CN-121986052-A - Bicycle with pedal

CN121986052ACN 121986052 ACN121986052 ACN 121986052ACN-121986052-A

Abstract

A pedal-equipped bicycle is provided that is suitable for bicycles that require response to disturbances when a rider grips the handlebars and steps on the left and right pedals, and that is capable of supporting the rider's response to disturbances. In the pedal-equipped bicycle 1, when the controller 53 performs control based on the detection result of the torque from the torque detector 51 to cause the motor 521 to output the supporting torque, the torque detector 51, the motor 521 and the controller 53 are configured such that the response is made in a period TP1, which period TP1 is less than half of 150ms, 150ms being a simple reaction time of a person who is a rider. The motor 521 is controlled based on the torque detected by the torque detector 51 by operating the torque detector 51, the motor 521, and the control 53 at a speed exceeding that at which a person can simply react. The torque detector 51, the motor 521 and the control 53 are configured as a person enhancement system SYS1 that enhances the ability of a person.

Inventors

Dong Pengxing
NAGAO MITSUHARU
Yuan yannan

Assignees

雅马哈发动机株式会社

Dates

Publication Date: 20260505
Application Date: 20241007
Priority Date: 20231006

Claims (5)

1. A pedal-equipped bicycle comprising: a steering column extending along an axis of a head pipe included in a vehicle body frame, the steering column being rotatably supported by the head pipe; a front wheel supported by a fork coupled to a lower portion of the steering column in an up-down direction of the vehicle body frame; A steering gear coupled to an upper portion of the steering column in an up-down direction of the vehicle body frame, and including a handle bar that steers the front wheels by rotating the steering column about the axis; A torque detector located between the steering gear and the front wheel and configured to detect torque applied to the steering column in a rotational direction about a rotational axis; a motor that outputs a support torque to the steering column, the support torque being a torque about the rotation axis, and A controller that controls an output of the support torque from the motor based on the torque detected by the torque detector, wherein It is assumed that the speed range of the pedal-equipped bicycle is equally divided into an extremely low speed range, a medium speed range, a high speed range and an extremely high speed range, In the case where the rider of the pedal-equipped bicycle actively operates the handle bar while stepping on at least the extremely low speed range, the bicycle can be operated in a state of no road surface, a straight running state, and a turning state, The responsiveness is set to be higher than a simple reaction time SRT of a person who is the rider such that a period from a time when an actual current value of an operating current of the motor reaches a time when a torque signal output from the torque detector is at a value which is greater than or equal to a median value of a span from a minimum value to a maximum value of an actual measurement value of the torque signal and less than or equal to a maximum value of the span reaches a ratio Pr to a time when an actual current value of the operating current of the motor reaches a ratio Pr of the maximum value of the operating current of the motor, the 150ms being the simple reaction time, Thus, the torque detector, the motor, and the controller are configured as a person enhancement system that extends the ability of a person by controlling the motor based on the torque detected by the torque detector at a speed at which the person cannot simply respond.
2. The pedal-equipped bicycle of claim 1, wherein The controller includes a supply mode defining a relationship between the torque signal and the operating current of the motor, and The supply mode defines a change region that is located before and after a significant change in the rate of change of the operating current of the motor in the case where the value of the torque signal is reduced from a certain value to zero when the operating current of the motor is output, so that when the handle bar is actively operated during forward straight running while the rider steps on a well-maintained paved road surface in at least the extremely low speed range, the support torque transmitted to the motor of the rider is reduced or the occurrence frequency of the support torque is reduced.
3. Pedal-equipped bicycle according to claim 1 or 2, wherein The controller includes a supply mode defining a relationship between the torque signal and the operating current of the motor, and The supply mode defines a change region that is located before and after a change in a rate of change of the operating current of the motor significantly in a case where a value of the torque signal increases from zero toward a certain value of the torque signal when the operating current of the motor is output, so that a support torque of the motor transmitted to the rider increases when the front wheel is disturbed during straight forward running while the rider holds the handle bar and steps on.
4. A pedal-equipped bicycle as in claim 3 wherein The controller includes a plurality of types of the supply modes, and The plurality of types of the supply modes have different operating currents of the motor in a region in which the torque signal is greater than the torque signal in at least the variation region.
5. The pedal-equipped bicycle of claim 4, wherein The controller switches and controls the plurality of types of the supply modes of the operating current manually by an operation of the rider, automatically based on a road surface condition on which the pedal-equipped bicycle is traveling, or automatically based on a physical quantity with respect to the pedal-equipped bicycle.

Description

Bicycle with pedal Technical Field The present teachings relate to a pedal-equipped bicycle. Background Pedal-equipped bicycles are known in which the running or steering is assisted by an electric motor. For example, patent document 1 discloses an electric assist bicycle in which an assist force for assisting a rider in driving a rear wheel is output by a motor. In the electric assist bicycle described in patent document 1, the target assist force is set so as to obtain a larger assist force when stepping in a standing posture than when stepping in a sitting posture. In the electrically assisted bicycle of patent document 1, standing tread is detected based on tread force of a rider on left and right pedals and inclination of a vehicle body. Patent document 2 discloses an electric bicycle that performs power assist control in which a power assist motor adds assist torque to steering torque input from a rider to a handlebar. The electric bicycle of patent document 2 performs power assist control in the forward direction at the time of low-speed running, and performs power assist control in the reverse direction at the time of medium-high-speed running. In the electric bicycle of patent document 2, in the reverse direction power assist control at the time of middle-high speed running, the power assist control is executed based on a set threshold value of the steering torque and a threshold value of the torque change rate. List of references Patent literature Patent document 1 Japanese patent application laid-open No. 2018-001837 Patent document 2 Chinese patent application publication No. 103112540 Summary of The Invention Technical problem In order for a rider riding a pedal-equipped bicycle to travel straight forward by stepping on the left and right pedals, an operation of tilting the body in a direction opposite to the direction in which the pedal is stepped on, to the left or right of the body is performed. That is, the rider maintains the balance of the vehicle body by firmly holding the handle bars and tilting the vehicle body to the left or right according to the tread of the left and right pedals. The bicycle can be used not only on pavement with good maintenance in cities, but also on rough pavement such as cobble road, broken stone road, woodland road, riverbed, mountain road or asphalt pavement damaged road. Thus, when the bicycle is used on such rough road surfaces, the front wheel may receive a load from the rough road surface and receive a disturbance that causes the front wheel to rotate left or right. The bicycle may also be subject to disturbances when used on paved roads that are well maintained in cities. When the rider grips the handlebars and manipulates the vehicle body to the left or right according to the tread of the left and right pedals, the front wheels may receive disturbance from the road surface. There is a need for a function that supports the rider's response to disturbance during the time when the rider grips the handlebars and manipulates the vehicle body to the left or right according to the tread of the left and right pedals. Accordingly, an object of the present teachings is to provide a pedal-equipped bicycle that can support a rider's response to disturbance even when the rider holds a handlebar and manipulates a body leftwards or rightwards according to the tread of left and right pedals. Problem solution A pedal-equipped bicycle according to one embodiment of the present teachings has the following configuration. The pedal-equipped bicycle includes a steering column extending along an axis of a head pipe contained in a body frame, the steering column being rotatably supported by the head pipe, a front wheel supported by a fork coupled to a lower portion of the steering column in an up-down direction of the body frame, a steering gear coupled to an upper portion of the steering column in the up-down direction of the body frame and including a handle bar that steers the front wheel by rotating the steering column about the axis, a torque detector located between the steering gear and the front wheel and configured to detect a torque applied to the steering column in a rotation direction about the rotation axis, a motor that outputs a support torque to the steering column, the support torque being a torque about the rotation axis, and a controller that controls an output of the support torque of the motor based on the torque detected by the torque detector. With this configuration, a situation may occur in which the front wheel receives disturbance from the road surface when the rider grips the handle bar and operates the vehicle body to the left or right according to the tread of the left and right pedals. Here, assuming that the speed range of the pedal-equipped bicycle is equally divided and defined as an extremely low speed range, a medium speed range, a high speed range, and an extremely high speed range, the pedal-equipped bicycle is constructed as follows: Durin