wants to perform the automatic shifting, the automatic bicycle shifting system 100 of the present invention first performs step 902: sensing the rotational speed and the torque. That is, the wheel speed sensor 110, the crankshaft speed sensor 120, and the torque sensor 150 are used to sense the wheel speed information, the crankshaft speed information, and the crank twist. Information. Thereafter, step 903 is performed to perform a probability density function calculation, that is, the processor 130 can obtain the optimal gear position of the bicycle 200 by using, for example, a probability density function algorithm of the formula (1). If the bicycle automatic transmission system 100 of the present invention is electrically connected to the handheld device 300 such as a mobile phone, step 904 may be performed after obtaining the optimal gear position or obtaining the wheel speed information, the crankshaft speed information, and the crank torque information. Transmitting the sensing information and the operation information, that is, the bicycle automatic transmission system 100 of the present invention can transmit the obtained optimal gear position and/or wheel speed information, crankshaft speed information and crank torque information to the transmission device 180 to The handheld device 300 is provided so that the rider can immediately know the current information of the bicycle 200. When the processor 130 obtains the optimal gear position of the bicycle 200, step 905 can be performed: determining whether the gear position needs to be switched. For example, the processor 130 can compare whether the obtained optimal gear position is the same as the current gear position of the bicycle 200. If “Yes”, it is determined that the bicycle 200 does not need to switch gear positions; if “No”, it is determined that the bicycle 200 needs to be Switch gears. In step 905, if the processor 130 determines that the gear position needs to be switched, the step 906 is performed first, so that the electronic shifting mechanism 140 changes the current gear position of the bicycle 200 to the optimal gear position, and then performs another step 901; If the processor 130 determines in step 905 that the gear shift is not required, the bicycle automatic shifting system 100 of the present invention can directly perform step 901 again.
因此，本發明之自行車自動變速系統100可使得自行車200因應不同之地形、騎乘者之狀況及自行車200之速度而智慧型地自動變速，藉以節省騎乘者之體力以及使得騎乘者得到較多之快樂及便利性。 Therefore, the bicycle automatic shifting system 100 of the present invention can make the bicycle 200 intelligently shift automatically according to the different terrain, the situation of the rider and the speed of the bicycle 200, thereby saving the physical strength of the rider and making the rider more capable. More happiness and convenience.
以上所述僅為舉例性，而非為限制性者。任何未脫離本發明之精神與範疇，而對其進行之等效修改或變更，均應包含於後附之申請專利範圍中。 The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.
110‧‧‧車輪轉速感測器 110‧‧‧Wheel speed sensor
120‧‧‧曲柄軸轉速感測器 120‧‧‧ crankshaft speed sensor
130‧‧‧處理器 130‧‧‧Processor
140‧‧‧電子變速機構 140‧‧‧Electronic shifting mechanism
141‧‧‧伺服馬達 141‧‧‧Servo motor
150‧‧‧扭力感測器 150‧‧‧Torque sensor
160‧‧‧開關裝置 160‧‧‧Switching device
170‧‧‧手動換檔裝置 170‧‧‧Manual shifting device
180‧‧‧傳輸裝置 180‧‧‧Transportation device
200‧‧‧自行車 200‧‧‧Bicycle
210‧‧‧輪軸 210‧‧‧Axle
220‧‧‧曲柄軸 220‧‧‧ crankshaft
230‧‧‧後車輪 230‧‧‧ rear wheel
240‧‧‧大齒盤 240‧‧‧Spindle
250‧‧‧把手 250‧‧‧Handle
300‧‧‧手持裝置 300‧‧‧Handheld devices
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