TWI594915B - Slope calculation device - Google Patents

Slope calculation device Download PDF

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TWI594915B
TWI594915B TW103132063A TW103132063A TWI594915B TW I594915 B TWI594915 B TW I594915B TW 103132063 A TW103132063 A TW 103132063A TW 103132063 A TW103132063 A TW 103132063A TW I594915 B TWI594915 B TW I594915B
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detecting unit
energy
bicycle
pedaling force
control unit
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TW201515917A (en
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Junya Fujita
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Shimano Kk
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/002—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers for cycles

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Electric Propulsion And Braking For Vehicles (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Description

坡度計算裝置 Slope calculation device

本發明係關於坡度計算裝置。 The present invention relates to a slope calculation device.

自行車的騎乘者，在爬坡時，為了能更舒適地爬坡而操作變速機、或懸吊裝置等。因此，當自行車行走時，行走路的坡度檢測是重要的。例如，專利文獻1揭示的自行車，是藉由傾斜感測器(坡道感測器)來檢測行走路的坡度，而讓變速機自動地作動。 The rider of the bicycle operates the shifting machine or the suspension device in order to climb the slope more comfortably when climbing the slope. Therefore, the slope detection of the walking path is important when the bicycle is walking. For example, in the bicycle disclosed in Patent Document 1, the slope of the traveling path is detected by the tilt sensor (slope sensor), and the transmission is automatically operated.

[專利文獻1]日本特開2000-108982號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2000-108982

上述自行車，根據來自傾斜感測器的資訊，藉由變速控制部使變速機作動。然而，上述自行車存在著：必須另外設置僅用於檢測坡度之傾斜感測器的問題。 The bicycle activates the transmission by a shift control unit based on information from the tilt sensor. However, the bicycle described above has a problem that a tilt sensor for detecting the slope only has to be additionally provided.

本發明的課題在於，不須使用傾斜感測器就能算出自行車的行走路之坡度。 An object of the present invention is to calculate the gradient of the traveling path of a bicycle without using a tilt sensor.

本發明之第1側面的坡度計算裝置，具備有第1檢測部、速度檢測部、儲存部以及控制部。第1檢測部，是至少檢測由自行車的騎乘者輸入到自行車之第1能量相關的參數。速度檢測部，是檢測自行車的行走速度。儲存部儲存有自行車及騎乘者的總重量。控制部，是根據由第1檢測部所檢測之參數來算出第1能量。此外，控制部，是根據由速度檢測部所檢測之行走速度及儲存部所儲存的自行車及騎乘者的總重量來算出第2能量。此外，控制部是根據第1能量及第2能量來算出坡度。 The gradient calculating device according to the first aspect of the present invention includes a first detecting unit, a speed detecting unit, a storage unit, and a control unit. The first detecting unit is a parameter that detects at least the first energy input by the rider of the bicycle to the bicycle. The speed detecting unit detects the traveling speed of the bicycle. The storage section stores the total weight of the bicycle and the rider. The control unit calculates the first energy based on the parameter detected by the first detecting unit. Further, the control unit calculates the second energy based on the traveling speed detected by the speed detecting unit and the total weight of the bicycle and the rider stored in the storage unit. Further, the control unit calculates the gradient based on the first energy and the second energy.

依據此構造，控制部可根據被輸入到自行車之第1能量相關的參數、行走速度、自行車及騎乘者的總重量來算出坡度。亦即，上述坡度計算裝置，藉由使用第1檢測部和速度檢測部可算出坡度。因此，上述坡度計算裝置，不須利用僅用於檢測坡度之傾斜感測器就能算出坡度。 According to this configuration, the control unit can calculate the gradient based on the first energy-related parameter input to the bicycle, the traveling speed, and the total weight of the bicycle and the rider. In other words, the gradient calculating device can calculate the gradient by using the first detecting unit and the speed detecting unit. Therefore, the slope calculating device can calculate the gradient without using the tilt sensor for detecting the slope only.

本發明之第2側面的坡度計算裝置，係具備有第1檢測部、速度檢測部、儲存部以及控制部。第1檢測部，是檢測被輸入到自行車的第1能量相關的參數。速度檢測部，是檢測自行車的行走速度。儲存部是儲存自行車及騎乘者的總重量。控制部，是根據由第1檢測部所檢測的參數來算出第1能量。此外，控制部，是根據由速度檢測部所檢測的行走速度及儲存部所儲存的自行車及騎乘者的總重量來算出第2能量。此外，控制部是根據第1能 量及第2能量來算出坡度算出。 The slope calculating device according to the second aspect of the present invention includes a first detecting unit, a speed detecting unit, a storage unit, and a control unit. The first detecting unit is a parameter for detecting the first energy input to the bicycle. The speed detecting unit detects the traveling speed of the bicycle. The storage section is the total weight of the bicycle and the rider. The control unit calculates the first energy based on the parameter detected by the first detecting unit. Further, the control unit calculates the second energy based on the traveling speed detected by the speed detecting unit and the total weight of the bicycle and the rider stored in the storage unit. In addition, the control unit is based on the first energy The amount and the second energy are used to calculate the slope.

較佳為，第1檢測部係包含踏力檢測部及旋轉速度檢測部。踏力檢測部是檢測作用於自行車的曲柄之踏力。旋轉速度檢測部是檢測曲柄的旋轉速度。控制部，以由踏力檢測部所檢測之踏力、及由旋轉速度檢測部所檢測之旋轉速度作為參數，來算出第1能量。 Preferably, the first detecting unit includes a pedaling force detecting unit and a rotation speed detecting unit. The pedaling force detecting unit detects the pedaling force acting on the crank of the bicycle. The rotation speed detecting unit detects the rotation speed of the crank. The control unit calculates the first energy using the pedaling force detected by the pedaling force detecting unit and the rotational speed detected by the rotational speed detecting unit as parameters.

較佳為，控制部是根據在第1時間輸入的第1能量、及從第2時間到第1時間之第2能量的變化量，來算出在第1時間之第3能量的變化量。而且，控制部是根據所算出的第3能量的變化量來算出坡度。 Preferably, the control unit calculates the amount of change in the third energy in the first time based on the first energy input at the first time and the amount of change in the second energy from the second time to the first time. Further, the control unit calculates the gradient based on the calculated amount of change in the third energy.

較佳為，控制部是從第1能量減去第2能量的變化量而算出第3能量的變化量。 Preferably, the control unit calculates the amount of change in the third energy by subtracting the amount of change in the second energy from the first energy.

較佳為，控制部是根據在第1時間自行車所行走的距離和第3能量的變化量來算出坡度。 Preferably, the control unit calculates the gradient based on the distance traveled by the bicycle at the first time and the amount of change in the third energy.

較佳為，踏力檢測部是檢測作用於自行車的曲柄軸之轉矩來作為踏力。 Preferably, the pedaling force detecting unit detects the torque acting on the crankshaft of the bicycle as the pedaling force.

較佳為，旋轉速度檢測部是檢測曲柄的踏頻來作為旋轉速度。 Preferably, the rotation speed detecting unit detects the cadence of the crank as the rotation speed.

較佳為，控制部是將下式(1)所算出之第1部分能量取前述第1時間的合計值而算出第1能量。 Preferably, the control unit calculates the first energy by taking the first partial energy calculated by the following formula (1) from the total value of the first time.

式中，p1表示第1部分能量，T表示轉矩，n表示踏頻， △t表示前述踏力檢測部的取樣間隔。 In the formula, p 1 represents the first partial energy, T represents the torque, n represents the cadence, and Δt represents the sampling interval of the pedaling force detecting unit.

較佳為，控制部是根據下式(2)而算出第2能量的變化量。 Preferably, the control unit calculates the amount of change in the second energy based on the following formula (2).

式中，m表示自行車和騎乘者的總重量，v1表示在第1時間的行走速度，v2表示在第2時間的行走速度。 In the formula, m represents the total weight of the bicycle and the rider, v 1 represents the traveling speed at the first time, and v 2 represents the traveling speed at the second time.

較佳為，坡度計算裝置進一步具備：用來檢測自行車的制動器的作動狀態之制動檢測部。控制部，當根據制動檢測部的檢測結果而判斷制動器正作動時，不算出坡度。 Preferably, the gradient calculating device further includes: a brake detecting unit for detecting an operating state of the brake of the bicycle. The control unit does not calculate the gradient when it is determined that the brake is being actuated based on the detection result of the brake detecting unit.

第1能量可包含：由自行車的騎乘者輸入到自行車的能量、及藉由搭載於自行車之行走輔助用電動機輸入到自行車的能量。 The first energy may include energy input to the bicycle by the rider of the bicycle, and energy input to the bicycle by the travel assist motor mounted on the bicycle.

第1檢測部可包含踏力檢測部、旋轉速度檢測部以及輔助動力檢測部。踏力檢測部是檢測作用於自行車之曲柄的踏力。旋轉速度檢測部是檢測曲柄的旋轉速度。輔助動力檢測部是檢測行走輔助用電動機所產生的輔助動力。控制部，是使用由踏力檢測部所檢測的踏力、由旋轉速度檢測部所檢測的旋轉速度、以及由輔助動力檢測部所檢測的輔助動力作為參數，來算出第1能量。 The first detecting unit may include a pedaling force detecting unit, a rotational speed detecting unit, and an auxiliary power detecting unit. The pedaling force detecting unit detects the pedaling force acting on the crank of the bicycle. The rotation speed detecting unit detects the rotation speed of the crank. The auxiliary power detecting unit detects the auxiliary power generated by the traveling assist motor. The control unit calculates the first energy using the pedaling force detected by the pedaling force detecting unit, the rotational speed detected by the rotational speed detecting unit, and the assisting power detected by the assisting power detecting unit as parameters.

第1檢測部可包含踏力檢測部及旋轉速度檢測部。踏力檢測部是檢測作用於自行車之曲柄的踏力。旋 轉速度檢測部是檢測曲柄的旋轉速度。控制部，是使用由踏力檢測部所檢測的踏力、由旋轉速度檢測部所檢測的旋轉速度、以及至少按照踏力所設定的輔助動力作為參數，來算出第1能量。 The first detecting unit may include a pedaling force detecting unit and a rotation speed detecting unit. The pedaling force detecting unit detects the pedaling force acting on the crank of the bicycle. Spin The rotation speed detecting unit detects the rotation speed of the crank. The control unit calculates the first energy using the pedaling force detected by the pedaling force detecting unit, the rotational speed detected by the rotational speed detecting unit, and the auxiliary power set by at least the pedaling force as parameters.

儲存部可進一步儲存有表示踏力和輔助動力的對應關係之輔助動力資訊。控制部，是根據由踏力檢測部所檢測的踏力及輔助動力資訊來算出輔助動力。 The storage unit may further store auxiliary power information indicating a correspondence relationship between the pedaling force and the auxiliary power. The control unit calculates the assisting power based on the pedaling force and the assisting power information detected by the pedaling force detecting unit.

依據本發明，不須使用傾斜感測器就能算出坡度。 According to the present invention, the gradient can be calculated without using a tilt sensor.

1‧‧‧坡度計算裝置 1‧‧‧ slope calculation device

2‧‧‧踏力檢測部 2‧‧‧Treading force detection department

3‧‧‧旋轉速度檢測部 3‧‧‧Rotation speed detection department

4‧‧‧速度檢測部 4‧‧‧Speed Detection Department

5‧‧‧控制部 5‧‧‧Control Department

6‧‧‧制動檢測部 6‧‧‧Brake Detection Department

7‧‧‧輔助動力檢測部 7‧‧‧Auxiliary Power Detection Department

51‧‧‧儲存部 51‧‧‧ Storage Department

116‧‧‧馬達 116‧‧‧Motor

圖1係自行車的側視圖。 Figure 1 is a side view of a bicycle.

圖2係顯示坡度計算裝置的構造之方塊圖。 Fig. 2 is a block diagram showing the construction of a gradient calculating device.

圖3係顯示自行車爬坡之概略圖。 Figure 3 is a schematic view showing a bicycle climbing.

圖4係顯示坡度計算裝置的動作之流程圖。 Fig. 4 is a flow chart showing the operation of the gradient calculating means.

圖5係顯示變形例1之坡度計算裝置的構造之方塊圖。 Fig. 5 is a block diagram showing the configuration of a gradient calculating device of Modification 1.

圖6係顯示變形例1之坡度計算裝置的動作之流程圖。 Fig. 6 is a flow chart showing the operation of the gradient calculating device of the first modification.

圖7係變形例4之自行車的側視圖。 Fig. 7 is a side view of the bicycle of Modification 4.

圖8係顯示變形例4之輔助機構的構造之方塊圖。 Fig. 8 is a block diagram showing the configuration of an auxiliary mechanism of Modification 4.

圖9係顯示變形例4之坡度計算裝置的構造之方塊圖。 Fig. 9 is a block diagram showing the configuration of a gradient calculating device of Modification 4.

以下，針對本發明的坡度計算裝置之實施形態、以及使用該裝置的自行車，參照圖式作說明。圖1係使用坡度計算裝置之自行車101的側視圖。 Hereinafter, an embodiment of a gradient calculating apparatus according to the present invention and a bicycle using the same will be described with reference to the drawings. 1 is a side view of a bicycle 101 using a slope calculating device.

如圖1所示般，使用坡度計算裝置之自行車101具備有：車架102、把手104、驅動部105、前輪106f、後輪106r。此外，自行車101還具備有：前制動器107f、後制動器107r、前制動桿108f、後制動桿108r、以及顯示裝置109。 As shown in FIG. 1, the bicycle 101 using the gradient calculating device includes a frame 102, a handle 104, a driving unit 105, a front wheel 106f, and a rear wheel 106r. Further, the bicycle 101 further includes a front brake 107f, a rear brake 107r, a front brake lever 108f, a rear brake lever 108r, and a display device 109.

驅動部105具有：鏈條110、及裝設有踏板111之曲柄112。曲柄112含有曲柄軸112a及一對的曲柄臂112b。各曲柄臂112b設置於曲柄軸112a的兩端部。 The drive unit 105 has a chain 110 and a crank 112 on which the pedal 111 is mounted. The crank 112 includes a crank shaft 112a and a pair of crank arms 112b. Each of the crank arms 112b is provided at both end portions of the crankshaft 112a.

圖2係顯示實施形態之坡度計算裝置1的方塊圖。如圖2所示般，坡度計算裝置1具備有：踏力檢測部2、旋轉速度檢測部3、速度檢測部4、控制部5、及儲存部51。又踏力檢測部2及旋轉速度檢測部3相當於本發明的第1檢測部。 Fig. 2 is a block diagram showing the gradient calculating apparatus 1 of the embodiment. As shown in FIG. 2, the gradient calculating apparatus 1 includes a pedaling force detecting unit 2, a rotation speed detecting unit 3, a speed detecting unit 4, a control unit 5, and a storage unit 51. The pedaling force detecting unit 2 and the rotation speed detecting unit 3 correspond to the first detecting unit of the present invention.

踏力檢測部2是檢測作用於曲柄112之踏力。例如，踏力檢測部2是轉矩感測器，而用來檢測作用於曲柄112的曲柄軸112a之轉矩。詳而言之，踏力檢測部2輸出與作用於曲柄軸112a之轉矩對應的信號(例如 電壓)。轉矩感測器，例如為磁致伸縮式感測器、應變計皆可。由該踏力檢測部2所檢測之轉矩相關資訊送往控制部5。 The pedaling force detecting unit 2 detects the pedaling force acting on the crank 112. For example, the pedaling force detecting portion 2 is a torque sensor for detecting the torque acting on the crankshaft 112a of the crank 112. In detail, the pedaling force detecting unit 2 outputs a signal corresponding to the torque acting on the crankshaft 112a (for example, Voltage). The torque sensor can be, for example, a magnetostrictive sensor or a strain gauge. The torque related information detected by the pedaling force detecting unit 2 is sent to the control unit 5.

旋轉速度檢測部3是檢測曲柄112的旋轉速度。例如，旋轉速度檢測部3為踏頻感測器，檢測曲柄112的踏頻來作為旋轉速度。詳而言之，旋轉速度檢測部3是安裝於車架102，用來檢測安裝於曲柄臂112b上的磁鐵。由旋轉速度檢測部3所檢測之旋轉速度相關資訊送往控制部5。 The rotation speed detecting unit 3 detects the rotation speed of the crank 112. For example, the rotational speed detecting unit 3 is a cadence sensor that detects the cadence of the crank 112 as the rotational speed. In detail, the rotation speed detecting unit 3 is attached to the frame 102 for detecting a magnet attached to the crank arm 112b. The rotation speed related information detected by the rotation speed detecting unit 3 is sent to the control unit 5.

速度檢測部4是檢測自行車101的行走速度。例如，速度檢測部4為速度感測器。詳而言之，速度檢測部4是安裝在自行車101的前叉103上，用來檢測安裝在前輪106f的1根輻條上之磁鐵40(參照圖1)。由該速度檢測部4所檢測之自行車101的行走速度相關資訊，送往控制部5。又控制部5是前輪106f每轉1圈算出自行車101的行走速度。而且，該前輪106f每轉1圈所算出之各行走速度，表示在前輪106f轉1圈的期間自行車101的平均行走速度。具體而言，控制部5將前輪106f的輪胎周長除以前輪106f轉1圈所需時間t，藉此算出前輪106f每轉1圈之自行車101的行走速度。 The speed detecting unit 4 detects the traveling speed of the bicycle 101. For example, the speed detecting unit 4 is a speed sensor. More specifically, the speed detecting portion 4 is attached to the front fork 103 of the bicycle 101 and detects the magnet 40 attached to one spoke of the front wheel 106f (see Fig. 1). The traveling speed related information of the bicycle 101 detected by the speed detecting unit 4 is sent to the control unit 5. Further, the control unit 5 calculates the traveling speed of the bicycle 101 every one revolution of the front wheel 106f. The respective traveling speeds calculated by one revolution of the front wheel 106f indicate the average traveling speed of the bicycle 101 during one rotation of the front wheels 106f. Specifically, the control unit 5 calculates the travel speed of the bicycle 101 that makes one revolution of the front wheel 106f by dividing the tire circumference of the front wheel 106f by the time t required by the front wheel 106f.

控制部5算出第1能量及第2能量，並根據所算出的第1及第2能量來算出坡度。在此，第1能量表示由自行車101的騎乘者輸入到自行車101的能量。亦即，第1能量表示，騎乘者藉由踩踏自行車101的踏板 111而輸入到自行車101的能量。 The control unit 5 calculates the first energy and the second energy, and calculates the gradient based on the calculated first and second energies. Here, the first energy indicates the energy input to the bicycle 101 by the rider of the bicycle 101. That is, the first energy indicates that the rider pedals on the bicycle 101 by pedaling 111 is input to the energy of the bicycle 101.

詳而言之，控制部5是根據由踏力檢測部2所檢測之踏力、及由旋轉速度檢測部3所檢測之旋轉速度、亦即踏頻，來算出在第1時間t1所輸入的第1能量P1。具體而言，控制部5首先根據下式(1)算出第1部分能量p1。在此，第1部分能量p1是指，在第1時間t1輸入到自行車101之第1能量P1當中，在踏力檢測部2的取樣間隔△t輸入到自行車101的能量。 In detail, the control unit 5 calculates the first input at the first time t 1 based on the pedaling force detected by the pedaling force detecting unit 2 and the rotational speed detected by the rotational speed detecting unit 3, that is, the cadence frequency. 1 energy P 1 . Specifically, the control unit 5 first calculates the first partial energy p 1 based on the following formula (1). Here, the first partial energy p 1 is the energy input to the bicycle 101 at the sampling interval Δt of the pedaling force detecting unit 2, which is input to the first energy P 1 of the bicycle 101 at the first time t1.

式(1)中，p1(W)表示第1部分能量，T(N．m)表示由踏力檢測部2所檢測的轉矩，n(rpm)表示踏頻，△t(s)表示踏力檢測部2的取樣間隔。 In the formula (1), p 1 (W) represents the first partial energy, T (N.m) represents the torque detected by the pedaling force detecting unit 2, n (rpm) represents the cadence, and Δt(s) represents the pedaling force. The sampling interval of the detecting unit 2.

接著，控制部5根據上述第1部分能量p1算出在第1時間t1輸入到自行車101的第1能量P1。詳而言之，控制部5算出第1部分能量p1在第1時間t1的積分值來作為第1能量P1。在此，第1時間t1，可設定成速度檢測部4檢測出前輪106f的1根輻條上所安裝的磁鐵40之間隔、亦即前輪106f轉1圈的時間。因此，第1時間t1不是一定時間，隨著前輪106f每次旋轉可能成為不同的時間。 Next, the control unit 5 the first portion of energy input p 1 t 1 is calculated in the first time according to the bicycle 101. The first energy P 1. Specifically, the control unit 5 calculates an integral value of the first partial energy p 1 at the first time t 1 as the first energy P 1 . Here, at the first time t 1 , the speed detecting unit 4 can detect that the interval between the magnets 40 mounted on one spoke of the front wheel 106f, that is, the time during which the front wheel 106f makes one turn. Therefore, the first time t 1 is not a certain time, and may become different times with each rotation of the front wheel 106f.

此外，控制部5，是根據由速度檢測部4所檢測的行走速度、和自行車及騎乘者的總重量，來算出從第 1時間t1之前的速度檢測間隔(第2時間t2)到第1時間t1之第2能量的變化量P2。具體而言，控制部5是依下式(2)，根據在第1時間t1之第2能量的平均值、和在第2時間t2之第2能量的平均值，來算出第2能量的變化量P2。 Further, the control unit 5 calculates the speed detection interval (the second time t 2 ) from the first time t 1 based on the traveling speed detected by the speed detecting unit 4 and the total weight of the bicycle and the rider. The amount of change P 2 of the second energy at the first time t 1 . Specifically, the control unit 5 calculates the second energy based on the average value of the second energy at the first time t 1 and the average value of the second energy at the second time t 2 according to the following formula (2). The amount of change P 2 .

式(2)中，m(kg)表示自行車101和自行車101騎乘者的總重量，v1(m/s)表示在第1時間t1的行走速度，v2(m/s)表示在第2時間t2的行走速度。詳而言之，行走速度v1(m/s)表示在第1時間t1之平均行走速度，v2(m/s)表示在第2時間t2之平均行走速度。在此，當第2時間t2不存在的情況，亦即第1時間t1是自行車剛行走之最初的速度檢測間隔的情況，可將v2設為0而算出第2能量的變化量P2。在此，自行車101和騎乘者的總重量m儲存於儲存部51。儲存部51可由控制部5的儲存體構成，也能由與控制部5不同的儲存裝置所構成。 In the formula (2), m (kg) represents the total weight of the bicycle 101 and the bicycle 101 rider, v 1 (m/s) represents the traveling speed at the first time t 1 , and v 2 (m/s) represents The walking speed at the second time t 2 . In detail, the traveling speed v 1 (m/s) represents the average traveling speed at the first time t 1 , and v 2 (m/s) represents the average traveling speed at the second time t 2 . Here, when the second time t 2 does not exist, that is, the first time t 1 is the first speed detection interval at which the bicycle has just traveled, the change amount P of the second energy can be calculated by setting v 2 to 0. 2 . Here, the total weight m of the bicycle 101 and the rider is stored in the storage portion 51. The storage unit 51 may be constituted by a storage body of the control unit 5 or may be constituted by a storage device different from the control unit 5.

控制部5根據在第1時間t1輸入之第1能量P1、及從第2時間t2到第1時間t1之第2能量的變化量P2，算出在第1時間t1之第3能量的變化量P3。詳而言之，控制部5如下式(3)所示，從第1能量P1減去第2能量的變化量P2而算出第3能量的變化量P3。 The control unit 52 to the first time t of the second one energy variation P 2, calculates t of the first time period of 1 at the first time t 1 input of a first power P 1, and the second time t 3 The amount of change in energy P 3 . Specifically, the control unit 5 calculates the amount of change P 3 of the third energy by subtracting the amount of change P 2 of the second energy from the first energy P 1 as shown in the following equation (3).

P3=P1-P2．．．(3) P 3 =P 1 -P 2 . . . (3)

第3能量的變化量P3是在第1時間t1的位能變化，因此第3能量的變化量P3能以下式(4)表示。 Since the amount of change P 3 of the third energy is a change in the potential energy at the first time t 1 , the amount of change P 3 of the third energy can be expressed by the following formula (4).

P3=mgh．．．(4)式(4)中，h(m)如圖3所示般是表示在第1時間t1之自行車101所移動的垂直方向距離。亦即，距離h表示在第1時間t1之自行車101位置的高度方向變化。又圖3係顯示坡道的一部分之概略圖。詳而言之，圖3係顯示，在第1時間t1的期間自行車101行進的行走距離y的坡道之概略圖。此外，在式(4)中，m(kg)表示自行車和騎乘者的總重量，g(m/s2)表示重力加速度。 P 3 =mgh. . . (4) in the formula (4), h (m) as illustrated in FIG. 3 is a first time t 1 the vertical direction of the bicycle 101 moves a distance. That is, the distance h indicates the time t in the first position 101 in the height direction of the bicycle 1 changes. Figure 3 is a schematic view showing a portion of the ramp. More specifically, FIG. 3 is a schematic view showing a ramp of the travel distance y during which the bicycle 101 travels during the first time t 1 . Further, in the formula (4), m (kg) represents the total weight of the bicycle and the rider, and g (m/s 2 ) represents the gravitational acceleration.

根據上述式(3)所算出之第3能量的變化量P3、儲存部51所儲存的自行車和騎乘者的總重量m、及重力加速度g，依上述式(4)可求出垂直方向的距離h。 According to the change amount P 3 of the third energy calculated by the above formula (3), the total weight m of the bicycle and the rider stored in the storage unit 51, and the gravitational acceleration g, the vertical direction can be obtained by the above formula (4). The distance h.

控制部5根據在第1時間t1的行走距離y、和垂直方向的距離h來算出坡度S。具體而言，如圖3所示般，控制部5將第1時間t1乘以在第1時間t1的平均行走速度v1，藉此可算出行走距離y。而且，控制部5將在第1時間t1自行車101所移動的水平方向距離x、亦即在第1時間t1之自行車101位置的水平方向變化，依下式(5)算出。 The control unit 5 calculates the gradient S based on the travel distance y at the first time t 1 and the distance h in the vertical direction. Specifically, as shown in Figure 3, the control unit 5 first time period t 1 to t multiplied by the average travel speed v 1 of the 1 in the first time period, whereby the distance traveled can be calculated y. Further, the control unit 5 a t the bicycle 101 moves in the horizontal direction at a distance x 1 time, i.e. t change the horizontal position of the bicycle 101 1 in the first time, is calculated by the following equation (5).

控制部5根據上述式(4)所算出的垂直方向 的距離h和上述式(5)所算出的水平方向的距離x，依下述式(6)算出坡度S(%)。 The vertical direction calculated by the control unit 5 based on the above formula (4) The distance h and the distance x in the horizontal direction calculated by the above formula (5) are calculated by the following formula (6).

此外，控制部5也能依下述式(7)算出坡道的傾斜角度θ。 Further, the control unit 5 can calculate the inclination angle θ of the slope according to the following formula (7).

控制部5，可將所算出的坡度S等，顯示於裝設在把手104等上的顯示裝置109等。如以上所說明，控制部5可在前輪106f每次旋轉算出坡度S。又控制部5例如可由微電腦構成，其包含CPU(Central processing unit)、RAM(random access memory)、ROM(read only memory)、I/O介面等。 The control unit 5 can display the calculated gradient S or the like on the display device 109 or the like mounted on the handle 104 or the like. As described above, the control unit 5 can calculate the gradient S every time the front wheel 106f rotates. Further, the control unit 5 may be constituted by, for example, a microcomputer, and includes a CPU (Central Processing Unit), a RAM (random access memory), a ROM (read only memory), an I/O interface, and the like.

接著，針對使用坡度計算裝置1之坡度算出方法，參照圖4作說明。圖4係用來說明算出坡度時坡度計算裝置1的動作之流程圖。 Next, a method of calculating the gradient using the gradient calculating apparatus 1 will be described with reference to FIG. 4. FIG. 4 is a flowchart for explaining the operation of the gradient calculating apparatus 1 when calculating the gradient.

控制部5，取得在第1時間t1輸入之第1能量P1相關參數(步驟S1)。詳而言之，控制部5取得由踏力檢測部2所檢測之作用於曲柄軸112a的轉矩相關資訊。此外，控制部5取得由旋轉速度檢測部3所檢測之曲柄112的踏頻相關資訊。 The control unit 5 acquires the first energy P 1 related parameter input at the first time t 1 (step S1). In detail, the control unit 5 acquires torque-related information that is detected by the pedaling force detecting unit 2 and acts on the crankshaft 112a. Further, the control unit 5 acquires the cadence-related information of the crank 112 detected by the rotational speed detecting unit 3.

接著，控制部5根據上述式(1)算出在踏力檢測部2的取樣間隔△t輸入到自行車101的第1部分能量p1(步驟S2)。 Then, the control unit 5 calculates the first partial energy p 1 input to the bicycle 101 at the sampling interval Δt of the pedaling force detecting unit 2 based on the above formula (1) (step S2).

接著，控制部5算出在第1時間t1輸入到自行車101的第1能量P1(步驟S3)。詳而言之，控制部5算出上述第1部分能量p1在第1時間t1的積分值來作為第1能量P1。 Next, the control unit 5 calculates the times t 1 at the first input to the first energy bicycle P 1 (step S3) 101 a. Specifically, the control unit 5 calculates an integral value of the first partial energy p 1 at the first time t 1 as the first energy P 1 .

接著，控制部5取得從第2時間t2到第1時間t1第2能量的變化量P2相關參數(步驟S4)。詳而言之，控制部5取得儲存部51所儲存之自行車101和騎乘者的總重量m。此外，控制部5取得由速度檢測部4所檢測之在第1時間t1及第2時間t2之自行車101的平均行走速度相關資訊。 Next, the control unit 5 acquires a parameter related to the amount of change P 2 of the second energy from the second time t 2 to the first time t 1 (step S4). In detail, the control unit 5 acquires the total weight m of the bicycle 101 and the rider stored in the storage unit 51. Further, the control unit 5 acquires the average traveling speed related information of the bicycle 101 at the first time t 1 and the second time t 2 detected by the speed detecting unit 4.

接著，控制部5依上述式(2)算出從第2時間t2到第1時間t1之第2能量的變化量P2(步驟S5)。 Next, the control unit 5 calculates the amount of change P 2 of the second energy from the second time t 2 to the first time t 1 by the above equation (2) (step S5).

接著，控制部5依上述式(3)算出在第1時間t1之第3能量的變化量P3(步驟S6)。 Next, the control unit 5 calculates the amount of change P 3 of the third energy at the first time t 1 by the above equation (3) (step S6).

接著，控制部5算出坡度S(步驟S7)。詳而言之，控制部5根據在步驟S6所獲得的P3和上述式(4)，求出在第1時間t1自行車101所移動的垂直方向距離h。而且，控制部5根據該垂直方向距離h和式(5)，求出在第1時間t1自行車101所移動的水平方向距離x。接著，控制部5根據垂直方向距離h、水平方向距離x、以及上述式(6)來算出坡度S。 Next, the control unit 5 calculates the gradient S (step S7). More specifically, the control unit 5 obtains the vertical distance h in which the bicycle 101 moves at the first time t 1 based on P 3 and the above formula (4) obtained in step S6. Further, the control section 5 based on the vertical distance h and the formula (5) obtained at times t 1 of the first bicycle 101 moves in the horizontal direction distance x. Next, the control unit 5 calculates the gradient S based on the vertical direction distance h, the horizontal direction distance x, and the above formula (6).

[變形例] [Modification]

以上雖是針對本發明的實施形態作說明，但本發明並不限定於此，在不脫離本發明趣旨的範圍內可實施各種變更。 The embodiments of the present invention have been described above, but the present invention is not limited thereto, and various modifications can be made without departing from the scope of the invention.

變形例1 Modification 1

坡度計算裝置1亦可進一步具備有制動檢測部。圖5係顯示變形例1之坡度計算裝置1的構造之方塊圖。如圖5所示般，變形例1之坡度計算裝置1進一步具備制動檢測部6。又除了制動檢測部6以外的構造是與上述實施形態相同，因此省略其詳細說明。 The gradient calculating device 1 may further include a brake detecting unit. Fig. 5 is a block diagram showing the configuration of the gradient calculating device 1 of Modification 1. As shown in FIG. 5, the gradient calculating apparatus 1 of the first modification further includes a brake detecting unit 6. The structure other than the brake detecting unit 6 is the same as that of the above embodiment, and thus detailed description thereof will be omitted.

制動檢測部6是用來檢測自行車101的前制動器107f及後制動器107r之至少一方的作動狀態。例如，制動檢測部6可以是檢測前制動桿108f及後制動桿108r的至少一方是否被握緊之制動感測器。制動檢測部6將制動器之作動狀態相關資訊輸出給控制部5。 The brake detecting unit 6 is for detecting an operation state of at least one of the front brake 107f and the rear brake 107r of the bicycle 101. For example, the brake detecting unit 6 may be a brake sensor that detects whether at least one of the front brake lever 108f and the rear brake lever 108r is gripped. The brake detecting unit 6 outputs information on the actuation state of the brake to the control unit 5.

控制部5如圖6所示般，取得制動檢測部6之檢測結果(步驟S21)。控制部5根據制動檢測部6的檢測結果，判斷前制動器107f及後制動器107r之至少一方是否作動(步驟S22)。 The control unit 5 acquires the detection result of the brake detecting unit 6 as shown in Fig. 6 (step S21). The control unit 5 determines whether or not at least one of the front brake 107f and the rear brake 107r is actuated based on the detection result of the brake detecting unit 6 (step S22).

當控制部5判斷前制動器107f及後制動器107r之至少一方正作動時(步驟S22之是)，轉移至步驟S21的處理。例如，控制部5根據制動檢測部6的檢測結 果，當判斷前制動桿108f及後制動桿108r之至少一方被握緊時，轉移至步驟S21的處理。 When the control unit 5 determines that at least one of the front brake 107f and the rear brake 107r is operating (YES in step S22), the process proceeds to step S21. For example, the control unit 5 detects the knot based on the brake detecting unit 6. When it is judged that at least one of the front brake lever 108f and the rear brake lever 108r is gripped, the process proceeds to step S21.

另一方面，當控制部5判斷前制動器107f及後制動器107r皆未作動時(步驟S22之否)，轉移至步驟S1的處理。例如，控制部5根據制動檢測部6的檢測結果，當判斷前制動桿108f及後制動桿108r皆未被握緊時，轉移至步驟S1的處理。又步驟S1~步驟S7的處理是與上述實施形態相同，因此省略其說明。 On the other hand, when the control unit 5 determines that neither the front brake 107f nor the rear brake 107r is actuated (NO in step S22), the process proceeds to step S1. For example, when the control unit 5 determines that both the front brake lever 108f and the rear brake lever 108r are not gripped based on the detection result of the brake detecting unit 6, the control unit 5 shifts to the processing of step S1. The processing of steps S1 to S7 is the same as that of the above embodiment, and thus the description thereof will be omitted.

變形例2 Modification 2

上述實施形態之自行車101和騎乘者的總重量m也能由騎乘者輸入，也能事先設定。當總重量被事先設定時，例如可將平均總重量m事先儲存於儲存部51。 The total weight m of the bicycle 101 and the rider of the above-described embodiment can also be input by the rider, and can also be set in advance. When the total weight is set in advance, for example, the average total weight m can be stored in advance in the storage portion 51.

變形例3 Modification 3

在上述實施形態，第1時間t1設定為速度檢測部4的取樣間隔，詳而言之是前輪106f轉1圈的時間，但並不限定於此。例如，第1時間t1也能設定為前輪106f轉2圈的時間，也能設定為前輪106f轉3圈以上的時間。此外，第1時間t1也能設定為與前輪106f旋轉的時間無關的時間。例如，第1時間t1也能是事先設定的時間。 In the above embodiment, the first time t 1 is set as the sampling interval of the speed detecting unit 4, and is more specifically the time when the front wheel 106f makes one revolution, but the present invention is not limited thereto. For example, the first time t 1 can also be set to a time when the front wheel 106f is rotated twice, and can be set to a time when the front wheel 106f is turned three or more times. Further, the first time t 1 can also be set to a time irrelevant to the time when the front wheel 106f rotates. For example, the first time t 1 can also be a time set in advance.

變形例4 Modification 4

圖7係使用了變形例4的坡度計算裝置1之自行車 201的側視圖。如圖7所示般，在使用了變形例4的坡度計算裝置1之自行車201上，搭載有輔助機構115、以及作為輔助機構115的電源之可拆裝的充電池113。充電池113，例如為使用鎳氫電池及鋰離子電池等的蓄電池，可拆裝地搭載於車架102。 7 is a bicycle using the gradient calculating device 1 of Modification 4. Side view of 201. As shown in FIG. 7, on the bicycle 201 using the gradient calculating apparatus 1 of the fourth modification, the auxiliary mechanism 115 and the rechargeable battery 113 which is a power source of the auxiliary mechanism 115 are mounted. The rechargeable battery 113 is detachably mounted on the frame 102, for example, using a battery such as a nickel-hydrogen battery or a lithium ion battery.

圖8係變形例4的輔助機構115之方塊圖。如圖8所示般，輔助機構115係包含馬達116(行走輔助用電動機的一例)及馬達驅動器117。馬達116，是透過曲柄軸112a或是直接將輔助動力輸出給鏈條110，而使鏈條110驅動。 Fig. 8 is a block diagram of the auxiliary mechanism 115 of the modification 4. As shown in FIG. 8, the assist mechanism 115 includes a motor 116 (an example of a travel assist motor) and a motor driver 117. The motor 116 drives the chain 110 through the crankshaft 112a or directly outputs auxiliary power to the chain 110.

圖9係變形例4的坡度計算裝置1之方塊圖。如圖9所示般，變形例4的坡度計算裝置1進一步具有輔助動力檢測部7。輔助動力檢測部7的一例，係具有磁致伸縮元件及檢測線圈的轉矩感測器。輔助動力檢測部7是檢測藉由馬達116輸入到自行車201的輔助動力。亦即，輔助動力檢測部7是檢測從馬達116輸出的輔助動力。又在變形例4中，踏力檢測部2、旋轉速度檢測部3及輔助動力檢測部7是相當於本發明的第1檢測部。 Fig. 9 is a block diagram of the gradient calculating apparatus 1 of Modification 4. As shown in FIG. 9, the gradient calculating apparatus 1 of the fourth modification further includes an auxiliary power detecting unit 7. An example of the auxiliary power detecting unit 7 is a torque sensor having a magnetostrictive element and a detecting coil. The auxiliary power detecting unit 7 detects the auxiliary power input to the bicycle 201 by the motor 116. That is, the auxiliary power detecting unit 7 detects the auxiliary power output from the motor 116. Further, in the fourth modification, the pedaling force detecting unit 2, the rotational speed detecting unit 3, and the auxiliary power detecting unit 7 are the first detecting units corresponding to the present invention.

在變形例4中，第1能量P1是藉由自行車201的騎乘者及馬達116輸入到自行車201的能量。控制部5，是算出由自行車201的騎乘者輸入到自行車201的能量、由馬達116輸入到自行車201的能量兩者之和，來作為第1能量P1。 In the fourth modification, the first energy P 1 is the energy input to the bicycle 201 by the rider and the motor 116 of the bicycle 201. The control unit 5 calculates the sum of the energy input by the rider of the bicycle 201 to the bicycle 201 and the energy input by the motor 116 to the bicycle 201 as the first energy P 1 .

在變形例4中，關於控制部5算出第1能量 P1的方法，參照圖4作說明。控制部5，是與上述實施形態同樣地算出由騎乘者輸入到自行車201的能量。亦即，控制部5，是根據由踏力檢測部2所檢測的踏力及由旋轉速度檢測部3所檢測的旋轉速度、亦即踏頻，來算出由騎乘者輸入到自行車201的能量。 In the fourth modification, a method of calculating the first energy P 1 by the control unit 5 will be described with reference to FIG. 4 . The control unit 5 calculates the energy input by the rider to the bicycle 201 in the same manner as in the above embodiment. In other words, the control unit 5 calculates the energy input by the rider to the bicycle 201 based on the pedaling force detected by the pedaling force detecting unit 2 and the rotational speed detected by the rotational speed detecting unit 3, that is, the cadence.

此外，控制部5，關於藉由馬達116輸入到自行車201的能量，控制部5是採用以下方式來算出。控制部5取得藉由輔助動力檢測部7所檢測之輔助機構115的馬達116之輔助動力相關資訊(步驟S1)。 Further, the control unit 5 calculates the energy input to the bicycle 201 by the motor 116 in the following manner. The control unit 5 acquires the auxiliary power related information of the motor 116 of the assist mechanism 115 detected by the assist power detecting unit 7 (step S1).

接著，控制部5算出在取樣間隔△t輸入到自行車201之輔助動力的部分能量(步驟S2)。 Next, the control unit 5 calculates the partial energy of the auxiliary power input to the bicycle 201 at the sampling interval Δt (step S2).

接著，控制部5算出在第1時間t1藉由輔助機構115輸入到自行車201之輔助動力。詳而言之，算出輔助動力的部分能量在第1時間t1的積分值，來作為藉由輔助機構115輸入到自行車201之輔助動力所產生的能量。 Next, the control unit 5 calculates the assist power input to the bicycle 201 by the assist mechanism 115 at the first time t 1 . More specifically, the integral value of the partial energy of the auxiliary power at the first time t 1 is calculated as the energy generated by the auxiliary power input to the bicycle 201 by the assist mechanism 115.

接著，控制部5，是算出由自行車201的騎乘者輸入到自行車201的能量、從行走輔助用電動機116輸出之輔助動力所產生的能量兩者之和，來作為在第1時間t1之第1能量P1(步驟S3)。 Next, the control unit 5 calculates the sum of the energy input from the rider of the bicycle 201 to the bicycle 201 and the energy generated by the assist power output from the travel assist motor 116 as the first time t 1 . The first energy P 1 (step S3).

又在變形例4中，坡度計算裝置1不具備輔助動力檢測部7亦可。亦即，如圖2所示般，控制部5，亦可根據由踏力檢測部2所檢測的踏力及輔助動力資訊來算出輔助動力。又輔助動力資訊，是表示踏力和輔助動力 之對應關係的資訊，被儲存於儲存部51。亦即，藉由馬達116輸入到自行車201的輔助動力，是按照踏力而設定的。例如，隨著踏力變大，輔助動力也變大。表示該踏力和輔助動力之對應關係的就是輔助動力資訊。 Further, in the fourth modification, the gradient calculating device 1 may not include the auxiliary power detecting unit 7. That is, as shown in FIG. 2, the control unit 5 can calculate the assisting power based on the pedaling force and the assisting power information detected by the pedaling force detecting unit 2. And auxiliary power information, which means pedaling and auxiliary power The information of the correspondence relationship is stored in the storage unit 51. That is, the auxiliary power input to the bicycle 201 by the motor 116 is set in accordance with the pedaling force. For example, as the pedaling force becomes larger, the auxiliary power also becomes larger. It is the auxiliary power information that indicates the correspondence between the pedaling force and the auxiliary power.

1‧‧‧坡度計算裝置 1‧‧‧ slope calculation device

2‧‧‧踏力檢測部 2‧‧‧Treading force detection department

3‧‧‧旋轉速度檢測部 3‧‧‧Rotation speed detection department

4‧‧‧速度檢測部 4‧‧‧Speed Detection Department

5‧‧‧控制部 5‧‧‧Control Department

51‧‧‧儲存部 51‧‧‧ Storage Department

Claims (14)

一種坡度計算裝置，係具備有第1檢測部、速度檢測部、儲存部以及控制部，該第1檢測部，是檢測被輸入到自行車之第1能量相關的參數；該速度檢測部，是檢測自行車的行走速度；該儲存部，是儲存有前述自行車及前述自行車之騎乘者的總重量；該控制部，是根據由前述第1檢測部所檢測的前述參數來算出第1能量，根據由前述速度檢測部所檢測的行走速度及前述儲存部所儲存的前述自行車及前述騎乘者的總重量來算出第2能量，並根據前述第1能量及前述第2能量來算出坡度；前述第1能量係包含：由前述自行車的騎乘者輸入到前述自行車的能量、及藉由搭載於前述自行車之行走輔助用電動機輸入到前述自行車的能量。 A slope calculating device includes a first detecting unit, a speed detecting unit, a storage unit, and a control unit, wherein the first detecting unit detects a parameter related to a first energy input to the bicycle; and the speed detecting unit detects a running speed of the bicycle; the storage unit is a total weight of the bicycle and the rider of the bicycle; and the control unit calculates the first energy based on the parameter detected by the first detecting unit, Calculating the second energy by the traveling speed detected by the speed detecting unit and the total weight of the bicycle and the rider stored in the storage unit, and calculating the gradient based on the first energy and the second energy; The energy system includes energy input to the bicycle by the rider of the bicycle, and energy input to the bicycle by a travel assist motor mounted on the bicycle. 如申請專利範圍第1項之坡度計算裝置，其中，前述第1檢測部係包含：檢測作用於前述自行車的曲柄之踏力的踏力檢測部、以及檢測前述曲柄的旋轉速度之旋轉速度檢測部；前述控制部，是以前述踏力檢測部所檢測之前述踏力及前述旋轉速度檢測部所檢測之前述旋轉速度作為前述參數，而算出前述第1能量。 The slope calculating device according to the first aspect of the invention, wherein the first detecting unit includes: a pedaling force detecting unit that detects a pedaling force acting on a crank of the bicycle; and a rotation speed detecting unit that detects a rotational speed of the crank; The control unit calculates the first energy by using the pedaling force detected by the pedaling force detecting unit and the rotation speed detected by the rotation speed detecting unit as the parameters. 如申請專利範圍第2項之坡度計算裝置，其中， 前述踏力檢測部，是檢測作用於前述自行車的曲柄軸之轉矩來作為前述踏力。 A slope calculating device according to item 2 of the patent application scope, wherein The pedaling force detecting unit detects the torque acting on the crankshaft of the bicycle as the pedaling force. 如申請專利範圍第2或3項之坡度計算裝置，其中，前述旋轉速度檢測部，是檢測前述曲柄之踏頻來作為前述旋轉速度。 The slope calculating device according to the second or third aspect of the invention, wherein the rotation speed detecting unit detects the cadence of the crank as the rotation speed. 如申請專利範圍第1項之坡度計算裝置，其中，前述控制部，是根據在第1時間輸入之前述第1能量、及從前述第1時間前的第2時間到前述第1時間之前述第2能量的變化量來算出前述第1時間之第3能量的變化量，根據前述算出之第3能量的變化量來算出前述坡度。 The slope calculating device according to claim 1, wherein the control unit is based on the first energy input at the first time and the second time before the first time to the first time The amount of change in energy is used to calculate the amount of change in the third energy in the first time, and the gradient is calculated based on the amount of change in the third energy calculated. 如申請專利範圍第2或3項之坡度計算裝置，其中，前述控制部，是根據在第1時間輸入之前述第1能量、及從前述第1時間前的第2時間到前述第1時間之前述第2能量的變化量來算出前述第1時間之第3能量的變化量，根據前述算出之第3能量的變化量來算出前述坡度；前述旋轉速度檢測部，是安裝於前述自行車的車輪，構成為可檢測繞前述車輪的旋轉軸旋轉之被檢測體；前述第1及第2時間，是根據前述旋轉速度檢測部之前述被檢測體的檢測間隔來定義。 The slope calculating device according to the second or third aspect of the invention, wherein the control unit is based on the first energy input at the first time and the second time before the first time to the first time The amount of change in the third energy in the first time is calculated by the amount of change in the second energy, and the gradient is calculated based on the calculated amount of change in the third energy; the rotation speed detecting unit is attached to the wheel of the bicycle. The object to be detected is configured to detect the object to be rotated about the rotation axis of the wheel; and the first and second times are defined based on the detection interval of the object to be detected by the rotation speed detecting unit. 如申請專利範圍第5項之坡度計算裝置，其中， 前述控制部，是從前述第1能量減去前述第2能量的變化量而算出前述第3能量的變化量。 A slope calculating device according to item 5 of the patent application, wherein The control unit calculates the amount of change in the third energy by subtracting the amount of change in the second energy from the first energy. 如申請專利範圍第5項之坡度計算裝置，其中，前述控制部，是根據在前述第1時間前述自行車所行走的距離和前述第3能量的變化量來算出前述坡度。 The slope calculating device according to claim 5, wherein the control unit calculates the gradient based on a distance traveled by the bicycle at the first time and a change amount of the third energy. 如申請專利範圍第1至3項中任一項之坡度計算裝置，其中，前述控制部，是將下式(1)所算出之第1部分能量取前述第1時間的合計值而算出前述第1能量， 式中，p1表示第1部分能量，T表示轉矩，n表示踏頻，△t表示前述踏力檢測部的取樣間隔。 The slope calculating device according to any one of the first to third aspects of the present invention, wherein the control unit calculates the first portion of the first time energy calculated by the following formula (1) 1 energy, In the formula, p 1 represents the first partial energy, T represents the torque, n represents the cadence, and Δt represents the sampling interval of the pedaling force detecting unit. 如申請專利範圍第1至3項中任一項之坡度計算裝置，其中，前述控制部是根據下式(2)而算出前述第2能量的變化量， 式中，m表示自行車和騎乘者的總重量，v1表示在前述第1時間之行走速度，v2表示在前述第2時間之行走速度。 The slope calculating device according to any one of the first to third aspects of the present invention, wherein the control unit calculates the amount of change in the second energy according to the following formula (2). In the formula, m represents the total weight of the bicycle and the rider, v 1 represents the travel speed at the first time, and v 2 represents the travel speed at the second time. 如申請專利範圍第1至3項中任一項之坡度計算裝置，進一步具備：用來檢測前述自行車的制動器的作動狀 態之制動檢測部，前述控制部，當根據前述制動檢測部的檢測結果而判斷前述制動器正作動時，不算出前述坡度。 The gradient calculating device according to any one of claims 1 to 3, further comprising: an operation for detecting a brake of the bicycle In the brake detecting unit of the state, the control unit does not calculate the gradient when it is determined that the brake is being actuated based on the detection result of the brake detecting unit. 如申請專利範圍第1項之坡度計算裝置，其中，前述第1檢測部係包含：檢測作用於前述自行車的曲柄之踏力的踏力檢測部、檢測前述曲柄的旋轉速度之旋轉速度檢測部、以及檢測前述行走輔助用電動機所產生的輔助動力之輔助動力檢測部；前述控制部，是使用由前述踏力檢測部所檢測的前述踏力、由前述旋轉速度檢測部所檢測的前述旋轉速度、及由前述輔助動力檢測部所檢測的前述輔助動力作為前述參數，來算出前述第1能量。 The slope calculating device according to the first aspect of the invention, wherein the first detecting unit includes: a pedaling force detecting unit that detects a pedaling force acting on a crank of the bicycle; a rotation speed detecting unit that detects a rotation speed of the crank; and detection An auxiliary power detecting unit for assisting power generated by the travel assisting motor; the control unit using the pedaling force detected by the pedaling force detecting unit, the rotational speed detected by the rotational speed detecting unit, and the assisting The auxiliary power detected by the power detecting unit is used as the parameter to calculate the first energy. 如申請專利範圍第1項之坡度計算裝置，其中，前述第1檢測部係包含：檢測作用於前述自行車的曲柄之踏力的踏力檢測部、及檢測前述曲柄的旋轉速度之旋轉速度檢測部；前述控制部，是使用由前述踏力檢測部所檢測的前述踏力、由前述旋轉速度檢測部所檢測的前述旋轉速度、及至少按照前述踏力而設定的輔助動力作為前述參數，來算出前述第1能量。 The slope calculating device according to the first aspect of the invention, wherein the first detecting unit includes: a pedaling force detecting unit that detects a pedaling force acting on a crank of the bicycle; and a rotation speed detecting unit that detects a rotational speed of the crank; The control unit calculates the first energy using the pedaling force detected by the pedaling force detecting unit, the rotation speed detected by the rotation speed detecting unit, and the auxiliary power set at least in accordance with the pedaling force as the parameters. 如申請專利範圍第13項之坡度計算裝置，其中，前述儲存部進一步儲存有：表示前述踏力和前述輔助動力的對應關係之輔助動力資訊；前述控制部，是根據由前述踏力檢測部所檢測的前述踏力及前述輔助動力資訊來算出前述輔助動力。 The slope calculating device according to claim 13, wherein the storage unit further stores auxiliary power information indicating a correspondence relationship between the pedaling force and the auxiliary power; and the control unit is detected by the pedaling force detecting unit. The aforementioned assisting force is calculated by the aforementioned pedaling force and the aforementioned auxiliary power information.
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