CN1050812C - Method and device for controlling automatic speed change of bicycle by computer - Google Patents
Method and device for controlling automatic speed change of bicycle by computer Download PDFInfo
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- CN1050812C CN1050812C CN95102805A CN95102805A CN1050812C CN 1050812 C CN1050812 C CN 1050812C CN 95102805 A CN95102805 A CN 95102805A CN 95102805 A CN95102805 A CN 95102805A CN 1050812 C CN1050812 C CN 1050812C
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Abstract
A method and device for automatically speed-changing bicycle under computer control features that a generator is installed to frame for contacting with wheel, the frequency of generator is read, the computer controller collects pulses in a predefined time interval, and compares them with pulse samples to control the motor driver to pull speed variator for changing gear.
Description
The present invention relates to a kind of method, particularly a kind of method and apparatus with computer control automatic speed-transformation of bicycle with computer control bicycle.
The wheel change-speed box is meant the change-speed box of bicycle especially, is gear transmission for example, known to everybody, can assist vehicle to transmit the most appropriate power because of road conditions and road speed.The gear transmission of bicycle is to utilize knight's manual mode pulling cable wire and speed change.Existing structure is relying on the artificial meaning and is going speed change, often can not produce the most appropriate effect, and this is to be the thing known to everybody; If can provide a bicycle in response to different road conditions or road speed and the speed change system of gear shift can be subjected to knight's welcome.
From observation for many years, most of bicycle user can not use traditional hand-operated transmission, so change-speed box is not brought into play its due function, and the knight is not owing to there be suitable transferring the files, and increased knight's difficulty.In addition, traditional change-speed box also fail road pavement variation and make suitable adjusting automatically, the attention that also can disperse the rider when using change-speed box, thereby may cause accident.So an automatic transmission with hydraulic torque converter can be very helpful to most of bicycle user.
The technology that Japan's special permission application case Publication Laid-Open is flat 5-262276 number, to be connected in the differentiation loop 25 of commutating circuit 24, detect bicycle and be in stop or walking in state, and then make control loop 29a/b CD-ROM drive motor running and speed change with manual ammonium button 28 at handle portion, the shelves number of conversion also can be shown by the hop count indicator on the handgrip 39, reach the purpose that S. A. makes bicycle shift.
The objective of the invention is to avoid above-mentioned the deficiencies in the prior art part and provide a place simply and fully needn't to control, only need to use the method and apparatus that a motor gets final product the drive speed transmission gear shift with computer control automatic speed-transformation of bicycle with manual manipulation.
Purpose of the present invention can reach by following measure: the signal that electrical generator produced that utilization of the present invention contacts with wheel, after computer processor is handled, make the motor driver action and the drive speed transmission gearshift, and the sensing value that the position transduser that utilization combines with change-speed box produces, forward computer processor immediately to, detecting default result, or revise or change the data of control, the step of this method comprises:
A, read according to vehicle wheel rotational speed the frequency that produces by electrical generator;
B, setting one timing section, and from this period, constantly gather an impulse smaple by the frequency generation;
C, set most basic pulse samples that are same as grade number with change-speed box shelves number;
The basic pulse sample of d, setting one upper limit and lower limit;
E, continue relatively to set constantly to gather the pulse and the upper limit and the lower limit of basic pulse sample that produces by frequency the timing section, and surpass the upper limit of basic pulse sample or down in limited time, the upper limit and the lower limit of elimination basic pulse sample in the pulse of gathering from one;
F, the impulse smaple of relatively gathering, and when the sample of this collection is identical with the basic pulse sample, produces a signal and export to drive the motor driver gear shift;
G, the sensing value of at any time sensor being exported and the signal of CD-ROM drive motor compare mutually.
Include the electrical generator that contacts with cycle wheel and rotate, a control system and an actuating device, wherein:
Above-mentioned control system has:
One rectifier is connected to above-mentioned electrical generator, and the interchange ripple that electrical generator is produced is rectified into the direct current full-wave type;
One micro processor (MPU) contains counting machine and is regularly fixedly gathering the pulse wave quantity of being exported by rectifier the period from above-mentioned rectifier with minor cycle, and checked processing;
One motor driver is carried out the instruction of above-mentioned micro processor (MPU) output, and send electric power to motor and make the motor rotation,
One A and D converter becomes numerical value to give above-mentioned micro processor the voltage transitions that obtains; With the above-mentioned control system electric current of battery supplied;
Above-mentioned actuating device has:
One gear case contains main shaft and the output shaft that is driven by said motor, by the gear shift cable wire of output shaft brake bicycle change-speed box; With
One sensor is incorporated into the output shaft of said gear case, exports different voltage in response to above-mentioned A and D converter with the different angles that output shaft rotates, and detects and revises for above-mentioned micro processor (MPU).
Wherein above-mentioned control system also comprises a charge circuit, is connected between above-mentioned rectifier and the above-mentioned battery.
Wherein the sampling period of above-mentioned counting machine is between 0.1～1 second.
Wherein the sensor is to comprise in conjunction with the output shaft of a rotating conductive film in motor driver, and fixes a ring plate, makes the differ from one another position contact and different voltages are provided of ring plate rotating conductive film.
Also include and make change-speed box enter the mechanism of lowest gear automatically, this machine comprises:
-pole has first fulcrum and second fulcrum;
-brake rod is connected to the idle pulley pole of bicycle speed-varying unit with mobile idle pulley, come guide chain pivot chalaza, the pulling direction of this cable wire substantially with above-mentioned spring establish vertical to the angular direction, only when cable wire is released pine, utilize the pulling force of spring and drive above-mentioned brake rod, make above-mentioned change-speed box from moving to deep low gear.
Fig. 1 is the functional structure chart of computer control automatic shift device of the present invention;
Fig. 2 is a computer control automatic gear shifting method diagram of circuit among the present invention;
Fig. 3 is the exploded drawings that computer is controlled motor driver in the automatic shift device among the present invention;
Fig. 4 is the planar view of motor driver in the computer control automatic shift device of the present invention;
Fig. 5 is the planar view of sensor in the computer control automatic shift device of the present invention;
Fig. 6 is a computer control self-shifting control instruction diagram of the present invention;
Fig. 7 is the cutaway view of second kind of embodiment of motor driver;
Fig. 8, the 9th, the planar view of deep low gear automatic control device of the present invention shows two kinds of operating states respectively.
Graphic code name:
1---electrical generator, 2---control system, 21---rectifier, 22---micro processor, 23---counting machine, 24---motor driver, 25---modulus (ADC) conv, 26/27---battery, 28---charge circuit, 3---actuating device, 31---sensor, 311---conducting strip, 32---gear (deceleration) case, 321---motor, 33---output shaft, 34---main shaft, 35---worm and wheel, 36---cable wire, 37---slide cartridge, 38---nut, 39---housing
The present invention is described in further detail below in conjunction with accompanying drawing (embodiment):
Method and apparatus provided by the invention, its function structure comprises that a signal produces the source as shown in Figure 1, and illustrated embodiments is to take an electrical generator that is fixed on the vehicle frame, the rotating shaft of this electrical generator has a runner to be contacted with wheel, when wheel revolutions can drive electrical generator.
The signal that electrical generator produces, the present invention gathers its frequency to deliver to one is that the control system 2 at center is handled with the computer, and produce signal control motor driver, shifted by motor mechanical transmission actuating device 3 pulling cable wires at last, and utilize a sensor that gearshift is responded to control system.
The invention provides the device that makes automatic speed-transformation of bicycle with computer control, with reference to shown in Figure 1, comprising: one contacts with cycle wheel and the electrical generator 1, a control system 2, the actuating device 3 that rotate; Wherein control system 2 has: a rectifier 21 is connected to electrical generator 1, and with the AC sine wave of electrical generator 1 generation, or method or sawtooth wave etc. are rectified into the direct current full-wave type; Have again with a computer processor, be that micro processor (MPU) 22 is the computer controller at center for example, this computer controller contains counting machine 23 is regularly fixedly gathering the pulse wave quantity of being exported by rectifier 21 period from rectifier 21 with minor cycle, and is checked processing; 24 instructions of carrying out micro processor 22 outputs of one motor driver send electric power to motor and make the motor rotation.Control system 2 also comprises an A and D converter (ADC) 25, will be by the signal of sensor 31 acquisitions, for example voltage (detailed aftermentioned) converts numerical value to and gives computer processor, for example is that micro processor 22, battery 26 and 27 are to supply control system 3 required electric current respectively.
3 of actuating devices have: a gear case 32 contains the main shaft 34 and output shaft 33 (detailed ginseng Fig. 3 and 4) that is driven by motor 321, by the gear shift cable wire 36 of output shaft 33 brake bicycle change-speed boxs; Be incorporated into the output shaft 33 of gear case 32 with a sensor 31, the different voltage of the different angles output of rotating with output shaft 33 detects and revises for micro processor 22 in response to A and D converter 25.Aforementioned control system 2 also comprises a charge circuit 28, is connected between rectifier 21 and the computer 26,27, and the sampling period of aforementioned counting machine can be set between 1～0.1 second.
Second kind of embodiment of actuating device 3 is detailed in Fig. 7, aforementioned first kind of embodiment shown in Fig. 3 and 4, be to make output shaft 33 spur cable wire 36 in rotary manner, this second embodiment is then with rectilinear motion mode pulling cable wire 36, and the detecting direction of sensor 31 also is the rectilinear motion mode sensing, and first kind of embodiment is shown in Fig. 3,4 and 5, is with rotary movement sensing (detailed aftermentioned).
The gear case 32 of motor transmission in Fig. 7, the main shaft 34 of its outputting power is provided with the spiral tooth, establish a nut 38 to be screwed together in main shaft 34 in a slide cartridge 37 ends, so when ordering about motor and gear case 33, main shaft 34 rotations, can make slide cartridge 37 left and right sides straight reciprocating motion in housing 39, and drive cable wire 36 reciprocating actions, also drive sensor 31 can be detected cable wire 36 in the sensing element sway mobile status simultaneously.
The present invention utilizes said apparatus and method to make the mode of bicycle shift, and as shown in Figure 6, according to the shelves number of bicycle speed-varying unit, with vehicle wheel rotational speed, that is the frequency that electrical generator produces relatively separates most the boundary lines 1,2,3 that are same as grade number ...For example when rotating speed when shelves several 1 are elevated to the boundary line of shelves several 2, will change 2 grades and produce buffering territory, a circle A immediately into, shown in figure 2 and 6, this buffering circle territory A is promptly corresponding to impulse smaple and comprise higher limit and lower limit, such as can be made as ± 30%.Can trip stop when rotating speed floats in buffering territory, circle A, but when rotating speed is more or less than this buffering boundary line A, then remove this buffering circle territory A immediately, unless the lasting decline of rotating speed or rise to the boundary line of another grade number, otherwise will can not cause the change-speed box trip stop.Aforementioned control data can be set up by the soft formula of micro processor, and the flow process of this software formula please refer to Fig. 2.
In detail, the present invention utilizes the method for vehicle wheel rotational speed control change-speed box, and its step comprises:
(1) fixes an electrical generator on wheel, and fix a runner to be contacted with wheel, make electrical generator be operative condition by the rotating shaft of this electrical generator;
(2) win the pulse that electrical generator is exported;
(3) frequency zones according to the pulse of winning is divided into territory, most boundary, and the quantity in this pulse circle territory is to determine according to the height of vehicle wheel rotational speed;
(4) detecting pulse ownership one certain pulse circle territory of winning is exported a signal drive motor device then and is produced corresponding gear shift action;
(5) the interchange output wave of conversion generator is the DC pulse ripple;
(6) set a buffering territory, circle, buffering territory, circle is to cross in the scope in the wantonly therein two pulse circle territories of adjoining, and with the boundary in the two pulse circle territories of the adjoining central value as buffering territory, circle.
32 first kinds of embodiment of aforesaid gears (deceleration) case, detailed shown in Fig. 3 and 4, main shaft 34 is connected in motor through change speed gear box, by a worm and wheel 35 power is passed to output shaft 33, one end of output shaft 33 is then just changeing according to motor or reverse and rolling-in or loosen cable wire 36, and makes shifting of transmission.The other end combination of output shaft 33 is just like shown in Fig. 4 and 5, the rotating conductive film 311 of sensor 31, this conducting strip 311 is positioned at the central authorities of fixed ring piece 312, conducting strip 311 can rotate to a certain angle with the output shaft 33 of gear case 32, that is contact at arbitrary diverse location with fixed ring piece 312, in the contact of sliding type, constantly provide the different pairs value that produces by different voltages, offer micro processor 22 through A and D converter 25, constantly handle the data of running as computer.
That is, by the present situation that the invention provides in order to the detecting motor driver, make the method for the speed change system of computer processor control bicycle, comprise;
(1) fix a sensor, it is OPTICAL SENSORS or other sensors for example that this sensor has a sensing element, or conducting strip as shown in Figure 5 311;
(2) sensing element of combined sensor is that conducting strip is on motor driver for example;
(3) sensing element by sensor provides different detecting values, offers the data of computer processor as running; Embodiment as shown in Figure 1 wherein, the fuzzy voltage that each contact of sensor provides is to be become digital form and imported computer processor by analogue to digital conversion.Moreover the frequency of operation of aforementioned A and D converter system is controlled by electric capacity and resistance.Wherein the time of the conversion that frequency of operation calculates of A and D converter is to set less than 0.5 millisecond again, is 0.1 millisecond for example.
Blanket speech, the invention provides the method that makes automatic speed-transformation of bicycle with computer control, through the signal that electrical generator produced that contacts with wheel, after computer processor is handled, make the motor driver element and the drive speed transmission gear shift, and the displacement sensing signal that utilizes a position transduser that combines with change-speed box to produce, as voltage, after conversion, input to computer processor immediately, detecting default result, or revise or change the data of control.The aforementioned processing with computer comprises its step of holistic approach of automatic speed-transformation of bicycle:
(1) reads the frequency that produces by electrical generator according to vehicle wheel rotational speed;
(2) set a timing section, and from this period, constantly gather an impulse smaple by the frequency generation;
(3) set most basic pulse samples that are same as grade number with change-speed box shelves number;
(4) set a upper limit with under be limited to the basic pulse sample;
(5) impulse smaple of relatively gathering, and when the sample of this collection is identical with the basic pulse sample, produces a signal and export with the gear shift of drive motor device;
(6) continue the pulse and the upper limit and the lower limit of basic pulse sample of relatively gathering, and surpass the upper limit of basic pulse sample or down in limited time, the upper limit and the lower limit of elimination basic pulse sample in the pulse of gathering;
(7) at any time the sensing value of sensor output and the signal of CD-ROM drive motor are compared mutually;
(8) return back to the base state of an original processing before the running again at every turn, this base state comprises eliminates all in preceding data of gathering, make change-speed box enter lowest gear with CD-ROM drive motor, even the also sprocket engagement of maximum joint warp in chain or other similar elements and the chain sprocket in groups.
The present invention makes change-speed box enter the device of lowest gear automatically, embodiment is shown in Fig. 8 and 9, gear shift brake rod 40 is the idle pulley pole 41 that is connected to chain (figure slightly), utilizes the pole displacement and guide chain is engaged on certain a slice sprocket wheel of chain sprocket in groups (figure slightly).42 of brake rod 40 and poles the be pivoted first connecting rod 43 and second fork 44, form a tetragonal linkage rod group, the diagonal angle of connecting rod level is caught at the two ends of one spring 45 respectively, 36 of cable wires that driven by motor drive 3 are incorporated into the pivot chalaza of brake rod 40 and second fork 44, and its application of force direction is vertical with the direction of spring 45 layouts substantially.When cable wire 36 pullings, can produce the action of Fig. 8 and 9, one of feature of this case is when the control system of this case returns back to the base state of original processing at every turn, all can discharge the state of cable wire 36 as Fig. 9, the pulling force of brake rod 40 mat springs 45 is moved, and the sprocket wheel of chain engages maximum joint warp to the chain sprocket in groups, that is enter lowest gear, in order to starting bicycle.
The present invention is predeterminable one very fast spacing in software design, as the 5th grade (a) among Fig. 6, when the speed of a motor vehicle surpasses this limit value, to produce an action automatic lowering gear shift shown in the arrow among the figure, if the speed of a motor vehicle was still high at that time (generator speed is still high), the knight still insists on quickening, and will continue once more the shelves number is reduced, and forces the knight can not exceed the speed limit to protect traffic safety.And as the worm gear and the worm gear box of Fig. 3 and 4, can make gear shift after the location determine not trip stop arbitrarily.
The present invention has following advantage compared to existing technology:
1, needn't control with hand operated fully, only need to use a motor and get final product The drive speed transmission gear shift;
2, can limit the vehicle speed variation that excessively high speed travels; And can give them Automatic charging prolongs its service life.
3, utilize the pulse that detects generator to control speed changer, and Utilize the sensor at shifting of transmission place to respond logarithm value to computer processor, Foundation as operation.
4, can make bicycle adapt to different road conditions or road speed and certainly move Shelves all can be very helpful to most of bicycle user.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95102805A CN1050812C (en) | 1995-03-28 | 1995-03-28 | Method and device for controlling automatic speed change of bicycle by computer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN95102805A CN1050812C (en) | 1995-03-28 | 1995-03-28 | Method and device for controlling automatic speed change of bicycle by computer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1125667A CN1125667A (en) | 1996-07-03 |
| CN1050812C true CN1050812C (en) | 2000-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN95102805A Expired - Fee Related CN1050812C (en) | 1995-03-28 | 1995-03-28 | Method and device for controlling automatic speed change of bicycle by computer |
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| CN (1) | CN1050812C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100404369C (en) * | 2004-04-28 | 2008-07-23 | 株式会社岛野 | Bicycle shift control device |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6162140A (en) * | 1998-12-18 | 2000-12-19 | Shimano, Inc. | Motor driven derailleur |
| IT1310731B1 (en) * | 1999-11-23 | 2002-02-22 | Campagnolo Srl | SPEED CHANGE DEVICE FOR BICYCLES. |
| US6367833B1 (en) * | 2000-09-13 | 2002-04-09 | Shimano, Inc. | Automatic shifting control device for a bicycle |
| JP3573723B2 (en) * | 2001-06-29 | 2004-10-06 | 株式会社シマノ | Gear change control device for bicycle |
| US6726586B2 (en) * | 2001-11-09 | 2004-04-27 | Shimano Inc. | Motorized bicycle actuator assembly |
| JP3994081B2 (en) * | 2003-10-28 | 2007-10-17 | 株式会社シマノ | Bicycle shift control device |
| CN102346446A (en) * | 2010-07-26 | 2012-02-08 | 久鼎金属实业股份有限公司 | Automatic speed-changing control system for bicycle |
| US8437884B2 (en) * | 2010-07-28 | 2013-05-07 | GM Global Technology Operations LLC | System and method for detecting vehicle motion |
| CN103183105A (en) * | 2011-12-30 | 2013-07-03 | 久鼎金属实业股份有限公司 | Automatic transmission bicycle with gear protection mechanism |
| TWI571405B (en) * | 2015-09-25 | 2017-02-21 | Ming-Chi Univ Of Tech | Shift timing judgment method and automatic transmission system |
| CN115009412B (en) * | 2022-05-07 | 2024-05-28 | 青岛迈金智能科技股份有限公司 | Electronic transmission system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57114052A (en) * | 1981-01-06 | 1982-07-15 | Hideo Kishimoto | Speed changing method for bicycle by using calculator |
-
1995
- 1995-03-28 CN CN95102805A patent/CN1050812C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57114052A (en) * | 1981-01-06 | 1982-07-15 | Hideo Kishimoto | Speed changing method for bicycle by using calculator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100404369C (en) * | 2004-04-28 | 2008-07-23 | 株式会社岛野 | Bicycle shift control device |
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| Publication number | Publication date |
|---|---|
| CN1125667A (en) | 1996-07-03 |
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