TWM530282U - Smart crank and man power driving device with auxiliary power thereof - Google Patents
Smart crank and man power driving device with auxiliary power thereof Download PDFInfo
- Publication number
- TWM530282U TWM530282U TW105210656U TW105210656U TWM530282U TW M530282 U TWM530282 U TW M530282U TW 105210656 U TW105210656 U TW 105210656U TW 105210656 U TW105210656 U TW 105210656U TW M530282 U TWM530282 U TW M530282U
- Authority
- TW
- Taiwan
- Prior art keywords
- crank
- sensor
- power
- smart
- controller
- Prior art date
Links
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Description
本創作係有關於一種智慧型曲柄及包含其之具有輔助動力之人力驅動裝置，尤其是指一種能夠根據感應器的感測值準確計算出實際腳踏力量，以使馬達輸出相匹配的功率的智慧型曲柄及包含其之具有輔助動力之人力驅動裝置。 This creation is about a smart crank and a human-powered drive with its auxiliary power, especially a power that can accurately calculate the actual pedal power based on the sensed sensor's sensed value to match the motor output. Smart crank and human-powered drive with auxiliary power.
一般具有輔助動力的腳踏裝置，例如電動腳踏車(一輪、二輪或三輪車)，其馬達電流的大小都是由手控的扭把(轉把)來決定。有些設計則加上磁感器與磁塊來測量腳踏的速度，而後依腳踏速度來控制馬達電流大小或輸出功率。即馬達功率輸出大小與腳踩速度成正比，踩的越快，馬達輸出功率越高。速度感測器在平路時才比較有效，而在上坡時，腳踏速度因為坡度而減慢，此時馬達卻不能提供足夠的輸出功率。 Generally, a pedal device with auxiliary power, such as an electric bicycle (one-wheel, two-wheel or three-wheeled vehicle), whose motor current is determined by a manually controlled twisting handle (turning handle). Some designs add a magnetic sensor and a magnetic block to measure the speed of the pedal, and then control the motor current or output power according to the pedal speed. That is, the motor power output is proportional to the foot speed, and the faster the step is, the higher the motor output power is. The speed sensor is more effective when it is on a flat road. When it is uphill, the pedal speed is slowed down due to the slope, and the motor does not provide enough output power.
正確的作法應該是由腳踩的力量來決定馬達的電流與輸出功率。馬達輸出功率大小與腳踩力量成正比，即腳踩的越用力，馬達輸出功率越高。雖然市面上已有些公司是用機械式的方式來感測腳踩的力量，但其成本 太高。公開號為TW201410531A的中華民國專利申請採用應變計感測器感測腳踩的力量，但是無法準確地獲知實際腳踩的力量，因而無法使馬達準確輸出相匹配的功率。 The correct way to do this is to determine the current and output power of the motor by the force of the foot. The output power of the motor is proportional to the strength of the foot, that is, the harder the foot is, the higher the motor output power. Although some companies in the market use mechanical methods to sense the strength of the foot, the cost Too high. The Republic of China patent application with the publication number TW201410531A uses a strain gauge sensor to sense the strength of the foot, but cannot accurately know the actual foot force, and thus cannot accurately output the matched power to the motor.
本創作的目的是提供一種智慧型曲柄及包含其之具有輔助動力之人力驅動裝置，能夠透過獲取曲柄轉動一個感測週期的最大實際力矩值來使馬達輸出相匹配的功率。 The purpose of this creation is to provide a smart crank and a human-powered driving device with an auxiliary power that can output a matching power of the motor output by acquiring the maximum actual torque value of the crank for one sensing period.
為了實現上述目的，本創作的智慧型曲柄，是應用於一具有輔助動力之人力驅動裝置，所述人力驅動裝置包括動力系統，所述智慧型曲柄包括曲柄本體，所述曲柄本體上設置有力矩感應器、速度感應器、角度感應器、方向感應器以及曲柄控制器。力矩感應器感測所述曲柄本體上於一設定方向的力矩值；速度感應器感測所述曲柄本體的轉動速度；角度感應器感測所述曲柄本體偏離所述設定方向的角度；方向感應器感測所述曲柄本體的轉動方向；曲柄控制器分別連結於所述動力系統以及各感應器，在一個感測週期內，所述曲柄控制器根據各所述感應器感測的資訊判斷所述曲柄本體的轉動速度大於一設定閾值且轉動方向為向前時，再根據感測到的力矩值以及角度計算此時曲柄本體所受到的實際力矩值，並獲取曲柄本體於該感測週期內的最大實際力矩值，以輸出最大實際力矩值以使所述動力系統根據該最大實際力矩值調整其輸出功 率。 In order to achieve the above object, the intelligent crank of the present invention is applied to a human power driving device having an auxiliary power, the human power driving device including a power system, the smart crank including a crank body, and the crank body is provided with a torque Sensors, speed sensors, angle sensors, direction sensors, and crank controllers. a torque sensor senses a torque value of the crank body in a set direction; a speed sensor senses a rotational speed of the crank body; an angle sensor senses an angle of the crank body from the set direction; a direction sense Sensing the rotation direction of the crank body; the crank controller is respectively coupled to the power system and the inductors, and the crank controller judges the information sensed by each of the sensors during a sensing period When the rotational speed of the crank body is greater than a set threshold and the rotational direction is forward, the actual torque value received by the crank body at this time is calculated according to the sensed torque value and the angle, and the crank body is acquired within the sensing period. The maximum actual torque value to output the maximum actual torque value to cause the power system to adjust its output power according to the maximum actual torque value rate.
在上述的智慧型曲柄的一實施方式中，所述角度感應器和方向感應器是陀螺儀加速器。 In an embodiment of the smart crank described above, the angle sensor and the direction sensor are gyroscope accelerators.
在上述的智慧型曲柄的一實施方式中，所述力矩感應器是應變規感應器。 In an embodiment of the smart crank described above, the torque sensor is a strain gauge sensor.
在上述的智慧型曲柄的一實施方式中，所述曲柄本體包括應變規容置腔，所述應變規感應器貼附於所述應變規容置腔的內壁。 In an embodiment of the smart crank described above, the crank body includes a strain gauge receiving cavity, and the strain gauge sensor is attached to an inner wall of the strain gauge receiving cavity.
在上述的智慧型曲柄的一實施方式中，所述設定方向為垂直方向或水平方向。 In an embodiment of the smart crank described above, the setting direction is a vertical direction or a horizontal direction.
在上述的智慧型曲柄的一實施方式中，所述曲柄本體包括電池容置腔，一電池設置於所述電池容置腔，所述曲柄控制器以及各感應器分別與所述電池電性連接。 In an embodiment of the above-described smart crank, the crank body includes a battery receiving cavity, a battery is disposed in the battery receiving cavity, and the crank controller and each sensor are electrically connected to the battery respectively. .
在上述的智慧型曲柄的一實施方式中，所述人力驅動裝置還包括曲柄軸和動力系統用電源，所述曲柄軸包括與所述電源相連接的滑環，所述曲柄本體包括曲柄連接端，所述曲柄連接端包括與所述滑環接觸連接的彈性連接柱以將電源供應至所述曲柄控制器以及各感應器。 In an embodiment of the smart crank described above, the manual drive device further includes a crankshaft and a power supply for the power system, the crankshaft including a slip ring connected to the power source, the crank body including a crank connection end The crank connecting end includes a resilient connecting post that is in contact with the slip ring to supply power to the crank controller and each inductor.
在上述的智慧型曲柄的一實施方式中，所述曲柄控制器包括與所述動力系統無線通訊連接的無線通訊模組。 In one embodiment of the smart crank described above, the crank controller includes a wireless communication module in wireless communication with the power system.
在上述的智慧型曲柄的一實施方式中，所述曲柄控制器還包括計時器模組，計時器模組根據曲柄本 體之轉動速度對曲柄本體之一曲柄開始轉動時間與一曲柄停止轉動時間中之至少一者進行計時。 In an embodiment of the smart crank described above, the crank controller further includes a timer module, and the timer module is based on the crankbook The rotational speed of the body counts at least one of a crank start rotation time and a crank stop rotation time of the crank body.
在上述的智慧型曲柄的一實施方式中，所述曲柄控制器還包括一判定模組，其係於所述感測週期結束後仍進行一次判斷所述曲柄本體的轉動速度是否大於該設定閾值且方向是否向前。 In an embodiment of the above-described smart crank, the crank controller further includes a determination module that determines whether the rotational speed of the crank body is greater than the set threshold after the end of the sensing period. And whether the direction is forward.
本創作具有輔助動力的人力驅動裝置，包括車架、分別連接在所述車架上的動力系統以及驅動系統，所述驅動系統包括曲柄軸和分別連接在所述曲柄軸兩側的曲柄，其中，兩個所述曲柄中的至少一個為上述的智慧型曲柄。 The present invention has an auxiliary power human-powered device including a frame, a power system respectively coupled to the frame, and a drive system, the drive system including a crankshaft and cranks respectively coupled to the two sides of the crankshaft, wherein At least one of the two cranks is the above-described smart crank.
上述具有輔助動力的人力驅動裝置的一實施例中，所述動力系統包括馬達和控制所述馬達的馬達控制器，所述馬達控制器與所述曲柄控制器無線通訊連接。 In one embodiment of the above-described auxiliary power manual drive, the power system includes a motor and a motor controller that controls the motor, the motor controller being in wireless communication with the crank controller.
上述具有輔助動力的人力驅動裝置的一實施例中，還包括設置於所述車架的車把處的顯示器，所述顯示器與所述馬達控制器相連接。 In an embodiment of the above-described auxiliary power human power drive, the display further includes a display disposed at the handlebar of the frame, the display being coupled to the motor controller.
本創作的有益功效在於，採用本創作的智慧型曲柄及具有輔助動力的人力驅動裝置，透過感測智慧型曲柄的轉動力矩值以及轉動速度、角度和方向，準確獲取反應實際最大腳踩力量的智慧型曲柄所受到的最大實際力矩值，馬達根據此最大實際力矩值智慧輸出適當功率，使騎乘者舒適騎乘。 The beneficial effect of this creation is that the intelligent crank with the auxiliary power and the human-powered driving device with auxiliary power can accurately obtain the actual maximum pedaling force by sensing the rotational torque value of the intelligent crank and the rotational speed, angle and direction. The maximum actual torque value received by the smart crank, the motor intelligently outputs the appropriate power according to the maximum actual torque value, so that the rider can ride comfortably.
本創作所採用的具體實施例，將藉由以下 之實施例及圖式作進一步之說明，但不作為對本實用新型的限定。 The specific embodiment adopted in this creation will be as follows The embodiments and the drawings are further described, but are not intended to limit the invention.
100‧‧‧智慧型曲柄 100‧‧‧Smart crank
110‧‧‧曲柄本體 110‧‧‧ crank body
111‧‧‧彈性連接柱 111‧‧‧Flexible connecting column
120‧‧‧力矩感應器 120‧‧‧Torque sensor
130‧‧‧速度感應器 130‧‧‧Speed sensor
140‧‧‧角度感應器 140‧‧‧Angle sensor
150‧‧‧方向感應器 150‧‧‧ Directional Sensor
160‧‧‧曲柄控制器 160‧‧‧Crank Controller
161‧‧‧無線通訊模組 161‧‧‧Wireless communication module
162‧‧‧計時器模組 162‧‧‧Timer module
170‧‧‧放大器 170‧‧‧Amplifier
200‧‧‧具有輔助動力之腳踏裝置 200‧‧‧Auxiliary power pedal device
211‧‧‧馬達控制器 211‧‧‧Motor controller
212‧‧‧馬達 212‧‧‧Motor
210‧‧‧動力系統 210‧‧‧Power System
220‧‧‧顯示器 220‧‧‧ display
230‧‧‧車架 230‧‧‧ frame
240‧‧‧驅動系統 240‧‧‧Drive system
241‧‧‧曲柄軸 241‧‧‧ crankshaft
242‧‧‧滑環 242‧‧‧Slip ring
S1‧‧‧應變規容置腔 S1‧‧‧ strain gauge cavity
S2‧‧‧電路板容置腔 S2‧‧‧Circuit board cavity
S3‧‧‧電池容置腔 S3‧‧‧Battery accommodating chamber
P‧‧‧電路板 P‧‧‧PCB
B‧‧‧紐扣電池 B‧‧‧ button battery
E‧‧‧曲柄連接端 E‧‧‧Crank connection
第一圖為本創作的具有輔助動力之人力驅動裝置的一實施例的結構示意圖；第二圖為本創作的具有輔助動力之人力驅動裝置的智慧型曲柄及動力系統的系統示意圖；第三圖為本創作的智慧型曲柄的一實施例的結構示意圖；第四圖為第三圖另一方向的結構示意圖；第五圖為智慧型曲柄所處位置感測力矩值與實際力矩值關係示意圖；第六圖為本創作的智慧型曲柄的工作流程圖；第七圖為本創作的智慧型曲柄軸另一實施例的結構示意圖；第八圖為本創作的智慧型曲柄在另一實施例中與曲柄軸連接的剖面示意圖。 The first figure is a schematic structural view of an embodiment of a human-powered driving device with auxiliary power; the second drawing is a schematic diagram of a system of a smart crank and a power system with an auxiliary power human driving device; A schematic structural view of an embodiment of the intelligent crank of the present invention; the fourth figure is a schematic structural view of the third direction in another direction; and the fifth figure is a schematic diagram of the relationship between the position sensing torque value and the actual torque value of the smart crank; The sixth figure is a working flow chart of the intelligent crank of the present creation; the seventh figure is a structural schematic diagram of another embodiment of the intelligent crank shaft of the present creation; the eighth figure is the intelligent crank of the present creation in another embodiment. A schematic cross-section of the connection to the crankshaft.
下面結合圖式和具體實施例對本創作進行詳細的描述，以更進一步瞭解本創作的目的、方案及功效，但並非作為本創作所附權利要求保護範圍的限制。 The present invention is described in detail below with reference to the drawings and specific embodiments, which are to be understood as a further understanding of the scope of the invention.
配備有本創作之智慧型曲柄的具有輔助動 力之人力驅動裝置，其動力來源是馬達和人力，在腳踏或手轉後馬達才能產生動力，所以具有輔助動力之人力驅動裝置每次充完電後的行駛距離也較長。以腳踏的人力驅動裝而言，在爬坡時，本創作之具有輔助動力之人力驅動裝置可以感受到騎乘者使用力氣的增加而自動提高電流的供應以增加馬達輸出的功率。在下坡時，騎乘者沒有腳踏，馬達也就停止輸出電流。 Assisted with the intelligent crank of this creation The power supply of the force is driven by the motor and the human power. The motor can generate power after the pedal or the hand is turned, so the driving force of the auxiliary power human driving device is longer after each charging. In the case of a pedal-driven human-powered device, the human-powered driving device with auxiliary power can feel the increase in the current of the rider to increase the power supply to increase the power output of the motor. When going downhill, the rider does not have a pedal and the motor stops outputting current.
如第一圖和第二圖所示，本創作之智慧型曲柄100應用於具有輔助動力之人力驅動裝置200上，具有輔助動力之人力驅動裝置200還包括動力系統210、顯示器220、車架230以及驅動系統240，動力系統210、顯示器220以及驅動系統240分別連接在車架230上。其中，在本實施例中，人力驅動裝置200為一應用於腳踏車之腳踏裝置，但不限於此，在其他實施例中亦可為供殘疾人士手動驅動之輪椅車、斜躺車、三輪車或四輪車等手動裝置。 As shown in the first and second figures, the smart crank 100 of the present invention is applied to a human power driving device 200 having an auxiliary power. The human power driving device 200 with auxiliary power further includes a power system 210, a display 220, and a frame 230. And a drive system 240, the power system 210, the display 220, and the drive system 240 are respectively coupled to the frame 230. In this embodiment, the human power driving device 200 is a pedal device applied to a bicycle, but is not limited thereto. In other embodiments, the wheelchair, the reclining vehicle, the tricycle, or the manual driving by a disabled person may be used. Manual devices such as four-wheelers.
驅動系統240包括曲柄軸241，曲柄軸241兩側分別連接一個曲柄的一端，曲柄的另一端連接腳踏，騎乘者踩動腳踏，腳踏通過曲柄帶動曲柄軸241以及前後車輪轉動，從而使帶助力的人力驅動裝置200向前行進。其中，曲柄軸241兩側的曲柄中可以有一側的曲柄設置為創作的智慧型曲柄100。不考慮成本的話，也可以兩側均設置本創作之智慧型曲柄100。 The driving system 240 includes a crank shaft 241. One end of the crank shaft 241 is respectively connected to one end of the crank, the other end of the crank is connected to the pedal, the rider steps on the pedal, the pedal drives the crank shaft 241 through the crank, and the front and rear wheels rotate. The assisted human drive unit 200 is advanced. Among them, one of the cranks on both sides of the crankshaft 241 may be provided with a crank of the created smart crank 100. Regardless of the cost, the smart crank 100 of the present creation can also be set on both sides.
以下實施例中，以具有輔助動力之人力驅動裝置200的左側曲軸為本創作之智慧型曲軸100為例進行 說明。 In the following embodiments, the smart crankshaft 100 of the left crankshaft of the human power driving device 200 with auxiliary power is taken as an example. Description.
請參閱第一圖和第二圖，動力系統210包括馬達控制器211和馬達212，顯示器220例如設置於車架230的車把處，方便騎乘者設置和查看。智慧型曲柄100與馬達系統210的馬達控制器211採用無線通訊連接，馬達系統210的馬達控制器211與顯示器220採用有線通訊連接。 Referring to the first and second figures, the power system 210 includes a motor controller 211 and a motor 212, which is disposed, for example, at the handlebar of the frame 230 for facilitating rider setting and viewing. The smart crank 100 is connected to the motor controller 211 of the motor system 210 by a wireless communication, and the motor controller 211 of the motor system 210 is connected to the display 220 by a wired communication.
其中，騎乘者可在顯示器220上選擇馬達出力與騎乘者出力的比例，例如：如果是低段選擇，則馬達提供的輸出功率較騎乘者出力低；如果是中段選擇，馬達提供的輸出功率與騎乘者出力相當；如果是高段選擇，則馬達提供的輸出功率高於騎乘者出力。騎乘者可根據需要進行各種選擇，如在上坡時進行高段選擇，以最大限度地滿足騎乘者的舒適騎乘的需求。當然，顯示器220還可以顯示騎乘距離、騎乘速度、剩餘電量等各種資訊。 Wherein, the rider can select the ratio of the motor output to the rider's output on the display 220, for example, if the low segment is selected, the output power provided by the motor is lower than the rider's output; if the middle segment is selected, the motor provides The output power is comparable to the rider's output; if it is a high segment selection, the motor provides an output power that is higher than the rider's output. The rider can make various choices as needed, such as high-segment selection on the uphill slope to maximize the rider's comfortable ride. Of course, the display 220 can also display various information such as the riding distance, the riding speed, and the remaining power.
本創作的智慧型曲柄100具有多個感應器元件，以感測騎乘者所施加在智慧型曲柄100上的力以及智慧型曲柄100轉動的速度、角度和方向，依據所感測的資訊計算實際施加於腳踏的最大力，並發送到動力系統210的馬達控制器211，馬達控制器211依據智慧型曲柄100所發送的資訊以及騎乘者在顯示器210上的選擇來控制馬達212輸出適合的功率。 The intelligent crank 100 of the present invention has a plurality of sensor elements for sensing the force exerted by the rider on the smart crank 100 and the speed, angle and direction of the rotation of the smart crank 100, and calculating the actual information based on the sensed information. The maximum force applied to the pedal is sent to the motor controller 211 of the powertrain 210. The motor controller 211 controls the motor 212 to output the appropriate information based on the information transmitted by the smart crank 100 and the rider's selection on the display 210. power.
具體地如第二圖至第四圖所示，智慧型曲柄100包括曲柄本體110，曲柄本體110上設置有力矩感應器120、速度感應器130、角度感應器140、方向感應器150以 及曲柄控制器160。 Specifically, as shown in the second to fourth figures, the smart crank 100 includes a crank body 110. The crank body 110 is provided with a torque sensor 120, a speed sensor 130, an angle sensor 140, and a direction sensor 150. And a crank controller 160.
力矩感應器120例如採用應變規感應器，由於腳踏的時候，曲柄本體110是直接受力的元件，故直接把力矩感應器120貼附於曲柄本體110上，以感測騎乘者施加於曲柄本體110上的轉動力矩。 The torque sensor 120 is, for example, a strain gauge sensor. Since the crank body 110 is a directly stressed component when the pedal is depressed, the torque sensor 120 is directly attached to the crank body 110 to sense that the rider applies to the rider. The rotational moment on the crank body 110.
曲柄本體110上設置有應變規容置腔S1，力矩感應器120貼附於應變規容置腔S1的內壁，例如側壁和/或底壁，力矩感應器120可為一個，也可為多個。力矩感應器120感測的是一設定方向上的分力，設定方向例如為水平方向或與水平方向垂直的垂直方向，在本實施例中，設定方向可設置為水平方向。 The crank body 110 is provided with a strain gauge housing S1. The torque sensor 120 is attached to the inner wall of the strain gauge housing S1, such as a side wall and/or a bottom wall. The torque sensor 120 can be one or more. One. The torque sensor 120 senses a component force in a set direction, for example, a horizontal direction or a vertical direction perpendicular to the horizontal direction. In the embodiment, the set direction may be set to a horizontal direction.
角度感應器140和方向感應器150例如採用陀螺儀加速器實現角度和方向的感測，陀螺儀能夠感測曲柄本體110所處空間位置的變化，可以測出曲柄本體110的X+/X-，Y+/Y-，Z+/Z-的空間位置。根據X+/X-，Y+/Y-，Z+/Z-變換的資料就可很容易知曉曲柄本體110的轉動方向以及曲柄本體110與設定的水準方向之間的角度。 The angle sensor 140 and the direction sensor 150 realize the sensing of the angle and the direction by using a gyroscope accelerator, for example, the gyroscope can sense the change of the spatial position of the crank body 110, and can measure the X+/X-, Y+ of the crank body 110. /Y-, Z+/Z- spatial position. According to the X+/X-, Y+/Y-, Z+/Z-transformed data, the direction of rotation of the crank body 110 and the angle between the crank body 110 and the set level direction can be easily known.
曲柄控制器160分別與動力系統210以及各感應器120至150相連接，於一個感測週期內，曲柄控制器160根據速度感應器130所感應的曲柄本體110的轉動速度大於一設定閾值，且根據方向感應器150所感應的曲柄本體110的轉動方向為向前時，再根據力矩感測器120所感應的曲柄本體110於設定方向的力矩值T以及角度感應器140所感應的曲柄本體110與設定方向的角度A來計算此時曲柄 本體110所受到的實際力矩值Ta。如此反復，直至得到曲柄本體110於該感測週期內的最大實際力矩值Tmax，動力系統210根據該最大實際力矩值Tmax調整其輸出功率。 The crank controller 160 is respectively connected to the power system 210 and the sensors 120 to 150. During one sensing period, the crank controller 160 rotates the crank body 110 according to the speed sensor 130 to be greater than a set threshold, and According to the torque direction T of the crank body 110 sensed by the torque sensor 120 in the set direction and the crank body 110 sensed by the angle sensor 140 according to the direction of rotation of the crank body 110 sensed by the direction sensor 150. Calculate the crank at this time with the angle A of the set direction The actual torque value Ta received by the body 110. This is repeated until the maximum actual torque value Tmax of the crank body 110 in the sensing period is obtained, and the power system 210 adjusts its output power according to the maximum actual torque value Tmax.
上述的一個感測週期，指的是調整馬達控制器電流的一個週期，例如為左曲柄受力的半圈為一個感測週期，需說明的是，本創作並不以此為限，例如設置左曲柄受力的兩個或兩個以上的半圈為一個感測週期。 The above one sensing period refers to one cycle of adjusting the current of the motor controller. For example, the half circle of the left crank is a sensing period. It should be noted that the creation is not limited thereto, for example, setting Two or more half circles of the left crank are subjected to a sensing cycle.
上述的設定閾值，指的是設定的曲柄本體110轉動的速度最小值。在某些情形下，例如，當兩腳站立在踏板時，力矩值雖然是最大，但這不是正常的行駛狀況，其加速度是零，馬達不應啟動。所以感測到曲柄本體110轉動的速度低於設定閾值時，馬達212不啟動。 The above-described set threshold value refers to the set minimum speed of the crank body 110 rotation. In some cases, for example, when the two feet are standing on the pedal, the torque value is maximum, but this is not a normal driving condition, the acceleration is zero, and the motor should not start. Therefore, when it is sensed that the speed at which the crank body 110 rotates is lower than the set threshold, the motor 212 does not start.
曲柄控制器160需要提取力矩感應器120所感測的最大的腳踏力量，以使馬達212輸出適合的功率。如何準確取得曲柄本體110轉動一圈的最大轉動力矩成為是否能夠正確提供輸出功率的關鍵。 The crank controller 160 needs to extract the maximum pedaling force sensed by the torque sensor 120 to cause the motor 212 to output a suitable power. How to accurately obtain the maximum rotational torque of one revolution of the crank body 110 becomes the key to whether or not the output power can be correctly provided.
如第五圖所示，曲柄本體110所處的空間位置會影響到真正造成力矩感應器120改變的力量。由於力矩感應器120感應的是水平軸X方向的應變(上述已說明設定方向設置為水平方向)，當曲柄本體110與水平軸X平行時，其輸出力量是最大的，而造成力矩感應器120的變形量也是最大的，此時的力矩感應器120的變形量與實際腳腳踏力量F相一致。但是，當曲柄本體110的當前位置與水平軸X之間有角度θ時，實際腳腳踏力量F能造成作為力矩感應 器120的應變規變化的力量是F1=F cosθ。此時力矩感應器120所感測力矩值並不能反應實際腳踩力量F。 As shown in the fifth figure, the spatial position of the crank body 110 affects the force that actually causes the torque sensor 120 to change. Since the torque sensor 120 senses the strain in the X direction of the horizontal axis (the above-described setting direction is set to the horizontal direction), when the crank body 110 is parallel to the horizontal axis X, its output force is the largest, and the torque sensor 120 is caused. The amount of deformation is also the largest, and the amount of deformation of the torque sensor 120 at this time coincides with the actual foot pedal force F. However, when the current position of the crank body 110 and the horizontal axis X have an angle θ, the actual foot pedal force F can be caused as a torque induction. The force of the strain gauge change of the device 120 is F1 = F cos θ. At this time, the torque value sensed by the torque sensor 120 does not reflect the actual foot force F.
由於取樣時間是每隔若干ms(毫秒)取一個樣本，在一個感測週期中可取得數個樣本。而樣本的取點常常不會是在θ=0度時。也就是說取樣點不是力矩感應器120變形最大的時候。 Since the sampling time is one sample every several ms (milliseconds), several samples can be taken in one sensing period. The sampling point of the sample is often not at θ = 0 degrees. That is to say, the sampling point is not the time when the torque sensor 120 is deformed the most.
本創作透過設置速度感應器130、角度感應器140以及方向感應器150來測出曲柄本體110的速度、角度以及方向，進而計算得出反應正常向前行進過程中的實際腳腳踏力量F的力矩值。 The present invention measures the speed, angle and direction of the crank body 110 by setting the speed sensor 130, the angle sensor 140 and the direction sensor 150, thereby calculating the actual foot pedal force F during the normal forward movement. Torque value.
如第六圖所示的為智慧型曲柄100的曲柄控制器160的一實施例的工作過程，本實施例中，智慧型曲柄100為左曲柄，力矩感應器120設置為感應曲柄本體110水平軸X方向應變，角度感應器140感應曲柄本體110與水平軸X方向角度，感測週期設置為左曲柄受力的半圈。 As shown in the sixth figure, the operation of an embodiment of the crank controller 160 of the smart crank 100, in the present embodiment, the smart crank 100 is a left crank, and the torque sensor 120 is set to sense the horizontal axis of the crank body 110. The X-direction strain, the angle sensor 140 senses the angle of the crank body 110 and the horizontal axis X direction, and the sensing period is set to a half circle of the left crank force.
曲柄控制器160的電信號連接及流通過程如下： The electrical signal connection and circulation process of the crank controller 160 is as follows:
步驟S100，初始化以將最大實際力矩值Tmax歸零，即設定最大實際力矩值Tmax為零值。 In step S100, initialization is performed to zero the maximum actual torque value Tmax, that is, the maximum actual torque value Tmax is set to zero.
步驟S200，讀取力矩感應器120、速度感應器130、角度感應器140以及方向感應器150所感應的力矩值、速度、角度以及轉動方向。 In step S200, the torque value, the speed, the angle, and the rotation direction induced by the torque sensor 120, the speed sensor 130, the angle sensor 140, and the direction sensor 150 are read.
步驟S300，根據所感測的速度以及方向進行判斷，速度是否超過設定閾值，方向是否向前，如果判 斷速度沒有超過設定閾值或轉動方向向後，則重新回到步驟S100，如果判斷得到速度超過設定閾值且轉動方向向前，進入步驟S400。 Step S300, judging according to the sensed speed and direction, whether the speed exceeds a set threshold, and whether the direction is forward, if If the breaking speed does not exceed the set threshold or the direction of rotation is backward, the process returns to step S100, and if it is determined that the speed exceeds the set threshold and the direction of rotation is forward, the process proceeds to step S400.
步驟S400，感測此左曲柄是否在其受力的半圈內(例如，X軸正方向為前方，根據感測的角度判斷曲柄本體110是否處於第五圖所示的α角度內)，如果是，則進入步驟S500；如果不是在其受力的半圈內，則進入步驟S600。 Step S400, sensing whether the left crank is within a half circle of its force (for example, the positive X-axis direction is forward, and determining whether the crank body 110 is within the α angle shown in the fifth figure according to the sensed angle), if If yes, go to step S500; if it is not within half of its force, go to step S600.
步驟S500，根據感測的力矩值T以及角度A計算得到反應實際腳踩力量的實際力矩值Ta，並將實際力矩值Ta與現存儲的最大實際力矩值Tmax進行比較，若Ta<=Tmax，則最大實際力矩值Tmax不變；T>Tmax，Tmax=Ta，存儲替換後的最大實際力矩值Tmax，然後重新回到S200提取感應值，直至得到此受力半圈的最大實際力矩值Tmax。 Step S500, calculating an actual torque value Ta of the actual foot force according to the sensed torque value T and the angle A, and comparing the actual torque value Ta with the currently stored maximum actual torque value Tmax, if Ta<=Tmax, Then, the maximum actual torque value Tmax is unchanged; T>Tmax, Tmax=Ta, the maximum actual torque value Tmax after the replacement is stored, and then returning to S200 to extract the sensing value until the maximum actual torque value Tmax of the force half circle is obtained.
步驟S600，在脫離左曲柄受力的半圈時，需再次讀取速度以及轉動方向的感測值，以判斷此時轉動速度是否超過設定閾值且轉動方向是否向前，如果是，說明人力驅動裝置此時正常向前行進，此時存儲的Tmax即為左曲柄此受力半圈的最大實際力矩值，進入步驟S700；如果此時轉動速度沒有超過設定閾值或轉動方向不是向前，則說明此時人力驅動裝置停止腳蹬或方向向後，不再需要對馬達控制器電流進行調整，重新回到步驟S100。 In step S600, when the half crank force of the left crank is removed, the sensing value of the speed and the rotation direction needs to be read again to determine whether the rotation speed exceeds the set threshold and the rotation direction is forward. If yes, the human driving is indicated. The device then travels forward normally. At this time, the stored Tmax is the maximum actual torque value of the half crank of the left crank, and proceeds to step S700; if the rotation speed does not exceed the set threshold or the rotation direction is not forward, then the description At this time, the manual driving device stops the pedal or the direction is backward, and it is no longer necessary to adjust the motor controller current, and the process returns to step S100.
步驟S700，馬達控制器211依此最大實際力 矩值Tmax控制電流以及馬達輸出功率，並返回步驟S100，開始新一輪判斷計算過程，以取得下一感測週期的最大實際力矩值。 Step S700, the motor controller 211 according to the maximum actual force The moment Tmax controls the current and the motor output power, and returns to step S100 to start a new round of judgment calculation process to obtain the maximum actual torque value of the next sensing period.
其中，如第二圖所示，力矩感應器120與曲柄控制器140之間可通過放大器170相連接。 Wherein, as shown in the second figure, the torque sensor 120 and the crank controller 140 can be connected by an amplifier 170.
速度感應器130、角度感應器140以及方向感應器150可集成於同一電路板P上。另，電路板P上還集成曲柄控制器160、放大器170即其他相關電路。如第三圖和第四圖所示，曲柄本體110上還設置有電路板容置腔S2，電路板P容置於電路板容置腔S2中。 The speed sensor 130, the angle sensor 140, and the direction sensor 150 can be integrated on the same circuit board P. In addition, the crank controller 160, the amplifier 170, and other related circuits are also integrated on the circuit board P. As shown in the third and fourth figures, the crank body 110 is further provided with a circuit board accommodating cavity S2, and the circuit board P is received in the circuit board accommodating cavity S2.
如第二圖所示，曲柄控制器160包括無線通訊模組161以及計時器模組162。 As shown in the second figure, the crank controller 160 includes a wireless communication module 161 and a timer module 162.
無線通訊模組161用於實現曲柄控制器160與動力系統210的馬達控制器211無線通訊連接。 The wireless communication module 161 is used to implement the wireless communication connection between the crank controller 160 and the motor controller 211 of the power system 210.
為了安全起見，馬達必須在踏動若干時間後才能啟動，而且馬達必須在腳踏動停止馬上停止轉動。本創作透過計時器模組162以根據速度感應器130所感測的曲柄本體110的速度對曲柄本體110曲柄開始轉動時間或曲柄停止轉動時間進行計時，以確保馬達212在踏動若干時間方能啟動，而且馬達212在腳踏動停止馬上停止轉動，保證馬達安全使用。 For safety reasons, the motor must be turned on after a certain amount of time, and the motor must stop rotating immediately after the pedal stops. The present invention uses the timer module 162 to time the crank body 110 crank start time or the crank stop rotation time according to the speed of the crank body 110 sensed by the speed sensor 130 to ensure that the motor 212 can be started after a certain time. And the motor 212 stops rotating immediately after the pedal stops, ensuring safe use of the motor.
曲柄控制器160還包括判定模組，於上述步驟S400中，判定模組用於判斷曲柄本體110已脫離感測週期時，仍讀取一次速度即方向感應器，並進行一次判斷曲 柄本體110的轉動速度是否大於該設定閾值且方向是否向前的判定，如果此時轉動速度大於設定閾值且方向向前，仍通過獲取的最大實際力矩值Tmax調整馬達控制器電流，如果不是，則不調整。本模組用於防止在脫離感測週期後，騎乘者即不進行騎乘的情形，仍進行馬達控制。 The crank controller 160 further includes a determination module. In the above step S400, when the determination module is configured to determine that the crank body 110 has been out of the sensing period, the speed sensor is still read once, and the determination sensor is performed. Whether the rotational speed of the handle body 110 is greater than the set threshold and the direction is forward. If the rotational speed is greater than the set threshold and the direction is forward, the motor controller current is still adjusted by the obtained maximum actual torque value Tmax. If not, Then do not adjust. This module is used to prevent the rider from riding the motor after the sensing period is removed.
本創作的智慧型曲柄100可通過鈕扣電池予以供電。如第三圖以及第四圖所示，曲柄本體110包括電池容置腔S3，鈕扣電池B設置於電池容置腔S3，且第二圖所示的力矩感應器120、速度和角度感應器130以及曲柄控制器140分別與鈕扣電池B相連接。 The smart crank 100 of this creation can be powered by a button battery. As shown in the third and fourth figures, the crank body 110 includes a battery receiving cavity S3, the button battery B is disposed in the battery receiving cavity S3, and the torque sensor 120, the speed and angle sensor 130 shown in the second figure. And the crank controller 140 is connected to the button battery B, respectively.
電源也可取自帶助力的人力驅動裝置200的電源。因智慧型曲柄100一直在轉動中，靠單純的接線，線會很容易纏繞住，這是不可行的。在本創作之另一實施例中，更採用特殊的滑環設計。 The power source can also be taken from the power source of the powered human powered device 200. Since the smart crank 100 is always in rotation, the wire will be easily entangled by simple wiring, which is not feasible. In another embodiment of the present invention, a special slip ring design is used.
如第七圖和第八圖所示，具有輔助動力之人力驅動裝置200的曲柄軸241包括與供動力系統210用的電源相連接的二滑環242a與242b，曲柄本體110包括與曲柄軸241相連接的曲柄連接端E，曲柄連接端E設置有與滑環242a及242b接觸連接的二彈性連接柱111a與111b，彈性連接柱111a與111b與滑環電性連接以為力矩感應器120、速度感應器130、角度感應器140、方向感應器150以及曲柄控制器160提供電力來源。 As shown in the seventh and eighth figures, the crankshaft 241 of the human power driving device 200 having the auxiliary power includes two slip rings 242a and 242b connected to the power source for the power supply system 210, and the crank body 110 includes the crankshaft 241. The crank connecting end E is provided with two elastic connecting columns 111a and 111b which are in contact with the sliding rings 242a and 242b. The elastic connecting columns 111a and 111b are electrically connected with the slip ring to be the torque sensor 120 and the speed. The sensor 130, the angle sensor 140, the direction sensor 150, and the crank controller 160 provide a source of electrical power.
本創作中，具有輔助動力之人力驅動裝置200的電源接到滑環231上面，智慧型曲柄100則要有具彈簧 伸縮的導電的彈性連接柱111與滑環231接觸，接觸可靠，且可以避免線路纏繞。 In the present creation, the power supply of the human power driving device 200 with auxiliary power is connected to the slip ring 231, and the smart crank 100 has a spring. The telescopic conductive elastic connecting column 111 is in contact with the slip ring 231, the contact is reliable, and the line winding can be avoided.
本創作之智慧型曲柄，為防止液體進入容置槽，在相關部件放置妥當後，需灌入膠水，待完工後，從外觀來看，與一般的曲柄相同，但是卻具有智慧控制馬達輸出的功能。 The intelligent crank of this creation, in order to prevent liquid from entering the accommodating groove, needs to be filled with glue after the relevant parts are placed properly. After completion, it looks the same as the general crank, but has the wisdom to control the motor output. Features.
藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本創作之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本創作之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本創作所欲申請之專利範圍的範疇內。 The features and spirit of the present invention are more clearly described in the above detailed description of the preferred embodiments, and the scope of the present invention is not limited by the preferred embodiments disclosed herein. On the contrary, it is intended to cover all kinds of changes and equivalences within the scope of the patent application to which the present invention is intended.
100‧‧‧智慧型曲柄 100‧‧‧Smart crank
120‧‧‧力矩感應器 120‧‧‧Torque sensor
130‧‧‧速度感應器 130‧‧‧Speed sensor
140‧‧‧角度感應器 140‧‧‧Angle sensor
150‧‧‧方向感應器 150‧‧‧ Directional Sensor
160‧‧‧曲柄控制器 160‧‧‧Crank Controller
161‧‧‧無線通訊模組 161‧‧‧Wireless communication module
162‧‧‧計時器模組 162‧‧‧Timer module
170‧‧‧放大器 170‧‧‧Amplifier
211‧‧‧馬達控制器 211‧‧‧Motor controller
212‧‧‧馬達 212‧‧‧Motor
210‧‧‧動力系統 210‧‧‧Power System
220‧‧‧顯示器 220‧‧‧ display
Claims (19)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105210656U TWM530282U (en) | 2016-07-15 | 2016-07-15 | Smart crank and man power driving device with auxiliary power thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105210656U TWM530282U (en) | 2016-07-15 | 2016-07-15 | Smart crank and man power driving device with auxiliary power thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TWM530282U true TWM530282U (en) | 2016-10-11 |
Family
ID=57849311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105210656U TWM530282U (en) | 2016-07-15 | 2016-07-15 | Smart crank and man power driving device with auxiliary power thereof |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWM530282U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI724268B (en) * | 2017-01-31 | 2021-04-11 | 日商島野股份有限公司 | Bicycle control device and bicycle control method |
| US11952078B2 (en) | 2021-03-25 | 2024-04-09 | Acer Incorporated | Driving device and driving method for electric assisted bicycle |
-
2016
- 2016-07-15 TW TW105210656U patent/TWM530282U/en not_active IP Right Cessation
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI724268B (en) * | 2017-01-31 | 2021-04-11 | 日商島野股份有限公司 | Bicycle control device and bicycle control method |
| US11952078B2 (en) | 2021-03-25 | 2024-04-09 | Acer Incorporated | Driving device and driving method for electric assisted bicycle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI568632B (en) | Motor assisted bicycle | |
| CA2579917C (en) | Energy management system for motor-assisted user-propelled vehicles | |
| TW453968B (en) | Bicycle equipped with drive assist | |
| TW201738141A (en) | Bicycle controller | |
| US20120303195A1 (en) | Pedal Assist Sensor | |
| EP2657119A1 (en) | Electrically assisted cycle kit | |
| TWI601660B (en) | Bicycle control device | |
| TW201709664A (en) | Bicycle control apparatus and bicycle driving device equipped with a control apparatus | |
| TWI770430B (en) | Electronic bicycle, transmission device, and operation method | |
| CN107839827A (en) | Electrically assisted bicycle | |
| CN109720497B (en) | Control device for human-powered vehicle | |
| JP3572704B2 (en) | Driving force assist device | |
| JP7482419B2 (en) | Electric bicycle and control method for electric bicycle | |
| TWM530282U (en) | Smart crank and man power driving device with auxiliary power thereof | |
| TWI375637B (en) | ||
| KR20150009354A (en) | Eletricity bike control system and method for control the same | |
| WO2021153387A1 (en) | Power assist bicycle, control system of power assist bicycle, and control method of power assist bicycle | |
| JP7285452B2 (en) | Electric assist bicycle control method, electric assist bicycle control device, and electric assist bicycle | |
| JP2020040503A (en) | Electric bicycle and method for controlling electric bicycle | |
| JP2004001735A (en) | Control process of drive-force assistance device and drive-force assistance device | |
| JP2018061615A (en) | Electric vehicle and braking method of electric vehicle | |
| CN205469529U (en) | Self -balancing electric scooter | |
| JP7108915B2 (en) | Electric bicycles and methods of controlling electric bicycles | |
| CN212267720U (en) | Foot-controlled electric balance car | |
| TWM529654U (en) | Bicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4K | Annulment or lapse of a utility model due to non-payment of fees |