JP2016222083A - Power-assisted bicycle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power-assisted bicycle capable of obtaining push-walking auxiliary torque with a simple operation.SOLUTION: A power-assisted bicycle comprises a right switch 67, a left switch 68, a motor control part 95 for outputting a push-walking command value which makes an electric motor 60 output push-walking auxiliary torque, and a push-walking control part 96. The push-walking control part 96 brings the motor control part 95 into a push-walkable state capable of outputting the push-walking command value when any one of the right switch 67 and the left switch 68 is turned on, outputs the push-walking command value from the motor control part 95 when the other of the right switch 67 and the left switch 68 is turned on in the push-walkable state, and outputs the same push-walking command value when any one of the right switch 67 or the left switch 68 is operated first.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a battery-assisted bicycle.

  Japanese Patent Application Laid-Open No. H10-260260 and the like have known a battery-assisted bicycle equipped with a push-walking function. By making the electric motor output auxiliary torque when getting off the bicycle and walking on a steep uphill, the pushing effort of the vehicle is reduced.

  In this battery-assisted bicycle, auxiliary torque is output by operating a push button type push-walk switch provided near the grip of the left-hand handlebar and an accelerator grip provided on the right-hand handlebar. The

JP 2000-168672-A

By the way, in the above-described battery-assisted bicycle, when the assist torque for pushing walking is generated, the pushing walk switch is turned on with the left hand and the opening degree of the accelerator grip is adjusted with the right hand. In this battery-assisted bicycle, either the push-walk switch or the accelerator grip may be operated first. For this reason, a difference is produced in the auxiliary torque output when the driver operates the push-walk switch first and when the accelerator grip is operated first.
More specifically, when the push-walk switch is operated first, the auxiliary torque gradually increases if the accelerator opening is gradually opened while the push-walk switch is turned on. However, when the accelerator grip is operated first, the auxiliary torque corresponding to the set opening is output at once when the push-and-walk switch is turned on after the accelerator opening is set to the opening that is gradually opened. In this way, a difference occurs in how the auxiliary torque is output depending on the order of operating the push-walk switch and the accelerator grip.

  Therefore, an object of the present invention is to provide a battery-assisted bicycle that can obtain a stable pushing-walking assist torque by an easy operation.

The battery-assisted bicycle according to the present invention is
A battery-assisted bicycle having an electric motor capable of imparting a walking assist torque to a wheel during pushing walking,
A right switch provided on the right part of the handlebar and operated to be turned ON / OFF;
A left switch which is provided on the left part of the handlebar and is operated ON / OFF;
A motor controller that outputs a push-walk command value that causes the electric motor to output a push-walking assist torque; and
A push-walk control unit that outputs the push-walk command value from the motor control unit, and
The push-walk controller is
When the right switch is turned on, the motor control unit is brought into a push-walkable state where the push-walk command value can be output, and when the left switch is turned on in the push-walkable state, the motor Outputting the push walk command value from the control unit; and
When the left switch is turned on, the motor control unit is brought into a push-walkable state capable of outputting the push-walk command value, and when the right switch is turned on in the push-walkable state, the motor The control unit outputs the push walk command value.

  According to the battery-assisted bicycle having the above-described configuration, after either one of the right switch and the left switch provided on the right part and the left part of the handlebar is turned on and allowed to walk, the right switch and Pushing walking assistance is performed by turning on the other of the left switches. Therefore, it is possible to always output a stable pushing-walking assist torque with an easy operation regardless of the order of operations of the right switch and the left switch. In addition, since the vehicle walks while holding the left and right of the handle with both hands, the handling of the vehicle is also stable.

In the battery-assisted bicycle according to the present invention,
The right switch and the left switch may be momentary switches that are in an ON state only when pressed and are in an OFF state when not pressed.

  According to the battery-assisted bicycle having the above configuration, the right switch and the left switch are momentary switches. Therefore, when the driver pressing the right switch and the left switch with his hand removes his / her hand from at least one of the switches, the switch immediately It becomes OFF state. Therefore, the output of the auxiliary walking torque can be stopped immediately. Pushing and walking as intended by the driver can stop the output of auxiliary torque.

In the battery-assisted bicycle according to the present invention,
The right switch and the left switch may be sensors that output an ON state while detecting a driver's finger extending to the switch.

  According to the battery-assisted bicycle having the above-described configuration, the output of the pushing assist torque is stopped when the driver's fingers are separated from the switch. With a simple operation, the driver can stop pushing and stop outputting assist torque.

In the battery-assisted bicycle according to the present invention,
One of the right switch and the left switch is a momentary switch that is in an ON state only while being pressed and is in an OFF state when not pressed.
The other of the right switch and the left switch may be a sensor that outputs an ON state while detecting a driver's finger extending to the switch.

According to the battery-assisted bicycle having the above configuration, one of the right switch and the left switch is a momentary switch. Therefore, when the hand is removed from the momentary switch, the switch is immediately turned off. Therefore, the output of the auxiliary walking torque can be stopped immediately.
In addition, the other of the right switch and the left switch also stops the output of the push-walking assist torque when the driver's fingers are separated from the sensor that is the switch. With a simple operation, the driver can stop pushing and stop outputting assist torque.
Therefore, since both the left and right switches can be turned off with a simple operation, the output of the auxiliary walking torque can be stopped immediately.

  ADVANTAGE OF THE INVENTION According to this invention, the battery-assisted bicycle which can obtain the stable pushing walk torque by easy operation can be provided.

1 is a side view of a battery-assisted bicycle according to an embodiment of the present invention. It is a top view of the front part of the battery-assisted bicycle shown in FIG. It is a block diagram explaining the function of the battery-assisted bicycle concerning the embodiment of the present invention. It is a flowchart at the time of implement | achieving pushing walk assist. It is a top view of the front part of the battery-assisted bicycle shown in FIG. 1 for explaining a modification.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 3. In addition, the dimension of the structural member in each figure does not necessarily represent the dimension of the actual structural member, the dimensional ratio of each structural member, etc. faithfully.

  In the following description, front, rear, left, and right mean front, rear, left, and right as viewed from the driver who is seated on the seat 24 of the battery-assisted bicycle while grasping the handle 23.

<Overall configuration of battery-assisted bicycle>
As shown in FIG. 1, the battery-assisted bicycle 1 includes pedals 33 and 34 and an electric motor 60. The battery-assisted bicycle 1 is driven by a drive torque obtained by adding the pedal torque generated when the driver steps on the pedals 33 and 34 and the motor torque output from the electric motor 60. The motor torque of the electric motor 60 is an auxiliary torque that assists the driver's stepping operation of the pedals 33 and 34. Further, in the battery-assisted bicycle 1, when the driver walks while holding the handle 23, the electric motor 60 can apply the push-walking assist torque to the rear wheel 22.

  The battery-assisted bicycle 1 has a body frame 11 extending in the front-rear direction. The battery-assisted bicycle 1 includes a front wheel 21, a rear wheel 22, a handle 23, a seat 24, and a power unit 40.

  The vehicle body frame 11 includes a head pipe 12, a down frame 13, a seat frame 14, a pair of chain stays 16, and a pair of seat stays 17. The head pipe 12 is disposed at the front portion of the battery-assisted bicycle 1. A front part of a down frame 13 extending rearward is connected to the head pipe 12. The seat frame 14 is connected to the rear portion of the down frame 13. The seat frame 14 extends upward and obliquely rearward from the rear end portion of the down frame 13.

  A handle stem 25 is rotatably inserted into the head pipe 12. A handle 23 is fixed to the upper end portion of the handle stem 25. A front fork 26 is fixed to the lower end portion 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. A front wheel speed sensor 37 that detects the vehicle speed from the rotation of the front wheel 21 is provided at the lower end of the front fork 26.

  A seat pipe 28 is inserted inside the cylindrical seat frame 14. A seat 24 is provided at the upper end of the seat pipe 28.

  The pair of chain stays 16 are provided so as to sandwich the rear wheel 22 from the left and right. The pair of chain stays 16 extends from the rear portion of the down frame 13 toward the rotation center of the rear wheel 22. The pair of seat stays 17 extends from the upper part of the seat frame 14 toward the rotation center of the rear wheel 22. A rear wheel 22 is rotatably supported at the rear ends of the chain stay 16 and the seat stay 17. A rear carrier 38 serving as a loading platform is supported on the seat stay 17. The rear carrier 38 is disposed above the rear wheel 22.

  A battery 35 that supplies electric power to the electric motor 60 of the power unit 40 is disposed behind the seat frame 14. The battery 35 includes a rechargeable battery and a battery control unit (not shown). The battery control unit controls charging / discharging of the rechargeable battery and monitors its output current, remaining capacity, and the like.

  The power unit 40 incorporates a crankshaft 41, a crank output shaft (not shown), a drive sprocket 42, a pedal torque detector 57, a crank rotation detector 58, an electric motor 60, an auxiliary sprocket 44, and the like in a unit case 50. It is a thing. The power unit 40 is coupled to the vehicle body frame 11 with bolts.

  The crankshaft 41 is rotatably provided below the seat frame 14. The crankshaft 41 is supported by penetrating the unit case 50 in the left-right direction. Crank arms 31 and 32 are attached to both ends of the crankshaft 41. Pedals 33 and 34 are rotatably attached to the ends of the crank arms 31 and 32, respectively. The pedal torque detector 57 detects pedal torque input by the driver to the crankshaft 41 via the pedals 33 and 34. The crank rotation detector 58 detects the rotation of the crankshaft 41 when the driver rotates the pedals 33 and 34.

  The drive sprocket 42 is attached to the right end of a crank output shaft (not shown) coaxial with the crankshaft 41 via a one-way clutch (not shown). The drive sprocket 42 rotates with the crankshaft 41. The driven sprocket 45 is provided coaxially with the drive shaft 29 of the rear wheel 22. The driven sprocket 45 is connected to the rear wheel 22 via a one-way clutch (not shown).

  The endless chain 46 is spanned between the drive sprocket 42 and the driven sprocket 45. Thus, when the driver steps on the pedals 33 and 34, the drive sprocket 42 rotates. Further, the rotation of the drive sprocket 42 is transmitted to the driven sprocket 45 via the chain 46, and the rear wheel 22 is driven.

  The electric motor 60 is disposed in the unit case 50 and behind the crankshaft 41. An auxiliary sprocket 44 is provided on the output shaft of the electric motor 60. Electric power is supplied from the battery 35 to the electric motor 60. When electric power is supplied to the electric motor 60, the electric motor 60 rotates. The rotation of the electric motor 60 is transmitted to the chain 46 via the auxiliary sprocket 44. Thus, when electric power is supplied to the electric motor 60, motor torque is generated in the electric motor 60. This motor torque is transmitted to the rear wheel 22 via the chain 46.

  As shown in FIG. 2, a right handle bar 61 is provided on the right part of the handle 23, and a left handle bar 62 is provided on the left part of the handle 23. The right handle bar 61 and the left handle bar 62 extend substantially in the front-rear direction. A right grip 63 is provided at the rear end of the right handle bar 61. A left grip portion 64 is provided at the rear end portion of the left handle bar 62. The driver can grip the right grip portion 63 and the left grip portion 64.

  A front wheel brake lever 65 is provided in the vicinity of the right grip portion 63. A rear wheel brake lever 66 is provided in the vicinity of the left grip portion 64. When the front wheel brake lever 65 is grasped together with the right grip 63 by the right hand, a braking force is applied to the front wheel 21. When the rear wheel brake lever 66 is grasped together with the left grip portion 64 by the left hand, a braking force is applied to the rear wheel 22.

  The battery-assisted bicycle 1 is equipped with a child seat 71 on which a child can sit. The child seat 71 is supported by the handle 23. The child seat 71 is disposed between the right handle bar 61 and the left handle bar 62.

  The child seat 71 can be molded from a synthetic resin, for example. The child seat 71 is formed in a concave shape with the top opened. The child seat 71 has a seating portion 72 on the bottom of which the child can sit, and an insertion hole 73 through which the child's leg passes is formed at the front portion. A footrest 75 is provided below the insertion hole 73 at a position away from the insertion hole 73. In addition, the child seat 71 is provided with a seat belt 74 for holding a seated child. The seat belt 74 includes a buckle 74a. Further, a bar 76 that can be gripped by a child is provided in front of and above the seating portion 72.

  The handle 23 is provided with a right switch 67 that is operated ON / OFF and a left switch 68 that is operated ON / OFF. The right switch 67 is disposed at the base portion of the right grip portion 63 provided on the right handle bar 61. The left switch 68 is disposed at the base portion of the left grip portion 64 provided on the left handle bar 62.

  The right switch 67 and the left switch 68 are momentary switches that are turned on only when pressed and are turned off when not pressed. The right switch 67 is provided at a position where the thumb of the right hand can reach when the driver holds the right grip 63. The left switch 68 is provided at a position where the thumb of the left hand can reach when the driver holds the left grip portion 64. Each of the right switch 67 and the left switch 68 is connected to a push-walk control unit 96 to be described later via a signal line (not shown).

  In such a battery-assisted bicycle 1, the control motor 100 controls the electric motor 60 to apply a motor torque to the rear wheel 22.

  As shown in FIG. 3, the control device 100 includes a pedal torque calculation unit 101, a motor control unit 95, a pushing / walking control unit 96, a motor drive unit 105, a gear position estimation unit 97, and a memory 98.

<Power transmission path>
Next, the power transmission path will be described.
When the driver steps on the pedals 33 and 34 to rotate the crankshaft 41, the rotation of the crankshaft 41 is transmitted to the chain 46 via the one-way clutch 55. The one-way clutch 55 transmits only forward rotation of the crankshaft 41 to the chain 46 and does not transmit reverse rotation of the crankshaft 41 to the chain 46.

  The rotation of the chain 46 is transmitted to the drive shaft 29 on the rear wheel 22 side. The rotation of the drive shaft 29 is transmitted to the rear wheel 22 via the speed change mechanism 91 and the one-way clutch 92.

  The speed change mechanism 91 is a mechanism that can change the gear position according to the speed change operation device 93 operated by the driver. The one-way clutch 92 transmits the rotation of the drive shaft 29 to the rear wheel 22 only when the rotation speed of the drive shaft 29 is higher than the rotation speed of the rear wheel 22. When the rotational speed of the drive shaft 29 is slower than the rotational speed of the rear wheel 22, the one-way clutch 92 does not transmit the rotation of the drive shaft 29 to the rear wheel 22.

  The rotation of the electric motor 60 is transmitted to the one-way clutch 85 via the speed reducer 82. The one-way clutch 85 transmits only the rotation in the direction in which the speed reducer 82 rotates the chain 46 forward to the chain 46, and does not transmit the rotation in the direction in which the speed reducer 82 rotates the chain 46 in the reverse direction.

  As described above, in the battery-assisted bicycle 1 according to this embodiment, the pedal torque input to the crankshaft 41 and the motor torque of the electric motor 60 are combined by the chain 46.

<Signal path>
Next, signal paths will be described.
When the driver rotates the crankshaft 41, a pedal torque detection unit 57 provided in the vehicle generates a signal corresponding to the pedal torque input to the crankshaft 41. The pedal torque detector 57 inputs the signal to the pedal torque calculator 101.

  The pedal torque calculation unit 101 converts the signal from the pedal torque detection unit 57 into pedal torque given to the pedals 33 and 34 by the driver. The pedal torque calculation unit 101 inputs the pedal torque value to the motor control unit 95.

  The crank rotation detector 58 is a sensor that detects the phase of the crankshaft. The crank rotation detector 58 generates a signal corresponding to the phase of the crankshaft 41. The crank rotation detection unit 58 inputs the signal to the motor control unit 95.

  The front wheel speed sensor 37 transmits a signal of the rotational speed of the front wheels 21 to the gear position estimation unit 97. The gear stage estimation unit 97 estimates the gear stage from the rotational speed of the front wheels 21 and transmits the information to the motor control unit 95.

  The electric motor 60 is provided with a motor rotation sensor 99 composed of an encoder. The motor rotation sensor 99 detects the number of rotations of the electric motor 60 and transmits it to the gear position estimation unit 97 and the motor drive unit 105.

<Running assist>
The motor control unit 95 uses a command value for applying an appropriate assist force based on outputs from the pedal torque calculation unit 101, the crank rotation detection unit 58, and the gear position estimation unit 97, information stored in the memory 98, and the like. Is calculated and transmitted to the motor drive unit 105.
The motor control unit 95 calculates the command value based on, for example, the crank rotational speed and pedal torque given to the pedals 33 and 34 by the driver, or the crank rotational speed, pedal torque, and motor torque stored in the memory 98. It is calculated by referring to a map created based on the relationship.

Based on the command value from the motor control unit 95, the motor drive unit 105 supplies power corresponding to the command value from the battery 35 to the electric motor 60. As a result, the electric motor 60 supplied with power is driven to generate a predetermined motor torque.
In this way, the motor control unit 95 can generate motor torque in the electric motor 60 so as to assist the driver's operation of pedaling the pedals 33 and 34 during traveling.

<Push walking assist>
In addition to assisting the driver's pedal torque during traveling as described above, the motor control unit 95 can also cause the electric motor 60 to output a pushing-walking assist torque that assists the driver's pushing-walking operation during pushing-walking. . The motor control unit 95 can output a push-walking command value to the motor driving unit 105 during push-walking, and cause the electric motor 60 to generate motor torque.

In the battery-assisted bicycle 1 according to the present embodiment, the driver can obtain the pushing assist torque by operating the right switch 67 and the left switch 68.
The push-walk control unit 96
When the right switch 67 is turned on, the motor control unit 95 is pushed and the walking command value can be output, and the left switch 68 is turned on in the pushable walking state. The push command value is output from 95, and
When the left switch 68 is turned on, the motor control unit 95 is pushed and the walking command value can be output, and the walking control is enabled. When the right switch 67 is turned on in the pushable state, the motor control unit is turned on. The pushing command value is output from 95.

A series of processes for realizing the push-walking assist will be described with reference to FIG. FIG. 4 is a flowchart of processing executed by the push-walking control unit 96 when realizing push-walking assist.
As shown in FIG. 4, the push-walking control unit 96 determines whether one of the right switch 67 and the left switch 68 is in an ON state (step S01). When the driver presses one of the right switch 67 or the left switch 68 to turn it on, a signal indicating the on state is transmitted to the push-walking control unit 96. Then, the push-walking control unit 96 makes the motor control unit 95 ready to output a walking command value (step S02).
If the push-walking control unit 96 has not received the ON signal from either the right switch 67 or the left switch 68, the push-walking control unit 96 sets the motor control unit 95 to a state in which the push-walking command value is not output. Yes. In this state, electric power is not supplied to the electric motor 60 and pushing walk assist is not performed.

Next, when the push-walking control unit 96 is in a state where the motor control unit 95 can be pushed to output a walking command value, the push-walking control unit 96 determines whether the other of the right switch 67 or the left switch 68 is ON. It is determined whether or not (step S03)
When the driver presses the other of the right switch 67 or the left switch 68 to turn it on, the push-walk control unit 96 outputs a push-walk command value for generating a push-walking torque from the motor control unit 95 to the motor drive unit 105. (Step S04). For example, the motor control unit 95 can calculate the push-walking command value according to parameters such as the vehicle speed, the slope of the slope, the vehicle weight, and the steering torque.

  The motor drive unit 105 supplies power corresponding to the push-walking command value from the battery 35 to the electric motor 60 based on the push-walking command value from the motor control unit 95. As a result, the electric motor 60 is driven to generate a predetermined motor torque. In this way, the push-walking assist torque is applied to the rear wheel 22 of the battery-assisted bicycle 1 pushed and walked by the driver.

  Thus, according to the battery-assisted bicycle 1 according to the above-described embodiment, one of the right switch 67 and the left switch 68 provided on the right handlebar 61 and the left handlebar 62, respectively, is turned on and pushed. After being enabled, the other of the right switch 67 and the left switch 68 is turned on to assist pushing.

In the battery-assisted bicycle of this embodiment,
Pushing walking torque obtained when the left switch 68 is turned on after the right switch 67 is turned on,
After the left switch 68 is turned on, the pushing walking torque obtained when the right switch 67 is turned on is the same.
The push-walk control unit 96 of the battery-assisted bicycle according to the present embodiment outputs the same push-walk command value regardless of which of the right switch 67 and the left switch 68 is operated first.

In the above embodiment, since a momentary switch is used, a predetermined push-walking assist torque is applied while the left switch 68 is continuously pressed while the right switch 67 is pressed. Alternatively, the same push-walking assist torque is applied while the right switch 67 is continuously pressed while the left switch 68 is pressed. Therefore, regardless of the order of operations of the right switch 67 and the left switch 68, it is possible to always output a stable pushing walking assist torque with an easy operation. In addition, since the vehicle walks while holding the left and right of the handle with both hands, the handling of the vehicle is also stable.
Accordingly, the driver can easily push and walk the battery-assisted bicycle 1 to which the pushing walk assist torque is applied.

  In the present embodiment, as the right switch 67 and the left switch 68, momentary switches that are turned on only when pressed and are turned off when not pressed, the right switch 67 and the left switch 68 are pressed by hand. When the driver is removing his / her hand from at least one of the switches 67 and 68, the switches 67 and 68 are immediately turned off. Therefore, the output of the auxiliary walking torque can be stopped immediately. As a result, it is possible to stop pushing the assist torque output as intended by the driver.

  In addition, although the said embodiment demonstrated and demonstrated the battery-assisted bicycle 1 to which the child seat 71 was mounted | worn, it cannot be overemphasized that this invention may be applied to the battery-assisted bicycle 1 to which the child seat 71 is not mounted | worn.

Next, a modification of the present invention will be described with reference to FIG.
As shown in FIG. 5, in this modification, sensors are used as the right switch 67a and the left switch 68a. The right switch 67a outputs an ON state while detecting the driver's fingers extending to the right switch 67a, and outputs an OFF state when no fingers are detected. Similarly, the left switch 68a outputs an ON state while detecting the driver's fingers extending to the left switch 68a, and outputs an OFF state when no fingers are detected.

  In the present modification, the right switch 67a and the left switch 68a are optical sensors that optically detect the driver's thumb. The right switch 67 a is embedded in the root portion of the right grip portion 63. The left switch 68 a is embedded in the root portion of the left grip portion 64.

  The right switch 67 a is provided at a position where the thumb of the right hand is not applied in a normal state where the driver grips the right grip portion 63, and at a position where the thumb can be moved while holding the right grip portion 63. The left switch 68a is provided at a position where the thumb of the left hand is not applied in a normal state in which the driver grips the left grip portion 64, and at a position which can be reached by moving the thumb while holding the left grip portion 64.

  While the right switch 67a is covered with the thumb of the right hand of the driver, the right switch 67a outputs an ON state signal, and when the right switch 67a is no longer covered with the thumb, the right switch 67a is turned off. While the left switch 68a is covered with the left thumb of the driver, the left switch 68a outputs an ON state signal, and when the left switch 68a is no longer covered with the thumb, the left switch 68a is turned off.

  In this modification, the driver turns on one of the right switch 67a and the left switch 68a and then turns on the other to output the pushing assist torque. Further, when the driver's thumb is separated from one of the right switch 67a and the left switch 68a, the output of the pushing walk assist torque is stopped. As a result, the driver can stop the output of the pushing assist torque by a simple operation. The sensor is not limited to an optical sensor, and may be a contact type sensor or a non-contact type sensor.

  Further, as a right switch, a momentary switch that is in an ON state only while being pressed as described in the above-described embodiment, and is in an OFF state when not pressed, is used as a left switch. A sensor that outputs an ON state while detecting a finger may be used. Contrary to this, a momentary switch that is turned on only when pressed as described in the above embodiment and is turned off when not pressed as a left switch, and that extends to the switch described in the modification as a right switch. You may use the sensor which outputs an ON state, while detecting a person's finger.

1: motor-assisted bicycle, 22: rear wheel (wheel), 23: handle, 60: electric motor, 61: right handlebar, 62: left handlebar, 75, 75a: right switch 68, 76a: left switch, 95: Motor controller, 96: Push-walk controller

Claims (4)

A battery-assisted bicycle having an electric motor capable of imparting a walking assist torque to a wheel during pushing walking,
A right switch provided on the right part of the handlebar and operated to be turned ON / OFF;
A left switch which is provided on the left part of the handlebar and is operated ON / OFF;
A motor controller that outputs a push-walk command value that causes the electric motor to output a push-walking assist torque; and
A push-walk control unit that outputs the push-walk command value from the motor control unit, and
The push-walk controller is
When the right switch is turned on, the motor control unit is brought into a push-walkable state where the push-walk command value can be output, and when the left switch is turned on in the push-walkable state, the motor Outputting the push walk command value from the control unit; and
When the left switch is turned on, the motor control unit is brought into a push-walkable state capable of outputting the push-walk command value, and when the right switch is turned on in the push-walkable state, the motor A battery-assisted bicycle that outputs the push walk command value from a control unit.   2. The battery-assisted bicycle according to claim 1, wherein the right switch and the left switch are momentary switches that are in an ON state only when pressed and are in an OFF state when not pressed.   2. The battery-assisted bicycle according to claim 1, wherein the right switch and the left switch are sensors that output an ON state while detecting a finger of a driver extending to the switch. One of the right switch and the left switch is a momentary switch that is in an ON state only while being pressed and is in an OFF state when not pressed.
The battery-assisted bicycle according to claim 1, wherein the other of the right switch and the left switch is a sensor that outputs an ON state while detecting a finger of a driver extending to the switch.

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