JP6193931B2 - Bicycle control device - Google Patents

Description

The present invention relates to a bicycle control device.

2. Description of the Related Art There is known an electrically assisted bicycle that assists wheel driving by driving a motor not only when riding but also when walking by pushing an electrically assisted bicycle.
The electrically assisted bicycle described in Patent Document 1 includes a switch for pushing walking. This electric assist bicycle control device determines whether or not the vehicle is pushing based on the pedaling force acting on the pedal and the rotation speed of the crankshaft when the push walking switch is pushed. When the control device determines that the state is a pushing-walking state, the control device drives the motor in a specified mode. The switch for pushing walking is also used as a switch for adjusting the auxiliary driving force during normal riding.

JP 2012-144061 A

  In a conventional electrically assisted bicycle, even when a switch is operated with the intention of adjusting the auxiliary driving force during normal riding, there is a risk that the motor for pushing walking will be driven against the user's intention.

The present invention has been made in view of such circumstances, and its object is faithfully by the user's intention is to provide a bicycle control equipment that enables the assist wheel drive at the time of push-walking .

(Na) A bicycle control device that solves the above-described problems is a bicycle control device that controls a motor for assisting bicycle wheel driving, and an operation for switching a control unit that controls the motor and an operation mode of the motor. The control unit has at least a walk mode as the operation mode, and the rotation speed of the wheel is equal to or less than a predetermined value larger than a predetermined zero while driving the motor in the walk mode. At this time, the motor is controlled so that the output of the motor gradually decreases, and the driving of the motor is stopped.
(Nb) A bicycle control device that solves the above-described problem is a bicycle control device that controls a motor that generates torque for assisting bicycle wheel driving, and a control unit that controls the motor, and an operation of the motor. An operation unit that switches modes, and the control unit has at least a walk mode as the operation mode, and is a motor load for the generation of the torque while driving the motor in the walk mode, and is applied to the motor. When a load greater than a predetermined value is applied, the motor is controlled so that the output of the motor gradually decreases, and the driving of the motor is stopped.
(Nc) A bicycle control apparatus that solves the above-described problems is a bicycle control apparatus that controls a motor for assisting bicycle wheel driving, a control unit that controls the motor, switching of an operation mode of the motor, An operation unit that instructs to stop the motor, the operation unit is configured as a switch, and the control unit has at least a walk mode as the operation mode, and the motor is being driven in the walk mode. When stopping the driving of the motor based on the switch operation of the operating unit, the driving of the motor is stopped by controlling the motor so that the output of the motor gradually decreases after operating the operating unit. Let
Furthermore, it is preferable that the control unit drives the motor only while the operation unit continues to be operated in the walk mode.
The following are reference technologies.
(N1) A bicycle control device according to a reference is a bicycle control device that controls a motor for assisting bicycle wheel driving, and includes a control unit that controls the motor, and the control unit is configured in a walk mode. When driving the motor, when the rotation speed of the wheel becomes a predetermined value or less, or when driving the motor in the walk mode, when a load greater than a predetermined value is applied to the motor, Alternatively, when driving the motor in the walk mode, when the driving of the motor is stopped based on the operation of the input unit, the motor is controlled so that the output of the motor is gradually decreased, and the motor is driven. Stop.
(N2) The bicycle control apparatus according to the reference further includes the input unit, and the control unit drives the motor only while the input unit is continuously operated in the walk mode.
(1) A bicycle control device according to a reference is a bicycle control device that controls a motor for assisting bicycle wheel driving, and includes an input unit, a riding mode for controlling the motor according to a human driving force, and the A control unit capable of switching a walk mode for driving the motor according to an operation of the input unit by an operation of the input unit, and the control unit is configured to operate the input unit after switching to the walk mode. In response, the motor is driven.

(2) In the bicycle control device according to the reference, the input unit includes at least a first operation switch and a second operation switch.
(3) In the bicycle control device according to the reference, the control unit switches from the riding mode to the walk mode by operating the first operation switch in the riding mode. When the second operation switch is operated, the walk mode is switched to the riding mode, and after the operation of the first operation switch for switching to the walk mode is completed, The motor is driven by operating the first operation switch.

(4) In the bicycle control device according to the reference, the control unit is in the walk mode,
The motor is driven only while the first operation switch is being operated.
(5) In the bicycle control device according to the reference, when the first operation switch is operated in the walk mode, the control unit operates the motor until the second operation switch is operated. To drive.

(6) In the bicycle control device according to the reference, the control unit switches from the riding mode to the walk mode when the first operation switch is operated for a predetermined time or more in the riding mode.

(7) In the bicycle control device according to the reference, the input unit includes at least a third operation switch and a fourth operation switch, and the third operation switch is a switch for changing to the walk mode. The fourth operation switch is a switch for other functions except for the mode change.

(8) In the bicycle control device according to the reference, the fourth operation switch is a shift switch, and the control unit controls the transmission based on the fourth operation switch in the riding mode, Shifting based on the fourth operation switch is prohibited in the walk mode.

(9) In the bicycle control device according to the reference, the riding mode includes a first riding mode in which an assisting force is output to the motor in accordance with a human driving force, and a second riding mode in which the assisting force is not output to the motor. The control unit switches to the second riding mode when the first operation switch is operated in the first riding mode, and the first operation switch is switched to the second riding mode. When operated, the mode is switched to the walk mode.

(10) In the bicycle control apparatus according to the reference, the first riding mode further includes a plurality of assist modes having different magnitudes of assisting force with respect to human driving force, and the control unit is in the riding mode. The plurality of assist modes are switched according to operations of the first operation switch and the second operation switch.

(11) In the bicycle control device according to the reference, the control unit stops driving the motor when the human power driving force is equal to or greater than a predetermined value in the walk mode.
(12) In the bicycle control device according to the reference, when the vehicle speed of the bicycle becomes a predetermined value or more in the walk mode, the control unit stops driving the motor.

(13) In the bicycle control device according to the reference, when the motor is driven in the walk mode, the control unit drives the motor so that the vehicle speed of the bicycle is equal to or less than a predetermined value. .

(14) In the bicycle control device according to the reference, the predetermined value can be changed.
(15) In the bicycle control device according to the reference , when the control unit is driving the motor in accordance with an operation of the input unit, when the rotation speed of the wheel is equal to or less than a predetermined value, Stop driving the motor.

(16) In the bicycle control device according to the reference, the control unit controls the motor so that the output of the motor gradually decreases when the driving of the motor is stopped.
(17) The electrically assisted bicycle according to the reference includes any one of the bicycle control devices and the motor.

(18) The motor control method according to the reference is a motor control method for controlling a motor for assisting bicycle wheel driving, in accordance with a riding mode for controlling the motor according to a human driving force and an operation of an input unit. Then, the walk mode for driving the motor is switched by operating the input unit, and after switching to the walk mode, the motor is driven in accordance with the operation of the input unit.

(19) In the motor control method according to the reference, after the operation of the first operation switch for switching to the walk mode is finished, the first operation switch is operated again in the walk mode, thereby Drive the motor.

(20) In the motor control method according to the reference, when the power is turned off and then turned on again in the walk mode, the motor is controlled in the riding mode.

In the above bicycle control device , the wheel drive assist during the pushing walk is executed faithfully according to the user's intention.

The schematic diagram of an electric assist bicycle. The block diagram of the control apparatus for bicycles. The schematic diagram of an operation part and a display part. The flowchart of an example of a mode switching process. The flowchart of an example of a mode switching process. The flowchart of the other example of a mode switching process. The schematic diagram of the other form of an operation part and a display part. The figure which shows the waveform of the torque command value according to operation of the switch at the time of pushing walking. The figure which shows the waveform of a torque command value when forcibly stopping a motor at the time of pushing walking.

(First embodiment)
The bicycle control device will be described with reference to FIGS.
In the following description, “left side” indicates the left hand side of the user who rides on the electrically assisted bicycle (bicycle), and “right side” indicates the right hand side of the user who rides on the electrically assisted bicycle. “Front” indicates the forward direction of the electrically assisted bicycle. “Rear” indicates the reverse direction of the electrically assisted bicycle.

FIG. 1 shows an example of an electrically assisted bicycle including a bicycle control device.
In the electric assist bicycle, the frame 2, a pair of wheels (front wheel 4 and rear wheel 6) rotatably attached to the frame 2, a drive mechanism 8 for driving the rear wheel 6, and the direction of the front wheel 4 are changed. Handle 10, saddle 12, battery 14, operation unit 16, and display unit 18.

The operation unit 16 and the display unit 18 are attached to the handle 10, for example.
The battery 14 is attached to, for example, the frame 2 or the rear carrier, or both the frame 2 and the rear carrier. The battery 14 supplies power to the drive mechanism 8.

  The drive mechanism 8 includes a crank portion 20, a chain 22 for transmitting the power of the crank portion 20, and a rear sprocket 24 attached to the axle of the rear wheel 6 and driven by the chain 22. The crank portion 20 includes a crankshaft 26, a front sprocket 28 that transmits the rotational power of the crankshaft 26 to the chain 22, and a motor 30 that assists in driving the rear wheel 6.

  The rotational power of the crankshaft 26 is transmitted to the front sprocket 28 via a one-way clutch. The one-way clutch transmits the rotational power of the crankshaft 26 to the front sprocket 28 when the crankshaft 26 rotates forward, and does not transmit the rotational power of the crankshaft 26 to the front sprocket 28 when the crankshaft 26 rotates rearward. . Note that “previous rotation” means that the crankshaft 26 rotates in the direction in which the electrically assisted bicycle moves forward. A one-way clutch may not be provided in the path between the crankshaft 26 and the front sprocket 28. In this case, the coaster brake provided on the hub of the rear wheel 6 can be operated.

  The rotational power of the motor 30 is transmitted to the chain 22 via the speed reduction mechanism and the transmission mechanism. The reduction mechanism decelerates the rotation speed of the output shaft of the motor 30 by a plurality of gear sets and outputs the reduced speed to the transmission mechanism. The transmission mechanism may be configured as a sprocket that meshes with the chain 22 or may be configured as a gear mechanism that transmits rotational power to the crankshaft 26.

FIG. 2 shows a block diagram of the bicycle control device.
The bicycle control device includes a control unit 32 and an input unit 34 (see FIG. 3). The input unit 34 outputs a signal corresponding to the user operation to the control unit 32. The control part 32 is arrange | positioned at the crank part 20, for example. The control unit 32 includes a microcomputer, a memory, and an inverter for driving the motor 30. The memory preferably includes a non-volatile memory.

A motor 30, a cadence sensor 36, a torque sensor 38, a speed sensor 40, an operation unit 16, and a display unit 18 are connected to the control unit 32.
The cadence sensor 36 is provided in the crank portion 20 and detects the number of rotations of the crankshaft 26 (the number of rotations per minute, hereinafter referred to as “cadence”). The cadence sensor 36 is realized by, for example, a sensor that detects a magnet attached to the crank arm.

  The torque sensor 38 is provided in the crank portion 20. A transmission path between the crankshaft 26 and the front sprocket 28 is provided with a power transmission member for transmitting the rotational force of the crankshaft 26 to the front sprocket 28. The torque sensor 38 actually detects torque generated in the power transmission member. The torque corresponds to a force (human power driving force) corresponding to the pedaling force input to the pedal of the electrically assisted bicycle.

  The speed sensor 40 is provided in the chain stay of the frame 2 and detects the rotational speed of the rear wheel 6. The speed sensor 40 is realized by, for example, a sensor that detects a magnet attached to a wheel.

The speed sensor 40 may be configured to detect the rotational speed of the front wheel 4.
The control unit 32 receives a signal from the cadence sensor 36 and calculates cadence based on this signal. The calculated cadence may be displayed on the display unit 18.

Moreover, the control part 32 receives the signal from the torque sensor 38, and calculates a torque based on this signal.
Moreover, the control part 32 receives the signal from the speed sensor 40, and calculates the vehicle speed of an electrically assisted bicycle based on this signal. The calculated vehicle speed may be displayed on the display unit 18.

  The control unit 32 defines an assist force based on the vehicle speed and the torque, and controls the motor 30 so that a torque corresponding to the assist force is generated. The assist force is defined based on a preset map.

  The map defines the assist ratio with respect to the vehicle speed. The assist ratio indicates the ratio of the assist force of the motor 30 to the human power driving force. Such a map is set corresponding to each operation mode of the motor 30. The control unit 32 may define the assist force using an arithmetic expression instead of a map. Next, the operation mode of the motor 30 will be described.

<Description of operation mode>
The control unit 32 has a plurality of operation modes as control modes of the motor 30. When the operation mode is classified, it is divided into a boarding mode and a walk mode. The riding mode indicates an operation mode of the motor 30 that can be executed in a state where the user is on the electrically assisted bicycle (hereinafter referred to as “ride state”). Specifically, in the boarding mode, the control unit 32 drives the motor 30 according to the human driving force. The walk mode indicates an operation mode of the motor 30 that can be executed in a state where the power-assisted bicycle is being pushed by the user (hereinafter referred to as “push walking state”). Specifically, in the walk mode, the control unit 32 drives the motor 30 or stops driving the motor 30 according to the operation of the input unit 34.

  The riding mode includes a normal mode (NORMAL mode) and an off mode (OFF mode). The normal mode is an operation mode for driving the motor 30 in a specified manner. The off mode is an operation mode in which the motor 30 is not driven.

  The riding mode further includes a plurality of modes in which the magnitude of the assisting force with respect to the human driving force is different. The boarding mode preferably includes a high mode (HIGH mode) and an eco mode (ECO mode). The high mode is an operation mode in which an assist force larger than that in the normal mode is generated in a predetermined vehicle speed range. The eco mode is an operation mode in which an assist force smaller than that in the normal mode is generated in a predetermined vehicle speed range. The walk mode is an operation mode in which the motor 30 can be driven in the walking speed range. In the walk mode, the following vehicle speed limit control is executed. In the vehicle speed limiting control, when the motor 32 is driven in the walk mode, the control unit 32 stops driving the motor 30 when the vehicle speed becomes a predetermined value or more. Thereby, it is suppressed that a vehicle speed becomes larger than the predetermined value. This predetermined value is equal to, for example, a value when driving of the motor 30 is stopped, and may be set by the user.

  In the walk mode, the next vehicle speed suppression control is further executed. In the vehicle speed suppression control, when the motor 32 is driven in the walk mode, the control unit 32 drives the motor 30 so that the vehicle speed is equal to or less than a predetermined value. Thereby, it is suppressed that a vehicle speed becomes larger than the predetermined value.

  The “predetermined value (upper limit)” is preferably configured to be changeable. This is because the walking speed varies depending on the user of the electrically assisted bicycle. A switch for setting the predetermined value is provided in the operation unit 16, for example. The predetermined value is selected from 3 to 5 km / h, for example.

  Further, in the walk mode, the following torque limit control is executed. In the torque limit control, when the motor 32 is driven in the walk mode, the control unit 32 stops the driving of the motor 30 when the torque (manpower driving force) becomes a predetermined value or more. Thereby, when the user is pedaling, the motor 30 is not driven.

  FIG. 3 shows the display unit 18. The display unit 18 displays the operation mode of the motor 30. For example, as shown in FIG. 3, the display unit 18 is disposed in the vicinity of the right side of the left grip 10 a of the handle 10. The display unit 18 is provided with first to fifth indicator lamps 52, 54, 56, 58 and 60. The first indicator lamp 52 is lit when the operation mode is the high mode. The second indicator lamp 54 lights up when the operation mode is the normal mode. The third indicator lamp 56 lights up when the operation mode is the eco mode. The fourth indicator lamp 58 lights up when the operation mode is the off mode. The fifth indicator lamp 60 lights up when the operation mode is the walk mode. The display unit 18 may be configured by, for example, an LED display device or a liquid crystal display device. When the display part 18 is comprised with a liquid crystal display device, the character corresponding to each operation mode is displayed instead of the 1st-5th indicator lights 52,54,56,58,60. In this case, even if only the character corresponding to the selected operation mode is displayed on the display unit 18, the character corresponding to the selected operation mode is displayed separately from the characters corresponding to the other operation modes. May be.

<Switching operation mode>
FIG. 3 shows the operation unit 16. The operation mode of the motor 30 is switched by operating the input unit 34. The operation unit 16 is provided in the vicinity of the grip. In the present embodiment, the operation unit 16 is provided between the display unit 18 and the left grip 10a, for example, in the vicinity of the left grip 10a and in the vicinity of the display unit 18. The operation unit 16 is provided with two switches as the input unit 34. The switch includes, for example, a push button type switch, a touch type switch, or a slide type switch. In the present embodiment, the input unit 34 includes a first operation switch 42 and a second operation switch 44. When the operation unit 16 is attached to the handle 10, the first operation switch 42 is disposed below the second operation switch 44.

  The first operation switch 42 and the second operation switch 44 output an operation signal to the control unit 32 when operated. Here, each time the first operation switch 42 and the second operation switch 44 are pressed, an operation signal is output. The control unit 32 receives the operation signal output from the first operation switch 42 and the operation signal output from the second operation switch 44, and switches the operation mode of the motor 30 based on these operation signals.

  In principle, when the control unit 32 receives the operation signal output from the first operation switch 42 during the execution of the boarding mode (in the high mode, the normal mode, or the eco mode), the control unit 32 decreases the assist force. Switch the operation mode.

  Further, in principle, when the control unit 32 receives the operation signal output from the second operation switch 44 during the execution of the riding mode (in any of the normal mode, the eco mode, and the OFF mode), the assisting force is increased. Switch operating mode to direction.

  Further, when a predetermined switch operation is performed in the riding mode, the control unit 32 switches the operation mode from the riding mode to the walk mode. Hereinafter, the mode switching process will be described.

4 and 5 show a flowchart of an example of the mode switching process. 5 is a flowchart subsequent to FIG. 4, and “A” in FIG. 4 follows “A” in FIG. 5.
4 shows processing of the control unit 32 based on the pressed state of the first operation switch 42, and FIG. 5 shows processing of the control unit 32 based on the pressed state of the second operation switch 44. In this mode switching process, first, various processes are executed based on the pressed state of the first operation switch 42, and then various processes are executed based on the pressed state of the second operation switch 44. In addition, the control part 32 repeatedly performs a mode switching process for every predetermined period.

  With reference to FIG. 4, the process based on the switch state of the first operation switch 42 (the process of steps S11 to 19) will be described. In step S <b> 11, the control unit 32 reads the pressed state of the first operation switch 42 and the pressed state of the second operation switch 44. For example, when receiving an operation signal (a signal indicating a pressed state) from the first operation switch 42, the control unit 32 determines that the first operation switch 42 is in the pressed state, and receives an operation signal from the first operation switch 42. Is not received, it is determined that the first operation switch 42 is not pressed. When receiving an operation signal (a signal indicating a pressed state) from the second operation switch 44, the control unit 32 determines that the second operation switch 44 is in the pressed state, and receives the operation signal from the second operation switch 44. If not, it is determined that the second operation switch 44 is not pressed.

  In step S12, the control unit 32 determines whether or not the first operation switch 42 is in a pressed state. When it is determined that the first operation switch 42 is in the pressed state (YES determination), the process proceeds to step S13, and when it is determined that the first operation switch 42 is not in the pressed state (NO determination), the process proceeds to step S21. Then, the process for the second operation switch 44 is executed.

  In step S13, the control unit 32 reads the switch state at the time of the previous process for the first operation switch 42 from the memory, and determines whether or not the switch state at the time of the previous process was a pressed state. When the switch state at the time of the previous process is not the pressed state (NO determination), the process proceeds to step S14. On the other hand, when the switch state at the time of the previous process is the pressed state (YES determination), the process proceeds to step S21 and the process for the second operation switch 44 is executed.

  That is, in the processing of step S11 to step S13, it is detected whether or not the first operation switch 42 has been operated from a state where it has not been operated. And when it operates from the state where the 1st operation switch 42 is not operated, switching of an operation mode can be performed by a subsequent process (step S14-step S17).

  In step S14, the control unit 32 determines whether or not the operation mode is the riding mode. When the operation mode is the boarding mode (YES determination), the process proceeds to step S15. When it is not in the boarding mode, that is, when it is the walk mode (NO determination), the process proceeds to step S18.

  In step S15, the control unit 32 determines whether or not the operation mode is an off mode (OFF mode). When the operation mode is a mode other than the off mode (NO determination), the process proceeds to step S16. If it is determined in step S15 that the operation mode is the off mode (YES determination), the process proceeds to step S17.

  In step S16, the control unit 32 switches the operation mode in a direction in which the assist force is weakened. For example, the control unit 32 switches the operation mode to the normal mode if it is the high mode, switches the operation mode to the eco mode if it is the normal mode, and switches the operation mode to the off mode if it is the eco mode.

  In step S17, the control unit 32 switches the operation mode from the off mode to the standby walk mode. The “standby state walk mode” indicates a state of waiting for a command to drive the motor 30 in the walk mode. That is, in step S17, the motor 30 is in a stopped state.

  In step S18, the control unit 32 determines whether or not the motor 30 is driven in the walk mode. The walk mode is in one of a state in which the motor 30 is driven in the walk mode and a standby state in which a command for driving the motor 30 in the walk mode is waited. In this step (step S18), the control unit 32 determines in any of these states.

  And when the control part 32 is not driving the motor 30 by walk mode (NO determination), it transfers to step S19 and the control part 32 drives the motor 30 by walk mode. When the motor 30 is being driven in the walk mode (YES determination), the process proceeds to step S21 and the process for the second operation switch 44 is executed.

  The processing from step S14 to step S19 means the following. When the first operation switch 42 is pressed when the operation mode is a boarding mode other than the off mode, the control unit 32 switches the operation mode in a direction in which the assist force is weakened. When the first operation switch 42 is pressed when the operation mode is the off mode, the control unit 32 switches the operation mode from the off mode to the walk mode. At this time, the control unit 32 is in a standby state in which the motor 30 is not driven and a next command is awaited. When the operation mode is the walk mode and the motor 30 is stopped, the control unit 32 drives the motor 30 in the walk mode when the first operation switch 42 is pressed. When the operation mode is the walk mode and the motor 30 is being driven, the control unit 32 does not change the operation mode of the motor 30 when the first operation switch 42 is pressed. When the operation mode is the walk mode and the motor 30 is being driven, when the first operation switch 42 and the second operation switch 44 are not pressed, the control unit 32 does not change the operation mode of the motor 30. The motor 30 is continuously driven.

  Next, processing based on the switch state of the second operation switch 44 (processing in steps S21 to S29) will be described with reference to FIG. In step S21, the control unit 32 determines whether or not the second operation switch 44 is in a pressed state. When it is determined that the second operation switch 44 is in the pressed state (YES determination), the process proceeds to step S22. When it is determined that the second operation switch 44 is not in the pressed state (NO determination), the process proceeds to step S29. To do. In step S29, the switch state of the second operation switch 44 is stored in the memory. Note that the switch state of each switch stored in step S29 is read as the switch state at the previous process in the next mode switching process.

  In step S22, the control unit 32 reads the switch state at the time of the previous process for the second operation switch 44 from the memory, and determines whether or not the switch state at the time of the previous process was a pressed state. When the switch state at the time of the previous process is not the pressed state (NO determination), the process proceeds to step S23. On the other hand, if the switch state at the time of the previous process is a pressed state (YES determination), the process proceeds to step S29.

  That is, in the processing of step S21 and step S22, it is detected whether or not the second operation switch 44 has been operated from a state where it has not been operated. When the second operation switch 44 is operated from a state where it is not operated, the operation mode can be switched in the subsequent processing (step S23 to step S26, step S28).

  In step S23, the control unit 32 determines whether or not the operation mode is the riding mode. When the operation mode is the boarding mode (YES determination), the process proceeds to step S24. When it is not in the boarding mode, that is, when it is the walk mode (NO determination), the process proceeds to step S26.

  In step S24, the control unit 32 determines whether or not the operation mode is a high mode (HIGH mode). When the operation mode is a mode other than the high mode (NO determination), the process proceeds to step S25. If it is determined in step S24 that the operation mode is the high mode (YES determination), the process proceeds to step S29.

  In step S25, the control unit 32 switches the operation mode in a direction in which the assist force is increased. For example, the control unit 32 switches the operation mode to the eco mode if the mode is off, switches the operation mode to the normal mode if the mode is eco, and switches the operation mode to the high mode if the mode is normal.

  In step S26, the control unit 32 determines whether or not the motor 30 is driven in the walk mode. The walk mode is in one of a state in which the motor 30 is driven in the walk mode and a standby state in which a command for driving the motor 30 in the walk mode is waited. In this step (step S26), the control unit 32 determines in any of these states. And when the control part 32 is driving the motor 30 by walk mode (YES determination), it transfers to step S27 and the control part 32 stops the drive of the motor 30. FIG. On the other hand, when the control unit 32 is not driving the motor 30 in the walk mode (NO determination), the process proceeds to step S28 and the operation mode is switched to the off mode.

  That is, the processing of step S23 to step S28 means the following. When the second operation switch 44 is pressed when the operation mode is the high mode, the control unit 32 does not change the operation mode of the motor 30. When the operation mode is a boarding mode other than the high mode and the second operation switch 44 is pressed, the control unit 32 switches the operation mode in a direction in which the assist force is increased. When the operation mode is the walk mode and the motor 30 is being driven, when the second operation switch 44 is pressed, the control unit 32 stops driving the motor 30. When the second operation switch 44 is pressed when the operation mode is the walk mode and the motor 30 is stopped, the control unit 32 switches the operation mode from the walk mode to the off mode.

Hereinafter, effects of the bicycle control device and the electrically assisted bicycle according to the present embodiment will be described.
Since the control unit 32 switches to the walk mode and then drives or stops the motor 30 according to the operation of the input unit 34, the wheel drive assist during pushing walking is executed faithfully according to the user's intention. The

  If the operation of the first operation switch 42 is not executed twice, the motor 30 is not driven in the walk mode. Therefore, even if the riding mode is switched to the walk mode due to an operation error, the motor 30 is driven immediately. Not started. Once the motor 30 starts driving in the walk mode, the driving of the motor 30 can be continued without pressing the first operation switch 42 thereafter.

  One switch has two operation functions. That is, the first operation switch 42 has a function of switching the riding mode and a function of driving the motor 30 in the walk mode. For this reason, compared with the case where a switch is provided for each function, the number of parts of the operation unit 16 can be reduced.

  In the walk mode, the control unit 32 stops driving the motor 30 when the vehicle speed of the electrically assisted bicycle exceeds a predetermined value (above the upper limit value), so that the vehicle speed of the electrically assisted bicycle is larger than the walking speed of the user. It can suppress becoming over.

(Second Embodiment)
With reference to FIG. 6, the control part 32 which concerns on other embodiment is demonstrated. The control unit 32 according to the present embodiment has the same configuration as the control unit 32 shown in the first embodiment. In the following description, each component is assigned the same reference numeral as the corresponding component in the control unit 32 shown in the first embodiment.

  The control unit 32 according to the present embodiment and the control unit 32 according to the first embodiment are different in mode switching processing related to execution. In particular, the processing for the first operation switch 42 is different. Since the process for the second operation switch 44 is the same as the mode switching process in the first embodiment, the description thereof is omitted. After “A” shown in FIG. 6, “A” in FIG. 5 follows. Below, the process about the 1st operation switch 42 is demonstrated.

  In the control unit 32 according to the present embodiment, when the switch state of the first operation switch 42 in the previous process is not in the pressed state and the switch state of the first operation switch 42 in the current process is in the pressed state, The same processing as in the first embodiment is executed. That is, step S31 to step S39 in FIG. 6 of the present embodiment are the same as step S11 to step S19 of the first embodiment, and thus description thereof is omitted. When the switch state of the first operation switch 42 in the current process is not in the pressed state, the predetermined process is executed based on the switch state of the first operation switch 42 in the previous process, unlike the process in the first embodiment.

In step S32, when the control unit 32 determines that the first operation switch 42 is not in the pressed state, the process proceeds to step S41.
In step S41, the control unit 32 reads the switch state at the time of the previous process for the first operation switch 42, and determines whether or not the switch state at the time of the previous process was a pressed state. When the switch state at the time of the previous process is not the pressed state (NO determination), the process proceeds to step S21 (see FIG. 5). On the other hand, when the switch state at the time of the previous process is the pressed state (YES determination), the process proceeds to step S42, and the control unit 32 determines whether or not the motor 30 is driven in the walk mode.

  When the control unit 32 is not driving the motor 30 in the walk mode (NO determination), the process proceeds to step S21 (see FIG. 5) and the process for the second operation switch 44 is executed. When the control unit 32 is driving the motor 30 in the walk mode (YES determination), the process proceeds to step S43 and the driving of the motor 30 is stopped.

That is, the processing of step S41 to step S43 means the following.
When the operation mode is the walk mode and the motor 30 is driving, the control unit 32 is in a state where the first operation switch 42 is operated when the first operation switch 42 changes from the pressed state to the non-pressed state. When it is not operated, the driving of the motor 30 in the walk mode is stopped. When the operation mode is the walk mode and the motor 30 is being driven, the control unit 32 does not change the operation mode if the pressed state of the first operation switch 42 is maintained (YES determination in step S33). . That is, the driving state of the motor 30 in the walk mode is maintained by continuously pressing (holding down) the first operation switch 42.

  As described above, in the present embodiment, the motor drive in the walk mode is maintained with the pressing state of the first operation switch 42 being maintained, and the pressing state of the first operation switch 42 is released (when the first operation switch 42 is not pressed). ), Driving of the motor 30 in the walk mode is stopped.

The effects of the bicycle control device according to this embodiment will be described below.
The assist by the motor 30 can be released simply by stopping the operation of the first operation switch 42.

(Third embodiment)
With reference to FIG. 7, another form of the operation unit 16 and the display unit 18 will be described. Hereinafter, the same components as those of the operation unit 16 and the display unit 18 described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. In the first embodiment, the input unit 34 is provided independently of other devices. However, in this embodiment, some functions of the operation unit 16 as the input unit 34 are provided in the speed change operation unit 62. It is done.

  The operation unit 16 includes a second operation switch 44 and a first operation switch 42 as the input unit 34. The second operation switch 44 and the first operation switch 42 have the same functions as the second operation switch 44 and the first operation switch 42 shown in the first embodiment, and can change the operation mode. The motor 30 cannot be driven and stopped in the walk mode.

  The speed change operation unit 62 is provided with a speed change switch 66 and a third operation switch 68. The shift switch 66 is a switch for changing the gear ratio of the transmission provided in the bicycle. A display unit 64 is provided that indicates the number of shift stages of the shift operation unit 62 (a number corresponding to the gear ratio of the transmission). The third operation switch 68 is provided in the vicinity of the speed change operation unit 62. The third operation switch 68 is preferably disposed within a range where the thumb can reach in the state where the handle 10 is gripped. As a result, the third operation switch 68 can be operated with the grip held. In the present embodiment, the speed change operation unit 62 is attached in the vicinity of the right grip 10 b of the handle 10.

  The third operation switch 68 is a switch for driving and stopping the motor 30 in the walk mode. The control unit 32 receives an operation signal from the third operation switch 68 only in either the off mode or the walk mode. Then, the control unit 32 regards the operation of the third operation switch 68 as the same as the operation of the first operation switch 42 and executes a mode switching process corresponding to the operation of the first operation switch 42. For example, the control unit 32 executes a mode switching process similar to that in the first or second embodiment based on the operation of the third operation switch 68.

  When the third operation switch 68 is pressed when the operation mode is the off mode, the control unit 32 switches the operation mode from the off mode to the walk mode. At this time, the control unit 32 is in a standby state in which the motor 30 is not driven and a next command is awaited. When the operation mode is the walk mode and the motor 30 is stopped, when the third operation switch 68 is pressed, the control unit 32 drives the motor 30 in the walk mode. When the operation mode is the walk mode and the motor 30 is being driven, the control unit 32 stops driving the motor 30 in the walk mode when the third operation switch 68 changes from the pressed state to the non-pressed state. .

  When the operation mode is the walk mode and the motor 30 is being driven, the control unit 32 does not change the operation mode if the pressed state of the third operation switch 68 is maintained. That is, the driving state of the motor 30 in the walk mode is maintained by continuously pressing the third operation switch 68.

  Further, the control unit 32 permits or prohibits the shift based on the shift switch 66 depending on the operation mode. For example, the control unit 32 allows a shift based on the shift switch 66 in the riding mode, and prohibits a shift based on the shift switch 66 in the walk mode. As a result, it is possible to suppress a sudden change in the vehicle speed by changing the number of shift stages while pushing.

  In the present embodiment, a switch for driving the motor 30 in the walk mode can be provided independently from a switch for changing the operation mode. Therefore, when the switch for driving the motor 30 is pushed in the walk mode. It can be easily arranged in a place that is easy to operate.

(Other embodiments)
In the first and second embodiments, the control unit 32 switches the operation mode from the off mode to the walk mode when the first operation switch 42 is pressed when the operation mode is in the off mode (step S15). , Step S35), the condition for switching to the walk mode may be configured as follows. For example, when the operation mode is in the off mode, the control unit 32 switches the operation mode from the off mode to the walk mode when the pressed state of the first operation switch 42 is maintained for a predetermined time or more. In this configuration, it is possible to prevent the operation mode from switching from the off mode to the walk mode against the user's intention.

  The bicycle control device according to the first embodiment and the second embodiment preferably includes the following configuration. When the power is turned on again after turning off the power in the walk mode, the control unit 32 controls the motor 30 in the riding mode (for example, the normal mode or the OFF mode). Further, regardless of the operation mode, the control unit 32 may control the motor 30 in the riding mode (for example, the normal mode or the OFF mode) when the power is turned on after the power is turned off. In this case, when the power is turned on when using the power-assisted bicycle, the user always stands up in the riding mode. Therefore, the user can always use the power-assisted bicycle in the riding mode at the start of use.

  In each of the above embodiments, the control unit 32 gradually increases the torque command value for driving the motor 30 when starting to drive the motor 30 based on the first operation switch 42 or the third operation switch 68. It is preferable to raise (see FIG. 8). The torque command value is, for example, a current value supplied to the motor 30. Accordingly, the bicycle can be started smoothly when the motor 30 is driven in the walk mode. The time T1 until the torque command value output from the control unit 32 is maximized is selected from 1 second to 5 seconds, for example, 3 seconds.

  In each of the above embodiments, it is preferable that the control unit 32 controls the motor 30 so that the output torque of the motor 30 is equal to or less than a predetermined torque value Tm in the walk mode (see FIG. 8). The predetermined torque value Tm is selected so as to suppress an increase in the speed of the bicycle when the bicycle is pushed on an uphill, for example. Even when the speed does not reach the predetermined speed, the output torque of the motor 30 is limited, and as a result, the vehicle speed of the bicycle driven by the motor 30 can be suppressed.

  In each of the above embodiments, the control unit 32 gradually increases the torque command value for driving the motor 30 when stopping the driving of the motor 30 based on the first operation switch 42 or the third operation switch 68. It is preferable to decrease (see FIG. 8). The torque command value is, for example, a current value. The time T2 until the torque command value output by the control unit 32 reaches the minimum (= 0) is selected from 50 milliseconds to 1 second. As a result, when the drive of the motor 30 is stopped in the walk mode, the reverse rotation of the crankshaft 26 can be suppressed.

  In each of the above embodiments, the control unit 32 preferably stops the driving of the motor 30 when the rotational speed of the wheel is equal to or less than a predetermined value when the motor 30 is driven in the walk mode. The predetermined value is, for example, zero. For example, when a bicycle brake is applied, the rotational speed of the wheel is lowered even if the motor 30 is driven. Therefore, even if the assist of the motor 30 is used when pushing, the driving of the motor 30 can be easily stopped if the bicycle is braked. When the predetermined value is a predetermined value (a value greater than zero), the control unit 32 controls the motor 30 so that the output of the motor 30 gradually decreases when the driving of the motor 30 is stopped. The

  In each of the embodiments described above, when the motor 30 is driven in the walk mode, the control unit 32 may forcibly stop the driving of the motor 30 when a load greater than a predetermined load is applied to the motor 30. preferable. When a predetermined load or more is applied to the motor 30 to stop the driving of the motor 30, it is preferable that the control unit 32 gradually decrease the torque command value for driving the motor 30 (see FIG. 9). The time T3 until the torque command value output from the control unit 32 reaches the minimum (= 0) is selected from 1 second to 20 seconds, for example, 5 seconds. Thus, even when the motor 30 stops while walking on a road surface (for example, a steep slope) on which a high load is applied to the motor 30, the user feels a decrease in assist force and responds to this. can do.

In the third embodiment, the third operation switch 68 is provided in the vicinity of the right grip 10b of the handle 10, but may be provided in the vicinity of the left grip 10a.
In each of the above embodiments, the display units 18 and 64 may be provided separately from the operation unit 16. In this case, the display units 18 and 64 may be provided, for example, in the central portion of the handle 10 in the left-right direction.

  In each of the above embodiments, the display states of the display units 18 and 64 may be changed between when the motor 30 is stopped in the walk mode and when the motor 30 is driven. . For example, when the motor 30 is stopped in the walk mode, the fifth indicator lamp 60 is lit, and when the motor 30 is driven, the fifth indicator lamp 60 is blinked. Further, the color of the fifth indicator lamp 60 may be changed. In the case where the display units 18 and 64 are configured by a liquid crystal display device, even if the displayed characters are changed between when the motor 30 is stopped in the walk mode and when the motor 30 is driven. Good.

  2 ... Frame, 4 ... Front wheel, 6 ... Rear wheel, 8 ... Drive mechanism, 10 ... Handle, 10a ... Left grip, 10b ... Right grip, 12 ... Saddle, 14 ... Battery, 16 ... Operation part, 18 ... Display part, DESCRIPTION OF SYMBOLS 20 ... Crank part, 22 ... Chain, 24 ... Rear sprocket, 26 ... Crankshaft, 28 ... Front sprocket, 30 ... Motor, 32 ... Control part, 34 ... Input part, 36 ... Cadence sensor, 38 ... Torque sensor, 40 ... Speed sensor 42 ... first operation switch 44 ... second operation switch 52 ... first indicator lamp 54 ... second indicator lamp 56 ... third indicator lamp 58 ... fourth indicator lamp 60 ... fifth indicator Lamp 62: Shift operation unit 64: Display unit 66: Shift switch 68: Third operation switch

Claims (4)

In a bicycle control device for controlling a motor for assisting bicycle wheel driving,
A control unit that controls the motor; and an operation unit that switches an operation mode of the motor;
The control unit has at least a walk mode as the operation mode, and when the rotational speed of a wheel is less than or equal to a predetermined value while driving the motor in the walk mode, the output of the motor A bicycle control device that controls the motor to gradually decrease the motor and stops driving the motor. In a bicycle control device for controlling a motor that generates torque for assisting bicycle wheel driving,
A control unit that controls the motor; and an operation unit that switches an operation mode of the motor;
The control unit has at least a walk mode as the operation mode, and a motor load with respect to generation of the torque that is greater than a predetermined value is applied to the motor during driving of the motor in the walk mode. When this is done, the bicycle control device controls the motor so as to gradually reduce the output of the motor and stops the driving of the motor. In a bicycle control device for controlling a motor for assisting bicycle wheel driving,
A control unit that controls the motor, and an operation unit that commands switching of an operation mode of the motor and stop of the motor,
The operation unit is configured as a switch,
The control unit has at least a walk mode as the operation mode, and when driving the motor in the walk mode, when the driving of the motor is stopped based on a switch operation of the operation unit, the operation unit operates Thereafter, the bicycle control device controls the motor so that the output of the motor gradually decreases, and stops driving the motor.   The bicycle control device according to claim 3, wherein the control unit drives the motor only while the operation unit continues to be operated in the walk mode.