ES2603288B2 - TORQUE REGULATION MEANS FOR ELECTRIC BIKE AND ELECTRIC BIKE THAT INCLUDES SUCH TORQUE REGULATION MEANS - Google Patents

Abstract

Torque regulation means for electric bicycle, and electric bicycle comprising said torque regulation means, the torque regulation means comprising sensor means (1) configured to obtain information about the electric bicycle; a controller (2) connected to the sensor means (1), the controller (2) being configured to generate and emit a signal in accordance with the information obtained by the sensor means (1); and an electric motor (3), the motor (3) being configured to receive the signal emitted by the controller (2) and generate a torque based on the signal received. The sensor means (1) are configured to determine the information in relation to a first rotation (z) on a lateral axis (Z) of the bicycle, so that the first rotation (z) defines a vertical inclination of the bicycle.

Description

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TORQUE REGULATION MEANS FOR ELECTRIC BIKE AND ELECTRIC BIKE THAT INCLUDES SUCH TORQUE REGULATION MEANS

Technology Sector

The present invention is related to the bicycle industry, and more specifically to the electric bicycle industry, which includes an electric motor to assist a user thereof.

State of the art

At present, bicycles that comprise an electric motor which provide a torque for their displacement are widely known, so that users of these bicycles are assisted while using them. To regulate the torque to be provided by the electric motor, electric bicycles additionally comprise one or more sensors. These sensors are a speed sensor, a torque sensor, a cadence sensor and / or a change sensor.

The speed sensor obtains the travel speed of the bicycle by multiplying the complete turns of a bicycle wheel by the total perfometer of said wheel; the torque sensor, on the other hand, measures force applied to the bicycle pedals; the cadence sensor, meanwhile, counts pedaled per minute; while the change sensor detects the relationship of the bike's gear.

Electric bicycles also include a controller that regulates the torque to be provided by the electric motor based on the information obtained by these sensors included in different parts of the bicycle. In this way it is intended to know the situation of the bicycles during their use to determine the torque to be provided by the electric motor in order to assist the user in a particular way in each of the situations.

However, the use of these sensors provides an interpretation of the situation of the bicycle that is significantly different from the actual situation, considerably differing the

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torque provided by the electric motor with respect to what is really required by the electric bicycle user. In addition, including several of these sensors entails the sensorization of different components or structural parts of the bicycle, which results in a complex sensorization both in terms of the implementation and management of the information obtained by increasing the inaccuracy in the interpretation of the actual situation. .

It is evident, therefore, that a solution is necessary that allows to know the situation of the electric bicycles during their use in a way adjusted to reality in order to be able to assist the user according to their real needs.

Object of the invention

In order to meet these objectives and solve the different technical problems discussed so far, in addition to providing additional advantages that can be derived later, the present invention relates to means of torque regulation, as well as an electric bicycle that it comprises said means of torque regulation.

The means for regulating the torque object of the invention are intended to determine information to be transmitted to a controller based on rotations of the bicycle in a 3D space, obtaining angles of rotation; instead of as before, depending on bicycle travel speeds, forces applied on pedals, pedaling rates and / or transmission ratios.

The torque regulation means for electric bicycle comprise sensor means configured to obtain information about the electric bicycle; the controller connected to the sensor means, the controller being configured to generate and emit a signal in accordance with the information obtained by the sensor means; and an electric motor, the motor being configured to receive the signal emitted by the controller and generate a torque based on the signal received.

The sensor means of the torque adjustment means are configured to determine the information in relation to a first rotation on a side axis of the bicycle so that the first rotation defines a vertical inclination of the bicycle. That is, the first rotation can define a slope corresponding to the path or roadway by

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the one that moves the bicycle.

Additionally, the sensor means are configured to determine the information additionally in relation to a second rotation on a longitudinal axis of the bicycle, so that the second rotation defines a lateral inclination of the bicycle.

In addition or alternatively to the second rotation, the sensor means are configured to determine the information additionally in relation to a third rotation on a vertical axis of the bicycle, so that the third rotation defines a lateral rotation of the bicycle.

Preferably, the sensor means are additionally configured to determine the information according to at least one angle, more preferably with at least two angles, and even more preferably with three angles. Also, the sensor means are additionally configured to determine the information according to accelerations with which these angles vary.

The sensing means preferably comprise a 3-axis gyroscope and a 3-axis accelerometer to obtain information about the three axes in a simplified manner. This information is determined by the angles measured by the 3-axis gyroscope and the accelerations with which these angles measured by the 3-axis accelerometer vary.

Alternatively to the last characteristic described, the sensor means comprise a uniaxial gyroscope and a uniaxial accelerometer for each of the axes to obtain the corresponding information.

Description of the figures

Figure 1 shows a perspective view of an electric bicycle comprising means of torque regulation, in accordance with the object of the present invention.

Figure 2 shows a detail indicated with the reference "D" in Figure 1.

Figure 3A shows a side view of the electric bicycle object of the present invention.

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Figure 3B shows a rear view of the electric bicycle object of the present invention.

Figure 3C shows a top view of the electric bicycle object of the present invention.

Detailed description of the invention

The present invention relates to torque regulation means for electric bicycle, as well as to an electric bicycle comprising said torque regulation means. Likewise, a method or method of torque regulation developed by means of torque regulation is derivable. The torque adjustment means comprise sensor means (1), a controller (2) and an electric motor (3).

The sensor means (1) are configured to obtain information about the situation or behavior of the bicycle, as well as to transmit said information to the controller (2). The controller (2) is connected to the sensor means (1) to receive the information obtained by said sensor means (1). Also, the controller (2) is additionally configured to generate and emit a signal according to said information received. The electric motor (3), meanwhile, is configured to provide a torque to assist a bicycle user according to their needs. In this way, the motor (3) is additionally configured to receive the signal emitted by the controller (2) and provide according to said signal, and therefore also in accordance with the information obtained by the sensor means (1), the torque to assist the user of the bicycle while using it.

In figure 1 an electric bicycle is observable, as well as a representation of three axes (X, Y, Z) orthogonal to each other. The three axes (X, Y, Z) are formed by a longitudinal axis (X) that develops according to a longitudinal direction of the bicycle, a lateral axis (Z) that extends according to a lateral direction of the bicycle , and a vertical axis (Y) that develops according to a vertical direction of the bicycle. The sensor means (1) act as the origin of coordinates of the three axes (X, Y, Z).

The sensor means (1) are configured to detect rotations (x, y, z) that occur in

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the three axes (X, Y, Z) of the bicycle, and determine the information according to said rotations (x, y, z). Preferably in one of the three axes (X, Y, Z), more preferably in two of the three axes (X, Y, Z), and even more preferably in the three axes (X, Y, Z). Accordingly, the sensor means (1) determine an angle (a, p, 9) according to each of the rotations (x, y, z). That is, the sensor means (1) not only detect whether such rotations occur (x, y, z) or not. In figure 2, which shows a detail indicated with the reference (D) in figure 1, a representation of said rotations (x, y, z) is shown by means of arrows.

The sensor means (1) are additionally configured to determine the information in accordance also with accelerations in variations of the angles (a, p, 9). That is to say, by means of the sensor means (1) the abruptness or rapidity with which the rotations (x, y, z) can be determined. In other words, the sensor means (1) are additionally configured to measure the accelerations of the rotations (x, y, z).

The sensor means (1) are installable on the bicycle. The electric bicycle comprises at least one frame, frame or chassis, the sensor means (1) being preferably installed in said bicycle frame. In this way, the sensor means (1) being installed in the bicycle frame, these (1) detect the rotations (x, y, z) carried out by said frame.

A first rotation (z) on the lateral axis (Z) defines a vertical slope or inclination of the bicycle, a second rotation (x) on the longitudinal axis (X) defines a lateral inclination of the bicycle and a third rotation (y ) on the vertical axis (Y) defines a lateral rotation of the bicycle. Accordingly, a first angle (9) determines the vertical inclination, a second angle (a) the lateral inclination and a third angle (P) the lateral rotation of the bicycle, in quantity (degrees) and direction.

Preferably, as a reference to establish the angles (a, p, 9) the bicycle is considered on a horizontal surface by means of the wheel treads, forming 90 ° laterally with respect to said horizontal surface and according to a straight path.

In the use of electric bicycles, the assistance provided by the electric motor (3) is important when the bicycle faces a section in which the vertical inclination is

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positive, that is, uphill or with a positive slope, in order to reduce the effort required by the user to ascend the ascending section according to the direction of travel. For this reason it is of interest to determine the information of the bicycle according to the first angle (9).

When the vertical inclination of the section faced by the electric bicycle is negative, that is, it is downhill, it is also relevant to regulate the torque of the motor (3) in order to maintain control over the bicycle, avoiding an excessive speed increase. Although when the slope is positive it is important to increase the torque, when the slope is negative it is of interest to reduce it. Accordingly, the controller (2), based on the first angle (9) obtained by the sensor means (1), generates the signal to be transmitted to the engine (3), and once received by the engine (3), The motor (3) generates the appropriate torque, the torque acting at the moment being modified or regulated.

When the sensor means (1) obtain the information determined by the first rotation (z) according to a positive value of the first angle (9), the controller (2) is configured to apply a first correction coefficient in the signal generation so that an electric power consumption of the motor (3) is increased, and consequently also the torque generated by said motor (3). Figure 3A shows the electric bicycle, without the user of it for reasons of clarity, positioned so that the first angle (9) is positive, and the second and third angle (a, P) are null.

On the other hand, when the sensor means (1) obtain the information determined by the first rotation (z) according to a negative value of the first angle (9), the controller (2) is configured to apply the first correction coefficient in the generation of the signal so that the electric energy consumption of the motor (3) is reduced, and consequently also the torque generated by said motor (3).

In both cases, the greater the first rotation (z), the greater the influence of the first correction coefficient on torque regulation. The greater the absolute value or module of the first angle (9), the greater the torque of user assistance of the electric bicycle is modified by the controller (2) through the first correction coefficient applied in the generation of the signal.

The following table shows an example in accordance with the comments:

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 Vertical tilt [%]

 First angle (9) [degrees] First correction coefficient

 £ -50

 -30.0 0

 -50 to -10

 -26.6 to -5.7 0.5

 -9

 -5.2 0.55

 -3

 -4.6 0.6

 -7

 -4.0 0.65

 -7

 -4.0 0.7

 -5

 -2.9 0.75

 -4

 -2.3 0.8

 -3

 -1.7 0.85

 -2

 -1.1 0.9

 -one

 -0.6 0.95

 OR

 0.0 1

 one

 0.6 1.1

 2

 1.1 1.2

 3

 1.7 1.3

 4

 2.3 1.4

 5

 2.3 1.5

 6

 3.4 1.6

 7

 4.0 1.7

 to

 4.6 1.8

 9

 5.2 1.9

 > 10

 5.7 2

Thus, being for example the consumption of the electric motor (3) set at 12 amps, this is regulated by its multiplication by the first corresponding correction coefficient. Thus, according to the example in the table, when the vertical inclination is -10% and the first angle (9) is therefore equal to -5.7 °; the motor (3) starts to consume 6 amps, consequently the torque generated is reduced, when the first correction coefficient equal to 0.5 is applied.

Also, the electric motor (3) may be configured to have limited consumption based on a maximum value of amps, for example in order to provide a range determined in distance and / or time. Thus, according to the example in the table, when the vertical inclination is 10% and the first angle (9) is equal to 5.7 °; to the motor (3) it corresponds to pass to consume 24 amps when the first correction coefficient is applied equal to 2. However, the consumption of the motor (3) can be limited, for example, being the maximum value of amps equal to 20 amps . Therefore, the engine (3) would pass to

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consume 20 amps instead of 24 amps.

Likewise, when the first angle (9) is greater than a maximum determined value, the controller (2) is configured to determine that the first correction coefficient to be applied is zero, leaving the motor (3) to generate the driving torque of the bike. In this way, the electric motor (3) stops working. For example, when the first angle (9) is greater than 30 °, 35 °, 40 °, 45 ° or 50 °. This is important for example when introducing the bicycle into an elevator, for which the front wheel is normally lifted by spinning the rear wheel.

Since by means of the sensor means (1) the acceleration with which the first angle varies (9) is known, the controller (2) generates the corresponding signal also according to said acceleration in the variation of the first angle (9). Thus, for example, in terms of response time, the assistance provided by the motor (3) is optimized for variations in the vertical inclination of the bicycle or the slope of the section faced by the bicycle in its displacement. In this way, undesirable accelerations downhill and reductions in the speed of travel that can cause the user's coffee with the bicycle or an important consumption of the engine (3) to return to the speed of speed are avoided due to sudden changes in vertical inclination displacement required.

In figure 3B the bicycle is only shown inclined laterally, the corresponding second angle (a) being represented. When the sensor means (1) obtain the information determined by the second angle (a), the controller (2) is configured to apply a second correction coefficient in the generation of the signal so that the consumption of electric energy is regulated or modified of the motor (3), and consequently also the torque generated by said motor (3).

When determining the lateral inclination, it can be considered that the second angle (a) is positive for the inclination towards both a left lateral and a right lateral, or positive for one of the lateral and negative for the other of the sides. In determining the lateral inclinations, it can be considered that to determine the second correction coefficient an absolute value or module of the second angle (a) is evaluated, the absolute value or module being stable for a range between 0 ° and 90 °.

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According to an example of embodiment, the second correction coefficient is stable by the controller (2) for its application so that the torque is regulated ON / OFF, that is, the second correction coefficient is equal to 0 or equal to 1. This configuration of the means of torque regulation allows to stop the operation of the motor (3), for example in the case of coffee, since in this case it makes no sense for the motor (3) to apply the assistance torque to the user. It is therefore possible that the negative consequences of coffee not increase due to improper operation of the electric motor (3).

With the controller (2) configured to generate the ON / OFF signal for the motor (3), the controller (2) applies the second correction coefficient equal to zero when the absolute value of the second angle (a) exceeds a limit value determined, so that the motor (3) stops running. This determined limit value is selectable between 30 °, 35 °, 40 °, 45 °, 50 °, 55 ° and 60 °. Likewise, the controller (2) applies the second correction coefficient equal to 1 when the absolute value of the second angle (a) is kept lower than the selected determined value. In this way, the torque is regulated by maintaining it, that is, without increasing or reducing the motor consumption (3).

According to an example according to what has been commented, when the second angle (a) is greater than 60 °, regardless of the side towards which the bicycle has been tilted laterally, the controller (2) applies the second correction coefficient, this being equal to 0 to stop the operation of the motor (3), that is to eliminate or stop the assistance torque. When the second angle (a) is equal to or less than 60 °, regardless of the side to which the bicycle has tilted laterally, the controller (2) applies the second correction coefficient, this being equal to 1 to keep the torque provided unchanged by the engine (3).

Since the acceleration with which the second angle varies (a) is known by means of the sensor means (1), the controller (2) also generates the signal according to said acceleration in the variation of the second angle (a). Thus, the assistance provided by the engine (3) is optimized in response to variations in the lateral inclination of the bicycle. This can prevent coffee, or at least reduce the negative consequences of coffee, more effectively.

For example, when the absolute value of the second angle (a) varies above a certain amount in a given period of time, the controller (2) is

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configured to apply the second correction coefficient being this zero. The determined amount and the determined period of time are selected so that as a consequence the user's coffee will be given with the bicycle.

In figure 3C the bicycle is represented after only turning laterally, the corresponding third angle (P) being represented. When the sensor means (1) obtain the information determined by the third angle (P), the controller (2) is configured to apply a third correction coefficient in the generation of the signal so that the consumption of electric energy is regulated or modified of the motor (3), and consequently also the torque generated by said motor (3).

When determining the lateral rotation, similar to that of the second angle (a), it can be considered that the third angle (P) is positive both for the turn to a right side and to a left side, or positive for one side and negative for the other side. In the determination of lateral turns, it can be considered that to determine the third correction coefficient an absolute value or module of the third angle (P) is evaluated. The absolute value or module is preferably stable for a range between 0 ° and 90 °.

Since by means of the sensor means (1) the acceleration with which the third angle is used (P) is known, the controller (2) also generates the signal according to said acceleration in the variation of the third angle (P). Thus, the assistance provided by the engine (3) is optimized in response to variations in the lateral turns of the bicycle. This can prevent coffee, or at least reduce the negative consequences of coffee, more effectively.

For example, when the absolute value of the third angle (P) is above a certain amount within a certain period of time, the controller (2) is configured to apply the third correction coefficient so that the torque is reduced. The determined amount and the determined period of time are selected so that, given the situation presented, the user's coffee with the bicycle is expected.

By way of example, when the absolute value of the third angle (P) is preferably more than 40 °, and more preferably more than 55 °, in a second or half a second; the controller (2) applies the third correction coefficient, this being preferably between 0.3 and

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0.7, and more preferably equal to 0.5. When the absolute value of the third angle (P) varies below the amount determined in the given period of time, the controller (2) applies the third correction coefficient being this 1, and therefore regulating the operation of the motor (3) by torque maintenance applied at the time of the corresponding lateral rotation.

The controller (2) based on the first angle (9), or the first angle (9) in combination with the second angle (a) and / or with the third angle (P), is configured to generate the signal to be transmitted to the engine (3). Likewise, the controller (2) is additionally configured to generate said signal in accordance also with the acceleration in the variation of these angles (a, P, 9), individually or in any way combined with each other. Therefore, it is known precisely what the user of the bicycle is doing and in what situation it is, so that the engine (3) assists you precisely according to your real needs.

The sensor means (1) comprise a gyroscope for each of the three axes (X, Y, Z), that is uniaxial or one axis, and an accelerometer for each of the three axes (X, Y, Z). Using each of these gyroscopes, the angle (a, p, 9) corresponding to one of the rotations (x, y, z) in one of the axes (X, Y, Z) can be determined. Through each of these accelerometers, the acceleration with which each one of these angles varies (a, p, 9) can be determined, that is, the acceleration in each of the rotations (x, y, z).

Alternatively, the sensor means (1) comprise a 3-axis gyroscope and a 3-axis accelerometer. In this way, the three angles (a, p, 9) can be determined, as well as the acceleration with which each of these three angles (a, p, 9) vary, that is the acceleration in each of the rotations (x, y, z), with a more simplified configuration.

Claims (6)

5 10 fifteen twenty 25 30 35 1. - Torque regulation means for electric bicycle, comprising: - sensor means (1) configured to obtain information about the electric bicycle and to determine the information in relation to a first rotation (z) on a lateral axis (Z) of the bicycle, so that the first rotation (z ) defines a vertical inclination of the bicycle; - a controller (2) connected to the sensor means (1), the controller (2) being configured to generate and emit a signal in accordance with the information obtained by the sensor means (1); Y - an electric motor (3), the motor (3) being configured to receive the signal emitted by the controller (2) and generate a torque based on the signal received; characterized by: - the sensor means (1) are additionally configured to determine the information additionally in relation to a third rotation (y) on a vertical axis (Y) of the bicycle, so that the third rotation (y) defines a lateral rotation of the bicycle. 2. - Torque regulation means according to revindication 1, characterized in that the sensor means (1) are additionally configured to determine the information additionally in relation to a second rotation (x) on a longitudinal axis (X) of the bicycle, so that the second rotation (x) defines a lateral inclination of the bicycle. 3. - Torque regulation means according to any one of the preceding claims, characterized in that the sensor means (1) are additionally configured to determine the information according to at least one angle (a, p, 9). 4. - Torque regulation means according to revindication 3, characterized in that the sensor means (1) are additionally configured to determine the information according to accelerations with which the angles vary (a, p, 9). 5. - Torque regulation means according to any one of the preceding claims, characterized in that the sensor means (1) comprise a 3-axis gyroscope and a 3-axis accelerometer. 5 10 fifteen twenty 25 30 35 6. Electric bicycle comprising means of torque regulation according to any one of the preceding claims.