JP6916154B2 - Bicycle equipment - Google Patents

Description

The present invention relates to a bicycle device equipped with an ABS unit (Antilock Brake System).

Bicycle devices equipped with ABS units are known. According to the bicycle device of Patent Document 1, which is an example thereof, the braking force applied to the wheels of the bicycle is controlled by the ABS unit.

International Publication No. 2014/108235

An object of the present invention is to provide a bicycle device for suitably braking a bicycle.

The bicycle device according to the first aspect of the present disclosure is an ABS unit that controls a braking force applied to at least one of the front wheels and the rear wheels of the bicycle, and a second that detects the rotation speed of at least one of the front wheels and the rear wheels. The bicycle includes a detection device and a control device that receives a detection result from the second detection device, and the control device determines whether or not the bicycle is in a predetermined state based on the detection result of the second detection device. When it is determined that the bicycle is in the predetermined state, the ABS control for controlling the ABS unit is executed, and the predetermined state is the rotation speed of the front wheel and the rotation speed of the rear wheel. It includes at least one of a state in which the difference is equal to or more than a predetermined speed and a state in which at least one of the front wheel and the rear wheel has a change in rotation speed of a predetermined value or more.
In a bicycle device on the second side according to the first aspect of the present disclosure, the second detection device includes a magnetic sensor attached to the frame of the bicycle adjacent to at least one of the front wheel and the rear wheel.
In the bicycle device on the third side according to the second side of the present disclosure, the second detection device detects the rotation speed of the front wheels, the second detection device for the front wheels, and the rotation speed of the rear wheels. The rear wheel second detection device includes the rear wheel second detection device, the front wheel second detection device includes a magnetic sensor attached to the bicycle frame at a position adjacent to the front wheel, and the rear wheel second detection device includes the rear wheel second detection device. Includes a magnetic sensor attached to the bicycle frame at a position adjacent to the wheel.
In the bicycle device of the fourth side according to the third side of the present disclosure, the second detection device of the front wheel further includes a magnet attached to one of the disc rotor of the front wheel and the spoke of the front wheel, and the second detection device of the rear wheel. 2 The detection device further includes a magnet attached to one of the rear wheel disc rotor and the rear wheel spokes.
In the bicycle device on the fifth side according to the third or fourth side surface of the present disclosure, the second detection device for the front wheels further includes a plurality of magnets provided in the circumferential direction so as to rotate with the front wheels, and the rear wheels. The second detection device of the above further includes a plurality of magnets provided in the circumferential direction so as to rotate with the rear wheel.
The bicycle device on the sixth side according to any one of the third to fifth sides of the present disclosure further includes a first detection device for detecting the operating state of the brake lever of the bicycle, and the first detection device is The detection result is output to the control device, and the control device is based on the detection results of the second detection device of the front wheel, the second detection device of the rear wheel, and the first detection device, and the motor of the bicycle. And controls the ABS unit.
The bicycle device on the seventh side according to any one of the first to fifth sides of the present disclosure further includes a first detection device for detecting the operating state of the brake lever of the bicycle, and the first detection device is The detection result is output to the control device.
In the bicycle device on the eighth side according to the sixth or seventh side surface of the present disclosure, the first detection device detects the operating angle of the lever portion of the brake lever with respect to the base portion of the brake lever.
In the bicycle device on the ninth side surface according to any one of the sixth to eighth sides of the present disclosure, the control device determines that the first detection device has detected that the brake lever is not operated. If so, the rotation of the bicycle motor is stopped.
In the bicycle device on the tenth side according to any one of the sixth to ninth sides of the present disclosure, when the control device determines that the vehicle speed of the bicycle is less than a predetermined speed, the rotation of the motor of the bicycle. To stop.
The bicycle device on the eleventh side according to any one of the first to tenth sides of the present disclosure further comprises the motor of the bicycle controlled by the control device.
In a bicycle device on a twelfth side according to the eleventh side of the present disclosure, the ABS unit further includes a pump that applies hydraulic pressure to a braking device that applies braking force to at least one of the front wheels and the rear wheels. It is driven by the bicycle motor.
In the bicycle device of the thirteenth aspect according to the twelfth aspect of the present disclosure, the bicycle motor drives the pump when the motor rotates.
In the bicycle device on the 14th side according to any one of the 6th to 13th sides of the present disclosure, the bicycle motor is an assist motor that adds an assist force to a human-powered driving force input from the crankshaft of the bicycle. Is.
In the bicycle device on the fifteenth side according to any one of the first to the fourteenth sides of the present disclosure, the control device is based on the rotational state of at least one of the front wheel and the rear wheel, and the front wheel and the rear wheel. The hydraulic pressure applied to the braking device that applies braking force to at least one of the wheels is reduced.
The bicycle device on the 16th side according to any one of the 1st to 15th sides of the present disclosure further includes the braking device for the front wheels operably connected to the first ABS unit of the ABS unit.
In the bicycle device on the 17th side according to the 16th side of the present disclosure, the front wheel braking device is a disc brake.
The bicycle device on the 18th side according to any one of the 1st to 17th sides of the present disclosure further includes the rear wheel braking device operably provided on the second ABS unit of the ABS unit.
In the bicycle device on the 19th side according to the 18th side of the present disclosure, the rear wheel braking device is a disc brake.

The bicycle device according to the first aspect A of the present disclosure includes an ABS unit that is driven by an assist motor that adds an assist force to a human power drive force input from the crank shaft of the bicycle and controls the braking force applied to the wheels of the bicycle. The ABS unit includes a pump that applies hydraulic pressure to a braking device that applies braking force to the wheels, and the pump is driven by the assist motor.
The bicycle device on the second A side according to the first A side of the present disclosure further includes the assist motor.
In the bicycle device on the third A side according to the first A or the second A side surface of the present disclosure, the assist motor is rotated in the first direction to add an assist force to the human-powered driving force, and the assist motor is the first. The pump is driven by rotating in a second direction opposite to the direction of.
In the bicycle device on the fourth A side according to the third A side of the present disclosure, when the assist motor rotates in the first direction, the driving force is not transmitted from the assist motor to the pump, and the assist motor does not transmit the driving force to the pump. A one-way clutch that transmits a driving force from the assist motor to the pump when rotated in two directions is further provided.
The bicycle device on the fifth A side according to any one of the first A to 4A sides of the present disclosure further includes a control device for controlling the assist motor and the ABS unit.
In the bicycle device on the sixth A side according to the fifth A side of the present disclosure, the control device detects the operating state of the operating device connected to the braking device and the rotational state of the wheels. It is connected to the second detection device and controls the assist motor and the ABS unit based on the detection result of the first detection device and the detection result of the second detection device.
In the bicycle device on the 7A side surface according to the 6A side surface of the present disclosure, the assist force is added to the human-powered driving force by rotating the assist motor in the first direction, and the assist motor is in the first direction. The pump is driven by rotating in the opposite second direction, and the control device is assisted by operating the operating device while rotating the assist motor in the first direction. The output of the motor in the first direction is reduced.
In the bicycle device on the 8A side according to the 6A or 7A side surface of the present disclosure, the control device is the hydraulic pressure applied to the braking device based on the rotational state of the wheels when the operating device is being operated. Is depressurized by the ABS unit, and the assist motor is rotated in the second direction.
In the bicycle device on the 9A side according to the 8A side of the present disclosure, when the control device is rotating the assist motor in the second direction, the operating device is not operated. The rotation of the assist motor in the second direction is stopped.
In the bicycle device on the 10A side according to the 8A or 9A side surface of the present disclosure, the control device causes the wheel to rotate at a speed less than a predetermined speed when the assist motor is rotated in the second direction. In the state of, the rotation of the assist motor in the second direction is stopped.
In the bicycle device on the 11A side according to any one of the 8A to 10A sides of the present disclosure, the control device boosts the oil pressure by the pump after the pressure applied to the braking device is reduced. ..
The bicycle device on the side surface of the twelfth A according to any one of the side surfaces 1A to 11A of the present disclosure further includes a housing provided with the assist motor and the ABS unit.
In the bicycle device on the 13A side according to the 12A side of the present disclosure, the pump of the ABS unit is provided in the internal space of the housing.
In the bicycle device on the 14A side according to any one of the 1A to 13A sides of the present disclosure, the wheels include front wheels and rear wheels, and the ABS unit controls the braking force applied to the front wheels. It includes one ABS unit and a second ABS unit that controls the braking force applied to the rear wheels.

According to the bicycle device of the present disclosure, the bicycle can be suitably braked.

A side view of the bicycle of the first embodiment. The block diagram of the bicycle of FIG. The flowchart of the control executed by the control device of FIG. The flowchart of the control executed by the control device of FIG. The block diagram of the bicycle of the 2nd Embodiment. A block diagram of a modified bicycle.

(First Embodiment)
FIG. 1 is an appearance of an electrically power assisted bicycle (hereinafter referred to as “bicycle 10”). The bicycle 10 includes a frame 12 constituting the main body, front wheels 14 and rear wheels 16 which are wheels rotatably attached to the frame 12, and a handle 18 which is operated to change the direction of the front wheels 14. The bicycle 10 further includes a pair of brake levers 20F and 20R which are operating devices attached to the handlebar 18, a braking device 22F which applies a braking force to the front wheels 14, and a braking device 22R which applies a braking force to the rear wheels 16. The diameters of the front wheels 14 and the rear wheels 16 are substantially the same.

The braking devices 22F and 22R are, for example, disc brakes. Each braking device 22F, 22R has disc rotors 26F, 26R fixed to hubs 24F, 24R so that they can rotate integrally with wheels, a pair of brake pads (not shown), and brake pads are disc rotors 26F, 26R. The calipers 28F and 28R that brake the rotation of the disc rotors 26F and 26R by pressing against the disc rotors 26F and 26R are provided.

One of the pair of brake levers 20F and 20R, the brake lever 20F, is connected to the caliper 28F for braking the front wheel 14. The other brake lever 20R is connected to the caliper 28R for braking the rear wheel 16. The calipers 28F and 28R sandwich the disc rotors 26F and 26R via the brake pads by operating the corresponding brake levers 20F and 20R. This brakes the rotation of the wheels.

The brake levers 20F and 20R include a base portion 21A attached to the handle 18, a lever portion 21B rotatably connected to the base portion 21A, and a piston (not shown) connected to the lever portion 21B. When the brake levers 20F and 20R are operated, the lever portion 21B is displaced with respect to the base portion 21A from the initial position which is the position of the lever portion 21B when no force is applied.

The bicycle 10 further includes a drive mechanism 30 that transmits a driving force to the rear wheels. The drive mechanism 30 includes a drive unit 32 that is detachably fixed to the frame 12 and a crankshaft 34 that is rotatably attached to the drive unit 32. The drive unit 32 includes an assist motor 36 that adds an assist force to a human-powered driving force input from the crankshaft 34, and a housing 38 that accommodates a plurality of mechanical elements. The assist motor 36 is an electric motor and is provided in the housing 38. The assist motor 36 may be provided in the internal space of the housing 38. The bicycle 10 further includes a battery 40 that supplies power to the assist motor 36. The battery 40 is attached to the frame 12.

The drive mechanism 30 further includes a pair of crank arms 42 connected to the crankshaft 34 and a pair of pedals 44 rotatably attached to the crank arm 42. The drive mechanism 30 is further rotatably attached to the front sprocket 48 connected to the crankshaft 34 via a one-way clutch 46 (see FIG. 2) and the hub 24R of the rear wheels 16 via a freewheel (not shown). The sprocket 50 and the chain 52 wound around the front sprocket 48 and the rear sprocket 50 are provided.

When a human-powered driving force for rotating the crank arm 42 forward is input to the pedal 44, the crank arm 42 and the crankshaft 34 rotate forward integrally with respect to the frame 12, and the rotation of the crankshaft 34 is transmitted to the front sprocket 48. Then, the rotation of the front sprocket 48 is transmitted to the rear sprocket 50 and the rear wheels 16 by the chain 52. On the other hand, when a human-powered driving force for rotating the crank arm 42 backward is input to the pedal 44 and the crank arm 42 and the crankshaft 34 rotate backward integrally with respect to the frame 12, the one-way clutch 46 causes the crankshaft 34 to rotate. Not transmitted to the front sprocket 48.

The assist motor 36 rotates in the first direction in response to a human-powered driving force that rotates the crank arm 42 forward. When the assist motor 36 rotates in the first direction, the rotation of the assist motor 36 is transmitted to the front sprocket 48 via a reduction mechanism (not shown) and a one-way clutch 54 (see FIG. 2). Therefore, an assist force is added to the human-powered driving force.

FIG. 2 shows the electrical or mechanical connection of the bicycle 10 (see FIG. 1). The broken line in FIG. 2 shows the electrical connection relationship of the bicycle 10. The solid line in FIG. 2 shows the mechanical connection relationship of the bicycle 10.

The bicycle 10 further includes a bicycle device 56 composed of a plurality of mechanical elements including a drive unit 32 (see FIG. 1). The bicycle device 56 is driven by the assist motor 36 and controls the ABS unit 58F that controls the braking force applied to the front wheels 14 (see FIG. 1) from the caliper 28F, and the control device 60 that controls the assist motor 36 and the ABS unit 58F. To be equipped. The ABS unit 58F is housed in the internal space of the housing 38.

The ABS unit 58F includes a pump 62 that supplies hydraulic oil and supplies oil to the caliper 28F, and a reservoir 64F in which the hydraulic oil is stored. The pump 62 is realized by, for example, a piston pump, a gear pump, or the like. A one-way clutch 66, which is a component of the bicycle device 56, is arranged between the assist motor 36 and the pump 62. The pump 62 is mechanically connected to the assist motor 36 via a one-way clutch 66.

The one-way clutch 66 transmits the rotation of the assist motor 36 to the pump 62 when the output shaft of the assist motor 36 rotates in the second direction opposite to the first direction. Therefore, when the assist motor 36 rotates in the second direction, the pump 62 is driven via the one-way clutch 66. On the other hand, the one-way clutch 66 does not transmit the rotation of the assist motor 36 to the pump 62 when the output shaft of the assist motor 36 rotates in the first direction. The bicycle device 56 may further include a speed reduction mechanism (not shown) in the power transmission path between the assist motor 36 and the pump 62.

The ABS unit 58F further includes a first valve 68F and a second valve 70F that regulate the oil pressure applied to the caliper 28F. The first valve 68F is arranged in the pipeline connecting the brake lever 20F and the caliper 28F. The second valve 70F is arranged in the pipeline connecting the caliper 28F and the reservoir 64F.

The first valve 68F and the second valve 70F are realized by a solenoid valve or an electric valve. When each valve 68F and 70F is realized by a solenoid valve, from the viewpoint of suppressing waste of electric power, the solenoid valve that is opened when no electric power is applied is used as the first valve 68F and no electric power is applied. It is preferable to use the solenoid valve that is sometimes closed as the second valve 70F. The control device 60 controls the opening and closing of the valves 68F and 70F to control the oil pressure applied to the caliper 28F.

When the oil pressure applied to the caliper 28F is large, the caliper 28F is brought closer to the disc rotor 26F (see FIG. 1). In this case, the caliper 28F sandwiches the disc rotor 26F via the brake pads, and the rotation of the front wheels 14 is braked. On the other hand, when the oil pressure applied to the caliper 28F is small, the caliper 28F separates from the disc rotor 26F. Therefore, the rotation of the front wheel 14 is not braked.

The hydraulic oil supplied from the pump 62 flows through the first line 72F, the second line 74F, and the third line 76F. The first pipeline 72F, the second pipeline 74F, and the third pipeline 76F are each branched into three pipelines. Each end of the first pipeline 72F is connected to the brake lever 20F, the pump 62, and the first valve 68F. Each end of the second pipeline 74F is connected to a caliper 28F, a first valve 68F, and a second valve 70F. Each end of the third line 76F is connected to a pump 62, a reservoir 64F, and a second valve 70F.

The ABS unit 58F further includes a first check valve 78F arranged in the first pipeline 72F and a second check valve 80F arranged in the third conduit 76F. The first check valve 78F has a role of flowing hydraulic oil from the pump 62 to the brake lever 20F side and not flowing hydraulic oil to the opposite side. The second check valve 80F has a role of flowing hydraulic oil from the reservoir 64F side to the pump 62 side and not flowing hydraulic oil to the opposite side. Therefore, by driving the pump 62, hydraulic oil is supplied from the third pipeline 76F connected to the reservoir 64F to the first pipeline 72F. When the pump 62 is driven, the oil pressure of the first pipeline 72F is boosted. When the second valve 70F is open, hydraulic oil flows from the second pipeline 74F to the third pipeline 76F via the second valve 70F as the pump 62 is driven.

The bicycle 10 further detects the rotational state of the first detection device 82F that detects the operating state of the brake lever 20F, the second detection device 84F that detects the rotational state of the front wheels 14, and the rear wheels 16 (see FIG. 1). A second detection device 84R is provided. The first detection device 82F and the second detection devices 84F and 84R are electrically connected to the control device 60.

The first detection device 82F is a sensor for detecting whether or not the lever portion 21B (see FIG. 1) of the brake lever 20F is operated by the user. The first detection device 82F is, for example, an angle sensor attached to the brake lever 20F. The angle sensor is realized by, for example, a potentiometer, a magnetic sensor, an optical sensor, or the like. The first detection device 82F detects the operating state of the brake lever 20F by detecting the operating angle which is the angle of the lever portion 21B with respect to the base portion 21A (see FIG. 1). When the angle sensor is realized by a magnetic sensor, the magnetic sensor provided in the base portion 21A detects the movement of the magnet provided in the lever portion 21B.

The second detection device 84F includes, for example, a magnetic sensor attached to the frame 12 (see FIG. 1) near the front wheel 14 and a magnet attached to the spokes of the disc rotor 26F or the front wheel 14. The second detection device 84F detects the rotation speed, which is the rotation state of the front wheel 14, by detecting the magnet by the magnetic sensor. A plurality of magnets that rotate together with the front wheels 14 may be provided in the circumferential direction of the front wheels 14, or may be formed in an annular shape and magnetized alternately in the circumferential direction to different polarities.

The second detection device 84R includes, for example, a magnetic sensor attached to the frame 12 near the rear wheel 16 and a magnet attached to the spokes of the disc rotor 26R or the rear wheel 16. The second detection device 84R detects the rotation speed, which is the rotation state of the rear wheel 16, by detecting the magnet by the magnetic sensor. A plurality of magnets rotating together with the rear wheel 16 may be provided in the circumferential direction of the rear wheel 16, or may be formed in an annular shape and magnetized alternately in the circumferential direction with different polarities.

The control device 60 calculates the vehicle speed, which is the speed of the bicycle 10, based on the detection result of the rotation speed of at least one of the front wheels 14 and the rear wheels 16 detected by the second detection devices 84F and 84R. The control device 60 calculates the vehicle speed of the bicycle 10 based on the detection result having a high rotation speed among the detection results of the second detection devices 84F and 84R.

The bicycle 10 further includes an operation unit 86 that is attached to the handle 18 (see FIG. 1) and is operated to switch the operation mode of the assist motor 36, and a torque sensor 87 that detects a human-powered driving force. The operation unit 86 and the torque sensor 87 are electrically connected to the control device 60. The torque sensor 87 is provided, for example, in the power transmission path between the crankshaft 34 and the front sprocket 48. The torque sensor 87 is realized by, for example, a strain sensor or a magnetostriction sensor.

The operation unit 86 includes an assist selection switch (not shown) for selecting the operation mode of the assist motor 36. When the operation mode of the assist motor 36 is set to the assist-on mode by the assist selection switch, power is supplied from the battery 40 (see FIG. 1) to the assist motor 36 according to the detection result of the torque sensor 87. On the other hand, when the operation mode of the assist motor 36 is set to the assist off mode by the assist selection switch, the human-powered driving force is not assisted by the assist motor 36.

The operation unit 86 further includes an ABS operation changeover switch (not shown) for switching between an ABS operation mode that activates the ABS unit 58F and an ABS non-operation mode that activates the ABS unit 58F. The control of the ABS unit 58F by the control device 60 is executed by switching from the ABS non-operation mode to the ABS operation mode by the ABS operation changeover switch. The control of the ABS unit 58F by the control device 60 does not depend on the operation of the assist selection switch.

The control device 60 controls the output and the rotation direction of the assist motor 36 based on the detection results of the first detection device 82F and the second detection devices 84F and 84R, respectively. The control device 60 includes a microprocessor and a memory, and operates by the microprocessor executing a program stored in the memory. The control device 60 sets the open / closed states of the first valve 68F and the second valve 70F in the first pattern and the second pattern based on the detection results of the first detection device 82F and the second detection devices 84F and 84R, respectively. , And switch to one of the third patterns. Table 1 shows the open / closed states of the first valve 68F and the second valve 70F in each pattern.

第１のパターンは、第１のバルブ６８Ｆが開放され、第２のバルブ７０Ｆが閉鎖されている状態である。第２のパターンは、第１のバルブ６８Ｆが閉鎖され、第２のバルブ７０Ｆが開放されている状態である。第３のパターンは、第１のバルブ６８Ｆおよび第２のバルブ７０Ｆの両方が閉鎖されている状態である。なお、操作部８６によってＡＢＳ非作動モードに設定されているときは、第１のパターンが選択されている。

The first pattern is a state in which the first valve 68F is open and the second valve 70F is closed. The second pattern is a state in which the first valve 68F is closed and the second valve 70F is open. The third pattern is a state in which both the first valve 68F and the second valve 70F are closed. When the operation unit 86 is set to the ABS non-operation mode, the first pattern is selected.

When the first pattern is selected, the brake lever 20F is operated so that the piston of the brake lever 20F compresses the hydraulic oil in the first conduit 72F and the second conduit 74F. That is, the oil pressure of the second pipeline 74F is boosted, and the oil pressure given to the caliper 28F increases. Therefore, when the brake lever 20F is operated, the caliper 28F sandwiches the disc rotor 26F via the brake pads, and the rotation of the front wheels 14 is braked.

When the second pattern is selected, the hydraulic oil in the second pipeline 74F moves into the third pipeline 76F, so that the oil pressure in the second pipeline 74F is reduced. Therefore, the oil pressure applied to the caliper 28F is also reduced, and the braking force applied to the front wheels 14 is weakened. The hydraulic oil in the third conduit 76F flows into the reservoir 64F and the pump 62. In the second pattern, since the first valve 68F is closed, the oil pressure of the second pipeline 74F does not change even if the brake lever 20F is operated. Therefore, the braking force applied to the front wheels 14 does not depend on the operation of the brake lever 20F.

When the third pattern is selected, the hydraulic oil in the second line 74F is held in the second line 74F, so that the oil pressure in the second line 74F is held. Therefore, the oil pressure applied to the caliper 28F is also maintained, and the braking force applied to the front wheels 14 is kept constant. In the third pattern, since the first valve 68F is closed, the braking force applied to the front wheels 14 does not depend on the operation of the brake lever 20F as in the second pattern.

3 and 4 are flowcharts of ABS operation control executed by the control device 60. The control device 60 starts the processes shown in FIGS. 3 and 4 by setting the ABS operation mode by the operation unit 86. When the ABS operation mode is already set, the process shown in FIGS. 3 and 4 is started by turning on the power of the control device 60. The power supply of the control device 60 is switched on and off by the operation unit 86. Here, the case where the assist-on mode is selected by the operation unit 86 will be described.

The control device 60 rotates the assist motor 36 in the first direction according to the human-powered driving force. Further, the open / closed state of each of the valves 68F and 70F is maintained in the first pattern until it is switched by the control device 60.

In step S1, the control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F. If it is determined in step S1 that the brake lever 20F is not operated, the process of step S1 is executed again. On the other hand, if it is determined in step S1 that the brake lever 20F is being operated, the process of step S2 is executed. When the ABS operation control is executed only on the front wheels 14 as in the first embodiment, only the brake lever 20F corresponding to the front wheels 14 is detected. On the other hand, when the ABS operation control is executed only on the rear wheels 16, only the brake lever 20R corresponding to the rear wheels 16 is detected.

In step S2, the control device 60 reduces the output of the assist motor 36 when the assist motor 36 is rotated in the first direction according to the human-powered driving force. Then, the control device 60 finally stops the assist motor 36 by reducing the output of the assist motor 36.

In step S3, the control device 60 determines whether or not the vehicle speed of the bicycle 10 is equal to or higher than the predetermined speed based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S3 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S4 is executed.

In step S4, the control device 60 determines whether or not the state of the bicycle 10 is a predetermined state based on the detection results of the second detection devices 84F and 84R. The predetermined state is at least one of a state in which the difference between the rotation speed of the front wheels 14 and the rotation speed of the rear wheels 16 is equal to or more than the predetermined speed, and a state in which the rotation speed of the wheels is changed by the predetermined value or more. It is in a state of being.

When the ABS operation control is executed only on the front wheels 14 as in the first embodiment, only the front wheels 14 are detected as to whether or not the rotation speed of the wheels has changed by a predetermined value or more. On the other hand, when the ABS operation control is executed only on the rear wheels 16, only the rear wheels 16 are detected as to whether or not the rotation speed of the wheels has changed by a predetermined value or more. When a predetermined state is established, it is suggested that the front wheel 14 that is braked by the operation of the brake lever 20F may be locked.

If it is determined in step S4 that the state of the bicycle 10 is a predetermined state, the process of step S6 is executed. On the other hand, if it is determined in step S3 that the vehicle speed is less than the predetermined speed, or if it is determined in step S4 that the state of the bicycle 10 is not the predetermined state, the process of step S5 is executed.

In step S5, the control device 60 returns the output of the assist motor 36 so that the driving force corresponding to the human-powered driving force is output from the assist motor 36. That is, the control device 60 returns the output of the assist motor 36, which was forcibly reduced in step S2, to a state in which the driving force corresponding to the human-powered driving force is output. Then, after finishing the process of step S5, the control device 60 executes the process of step S1 again.

In step S6, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the first pattern to the second pattern. Therefore, the first valve 68F is closed and the second valve 70F is opened. Therefore, the oil pressure applied to the caliper 28F is reduced, and the braking force applied to the front wheels 14 is weakened.

The control device 60 rotates the assist motor 36 in the second direction in step S7. When the assist motor 36 rotates in the second direction, a driving force is transmitted from the assist motor 36 to the pump 62, and the pump 62 is driven. Therefore, hydraulic oil is supplied to the first pipeline 72F, and the oil pressure of the first pipeline 72F begins to be boosted. By boosting the oil pressure of the first pipeline 72F, the lever portion 21B of the brake lever 20F is pushed back toward the initial position.

In step S8, the control device 60 determines whether or not a predetermined time has elapsed since the process of step S6 was executed. If it is determined in step S8 that the predetermined time has not elapsed, the process of step S8 is executed again. On the other hand, if it is determined in step S8 that the predetermined time has elapsed, the process of step S9 is executed.

In step S9, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the second pattern to the third pattern. Therefore, both the first valve 68F and the second valve 70F are closed. Therefore, the oil pressure applied to the caliper 28F is maintained, and the braking force applied to the front wheels 14 is kept constant. The oil pressure applied to the caliper 28F continues to be depressurized until the valves 68F and 70F are switched from the second pattern to the third pattern.

In step S10, the control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F. If it is determined in step S10 that the brake lever 20F is being operated, the process of step S11 is executed.

In step S11, the control device 60 determines whether or not the vehicle speed of the bicycle 10 is equal to or higher than the predetermined speed based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S11 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S13 is executed. On the other hand, if it is determined in step S10 that the brake lever 20F is not operated, or if it is determined in step S11 that the vehicle speed is less than a predetermined speed, the process of step S12 is executed.

In step S12, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the third pattern to the first pattern. Therefore, the first valve 68F is opened and the second valve 70F is closed. Therefore, the rotation of the front wheel 14 is braked in conjunction with the operation of the brake lever 20F. Then, the control device 60 executes the process of step S19 after finishing the process of step S12.

In step S13, the control device 60 executes substantially the same process as the process executed in step S4. If it is determined in step S13 that the state of the bicycle 10 is a predetermined state, the process of step S14 is executed.

In step S14, the control device 60 executes substantially the same process as the process executed in step S6. Then, after finishing the process of step S14, the control device 60 executes the process of step S8 again. When the process of step S8 is executed after the process of step S14, the control device 60 determines whether or not a predetermined time has elapsed since the process of step S14 was executed.

On the other hand, if it is determined in step S13 that the state of the bicycle 10 is not a predetermined state, the process of step S15 is executed. In step S15, the control device 60 executes substantially the same process as the process executed in step S12.

In step S16, the control device 60 determines whether or not the brake lever 20F is operated based on the detection result of the first detection device 82F. If it is determined in step S16 that the brake lever 20F is being operated, the process of step S17 is executed.

In step S17, the control device 60 determines whether or not the vehicle speed of the bicycle 10 is equal to or higher than the predetermined speed based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, a speed of 5 km / h or less. If it is determined in step S17 that the vehicle speed is equal to or higher than the predetermined speed, the process of step S18 is executed. On the other hand, if it is determined in step S16 that the brake lever 20F is not operated, or if it is determined in step S17 that the vehicle speed is less than a predetermined speed, the process of step S19 is executed.

In step S18, the control device 60 executes substantially the same process as the process executed in step S4. If it is determined in step S18 that the state of the bicycle 10 is a predetermined state, the process of step S14 is executed. On the other hand, if it is determined in step S18 that the state of the bicycle 10 is not a predetermined state, the process of step S19 is executed.

In step S19, the control device 60 determines whether or not a predetermined time has elapsed since the process of step S6 or the process of step S14 was executed. Specifically, it is determined whether or not a predetermined time has elapsed from the last process in which the open / closed states of the valves 68F and 70F are switched to the second pattern. The predetermined time is predetermined based on, for example, the time required to raise the amount of hydraulic oil in the first pipeline 72F and the second pipeline 74F to a predetermined amount. The predetermined amount is, for example, substantially the same amount as the state before the process of step S6.

If it is determined in step S19 that the predetermined time has not elapsed, the process of step S19 is executed again. On the other hand, if it is determined in step S19 that the predetermined time has elapsed, the process of step S20 is executed.

In step S20, the control device 60 stops the rotation of the assist motor 36 in the second direction. Therefore, the driving of the pump 62 is stopped. The control device 60 repeatedly executes the processes of steps S1 to S20 until the operation unit 86 switches from the ABS operation mode to the ABS non-operation mode. When the assist-off mode is selected by the operation unit 86, the ABS operation control in which the processes of steps S2 and S5 are omitted from the processes shown in FIGS. 3 and 4 is executed.

The operation of the bicycle device 56 will be described with reference to FIGS. 1 and 2.
The user operates the operation unit 86 before boarding the bicycle 10 or while traveling. By setting the assist-on mode by the operation unit 86, the assist motor 36 rotates in the first direction according to the human-powered driving force input to the pedal 44, and the assisting force is added to the human-powered driving force.

When the user operates the brake lever 20F when the vehicle speed is equal to or higher than a predetermined speed, the front wheels 14 may lock depending on the condition of the road surface or the strength with which the user grips the brake lever 20F. At this time, the assist motor 36 and the ABS unit 58F are controlled by the control device 60, and the braking force applied to the front wheels 14 of the bicycle 10 is controlled. Specifically, by setting the ABS operation mode by the operation unit 86, the processes of steps S1 to S20 shown in FIGS. 3 and 4 are repeatedly executed.

Therefore, even if the front wheel 14 is about to lock due to the operation of the brake lever 20F, the ABS unit 58F is driven by the control device 60, and the front wheel 14 returns to the normal state. Therefore, it is difficult for the user to lose the balance during running.

Further, the pump 62 of the ABS unit 58F is driven by the assist motor 36 rotating in the second direction. That is, the assist motor 36 rotates in the first direction to add an assist force to the human-powered driving force, and the assist motor 36 rotates in the second direction to drive the pump 62. Therefore, the assist force is added to the human-powered driving force by the assist motor 36, and the size of the bicycle device 56 is less likely to increase as compared with the configuration in which the pump 62 is driven by a drive source different from the assist motor 36. Therefore, it is possible to contribute to the miniaturization and weight reduction of the bicycle 10.

According to the bicycle device 56 of the first embodiment, the following effects can be further obtained.
(1) In the bicycle device 56, when the brake lever 20F is operated while the assist motor 36 is being rotated in the first direction, the control device 60 reduces the output of the assist motor 36. Therefore, when the front wheel 14 is about to lock due to the operation of the brake lever 20F, the output of the assist motor 36 is small, so that the user is unlikely to lose the balance during traveling.

(2) In the bicycle device 56, the assist motor 36 and the ABS unit 58F are controlled by the control device 60, so that the oil pressure given to the caliper 28F is reduced and the assist motor 36 is rotated in the second direction. Drives the pump 62. Therefore, the amount of hydraulic oil flowing through the first pipe line 72F and the second pipe line 74F is earlier than the predetermined amount as compared with the configuration in which the pump 62 is driven after depressurizing the oil pressure applied to the caliper 28F. Easy to rise.

(3) When the rotation speed of the wheels of the bicycle 10 is less than the predetermined speed, that is, when the vehicle speed of the bicycle 10 is less than the predetermined speed, even if the wheels are locked, the user is unlikely to lose the balance during traveling. Based on this point, the bicycle device 56 does not drive the ABS unit 58F or stops driving the ABS unit 58F when the control device 60 determines that the vehicle speed is less than a predetermined speed. Therefore, waste of electric power can be suppressed as compared with a configuration in which the ABS unit 58F is driven even when the vehicle speed is less than a predetermined speed, or a configuration in which the ABS unit 58F is continuously driven.

(4) The bicycle device 56 accommodates the assist motor 36 and the ABS unit 58F in the internal space of the housing 38. Therefore, a part or all of the ABS unit 58F can contribute to the protection of the ABS unit 58F as compared with the configuration provided outside the housing 38.

(5) According to the bicycle 10, the hydraulic pressure applied to the caliper 28F due to the operation of the ABS unit 58F is reduced, so that the brake lever 20F is operated even after the front wheels 14 have returned to the normal state. If so, the front wheels 14 may be about to lock again. Based on this point, the bicycle device 56 executes the processes of steps S16 to S18 by the control device 60 after the front wheels 14 have returned to the normal state by reducing the hydraulic pressure applied to the caliper 28F. .. Therefore, even if the wheels are about to lock again, the ABS unit 58F operates again, so that the user is less likely to lose balance.

(Second Embodiment)
The bicycle device 56 of the second embodiment is different from the bicycle device 56 of the first embodiment in the points described below, and has substantially the same configuration as the bicycle device 56 of the first embodiment in other respects. Be prepared. In the description of the bicycle device 56 of the second embodiment, the same reference numerals are given to the configurations common to the bicycle device 56 of the first embodiment, and a part or all of the description of the configuration is omitted.

FIG. 5 shows the electrical or mechanical connection of the bicycle 10 (see FIG. 1). The broken line in FIG. 5 shows the electrical connection relationship of the bicycle 10. The solid line in FIG. 5 shows the mechanical connection relationship of the bicycle 10.

The bicycle device 56 includes an ABS unit that is driven by an assist motor 36 and controls the braking force applied to the wheels from the calipers 28F and 28R. The ABS unit includes a first ABS unit 58F that controls the braking force applied to the front wheels 14 (see FIG. 1) and a second ABS unit 58R that controls the braking force applied to the rear wheels 16 (see FIG. 1). .. The ABS units 58F and 58R are housed in the internal space of the housing 38. The control device 60 controls the assist motor 36, the first ABS unit 58F, and the second ABS unit 58R. Since the first ABS unit 58F has substantially the same configuration as the ABS unit 58F of the first embodiment, a part or all of the description thereof will be omitted.

The second ABS unit 58R includes a pump 62 common to the first ABS unit 58F, and a reservoir 64R in which hydraulic oil is stored. The pump 62 is a common component of the ABS units 58F and 58R, and has a role of applying flood pressure to the calipers 28F and 28R. A pump 62 may be provided for each of the ABS units 58F and 58R.

The second ABS unit 58R further comprises a first valve 68R and a second valve 70R that regulate the oil pressure applied to the caliper 28R. The first valve 68R has substantially the same configuration as the first valve 68F in the first ABS unit 58F, and is arranged in the pipeline connecting the brake lever 20R and the caliper 28R. The second valve 70R has substantially the same configuration as the second valve 70F in the first ABS unit 58F, and is arranged in the pipeline connecting the caliper 28R and the reservoir 64R.

When the hydraulic pressure applied to the caliper 28R is large, the caliper 28R is brought closer to the disc rotor 26R (see FIG. 1). In this case, the caliper 28R sandwiches the disc rotor 26R via the brake pads, and the rotation of the rear wheels 16 is braked. On the other hand, when the oil pressure applied to the caliper 28R is small, the caliper 28R separates from the disc rotor 26R. Therefore, the rotation of the rear wheel 16 is not braked.

The hydraulic oil supplied from the pump 62 flows through the first line 72F, the second line 74F, and the third line 76F in the first ABS unit 58F, and the second ABS unit 58R. The first pipeline 72R, the second pipeline 74R, and the third pipeline 76R flow in the above. The first pipeline 72R, the second pipeline 74R, and the third pipeline 76R are each branched into three pipelines.

Each end of the first line 72R is connected to a brake lever 20R, a pump 62, and a first valve 68R. The first pipeline 72R is connected to the pump 62 by being connected to a portion of the first pipeline 72F between the pump 62 and the first check valve 78F. Each end of the second line 74R is connected to a caliper 28R, a first valve 68R, and a second valve 70R. Each end of the third line 76R is connected to a pump 62, a reservoir 64R, and a second valve 70R. The third pipeline 76R is connected to the pump 62 by being connected to a portion of the third pipeline 76F between the pump 62 and the second check valve 80F.

The second ABS unit 58R further includes a first check valve 78R arranged in the first conduit 72R and a second check valve 80R arranged in the third conduit 76R. The first check valve 78R has substantially the same configuration as the first check valve 78F in the first ABS unit 58F. The second check valve 80R has substantially the same configuration as the second check valve 80F in the first ABS unit 58F.

The bicycle 10 further includes a first detection device 82R that detects the operating state of the brake lever 20R. The first detection device 82R has substantially the same configuration as the first detection device 82F. The first detection device 82R is electrically connected to the control device 60.

The operation unit 86 is an ABS operation changeover switch (illustrated) for switching between an ABS operation mode in which the ABS units 58F and 58R are in an operable state and an ABS non-operation mode in which the ABS units 58F and 58R are inactive. Omitted).

The control device 60 controls the output and the rotation direction of the assist motor 36 based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. The control device 60 opens and closes the first valve 68F and the second valve 70F in the first ABS unit 58F based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. , And the open / closed state of the first valve 68R and the second valve 70R in the second ABS unit 58R is individually switched. The control for switching the open / closed state of the valves 68R and 70R in the second ABS unit 58R is substantially the same as the control for switching the open / closed state of the valves 68F and 70F in the first ABS unit 58F.

The control device 60 starts the processes shown in FIGS. 3 and 4 by setting the ABS operation mode by the operation unit 86.
In step S1, step S10, and step S16, the control device 60 determines whether or not the brake levers 20F and 20R are operated based on the first detection devices 82F and 82R. When at least one of the brake levers 20F and 20R is operated, it is determined that the brake levers 20F and 20R are operated.

In step S6, the control device 60 includes at least the first valve 68F and the second valve 70F in the first ABS unit 58F, and the first valve 68R and the second valve 70R in the second ABS unit 58R. One open / closed state is switched from the first pattern to the second pattern.

The control device 60 operates the ABS units 58F and 58R corresponding to the wheels on which the change in the rotational speed equal to or higher than the predetermined value is detected in, for example, step S4. That is, when the control device 60 determines in step S4 that the rotation speed of the rear wheels 16 has changed by a predetermined value or more, the control device 60 has the first valve 68R and the first valve 68R in the second ABS unit 58R in step S6. The open / closed state of the second valve 70R is switched from the first pattern to the second pattern.

Further, when it is detected in step S4 that the difference between the rotation speed of the front wheels 14 and the rotation speed of the rear wheels 16 becomes equal to or more than a predetermined speed, the control device 60 corresponds to the wheel having the lower rotation speed. The ABS units 58F and 58R are operated. That is, when the control device 60 determines in step S4 that the rotation speed of the rear wheels 16 is lower than the rotation speed of the front wheels 14 by a predetermined speed or more, the control device 60 and the first valve 68R in the second ABS unit 58R in step S6. The open / closed state of the second valve 70R is switched from the first pattern to the second pattern. Note that step S14 is the same as step S6.

The operation of the bicycle device 56 will be described with reference to FIGS. 1 and 5.
When the user operates the brake levers 20F and 20R when the vehicle speed is equal to or higher than a predetermined speed, at least one of the front wheels 14 and the rear wheels 16 depends on the condition of the road surface or the strength with which the user grips the brake levers 20F and 20R. May lock. At this time, the assist motor 36 and the ABS units 58F and 58R are controlled by the control device 60, and the braking force applied to the wheels of the bicycle 10 is controlled.

Therefore, even if at least one of the front wheels 14 and the rear wheels 16 is about to lock due to the operation of the brake levers 20F and 20R, the control device 60 drives the ABS units 58F and 58R, and the wheels return to the normal state. Return. Therefore, it is difficult for the user to lose the balance during running.

According to the bicycle device 56 of the second embodiment, in addition to the effects (1) to (5) obtained by the first embodiment, the following effects can be further obtained.
(6) The bicycle device 56 includes a first ABS unit 58F that controls the braking force applied to the front wheels 14, and a second ABS unit 58R that controls the braking force applied to the rear wheels 16. Therefore, even if one or both of the front wheels 14 and the rear wheels 16 are about to lock due to the operation of the brake levers 20F and 20R, the ABS units 58F and 58R operate to operate the front wheels 14 and the rear wheels. 16 returns to the normal state. Therefore, as compared with the configuration in which only one of the first ABS unit 58F and the second ABS unit 58R is provided, the user is less likely to lose the balance during traveling.

(Modification example)
The description of each of the above embodiments is an example of possible embodiments of the bicycle device according to the present invention, and is not intended to limit the embodiments. A bicycle device according to the present invention may take, for example, a modification of the embodiment shown below and a combination of at least two modifications that are consistent with each other. In the following modification, the parts common to the embodiment are designated by the same reference numerals as those in the embodiment, and the description thereof will be omitted.

The control device 60 of the modified example simultaneously executes the process of step S6 and the process of step S7 in the ABS operation control. In the ABS operation control, the control device 60 of another modification executes the process of step S7 before the process of step S6.

According to the control device 60 of the modified example, in the ABS operation control, the processes of steps S16 to S18 are omitted from the processes shown in FIGS. 3 and 4.

According to the control device 60 of the modified example, in the ABS operation control, the process of step S19 is omitted from the processes shown in FIGS. 3 and 4. According to this modification, it is preferable to use an assist motor 36 having high performance capable of driving the pump 62 so as to increase the amount of oil pressure in a short time.

According to the control device 60 of the modified example, the rotation speed of the front wheels 14 and the rotation speed of the rear wheels 16 are determined from the predetermined states determined in the processes of steps S4, S13, and S18 shown in FIGS. 3 and 4. The state in which the difference from the rotation speed exceeds the predetermined speed is omitted.

The first detection devices 82F and 82R of the modified example are oil pressure sensors that detect the oil pressure of the first pipelines 72F and 72R instead of the angle sensor. The oil pressure sensor is realized by, for example, a pressure sensor provided on the inner wall of the first pipelines 72F and 72R.

The operating device of the modified example includes a grip in which the rotation of the wheel is braked by rotating the handle 18 around the axis of the handle 18 instead of the brake levers 20F and 20R. According to this modification, the braking force applied to the wheel is adjusted according to the amount of rotation of the grip. Another variant of the operating device includes a button attached to the steering wheel 18 instead of the brake levers 20F, 20R. According to this other modification, the braking force applied to the wheel is adjusted according to the amount of pressing the button.

-The braking devices 22F and 22R of the modified example are, for example, a rim brake or a cantilever brake instead of the disc brake.

The bicycle device 56 of the modified example of the first embodiment includes an ABS unit 58R that controls the braking force applied to the rear wheels 16 instead of the ABS unit 58F. The ABS unit 58R has substantially the same configuration as the second ABS unit 58R of the second embodiment.

-According to the bicycle device 56 of the modified example of the first embodiment, the ABS unit 58F is attached to the outside of the housing 38. As shown in FIG. 6, the bicycle device 56 further includes, for example, a case 88 attached to the outside of the housing 38. According to this modification, the ABS unit 58F is housed in the internal space of the case 88. In addition, the same modification is established in the second embodiment. According to the bicycle device 56 of the modified example of the second embodiment, for example, at least one of the first ABS unit 58F and the second ABS unit 58R is housed in the internal space of the case 88.

The bicycle device 56 of the modified example of the first embodiment accommodates the pump 62 of the ABS unit 58F in the internal space of the housing 38, and arranges other elements of the ABS unit 58F outside the housing 38. According to this modification, the other elements of the ABS unit 58F are housed in, for example, the interior space of the case attached to the outside of the housing 38. In addition, the same modification is established in the second embodiment.

-According to the bicycle device 56 of the modified example, the control of the ABS units 58F and 58R by the control device 60 depends on the operation of the assist selection switch. For example, when the assist-on mode is selected, the ABS operation mode is always switched.

-According to the modified bicycle 10, the ABS operation changeover switch is omitted from the operation unit 86. According to this modification, the ABS operation mode can be switched to, for example, by selecting the assist-on mode with the assist selection switch. On the other hand, when the assist off mode is selected by the assist selection switch, it is switched to the ABS non-operation mode.

10 ... Bicycle, 14 ... Front wheel, 16 ... Rear wheel, 20F, 20R ... Brake lever (operating device), 22F, 22R ... Braking device, 34 ... Crank shaft, 36 ... Assist motor, 38 ... Housing, 56 ... Bicycle device , 58F, 58R ... ABS unit, 60 ... control device, 62 ... pump, 66 ... one-way clutch, 82F, 82R ... first detection device, 84F, 84R ... second detection device.

Claims (20)

An ABS unit that controls the braking force applied to at least one of the front and rear wheels of the bicycle,
A second detection device that detects the rotational speed of at least one of the front wheels and the rear wheels,
A control device for receiving a detection result from the second detection device is provided.
The control device executes control to reduce the output of the assist motor that adds an assist force to the human-powered driving force input from the crankshaft of the bicycle when the brake lever of the bicycle is operated, and the second detection device. Based on the detection result of, it is determined whether or not the bicycle is in a predetermined state, and when it is determined that the bicycle is in the predetermined state, after the execution of the control for reducing the output of the assist motor, The ABS control that controls the ABS unit is executed, and the ABS control is executed.
The predetermined state is a state in which the difference between the rotation speed of the front wheel and the rotation speed of the rear wheel becomes a predetermined speed or more, and a change in the rotation speed of at least one of the front wheel and the rear wheel by a predetermined value or more. A device for bicycles, including at least one of the conditions in which. The bicycle device according to claim 1, further comprising the bicycle motor controlled by the control device. The ABS unit further includes a pump that applies hydraulic pressure to a braking device that applies braking force to at least one of the front wheels and the rear wheels.
The bicycle device according to claim 2, wherein the pump is driven by the motor of the bicycle. The bicycle device according to claim 3, wherein the bicycle motor drives the pump when the motor rotates. The bicycle device according to any one of claims 1 to 4, wherein the bicycle motor is an assist motor that adds an assist force to a human-powered driving force input from the crankshaft of the bicycle. An ABS unit that controls the braking force applied to at least one of the front and rear wheels of the bicycle,
A second detection device that detects the rotational speed of at least one of the front wheels and the rear wheels,
A control device that receives the detection result from the second detection device, and
The bicycle motor controlled by the control device is provided.
The ABS unit includes a pump that applies hydraulic pressure to a braking device that applies braking force to at least one of the front wheels and the rear wheels.
The bicycle motor is an assist motor that adds an assist force to a human-powered driving force input from the crankshaft of the bicycle, and drives the pump when the motor rotates.
The control device determines whether or not the bicycle is in a predetermined state based on the detection result of the second detection device, and when it is determined that the bicycle is in the predetermined state, the ABS unit is used. Execute ABS control to control,
The predetermined state is a state in which the difference between the rotation speed of the front wheel and the rotation speed of the rear wheel becomes a predetermined speed or more, and a change in the rotation speed of at least one of the front wheel and the rear wheel by a predetermined value or more. A device for bicycles, including at least one of the conditions in which. The bicycle device according to any one of claims 1 to 6, wherein the second detection device includes a magnetic sensor attached to a frame of the bicycle adjacent to at least one of the front wheel and the rear wheel. The second detection device includes a second detection device for the front wheels that detects the rotation speed of the front wheels, and a second detection device for the rear wheels that detects the rotation speed of the rear wheels.
The second detection device for the front wheels includes a magnetic sensor attached to the frame of the bicycle at a position adjacent to the front wheels.
The bicycle device according to claim 7, wherein the second detection device for the rear wheel includes a magnetic sensor attached to the frame of the bicycle at a position adjacent to the rear wheel. The front wheel second detection device further includes a magnet attached to one of the front wheel disc rotor and the front wheel spokes.
The bicycle device according to claim 8, wherein the second detection device for the rear wheels further includes a magnet attached to one of the disc rotor of the rear wheels and the spokes of the rear wheels. The second detection device for the front wheels further includes a plurality of magnets provided in the circumferential direction so as to rotate with the front wheels.
The bicycle device according to claim 8 or 9, wherein the second detection device for the rear wheels further includes a plurality of magnets provided in the circumferential direction so as to rotate with the rear wheels. A first detection device for detecting the operating state of the brake lever of the bicycle is further provided.
The first detection device outputs a detection result to the control device, and the first detection device outputs the detection result to the control device.
The control device controls the motor of the bicycle and the ABS unit based on the detection results of the second detection device for the front wheels, the second detection device for the rear wheels, and the first detection device. The bicycle device according to any one of 8 to 10. A first detection device for detecting the operating state of the brake lever of the bicycle is further provided.
The bicycle device according to any one of claims 6 to 10, wherein the first detection device outputs a detection result to the control device. The bicycle device according to claim 11 or 12, wherein the first detection device detects an operating angle of the lever portion of the brake lever with respect to the base portion of the brake lever. 13. Bicycle device. The bicycle device according to any one of claims 11 to 14, wherein the control device stops the rotation of the motor of the bicycle when it is determined that the vehicle speed of the bicycle is less than a predetermined speed. The control device reduces the hydraulic pressure applied to a braking device that applies a braking force to at least one of the front wheels and the rear wheels based on the rotational state of at least one of the front wheels and the rear wheels. The bicycle device according to any one of the above. The bicycle device according to any one of claims 1 to 16, further comprising a braking device for the front wheels operably connected to the first ABS unit of the ABS unit. The bicycle device according to claim 17, wherein the front wheel braking device is a disc brake. The bicycle device according to any one of claims 1 to 18, further comprising the rear wheel braking device operably provided in the second ABS unit of the ABS unit. The bicycle device according to claim 19, wherein the rear wheel braking device is a disc brake.

Images