Bicycle training device, training system, bicycle, and bicycle training program

Abstract

To make bicycle training possible with a simple structure.SOLUTION: A bicycle training device 5 includes: a motor control part 53 which controls a motor that assists in rotation of a crank shaft rotating with a user's tread force; a goal setting part 51 which sets a target value on the basis of the user's input; and a pedaling output calculation part 52 which acquires a tread force torque relative to the crank shaft with a load imparted to rotation of the crank shaft and a crank rotation number of the crank shaft, and calculates pedaling output value based on the tread force torque and the crank rotation number. The motor control part 53 outputs to the motor 3 an assist force corresponding to difference between the pedaling output value and the target value when the pedaling output value is beyond the target value.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an apparatus, a system, a bicycle, and a program for bicycle training.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2005-21391 (Patent Document 1) discloses a virtual cycling apparatus including an electric assist bicycle, a dedicated stand that rotatably supports the front and rear wheels of the electric assist bicycle, and display means. The electric assist bicycle has load control means and travel information generation means. Load control information is generated corresponding to the travel information and supplied to the load control means. Control of the load applied to the pedals by the load control means is performed by at least one of assist ratio control and regenerative brake control.

[0003] Japanese Patent Application Laid-Open No. 2004-331004 (Patent Document 2) discloses an electric assist bicycle that can be used as a fitness machine. This electric assist bicycle includes speed change means for switching the speed gear ratio of the rear wheel axle, assist drive means for applying an assist force to the front wheel axle, a power supply unit for supplying power to the assist drive means and accumulating the regenerative electric power generated in the assist drive means, and assist control means for controlling the assist operation and the regenerative operation. By controlling the load applied to the pedals by the speed change gear ratio control by the speed change means and the regenerative brake control by the assist control means, a fitness operation is executed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above prior art, a dedicated stand or a regenerative brake is used to control the load applied to the pedal. Therefore, the configuration of the device or system becomes complicated. The present application discloses a bicycle training device, a system, a bicycle, and a program that enable bicycle training with a simple configuration.

Means for Solving the Problems

[0006] The bicycle training device according to an embodiment of the present invention includes a motor control unit that controls a motor that assists the rotation of a crankshaft rotated by a user's pedaling force, a target setting unit that sets a target value based on a user's input, and a state in which a load is applied to the rotation of the crankshaft, and obtains a pedaling torque with respect to the crankshaft and a crank rotation speed of the crankshaft, and calculates a pedaling output value based on the pedaling torque and the crank rotation speed. The motor control unit outputs an assist force corresponding to the difference between the pedaling output value and the target value to the motor when the pedaling output value exceeds the target value.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0008] (Configuration 1) The bicycle training device according to an embodiment of the present invention includes a motor control unit that controls a motor that assists the rotation of a crankshaft rotated by the pedaling force of a user, a target setting unit that sets a target value based on the input of the user, and a pedaling output calculation unit that obtains the pedaling torque on the crankshaft and the crank rotation speed of the crankshaft in a state where a load is applied to the rotation of the crankshaft, and calculates a pedaling output value based on the pedaling torque and the crank rotation speed. When the pedaling output value exceeds the target value, the motor control unit causes the motor to output an assist force corresponding to the difference between the pedaling output value and the target value.

[0009] According to the above configuration 1, the user pedals against the load applied to the crankshaft, and when the output value based on the pedaling torque and the crank rotation speed, that is, the cadence, exceeds the target value, an assist force corresponding to the difference between the output value and the target value is output from the motor. Therefore, the pedaling output of the user is adjusted to approach the target value by the assist of the motor. The user can pedal with an output suitable for training without monitoring the pedaling torque and cadence. Therefore, the user can concentrate on pedaling. Further, in the above configuration 1, when the pedaling output of the user against the load applied to the crankshaft exceeds the target value, the motor provides assistance. Therefore, bicycle training is possible with a simple configuration using the assist function of the motor.

[0010] The application of the load to the rotation of the crankshaft can be realized, for example, by the rotational resistance of a rotating body rotated by the rotation of the crankshaft. The application of the load to the rotation of the crankshaft is the application of a load by a member other than the motor (load unit). As an example, a load device that becomes the rotational resistance of an axle to which the rotation of the crankshaft is transmitted, or the wheel can be the load unit. Here, the load is the resistance to rotation. The state where a load is applied to the rotation of the crankshaft is a state where a resistance force is generated against the forward rotation of the crankshaft (rotation in the direction of moving the bicycle forward) by the load unit.

[0011] The load applied to the rotation of the crankshaft is preferably set to be sufficiently high. For example, a load may be set such that the user's pedaling output cannot easily reach the target value.

[0012] The magnitude of the load applied to the rotation of the crankshaft by the load unit may or may not be controlled. Also, a load monitoring function for acquiring the magnitude of the load may or may not be provided.

[0013] When the pedaling output calculation unit determines that a load is applied to the rotation of the crankshaft, it may acquire the pedaling torque and the crank rotation speed, and calculate the pedaling output value. Thereby, training support by assist control of the motor can be realized in a load state suitable for training. Also, when the bicycle training device determines that no load is applied to the rotation of the crankshaft, it may notify the user that no load is applied.

[0014] (Configuration 2) In the above Configuration 1, when the pedaling output value does not exceed the target value, the motor control unit may stop assisting the rotation of the crankshaft by the motor. That is, when the pedaling output value does not exceed the target value, the motor may be controlled so as not to assist by the motor. Thereby, bicycle training becomes possible with a simpler configuration.

[0015] (Configuration 3) In the above Configuration 1 or 2, when the state where the pedaling output value does not exceed the target value continues for a predetermined time, the bicycle training device may notify the user that the pedaling has not reached the target.

[0016] (Configuration 4) In any of the above configurations 1 to 3, the bicycle training device may change the target value when the state where the pedaling output value does not exceed the target value continues for a predetermined time. Thereby, the target value can be automatically updated according to the user's pedaling. When the bicycle training device changes the target value, it may notify the user of the change of the target value.

[0017] (Configuration 5) In any of the above configurations 1 to 4, the bicycle training device may notify the user of an instruction for a shifting operation (an operation of changing the gear ratio of the shift gear) when the state where the pedaling output value does not exceed the target value continues for a predetermined time and the crank rotation speed satisfies a predetermined condition. Thereby, an appropriate shift gear according to the cadence can be notified to the user.

[0018] For example, when the state where the pedaling output value does not exceed the target value continues for a predetermined time and the crank rotation speed exceeds the upper limit value, it is possible to notify an instruction for a shifting operation of increasing the gear ratio of the shift gear, that is, making the pedal lighter.

[0019] Also, when the state where the pedaling output value does not exceed the target value continues for a predetermined time and the crank rotation speed is below the lower limit value, it is possible to notify an instruction for a shifting operation of decreasing the gear ratio of the shift gear, that is, making the pedal heavier.

[0020] (Configuration 6) The training system in the embodiment of the present invention includes a bicycle training device according to any of the above configurations 1 to 5. The training system further includes the motor, a load unit that becomes a load on the rotation of the crankshaft, a crankshaft rotation sensor that detects the rotation speed of the crankshaft, and a torque sensor that detects the pedaling torque on the crankshaft.

[0021] The load unit may be, for example, a load device that provides rotational resistance to an axle to which the rotation of the crankshaft is transmitted, or a wheel (driving wheel) that rotates together with the axle. The load unit is a member that provides resistance to the forward rotation of the crankshaft (rotation in the direction of moving the bicycle forward).

[0022] The pedaling output calculation unit may obtain the pedaling torque applied to the crankshaft detected by the torque sensor and the crank rotation speed of the crankshaft detected by the crankshaft rotation sensor.

[0023] (Configuration 7) The bicycle according to an embodiment of the present invention includes the training system of Configuration 6 above.

[0024] (Configuration 8) The bicycle training program according to an embodiment of the present invention causes a computer to execute motor control processing for controlling a motor that assists the rotation of a crankshaft rotated by a user's pedaling force, target setting processing for setting a target value based on a user input, and pedaling output calculation processing for obtaining the pedaling torque applied to the crankshaft and the crank rotation speed of the crankshaft in a state where a load is applied to the rotation of the crankshaft, and calculating a pedaling output value based on the pedaling torque and the crank rotation speed. The motor control processing includes processing for outputting an assist force corresponding to the difference between the pedaling output value and the target value to the motor when the pedaling output value exceeds the target value.

[0025] Hereinafter, a bicycle training device, a system, a bicycle, and a program according to an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description of those members will not be repeated. Also, the dimensions of the constituent members in each drawing do not faithfully represent the dimensions of the actual constituent members and the dimensional ratios of the respective constituent members. In the following description, the front-rear, left-right, and up-down directions of the bicycle are based on the state where the user is seated on the saddle (seat 24) and holds the handlebars. The front-rear, left-right, and up-down directions of the bicycle are the same as the front-rear, left-right, and up-down directions of the bicycle body, that is, the vehicle frame. Also, the traveling direction of the bicycle is the same as the front-rear direction of the vehicle. The following embodiments are examples, and the present invention is not limited to the following embodiments.

[0026] <Example of the overall configuration of a bicycle> FIG. 1 is a side view showing a configuration example of a bicycle including a training device according to the present embodiment. The bicycle 10 shown in FIG. 1 has a vehicle frame 11 and a crankshaft 41 rotatably supported with respect to the vehicle frame 11. A pedal 42 is attached to the crankshaft 41. The crankshaft 41 rotates as the pedal 42 rotates. The pedal 42 may include, for example, a pedal step 42a and a crank arm 42b. When the user pedals the pedal 42, the crankshaft 41 rotates. That is, the crankshaft 41 rotates by the user's pedaling force. The rotation of the crankshaft 41 is transmitted to the axle 29. The axle 29 is rotatably supported by the vehicle frame 11. The bicycle 10 has a transmission mechanism that transmits the rotation of the crankshaft 41 to the axle 29.

[0027] The bicycle 10 includes a crankshaft rotation sensor 65 that detects the rotation speed of the crankshaft 41, and a torque sensor 62 that detects the pedaling torque with respect to the crankshaft 41. In the example of FIG. 1, the crankshaft 41 is rotatably supported by a housing 30a that holds the motor 3. The housing 30a is attached to the vehicle body frame 11. The crankshaft rotation sensor 65 and the torque sensor 62 are provided inside the housing 30a. The drive unit 30 includes the housing 30a, the motor 3, the torque sensor 62, and the crankshaft rotation sensor 65.

[0028] The bicycle 10 has a motor 3 that assists the pedaling force. The motor 3 assists the rotation of the crankshaft 41 due to the pedaling force. In the example of FIG. 1, the rotational force of the motor 3 and the pedaling force are combined by a transmission mechanism and transmitted to the axle 29. The bicycle 10 has a load portion 22 that loads the rotation of the crankshaft 41.

[0029] In the example of FIG. 1, the load portion 22 is a load device that resists the rotation of the axle 29. The load device may have, for example, a rotating body that is rotatably attached to the vehicle body frame 11 instead of a wheel. In this case, a load is applied to the rotation of the crankshaft 41 due to the rotational resistance of the rotating body of the load device. In this example, the load device has a base 22a that rotatably supports the rotating body with respect to the floor surface or the ground. Note that the configuration of the load device is not limited to the example shown in FIG. 1. For example, the load device may be configured to have a rotating body such as a roller that rotates by being pressed against a wheel to which the rotation of the crankshaft 41 is transmitted. Alternatively, the load portion 22 may be a wheel (drive wheel) to which the rotation of the crankshaft is transmitted. When the bicycle 10 with wheels travels on an external road (e.g., an uphill slope), the drive wheel becomes a load for the rotation of the crankshaft.

[0030] <Configuration example of the training device> FIG. 2 is a block diagram showing a configuration example of a training device in the bicycle 10 shown in FIG. 1. In FIG. 2, the transmission of force is indicated by a solid arrow, and the transmission of information is indicated by a broken arrow. In the example shown in FIG. 2, the bicycle training device 5 acquires the crank rotation speed from the crankshaft rotation sensor 65 and the pedaling torque from the torque sensor 62, and controls the motor 3 based on the crank rotation speed and the pedaling torque. The bicycle training device 5 includes a target setting unit 51, a pedaling output calculation unit 52, and a motor control unit 53.

[0031] The target setting unit 51 sets a target value based on the input of the user. The pedaling output calculation unit 52 calculates a pedaling output value based on the crank rotation speed and the pedaling torque acquired in a state where a load is applied to the rotation of the crankshaft 41. The motor control unit 53 controls the motor 3. When the pedaling output value exceeds the target value, the motor control unit 53 causes the motor 3 to output an assist force corresponding to the difference between the pedaling output value and the target value.

[0032] In the configuration of FIG. 2, the combined force of the user's pedaling force and the assist force of the motor 3 counteracts the load of the load unit 22. Therefore, the motor control unit 53 can control the contribution degree of the user's pedaling force to the load of the load unit 22 by controlling the assist force of the motor 3. Specifically, the motor control unit 53 controls the assist force of the motor 3 so that the pedaling output value calculated based on the user's pedaling torque and the crank rotation speed with respect to the load approaches the target value. In this configuration, the user's pedaling output with respect to the load of the load unit 22 can be adjusted to approach the target by the assist of the motor 3. Since the user's pedaling output can be adjusted by controlling the motor 3, the configuration of the device and the system can be simplified. For example, even if the load of the load unit 22 is not finely controlled, the user's pedaling output can be made to approach the target by the assist control of the motor 3.

[0033] Since the assist force of the motor 3 is controlled so that the user's pedaling output approaches the target value, the user can concentrate on pedaling. For example, during training, the user does not need to perform operations such as constantly monitoring the pedaling output value and adjusting the pedaling output to reach the target.

[0034] The bicycle training device 5 can be implemented by one or more computers. For example, each functional part of the bicycle training device 5 including the target setting unit 51, the pedaling output calculation unit 52, and the motor control unit 53 can be realized by a computer executing a predetermined program. Such a program and a non-transitory recording medium recording the program are also included in the embodiments of the present invention.

[0035] As an example, the bicycle training device 5 may be implemented as a part of the function of the controller 4 of the motor 3 provided in the bicycle 10. The controller 4 is included in the drive unit 30. The controller 4 is, for example, an MCU (Motor Control Unit). The controller includes, for example, a processor and a memory. The processor can realize the function of the bicycle training device 5 by executing the program in the memory. Note that at least a part of the function of the bicycle training device 5 may be realized by a circuit other than the processor. Also, at least a part of the function of the bicycle training device 5 may be realized by an external computer capable of communicating with the motor 3. For example, the bicycle training device 5 may be configured by at least one of the computer mounted on the bicycle 10 and the computer of the user terminal.

[0036] The target setting unit 51 sets a target value based on user input. The target setting unit 51 may receive an input of the target value from the user. Alternatively, it may receive a selection from a plurality of target value candidates from the user. The user inputs information for setting the target value via the user interface unit (UI unit) 70 provided in the bicycle 10. The user interface unit (UI unit) 70 has an input device or a communication unit. The input device may be, for example, an operator such as a button, lever, or switch, or a touch panel, etc. The communication unit may be, for example, a communication module that communicates with an external device. The communication unit can receive user input, for example, by communicating with the user's terminal. For example, the target value may be determined based on user input by an application on the user terminal. In this case, data regarding the target value can be acquired from the user terminal via the communication unit of the UI unit 70. Note that the UI unit 70 may have an output device such as a display, speaker, or indicator. Thereby, information can be notified to the user via the UI unit 70. The UI unit may be, for example, an electronic device (such as a meter) attached to the bicycle.

[0037] The target value can be the pedaling output value that the user aims for in training. The pedaling output value serving as the target value may be, for example, a value indicating the physical quantity of the pedaling output. The target value is not particularly limited, and may be, for example, values such as work rate (power), energy, cadence, torque, load intensity, vehicle speed, travel distance, etc. The set target value may be a single value or a value indicating a target range. Also, a value that changes according to the passage of time or other conditions may be set as the target value. For example, a change pattern of the target value may be set.

[0038] The pedaling output calculation unit 52 acquires the crank rotation speed and the pedaling force torque in a state where a load is applied to the rotation of the crankshaft 41. The crank rotation speed can be acquired from the crankshaft rotation sensor 65. The pedaling force torque can be acquired from the torque sensor 62.

[0039] The torque sensor 62 detects the torque that rotates the crankshaft 41 about its axis. As the torque sensor 62, for example, a non-contact type such as a magnetostrictive type or a contact type such as an elastic body variable detection type torque sensor can be used. The magnetostrictive torque sensor has a magnetostrictive material that has a magnetostrictive effect and receives the rotational force of the crankshaft, and a detection coil that detects the change in permeability due to the force of the magnetostrictive material.

[0040] The crankshaft rotation sensor 65 detects the rotation of the crankshaft 41. The crankshaft rotation sensor 65 may have, for example, a detected element that rotates together with the crankshaft 41 and a detection element that is fixed to the vehicle body frame 11 and detects the rotation of the detected element. The detection element can detect the detected element mechanically, optically, or magnetically.

[0041] The pedaling output calculation unit 52 may calculate a pedaling output value based on, for example, the crank rotation speed and the pedaling torque acquired when it is determined that a load is applied to the rotation of the crankshaft 41. In this case, the pedaling output calculation unit 52 may acquire information on the load unit 22 and determine the load application state based on this information. For example, when the attachment of the load device is detected, it can be determined that a load is applied to the rotation of the crankshaft 41. Alternatively, the pedaling output calculation unit 52 may determine the application of a load based on a user input. For example, it can be determined that a load is applied to the rotation of the crankshaft 41 during the period from when the user inputs the start of training until the user inputs the end of training. Or, the pedaling output calculation unit 52 may acquire information indicating the running state of the bicycle 10 and determine the load application state based on this information. For example, when it is detected from the inclination sensor of the vehicle body frame provided in the bicycle 10 that it is traveling on an uphill slope, it can be determined that a load is applied to the rotation of the crankshaft 41.

[0042] The pedaling output value calculated by the pedaling output calculation unit 52 can be a value indicating the amount of pedaling output. The pedaling output value may be a physical quantity determined by, for example, the crank rotation speed and the pedaling force torque. The pedaling output value is not particularly limited, but may be, for example, values such as work rate (power), energy, cadence, torque, load intensity, vehicle speed, and travel distance. The pedaling output value is preferably a value that serves as a measure of the training intensity or the amount of training. The target value set by the target setting unit 51 and the pedaling output value are preferably values indicating the same physical quantity. That is, the target value

[0043] When the pedaling output value exceeds the target value, the motor control unit 53 calculates the difference between the pedaling output value and the target value. The calculation of the difference may be to calculate the difference between the pedaling output value and the target value. Alternatively, the ratio of the pedaling output value to the target value, or a value indicating the degree of deviation between the target value and the pedaling output value may be calculated as the difference. The motor control unit 53 determines the assist force corresponding to this difference and supplies a command value for outputting the determined assist force to the motor 3. The assist force corresponding to this difference is, for example, the assist force of the motor 3 that reduces the difference. The assist force corresponding to the difference may be determined based on, for example, correspondence data indicating the correspondence relationship between the difference and the assist force. The correspondence data may be data of a group of values such as a table or a map, or may be data for executing calculation processes such as a function, a calculation formula, and a program.

[0044] The motor control unit 53 can determine the assist force corresponding to the difference by, for example, determining the output torque of the motor 3, the assist ratio, or the assist responsiveness as the assist force according to the difference.

[0045] When the pedaling output value exceeds the target value, the motor control unit 53 may output the assist force to the motor 3, and when the pedaling output value does not exceed the target value, the motor control unit 53 may not output the assist force to the motor 3.

[0046] When the pedaling output value does not exceed the target value, the bicycle training device 5 can output a notification to the user via the UI unit 70. For example, when the pedaling output value has not exceeded the target value for a predetermined time, the bicycle training device 5 may notify the user to that effect. Also, when the crank rotation speed (cadence) is higher than the upper limit value and the pedaling output value does not exceed the target value, the user can be notified to increase (make heavier) the gear shift stage. When the crank rotation speed (cadence) is lower than the lower limit value and the pedaling output value does not exceed the target value, the user can be notified to lower (make lighter) the gear shift stage.

[0047] <Operation Example of Bicycle Training Device> Figure 3 is a flowchart showing an operation example of the bicycle training device shown in Figure 2. In the example of Figure 3, the target setting unit 51 sets a target value (S1). The target setting unit 51 determines the target value based on an input from the user and records it in a recording unit accessible to the bicycle training device 5. If the user does not input information for setting the target value, a predetermined initial value may be set as the target value. Here, as an example, the target value is a value indicating the work rate [W].

[0048] When the bicycle training device 5 is in the training period (YES in S2), it repeatedly executes the training processes of S3 to S10. When it is not in the training period (NO in S2), the training process ends. The determination as to whether it is the training period in S2 can be made, for example, based on an instruction input for starting and ending training by the user. Or, the training period may be determined based on a detection result of the state of the load unit 22 such as the attachment of the load device or the load setting of the load device. Or, the training period may be determined according to the running state of the bicycle 10. The running state serving as the determination criterion may be, for example, the vehicle speed, the slope of the running road surface (the slope angle of the uphill), or the pedaling state (the pedaling torque and the crank rotation speed).

[0049] When the answer in S2 is YES, the pedaling output calculation unit 52 acquires the pedaling torque detected by the torque sensor 62 (S3), and acquires the crank rotation speed detected by the crankshaft rotation sensor 65 (S4). The pedaling output calculation unit 52 calculates the pedaling output value of the user using the acquired pedaling torque T [N·m] and crank rotation speed N [r / min] (S5). The pedaling output value [W] can be calculated, for example, by the following formula, although it is not limited to this. Pedaling output value [W]=(2×π×T×N) / 60

[0050] The pedaling output calculation unit 52 calculates the difference between the target value [W] set in S1 and the pedaling output value [W] calculated in S5 (S6). The difference can be calculated, for example, by the following formula. Difference [W]=Target value [W]-Pedaling output value [W]

[0051] When the difference>0, that is, when the pedaling output value is less than the target value, the motor control unit 53 controls the motor 3 so as not to output the assist force (S7). In this case, the bicycle training device 5 notifies the user that the pedaling output has not reached the target (S8). In S8, information indicating the difference from the target value may be notified. Further, the notification in S8 may be executed, for example, when it is continuously determined a predetermined number of times that the pedaling output value is less than the target value in S6.

[0052] The notification from the bicycle training device 5 to the user may be performed, for example, via the UI unit 70. The bicycle training device 5 may display the notification information on an output device such as a display included in the UI unit 70. Alternatively, the bicycle training device 5 may transmit the notification information to the user terminal via the communication unit included in the UI unit 70 and cause the user terminal to output the notification information.

[0053] When the difference = 0, that is, when the pedaling output value has reached the target value, the motor control unit 53 controls the motor 3 so as not to output an assist force (S9). In this case, since the user's pedaling output has reached the target, there is no need to assist the pedaling force with the motor 3. Incidentally, in this case, the bicycle training device 5 may notify the user that the pedaling output has reached the target.

[0054] When the difference < 0, that is, when the pedaling output value exceeds the target value, the motor control unit 53 causes the motor to output an assist force corresponding to the difference (S10). For example, when the target value is 200 W and the pedaling output value is 250 W, the motor control unit 53 causes the motor to output an assist force corresponding to these differences (-50 W). In this case, the motor control unit 53 may, for example, output an assist force of 50 W, which is the absolute value of the difference, to the motor 3. The assist force corresponding to the difference (for example, 50 W) can be determined using, for example, correspondence data indicating the correspondence between the difference [W] and the assist force. With this assist force of the motor 3, the difference can be reduced and brought closer to 0.

[0055] The assist force corresponding to the difference to be output to the motor in S10 may be determined using, for example, at least one of the pedaling torque acquired in S3 or the crank rotation speed acquired in S4, in addition to the difference calculated in S6. For example, the motor control unit 53 may determine an assist ratio with respect to the pedaling torque acquired in S3. In this case, the assist ratio can be determined so as to achieve a work rate corresponding to the difference with the torque of the assist generated by the assist ratio with respect to the pedaling torque.

[0056] By the process shown in FIG. 3, during the training period, when the pedaling output exceeds the target value due to the user pedaling against the load, the motor 3 assists with the amount of pedaling force that exceeds the target value. As a result, the user can naturally reduce the pedaling output and approach the target value. Therefore, the user can pedal at a pedaling output suitable for training. Also, by adjusting the amount of assistance for pedaling against the load of the load unit 22, the user's pedaling output is adjusted, so the process for bicycle training becomes simpler. Therefore, the configuration of the bicycle training device 5 and the system becomes simpler. Also, by adding a simple configuration to an existing electric assist bicycle, a bicycle training device and a system can be constructed.

[0057] In the operation example of FIG. 3, when the pedaling output calculation unit 52 determines YES in S2, that is, when it determines that it is during the training period, it acquires the pedaling force torque and the crank rotation speed in S3 and S4. This is an example of the process of the pedaling output calculation unit 52 acquiring the pedaling force torque and the crank rotation speed when it determines that a load is applied to the rotation of the crankshaft. In this way, when the pedaling output calculation unit 52 determines that a load for training is applied, by acquiring the pedaling force torque and the crank rotation speed and calculating the pedaling output value, in a state suitable for training, the training process by the assist control of the motor can be executed. Note that the determination of whether a load is applied to the rotation of the crankshaft, for example, the determination of whether it is the training period, is not limited to the determination based on the user input shown in the above example. For example, when the attachment of the load device is detected, it can be determined that it is the training period. Or, when it is detected that the bicycle 10 is traveling on an uphill slope of a predetermined angle or more, it can be determined that it is the training period. Also, when the bicycle training device 5 determines that no load is applied to the rotation of the crankshaft based on the state of the load device or the traveling state of the bicycle, it may notify the user that no load is applied.

[0058] The bicycle training device 5 may automatically change the target value according to the calculated pedaling output value. When the pedaling output value has not exceeded the target value for a predetermined time, the target value may be automatically decreased. For example, in the process of FIG. 3, when the difference >0, that is, when the pedaling output value is lower than the target value, the bicycle training device 5 may decrease the target value. That is, the target value recorded in the recording unit is updated to be lower. Thereby, it becomes easier for the user's pedaling output to achieve the target value. Also, the amount of decrease in the target value may be determined based on, for example, the difference between the pedaling output value and the target value.

[0059] When the pedaling output value of the bicycle training device 5 has not exceeded the target value for a predetermined time and the crank rotation speed satisfies a predetermined condition, the bicycle training device 5 may notify the user of an instruction for a shift operation. For example, in the process of FIG. 3, when the difference >0, that is, when the pedaling output value is lower than the target value and the crank rotation speed obtained in S4 satisfies a predetermined condition, the user may be notified of an instruction for a shift operation. For example, when the pedaling output value is lower than the target value and the crank rotation speed exceeds the upper limit value, an instruction to increase the gear ratio of the shift gear can be notified. When the pedaling output value is lower than the target value and the crank rotation speed is lower than the lower limit value, an instruction to decrease the gear ratio of the shift gear can be notified. The change in the gear ratio may be determined according to the crank rotation speed.

[0060] The example in FIG. 3 is an example when the set target value is one value. A value indicating the target range of the target pedaling output value may be set as the target value. In this case, the motor control unit 53 can execute the process of S7 when the pedaling output value is smaller than the target range, the process of S9 when it is within the target range, and the process of S10 when it is larger than the target range. In this case, in S6, the difference between the upper limit of the target range and the pedaling output value may be calculated.

[0061] In the example of FIG. 3, the processes of S3 to S10 are repeated. When the set target value indicates a target value that changes over time, the target value corresponding to each time can be used in each repetition of S3 to S10.

[0062] When it is not the training period (when the answer is NO in S2 of FIG. 3), the motor control unit 53 may control the motor 3 in a normal assist driving mode in which an assist force is output to the motor 3 according to the pedaling torque. For example, the motor control unit 53 may be able to switch between the operation in the training mode and the operation in the normal assist driving mode according to an input from the user.

[0063] The bicycle training device 5 may have a function of cooperating with an application of the user terminal. For example, the bicycle training device 5 may be able to communicate with the user terminal via the UI unit 70. The bicycle training device 5 can acquire data indicating a target value from an application of the user terminal. The user can determine a target value to be used for training using the application of the user terminal. Further, the bicycle training device 5 may record data indicating the processing results of the pedaling output calculation unit 52 and the motor control unit 53 and provide it to the user terminal. For example, history data indicating at least one of the pedaling torque, the crank rotation speed, and the pedaling output value by the user's pedaling may be recorded in the bicycle training device 5 and provided to the user terminal. Further, for example, the comparison result between the pedaling output value and the target value may be included in the history data. The comparison result may be, for example, data indicating the time during which pedaling could be performed with the target value.

[0064] <Example of the configuration of a bicycle> Referring to FIG. 1 again, a configuration example of the bicycle 10 will be further described. In the example of FIG. 1, the vehicle body frame 11 has a head pipe 11a at the front end. A handle stem (steering column) 25 is rotatably inserted into the head pipe 11a. A handle 23 is fixed to the upper end of the handle stem 25. A front fork 26 is fixed to the lower end of the handle stem 25. A front wheel 21 is rotatably supported by an axle 27 at the lower end of the front fork 26.

[0065] The vehicle body frame 11 includes a seat frame 11b. A seat 24 is attached to the upper end of the seat frame 11b. The vehicle body frame 11 includes a down frame 11d and an upper frame 11u that connect between the head pipe 11a and the seat frame 11b. A single frame may be provided instead of the down frame 11d and the upper frame 11u. The vehicle body frame 11 includes a pair of seat stays 11e and a pair of chain stays 11c. The rear end portions of the seat stays 11e and the chain stays 11c are connected, and an axle support portion for supporting an axle 29 is provided at the connection portion. The drive unit 30 is attached to the vehicle body frame 11 via a bracket 15. Further, the bicycle 10 includes a battery 35 that supplies power to the motor 3.

[0066] <Configuration Example of Transmission Mechanism> Referring to FIG. 2 again, the transmission mechanism will be further described. In the example of FIG. 2, the transmission mechanism includes a speed reducer 32 that reduces and transmits the rotation of the motor 3, a resultant force mechanism 43 that synthesizes the rotation of the crankshaft 41 and the motor 3, a sprocket 44, a chain 45 wound around the sprocket 44, a speed change mechanism 46, and an axle 29. The sprocket 44 may include, for example, a drive sprocket that rotates together with the crankshaft 41 and a driven sprocket that rotates together with the axle 29.

[0067] The resultant force mechanism 43 may have, for example, a cylindrical member coaxial with the crankshaft 41. The cylindrical member may be attached to one of the crankshaft 41 and the drive sprocket, and may be attached to the other via a one-way clutch. Note that the configuration of the resultant force mechanism 43 is not limited to this. For example, the resultant force mechanism 43 may be configured by a gear on a rotating shaft that transmits the rotation of the motor 3 meshing with a chain 45. Further, instead of the chain 45 and the sprocket 44 which are part of the transmission mechanism, a belt and a sprocket, or a shaft and a gear may be used.

[0068] The speed change mechanism 46 includes speed change gears and changes the gear ratio (the ratio of the rotation of the rear wheel axle to the rotation of the crankshaft) by the speed change gears in response to a speed change operation by the user on the speed change operator 47. The speed change mechanism 46 may be, for example, an external speed change mechanism that changes the chain around a plurality of sprockets (multi-stage sprockets) with different numbers of teeth that rotate together with the axle, or an internal speed change mechanism that has planetary gears inside the hub of the axle 29. The speed change operator 47 may be, for example, a lever, a switch, a button, or the like.

[0069] As a form in which the motor 3 assists the rotation of the crankshaft 41, the rotation of the motor 3 may be transmitted to the crankshaft 41. Or, the rotation of the motor 3 may be transmitted to a rotating body (for example, an axle, a chain, a sprocket, etc.) that rotates by the rotation of the crankshaft. In the example of FIG. 1, the motor 3 is held by a drive unit that supports the crankshaft 41. The form of the motor is not limited to this. For example, the motor may be a hub motor provided on the hub of the wheel and imparting an assisting force to the rotation of the wheel.

[0070] The embodiments of the present invention have been described above, but the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiments, and it is possible to appropriately modify and implement the above-described embodiments without departing from the gist thereof.

Description of Reference Numerals

[0071] 3: Motor, 5: Bicycle training device, 51: Target setting unit, 52: Pedaling output calculation unit, 53: Motor control unit, 10: Bicycle, 22: Load unit, 41: Crankshaft, 42: Pedal, 62: Torque sensor, 65: Crank rotation sensor

Claims

1. A bicycle training device, comprising: a motor control unit that controls a motor for assisting the rotation of a crankshaft rotated by a user's pedaling force; a target setting unit that sets a target value based on a user's input; a pedaling output calculation unit that acquires a pedaling torque on the crankshaft and a crank rotation speed of the crankshaft in a state where a load is applied to the rotation of the crankshaft, and calculates a pedaling output value based on the pedaling torque and the crank rotation speed; The bicycle training device, wherein when the pedaling output value exceeds the target value, the motor control unit causes the motor to output an assist force corresponding to a difference between the pedaling output value and the target value.

2. The bicycle training device according to claim 1, wherein when the pedaling output value does not exceed the target value, the motor control unit stops assisting the rotation of the crankshaft by the motor.

3. The bicycle training device according to claim 1 or 2, wherein when a state where the pedaling output value does not exceed the target value continues for a predetermined time, the user is notified that pedaling has not reached the target.

4. The bicycle training device according to claim 1 or 2, wherein when a state where the pedaling output value does not exceed the target value continues for a predetermined time, the target value is changed.

5. The bicycle training device according to claim 1 or 2, wherein when a state where the pedaling output value does not exceed the target value continues for a predetermined time and the crank rotation speed satisfies a predetermined condition, the user is notified of an instruction to perform a shifting operation.

6. A training system including the bicycle training device according to claim 1 or 2, the motor; a load unit that serves as a load for the rotation of the crankshaft; a crankshaft rotation sensor that detects the rotation speed of the crankshaft; a torque sensor that detects a pedaling torque on the crankshaft; The training system further comprising.

7. A bicycle including the training system according to claim 6.

8. a motor control process for controlling a motor that assists the rotation of a crankshaft rotated by a user's pedaling force; a target setting process for setting a target value based on a user's input; While a load is applied to the rotation of the crankshaft, obtain the pedaling torque with respect to the crankshaft and the crank rotation speed of the crankshaft, and calculate a pedaling output value based on the pedaling torque and the crank rotation speed, and cause a computer to execute a pedaling output calculation process. The motor control process includes a process of causing the motor to output an assist force corresponding to a difference between the pedaling output value and the target value when the pedaling output value exceeds the target value, which is a program for a bicycle trainer.

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