JP3913482B2 - Vehicle with auxiliary power - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle with auxiliary power such as an electrically assisted bicycle, and more particularly to control thereof.
[0002]
[Prior art]
In this type of conventional device, a microcomputer (hereinafter abbreviated as “microcomputer”) is provided in the control circuit of the drive unit, and when the power switch is turned off, the remaining battery level at that time is stored and the power is turned off. . Then, when the power switch is turned on again, the display is performed according to the remaining amount when the power is turned off.
[0003]
In addition, there is a battery that determines the battery voltage and displays the remaining amount when the power switch is turned on.
[0004]
When the battery is removed, the battery is reset and a new remaining amount is always displayed.
[0005]
[Problems to be solved by the invention]
However, if the control is such that the remaining amount of battery is stored in the microcomputer of the control circuit of the drive unit as described above and the remaining amount is displayed when the power switch is turned on again according to the remaining amount when the power is turned off. Since the battery voltage is restored after the power switch is turned off, a display different from the actual voltage is displayed when the power switch is turned on again.
[0006]
In addition, if the battery voltage is judged when the power switch is turned on and the remaining amount is displayed, when the battery contacts are separated and chattering occurs when traveling on uneven roads, etc. Since the remaining amount of the battery is determined based on the voltage that is reduced due to a large current flowing while the motor is operating, the remaining amount is displayed, so that the remaining amount is displayed smaller than the actual voltage.
[0007]
In addition, when the battery is removed, resetting is always performed and a new remaining amount is always displayed. Similarly to the above, when driving on a bumpy road, the battery contacts come in and out and chattering occurs. Then, the remaining amount of the battery is determined based on the voltage that is reduced due to a large current flowing during the motor operation, and the remaining amount is displayed, so that the remaining amount is displayed with a smaller amount than the actual voltage.
[0008]
In addition, when the remaining battery level is recorded and displayed in the microcomputer, the microcomputer operates for a certain period of time after the power is shut down due to the voltage stored in the capacitor connected to the microcomputer. Even if the battery is replaced with a new one, the remaining battery level is displayed and the true remaining battery level cannot be displayed.
[0009]
Accordingly, the present invention has been made to solve such a problem, and an object of the present invention is to provide a vehicle with auxiliary power that can perform accurate battery remaining amount display.
[0010]
[Means for Solving the Problems]
  In order to achieve the above object, the present invention provides a human-powered drive unit that drives a wheel by human power, an electric drive unit that drives the wheel by a motor that uses a battery as a power source, and drives the electric drive unit. A control circuit for outputting a control signal and the like, and an operation display unit for performing operations such as turning on / off the power switch and displaying the remaining amount of the battery, and a microcomputer in each of the control circuit and the operation display unit And the remaining amount of the battery is determined by the microcomputer on the control circuit side, the result is sent to the microcomputer on the operation display unit side and displayed on the display unit and stored in the memory,The microcomputer on the control circuit side has determination means for determining whether power-on is chattering or power-on, and the determination means determines that chattering occurs if the microcomputer of the operation display unit is in operation. If it is in the standby state, it is determined that the power switch is turned on. If it is chattering, the remaining battery level is not determined. If the power switch is turned on, the remaining battery level is determined.It is characterized by this.
[0011]
Further, the microcomputer on the operation display unit side is characterized in that the remaining battery level is continuously stored in the memory while the battery is connected.
[0012]
The microcomputer on the control circuit side is characterized in that the power is shut off after a predetermined time has elapsed since the power switch is turned off, and the remaining battery level is continuously determined during that time.
[0013]
Further, when the power switch is turned off, the display is turned off, and the microcomputer on the operation display unit side is operated in a standby state.
[0014]
Further, when the power switch is turned on, the microcomputer on the control circuit side compares the battery remaining value obtained from the battery voltage with the battery remaining memory value sent from the microcomputer on the operation display unit side, and is low. This value is determined as a true battery remaining amount value, sent to the microcomputer on the operation display unit side, displayed on the display unit, and stored in the memory.
[0017]
Further, based on the determination result of the determining means, if the chattering, the memory remaining battery level is displayed. If the power switch is turned on, the remaining battery level determined by the microcomputer on the control circuit side is displayed. It is characterized by this.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described taking an electrically assisted bicycle as an example.
[0021]
First, the configuration of the entire electrically assisted bicycle will be described with reference to FIG.
[0022]
In this electrically assisted bicycle, a head pipe 1 provided at a front portion and a seat tube 3 to which a saddle 2 is attached are connected by a main frame 4, and a portion of the main frame 4 and the seat tube 3 is connected manually. Is attached to the rotating pedal 5.
[0023]
The head pipe 1 is attached with a handle 6 and a front wheel 7 that determines a traveling direction by operating the handle so as to be connected through the head pipe 1. In the figure, only the rim 8 and the tire 9 of the front wheel 7 are shown, and the spokes are not shown.
[0024]
A battery 11 serving as a power source for a motor, which will be described later, is attached under the front car 10 attached to the head pipe 1. A 24 volt NiCd battery is used for the battery 11. The battery 11 is housed in a battery case and can be removed. When charging, the battery 11 can be removed and charged indoors.
[0025]
Further, a front sprocket 12 that rotates together with the pedal 5 is attached to the pedal 5, and a chain 13 is hung on the front sprocket 12, and the rotation of the front sprocket 12 is not shown in the figure of the rear wheel 14 via the chain 13. After being provided on the axle, it is transmitted to the sprocket.
[0026]
The rear wheel 14 serving as a drive wheel includes a tire 15, a rim 16 and a spoke (not shown), and a drive unit 17 for driving the rear wheel 14. As will be described later, the drive unit 17 includes a torque detection unit (torque sensor) that detects human torque transmitted through the chain 13, an electric drive unit including a motor and a speed reduction mechanism, and a detection value of the torque detection unit. And a brake circuit 19 for braking the rear wheel 14 by the operation of the brake lever 18 attached to the handle 6 is attached. ing.
[0027]
As described above, the rear wheel 14 is composed of two driving units, that is, a manual driving unit including the pedal 5, the front sprocket 12, the chain 13, the rear sprocket and the transmission, and an electric driving unit including a motor and a speed reduction mechanism. It is driven and can run together.
[0028]
Next, the drive part 17 of this electrically assisted bicycle will be described in detail with reference to FIG.
[0029]
The axle 20 of the rear wheel 14 is provided with an internal transmission 21 similar to that of a normal bicycle in a part of the longitudinal direction thereof. The transmission 21 is connected to the rear sprocket 22 via a one-way clutch (not shown). The power is transmitted only by rotation of the pedal 5 in one direction. When the pedal 5 is rotated in the reverse direction, the power transmission to the transmission 21 is cut off.
[0030]
The internal transmission 21 is covered with a rotating casing 23 that forms a hub of the rear wheel 14 around the axle 20, and this rotating casing 23 is composed of two parts, one of which is for attaching a spoke to the outer periphery. The rotating casing 23a is formed with a plurality of annular ribs 24a and 24b, and the other is a rotating casing 23b fixed to the annular rib 24b with screws at a plurality of locations so as to close the opening of the rotating casing 23a.
[0031]
A large gear 25 constituting the final stage of the speed reduction mechanism is fixed to the inner side of the other rotating casing 23b, and a brake holder 26 is fixed to the outer side by screws so as to be concentric with the axle 20. A rotating piece 27 formed with a disk-like standing wall is attached to the brake holder 26 toward the outer side of the rotating casing 23b by screws, welding, or the like. That is, a brake device 19 for braking the rotation of the rotary casing 23 in sliding contact with the inner periphery of the rotary piece 27 is provided. The rotating piece 27 and the brake device 19 are covered with a brake cover 28.
[0032]
A cord 29 such as a power supply line and other signal lines from the battery 11 passes through the brake cover 28, and a part of the lid portion 31b in the fixed casing 31 constituting the electric drive unit 30 is inserted into a notched portion. The fixed casing 31 is connected to a control board 33 in a board case 32 attached to the inside of the lid portion 31b.
[0033]
The fixed casing 31 has a main body 31a covering a DC brushless motor, which will be described later, and a lid 31b to which a substrate case 32 incorporating the control substrate 33, a large pulley 34 constituting a speed reduction mechanism, and the like are attached. Become. The main body portion 31a is attached to the outer periphery of the transmission 21 via a bearing 35, and the lid portion 31b is fixed to a portion of the axle 20 where the transmission 21 is not provided. Since the control board 33 is covered with the board case 32 and attached to the lid portion 31b formed of an aluminum alloy or the like having good thermal conductivity, heat generated from the control board 33 is radiated through the lid portion 31b. The
[0034]
A stator 41 constituting the DC brushless motor 40 is attached to the inner side surface of the main body 31a of the fixed casing 31, and the stator 41 is configured by winding a winding around an iron core forming 18 slots. The stator 41 is supplied with electric power for forming a three-phase rotating magnetic field via a control board 33 in a board case 32 attached to the inside of the lid 31b of the fixed casing 31. .
[0035]
On the inner peripheral side of the stator 41, a rotor 42 is rotatably provided on the outer periphery of the transmission 21 via two bearings 43 and 43. The rotor 42 includes an outer ring 45 formed of a silicon steel plate laminated with an inner ring 44 formed of a lightweight aluminum alloy, and a plurality of magnets 46 forming magnetic poles are embedded in the outer peripheral portion of the outer ring 45. A small pulley 47 with teeth is attached to the inner ring 44 so as to protrude toward the lid portion 31b.
[0036]
A belt is placed between a small pulley 47 provided on the rotor 42, a large pulley 34 attached to the inside of the lid portion 31b of the fixed casing 31 via a one-way clutch 36, and a tension pulley (not shown). Each pulley and belt is toothed so that it does not slip. The output shaft of the large pulley 34 protrudes outside the lid portion 31b to form a small gear 37. The small gear 37 is configured to mesh with the large gear 25 attached to the inside of the rotary casing 23b. Yes. Accordingly, the rotation of the rotor 42 is decelerated through the small pulley 47, the large pulley 34, the one-way clutch 36, the small gear 37, and the large gear 25 and transmitted to the rotating casing 23b. A bearing 39 is provided between the large gear 25 attached to the inside of the rotating casing 23b and the outer periphery of the cylindrical portion 31c that protrudes outward from the lid portion 31b of the fixed casing 31 and is fixed to the axle 20. Yes.
[0037]
As described above, the speed reduction mechanism of the output stage of the motor 40, which is fast in rotation and easily generates a large gear sound, is constituted by the pulley and the belt, so that the sound generated by the speed reduction mechanism can be reduced.
[0038]
A Hall element for detecting the magnetic pole position of the rotor 42 necessary for driving and controlling the DC brushless motor 40 and a waveform shaping comparator are provided on the back side of the substrate case 32 in which the control board 33 is accommodated. The integrated Hall IC 49 is attached at a position corresponding to the magnet 46 of the rotor 42, and the detection signal of the Hall IC 49 is input to the microcomputer mounted on the control board 33 to generate a motor control signal. Three Hall ICs 49 are arranged on the substrate at predetermined intervals in order to control a three-phase rotating magnetic field.
[0039]
On the other hand, on the outer periphery of the transmission 21 on the rear sprocket 22 side to which the human power is transmitted, a sensor plate 51 for a torque sensor that detects the human power torque is fixed inside the rotary casing 23a. A packing 52 that is slidably contacted with the sensor plate 51 is attached to the periphery of the opening of the rotating casing 23a to take measures such as waterproofing and dustproofing.
[0040]
Inside the sensor plate 51, there is provided a sensor case 54 attached to the outer periphery of the transmission 21 via a bearing 53 and fixed to the rotary casing 23a with screws. The sensor plate 51 and the sensor case 54 are The presser pin 51a fixed to the sensor plate 51 and the coil spring 55 interposed between the storage portions 54a provided in the sensor case 54 are connected. That is, when the manpower driving force is transmitted from the transmission 21 to the sensor plate 51, the coil spring 55 is contracted by a contraction amount corresponding to the magnitude of the manpower torque, and the rotating casing 23 a is rotated via the sensor case 54. ing. The displacement (angle) between the rotary casing 23a and the sensor plate 51 via the coil spring 55 is set to a maximum of 7 degrees.
[0041]
Inside the sensor case 54, an arcuate aluminum ring 57 is slidably disposed on the outer periphery of the ring holder 56. The ring 57 is fitted and attached to pins 58 at several locations on the outer periphery of the ring 57. A coin spring 59 having an urging force in the extending direction is inserted through 58. Further, the ring 57 comes into contact with an inclined surface (not shown) formed in the ring holder 56, and when the human force is applied, the sensor plate 51 and the ring 57 are displaced in the rotation direction. The ring 57 moves in the axle direction along the inclined surface of the ring holder 56 while the ring 57 rotates. The displacement of the ring 57 in the direction of the axle 20 is taken in as a change in inductance by the coil 60 disposed on the outer periphery of the ring 57 and connected to the control board 33 on which the control circuit is mounted. That is, the change in inductance is taken into the control board 33 as an electric signal indicating the magnitude of human torque, and the motor 40 is controlled based on this signal value.
[0042]
As described above, since the ring 57 whose displacement is changed according to the contraction of the coil spring 55, that is, the magnitude of the human power torque, the inductance of the coil 60 can be changed depending on the magnitude of the human power torque. Can be output as an electrical signal.
[0043]
Next, power transmission of the electrically assisted bicycle configured as described above will be described.
[0044]
First, transmission of human driving force will be described.
[0045]
When human power driving force is input from the pedal 5, the front sprocket 12 fixed to the pedal 5 rotates and the rear sprocket 22 rotates via the chain 13. When the rear sprocket 22 rotates, power is transmitted only in one direction by a one-way clutch (not shown).
[0046]
When power in the traveling direction is transmitted, the rotating casing 23 (23a) is rotated while the spring 55 constituting the torque sensor is contracted after being shifted by the transmission 21 set to the gear ratio designated by the user. The rear wheel 14 can be rotated.
[0047]
Next, transmission of electric driving force will be described.
[0048]
The change in inductance detected by the coil 60 due to the displacement of the ring 57 of the torque sensor described above is input to the microcomputer of the control board 33 as an electrical signal. Based on the signal value, a signal is output to the drive circuit of the motor 40, and the magnet 46 provided on the rotor 42 is generated by changing the polarity of the stator 41 by turning on and off the FET in the drive circuit to generate a rotating magnetic field. As a result, the rotor 42 rotates and the motor 40 is driven to rotate. The rotational driving force of the motor 40 is decelerated by a speed reduction mechanism including a small pulley 47, a large pulley 34, a one-way clutch 36, a small gear 37, and a large gear 25, and rotates the rotating casing 23 (23b). Will rotate.
[0049]
As described above, the manpower driving force and the electric driving force are combined by the rotary casing 23 (23a, 23b) to drive the rear wheel 14, so that the electric driving force according to the force with which the user steps on the pedal 5 is achieved. Will be added, and you will be able to travel easily on slopes.
[0050]
In the present embodiment, the rotor 42 of the motor 40 is attached to the interior transmission 21 attached to the axle 20 of the rear wheel 14 via the bearing 43, so that the interior transmission 21 of the axle 20 is connected to the motor 40. Since the motor 40 itself is reduced in weight by the above-described configuration, a lightweight and compact electrically assisted bicycle can be realized.
[0051]
Next, the control system for the electrically assisted bicycle according to the present embodiment will be described with reference to FIG.
[0052]
In the control system of the present embodiment, a control circuit 70 on the main body side provided in the drive unit 17 and a hand controller (operation display unit) 80 attached to the center of the handle 6 are two-wire bidirectional serial. In addition to being connected by signal lines 91 and 92 for communication, a power line 93 from the battery 11 is connected. The battery 11, the battery case (not shown), the control circuit 70, and the hand controller 80 are connected via connectors 11a, 70a, 80a and the like.
[0053]
The control circuit 70 and the hand controller 80 of the drive unit 17 are provided with microcomputers (hereinafter abbreviated as microcomputers) 100 and 200, respectively.
[0054]
The microcomputer (main body microcomputer) 100 on the control circuit 70 side operates by being supplied with a 5V voltage obtained by stepping down the 24V voltage of the battery 11 via the step-down circuit 71, and the human power from the torque sensor 61 configured as described above. Based on the detected torque value and the three-phase magnetic pole position detection signal from the Hall IC 49, a drive signal for PWM (pulse width modulation) drive of the motor 40 is formed via the motor drive circuit 72, or the battery 11 will be described later. Perform remaining amount judgment and the like. The motor drive circuit 72 is provided with a large-capacitance capacitor for suppressing a whisker-like voltage change that occurs during FET switching.
[0055]
Further, the microcomputer (hand microcomputer) 200 on the hand controller 80 side operates by being supplied with the 5V voltage obtained by stepping down the 24V voltage of the battery 11 via the step-down circuit 81, and drives various LEDs such as a battery remaining amount display. It is provided for controlling the display circuit 82, inputting the setting of the mode changeover switch 83 and the on / off setting of the power switch 84, and transmitting these setting signals to the main body microcomputer 100. Further, the battery remaining amount value is stored in the memory of the local microcomputer 200. Furthermore, a diode 80b and a capacitor 80c are connected as shown in FIG. 2 to the front stage of the step-down circuit 81 that supplies power to the local microcomputer 200. Thereby, even if chattering occurs, an erroneous remaining amount display can be prevented.
[0056]
In addition, a driving capacitor provided in the motor driving circuit 72 can supply power to the local microcomputer 200 for a certain period of time (about 6 minutes in the present embodiment) even when the battery 11 is removed. . Accordingly, a reset circuit 85 is provided in order to prevent the remaining amount from being displayed by the previous remaining battery amount stored in the memory even when the battery 11 is replaced during the predetermined time. The reset circuit 85 is set so that the reset is easily performed when the local microcomputer 200 enters the low power consumption mode, and the power of the capacitor provided in the motor drive circuit 72 is supplied for a certain time (about 6 minutes). If the battery 11 is replaced during this time, the rising edge of the battery voltage is detected, the local microcomputer 200 is reset, and the memory contents are initialized. Therefore, even if the motor drive circuit 72 is provided with a capacitor, the remaining amount display by replacing the battery 11 can be correctly performed. The microcomputer 200 is set so as not to be easily reset during normal operation of the hand microcomputer 200, and does not react to voltage fluctuations of the battery 11 other than during replacement.
[0057]
FIG. 3 is a top view of the hand controller 80.
[0058]
The hand controller 80 includes a power switch 84 for turning on / off the power, a battery remaining amount display unit 86 provided with three LEDs 86a to 86c for displaying the remaining amount of the battery 11, and an assist mode. Are provided with a mode selector switch 83 for switching between and three LEDs 83a to 83c for displaying the set assist mode.
[0059]
The remaining amount of the battery 11 is displayed in accordance with the remaining amount of the battery obtained as described later, from three lights in which all three LEDs 86a to 86c indicating full charge are lit up to two lights as the remaining amount decreases. 1 lamp → 1 lamp flashes slowly → 1 lamp flashes rapidly.
[0060]
In addition, as the assist mode, the assist ratio between the human torque and the electric driving force is always 1: 1, and the fast running mode (LED83a) in which the response speed is increased, and the assist ratio is 1: 1, which is more responsive than the free running mode. There is a standard mode (LED83b) with a slow speed and an energy saving auto mode (83c) in which the response speed is increased to 1: 1 when the human torque is high, and the assist ratio is automatically reduced when the human torque is low. .
[0061]
Returning to FIG. 2, the signal lines 91 and 92 are wired between the microcomputer 100 on the control circuit 70 side and the microcomputer 200 on the hand controller 80 side, and the two of the reference signal line 91 and the communication signal line 92 are connected. Passing through. A reference signal for determining the signal level of the communication signal line 92 flows through the reference signal line 91. Here, 24 V, which is the same as the battery voltage, is used, and the communication signal line 92 has an L level (0 V). And H level (24V) signal flows.
[0062]
As shown in FIG. 4, the communication signal line 92 outputs a signal of H level and L level as a pulse signal following a no signal state at a predetermined level (H level) for a predetermined time. Assist mode setting signal, power switch on / off signal, memory battery remaining value, LED display signal, auto power off signal, battery remaining capacity determination signal, etc., assist mode setting signal, power switch on / off signal, memory The battery remaining value is output from the local microcomputer 200 to the main body microcomputer 100, the LED display signal, the auto power-off signal, and the remaining battery level determination signal are output from the main body microcomputer 100 to the local microcomputer 200, and these signals are output bidirectionally. Has been. That is, a signal from the local microcomputer 200 to the main microcomputer 100 and a signal from the main microcomputer 100 to the local microcomputer 200 are alternately transmitted by serial communication. Each signal is made up of one set which is predetermined and coded for each application, and the coded signal is transmitted after an H level signal of a predetermined time indicating the start of the signal. The transmission timing is taken by the main body microcomputer 100.
[0063]
As described above, in the present embodiment, the wiring between the control circuit 70 of the drive unit 17 and the hand controller 80 includes a total of four signal lines 91 and 92, the power supply line 93 and its GND line (not shown). Since a book is sufficient, the number of wirings is reduced, wiring is facilitated, the drive unit 17 can be easily configured, and the appearance is improved.
[0064]
In particular, since the drive unit 17 including the control circuit 70 is inside the rotary casing 23 as in the present embodiment, there is only the axle 20 part to pass the gland, which is very restricted, but as described above Since the wiring becomes thinner as the number of signal lines is smaller, it can be easily configured.
[0065]
Next, the remaining amount display of the battery 11 will be described.
[0066]
As described above, the remaining amount of the battery 11 is determined by the main body microcomputer 100. This determination is made by correcting the integrated value of the battery current and the current flowing through the battery voltage from the time of traveling until the power is turned off. This value is stored in the local microcomputer 200 every predetermined time. The remaining amount determination is performed by comparing the battery voltage value with the memory value of the local microcomputer 200 only when the power switch is turned on. The reason for correcting the remaining amount during traveling by the current flowing through the battery voltage is that the voltage drops due to the flowing current, and accurate voltage determination cannot be performed.
[0067]
Immediately after the power switch is turned on, the remaining value obtained from the battery voltage is compared with the remaining battery memory value sent from the local microcomputer 200, and the smaller one is set as the true remaining battery value. The smaller one of the remaining amount value obtained by correcting the battery voltage with current and the remaining amount value obtained from the integrated current value is set as the true remaining battery value, and the value is transmitted to the local microcomputer 200. And displayed on the remaining battery capacity display unit 86.
[0068]
FIG. 5 is a graph for calculating the remaining amount of the battery from the battery voltage value and the current value, and this data is stored in the memory of the main body microcomputer 100 as a table. FIG. 6 is a flowchart showing the processing. Hereinafter, the flowchart of FIG. 6 will be described with reference to the graph of FIG.
[0069]
The remaining battery level during running is measured by selecting an appropriate one from two values. First, as one of the obtained values, the battery remaining amount X% is obtained by subtracting the battery current integrated value obtained by sequentially integrating the battery current from 100% (processing 1). As another value, the remaining battery level Y% obtained by correcting the battery voltage with the battery current is obtained. In this calculation method, the battery voltage value and the current value are applied to the graph of FIG. 5, and the remaining amount of the battery voltage and the battery current at that time are obtained, and the values are 66, 33, 10, 0%. (Processing 2).
[0070]
Next, the remaining amounts X% and Y% calculated in the above processing 1 and processing 2 are compared, and the lower value is determined as the true remaining battery amount (determination 3). If the remaining amount X% is smaller, the value is stored in the local microcomputer 200 (process 4). And based on the value at this time, when it is 100 to 66%, there are 3 LEDs, when it is 65 to 33%, 2 LEDs, when it is 32 to 10%, 1 light, when it is 9 to 0 If the lamp is less than 0, 1 lamp flashes slowly. And it repeats from the process 1 during driving | running | working.
[0071]
On the other hand, when the remaining battery amount Y% obtained from the battery voltage and the battery current is smaller in decision 3, the process proceeds to process 6 and the remaining battery charge Y% is stored in the local microcomputer 200 (process 6). The LED is displayed according to the value (process 7). Specifically, if the area is 1 in the graph, there are 3 lights, if it is 2 areas, 2 lights, if it is 3 areas, 1 light, if it is 4 areas, 1 lamp flashes slowly in 5 areas. If there is, one light flashes quickly.
[0072]
Next, the value of the battery current integrated value is also set to an integrated value corresponding to the battery remaining amount Y% (66%, 33%, 10%, or 0%). Even if it is a value, it is replaced with one of the values in step 8. And it repeats from the process 1.
[0073]
The battery remaining amount value from the main body microcomputer 100 is continuously input to the local microcomputer 200 for a predetermined time after the power switch 84 is turned off. This predetermined time is 10 minutes in the present embodiment, and when the power switch 84 is turned off, the display of the hand controller 200 is turned off, but the main body microcomputer 100 and the hand microcomputer 200 continue to be activated. Then, the main body microcomputer 100 determines the remaining amount, and transmits the remaining amount value to the local microcomputer 200 each time and stores it. At this time, the remaining amount value is not updated to a high value. After 10 minutes, the power supply of the main body microcomputer 100 is cut off, but the local microcomputer 200 enters the HOLD mode, that is, the power saving standby state with the final remaining amount value stored.
[0074]
The reason for this control is that when the motor 40 is operating, a large current flows, so the battery voltage is low. When the power switch is turned on again after the power supply is cut off, This is because the remaining amount higher than the remaining amount is not displayed. Thus, even if the power switch is turned on immediately after shutting off the power by storing the stable battery remaining value after 10 minutes from the stop of the motor 40 in the memory of the local microcomputer 200, By displaying the smaller remaining battery value obtained from the battery remaining value and the battery voltage stored in the memory as the true remaining battery value, an accurate remaining battery value can be obtained immediately after the power switch 84 is turned on. It can be displayed to inform the user.
[0075]
The entire remaining amount display operation from the above remaining amount determination will be described with reference to the flowcharts shown in FIGS.
[0076]
As shown in the flowchart of FIG. 7, the main body microcomputer 100 first checks the presence or absence of a serial signal from the local microcomputer 200 (No loop of judgment 101), and if there is a serial signal, turns on the circuit power supply, It is determined whether or not the initial signal reception value is on (decision 103). Note that the initial signal is a signal sent from the hand-held microcomputer 200, which will be described later, and is a signal indicating whether or not the power supply is turned on but the display is turned off and the power saving operation is in the initial state.
[0077]
When the initial signal reception value is on, the remaining battery level is determined from the battery voltage (Yes in decision 103 → process 104). Then, it is determined whether or not the battery remaining voltage determination value is smaller than the received value of the battery remaining memory value sent from the local microcomputer 200, and if it is smaller, the current battery remaining value is set as the voltage determination value ( If YES, the process proceeds to step 106, and if it is larger, the received value is sent to the local microcomputer 200 as a received value (No in process 105 → process 107). Further, even when the initial signal reception value is not ON in the determination 103, the current battery remaining value is transmitted as a reception value to the local microcomputer 200 (No in the determination 103 → processing 107).
[0078]
By controlling in this way, even if chattering occurs in the connectors 11a, 70a, 80a, etc., it is determined whether the local microcomputer 200 is operating or in an initial state depending on whether the initial signal reception value is on or not. That is, if the chattering is not performed, the remaining battery level is not determined. If the power switch is turned on, the remaining battery level is determined. If the chattering is performed, the remaining battery level is displayed. If the battery is inserted, the remaining battery level determined by the main body microcomputer 100 is displayed, so that an accurate remaining level can be displayed even during chattering.
[0079]
Next, by the process shown in the flowchart of FIG. 6, the voltage and current of the remaining battery level are determined, the determination value is set as the remaining battery level value, the current value is set as the remaining battery level transmission value, Transmit (process 108 → process 109 → process 110).
[0080]
Then, it is checked whether or not the power switch reception value is on. If the power switch reception value is on, the LED display transmission value is turned on and transmitted to the local microcomputer 200, and the control of the motor 40 is turned on to turn off the power supply. The timer that counts the time (in this embodiment, 10 minutes) is cleared (Yes in decision 111 → process 112 → process 113 → process 114).
[0081]
Next, it is checked whether or not the timer has exceeded a predetermined time. However, since it has not exceeded, the process returns to the battery remaining voltage / current determination process 108 and the above-described process is repeated.
[0082]
On the other hand, if the power switch reception value sent from the hand microcomputer 200 is not on, the LED display transmission value is turned off and sent to the hand microcomputer 200, and the control of the motor 40 is turned off and the timer is counted ( Determination 111 No → Process 116 → Process 117 → Process 118). Then, it is checked whether or not the timer has exceeded a predetermined time. If not, the process returns to the battery remaining voltage / current determination processing 108 and the above-described processing is repeated.
[0083]
The above is repeated, and when the timer exceeds a predetermined time, the hand circuit operation transmission value is set to HOLD and transmitted to the hand microcomputer 200, and the power of the main circuit is turned off (Yes in decision 115 → processing 119 → processing) 120). By setting the hand circuit operation transmission value to HOLD and transmitting, the hand microcomputer 200 that has received this shifts to the HOLD mode, that is, the power saving standby state in which only the contents of the memory are held, as will be described later.
[0084]
Accordingly, when the power switch 84 of the hand controller 80 is turned off, the display of the hand controller 80 is turned off to notify the user that the power has been cut off, but until the predetermined time (10 minutes) elapses, the motor 40 Since the battery remaining voltage and current are determined in the state where the power supply is stopped and stored in the memory of the local microcomputer 200, the power is stored in the memory when the power switch 84 is turned on after the main microcomputer 100 is turned off. Immediately after the power switch 84 is turned on without displaying the low battery voltage by displaying the smaller of the remaining battery value obtained from the remaining battery level and the battery voltage as the true battery remaining value. It is possible to display an accurate battery remaining amount value and inform the user. Further, for 10 minutes after the power switch 84 is turned off, as in operation, the current integrated value and the value corrected by the current value flowing through the battery voltage are determined, and the value stored is the value when the power switch is turned off. A value larger than the remaining amount is not stored. Therefore, even if the travel stops and the voltage of the battery 11 increases, the low value is updated. Therefore, even if the power switch 84 is turned on during this 10 minutes, the remaining amount display near the traveling state can be displayed. it can.
[0085]
Next, the operation of the main part of the local microcomputer 200 will be described based on the flowchart of FIG.
[0086]
When starting the operation, the local microcomputer 200 first turns on the initial signal transmission value and transmits it to the main body microcomputer 100 without turning on the LED display (process 201).
[0087]
Then, after the battery remaining amount memory value stored in the memory is inserted into the battery remaining amount transmission value and transmitted, the battery remaining amount memory value is rewritten with the battery remaining amount received value from the main body microcomputer 100 (processing 202 → processing 203).
[0088]
Further, it is checked whether or not the LED display reception value from the main body microcomputer 100 is on. If it is on, the LED display is turned on and the initial signal transmission value is turned off (Yes in decision 204 → processing 205 → processing 206). If not, the LED display is kept off (No in decision 204 → processing 207).
[0089]
Next, it is checked whether or not the power switch 84 is turned on. If the power switch 84 is turned on, the power switch transmission value is turned on and transmitted to the main body microcomputer 100 (Yes in decision 208 → processing 209). Then, the transmission value of the power switch is turned off and transmitted to the main body microcomputer 100 (No in judgment 208 → processing 210).
[0090]
Thereafter, it is checked whether or not the hand circuit operation reception value from the main body microcomputer 100 is HOLD (decision 211). If not, the process returns to the process 202 and the above-described process is repeated.
[0091]
If the hand circuit operation reception value is HOLD, the LED display is turned off, and the state is shifted to the HOLD state, that is, the power saving standby state in which only the memory contents are held (Yes in decision 211 → processing 212 → processing). 213).
[0092]
This HOLD state continues until the power switch 84 is turned on (No loop of decision 214). When the power switch 84 is turned on, the HOLD state is restored (Yes in decision 214 → processing 215). It returns to the process 201 and the process mentioned above is repeated.
[0093]
In the above embodiment, the present invention is applied to the electrically assisted bicycle. However, the present invention is effective when applied to a vehicle that is auxiliary driven by a motor, such as an assist type electric wheelchair.
[0094]
Moreover, although the case where this invention was applied to the thing provided with the internal-type transmission 21 in the axle shaft 20 was shown in the said embodiment, it is applicable also to the thing which does not have a transmission in an axle shaft.
[0095]
【The invention's effect】
  As described above, according to the present invention, a human-powered drive unit that drives wheels by human power, an electric drive unit that drives the wheels by a motor that uses a battery as a power source, and a control signal that drives the electric drive unit are output. A control circuit for controlling the operation of the power switch, and an operation display unit for performing status display such as a battery remaining amount display, and the control circuit and the operation display unit each include a microcomputer and control. The circuit side microcomputer determines the remaining battery level, sends the result to the operation display unit microcomputer, displays it on the display unit, and stores it in the memory, thereby storing it in the operation display unit microcomputer. Therefore, it becomes easy to store continuously even after the power is turned off by a power-saving microcomputer not for motor control. Even if the voltage return it is possible to perform accurate battery level indicator.
  Further, the microcomputer on the control circuit side has a discriminating unit for discriminating whether power-on is chattering or power-on. The discriminating unit discriminates chattering when the microcomputer of the operation display unit is operating, and stands by. If it is in a state, it is determined that the power switch has been turned on, and if it is chattering, the remaining battery level is not determined. It is possible to prevent erroneous display of the remaining amount even if chattering occurs.
[0096]
Further, the microcomputer on the operation display unit side can display the remaining battery level accurately when the power is turned on by continuously storing the remaining battery level in the memory while the battery is connected.
[0097]
In addition, the microcomputer on the control circuit side shuts off the power after a lapse of a predetermined time since the power switch is turned off, and continuously determines the remaining battery level during that time, thereby reducing the remaining battery level with the minimum necessary power. It can be stored, and an accurate battery remaining value can be displayed immediately after the power switch is turned on to notify the user.
[0098]
In addition, the display is turned off when the power switch is turned off, and the microcomputer on the operation display side is operated in a standby state to indicate to the user that the power has been turned off. Since the determination is continued, an accurate battery remaining amount can be displayed.
[0099]
When the power switch is turned on, the microcomputer on the control circuit side compares the remaining battery level obtained from the battery voltage with the remaining battery level memory value sent from the operation display side microcomputer. By determining the value as a true battery remaining value, sending it to the microcomputer on the operation display unit side, displaying it on the display unit, and storing it in the memory, it is possible to display the accurate battery remaining amount when the power switch is turned on.
[0102]
Further, based on the determination result of the determination means, if the chattering, the remaining battery level is displayed, and if the power switch is turned on, the remaining battery level determined by the microcomputer on the control circuit side is displayed. This makes it possible to accurately display the remaining amount even during chattering.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view of a main part of a drive unit of an electrically assisted bicycle according to an embodiment of the present invention.
FIG. 2 is a block configuration diagram showing a control system of the present embodiment.
3 is a top view of the hand controller of FIG. 2; FIG.
4 is an explanatory diagram of a signal flowing through the communication signal line in FIG. 2. FIG.
FIG. 5 is a diagram illustrating a graph for calculating a remaining battery level from a battery voltage value and a current value.
FIG. 6 is a flowchart showing the processing.
7 is a flowchart showing an operation of a main part of the main body microcomputer of FIG.
FIG. 8 is a flowchart showing the operation of the main part of the hand microcomputer.
FIG. 9 is a side view showing the overall configuration of an electrically assisted bicycle to which the present invention is applied.
[Explanation of symbols]
5 pedals
11 battery
12 Front sprocket
13 chain
14 Rear wheel
17 Drive unit
20 axles
21 Internal transmission
22 Rear sprocket
23, 23a, 23b Rotating casing
30 Electric drive
31 Fixed casing
31a Body
31b Lid
31c Tubular part
33 Control board
40 DC brushless motor
41 Stator
42 Rotor
46 Magnet
49 Hall IC
51 Sensor plate
51a Holding pin
52 Packing
53 Bearing
54 Sensor case
54a storage
55 Coil spring
56 Ring holder
57 ring
60 coils
61 Torque sensor
70 Control circuit
71 Step-down circuit
72 Motor drive circuit
100 microcomputer
80 Hand controller (operation display)
80a diode
80c capacitor
81 Step-down circuit
82 Display circuit
83 Mode selector switch
83a-83c LED
84 Power switch
85 Reset circuit
86 Battery level indicator
86a-86c LED
91 Reference signal line
92 Communication signal line
93 Power line

Claims (6)

A human power drive unit that drives the wheel by human power, an electric drive unit that drives the wheel by a motor that uses a battery as a power source, a control circuit that outputs a control signal for driving the electric drive unit, and a power switch on / off And an operation display unit for performing status display such as battery remaining amount display, etc.
The control circuit and the operation display unit each have a microcomputer, the control circuit side microcomputer determines the remaining amount of the battery, and the result is sent to the operation display side microcomputer and displayed on the display unit. And store it in its memory,
The microcomputer on the control circuit side has determination means for determining whether power-on is chattering or power-on, and the determination means determines that chattering occurs if the microcomputer of the operation display unit is in operation. A vehicle with auxiliary power, characterized in that it is determined that the power switch is turned on in the standby state, and the remaining battery level is not determined if it is chattering, and the remaining battery level is determined if the power switch is turned on .   The auxiliary power-equipped vehicle according to claim 1, wherein the microcomputer on the operation display unit side continuously stores the remaining amount of the battery in a memory while the battery is connected.   The microcomputer according to claim 1 or 2, wherein the microcomputer on the control circuit side is turned off after a predetermined time has elapsed since the power switch was turned off, and continuously determines the remaining battery level. Vehicle with auxiliary power.   The auxiliary powered vehicle according to any one of claims 1 to 3, wherein when the power switch is turned off, the display is turned off and the microcomputer of the operation display unit is operated in a standby state. .   When the power switch is turned on, the microcomputer on the control circuit side compares the battery remaining value obtained from the battery voltage with the battery remaining memory value sent from the microcomputer on the operation display unit side. The value is determined to be a true battery remaining amount value, sent to the microcomputer on the operation display unit side, displayed on the display unit, and stored in the memory thereof. Vehicle with auxiliary power described in 1. Based on the determination result of the determination means, if the chattering, the remaining battery level is displayed, and if the power switch is turned on, the remaining battery level determined by the microcomputer on the control circuit side is displayed. The vehicle with auxiliary power according to claim 1 .

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