JP7191646B2 - Manpowered vehicle controller - Google Patents

Description

The present invention relates to a controller for a manpowered vehicle.

For example, a manpowered vehicle control device disclosed in Patent Document 1 drives a motor in a walk mode according to the operation of a first operation switch provided on a handlebar.

Japanese Patent No. 6325596

The user's preferred pushing posture differs depending on the driving environment of the manpowered vehicle. According to the manpowered vehicle control device described above, since the first operation switch for driving the motor in the walk mode is provided only on the handlebar, there is room for improvement in usability.
SUMMARY OF THE INVENTION An object of the present invention is to provide a control device for a manpower-driven vehicle that can suitably drive a motor by an operation unit.

A manpowered vehicle control device according to a first aspect of the present invention includes a control unit for controlling a motor for applying propulsive force to a manpowered vehicle in response to an operation on at least one operation unit, the at least one The operating section includes at least a first operating section and a second operating section, the first operating section being provided on a handlebar of the manpowered vehicle, and the second operating section being provided at a position different from the handlebar. The control section enables the motor to be driven by the operation of the second operation section when the first operation section is operated.
According to the control device for a manpowered vehicle of the first aspect, when the first operation section is operated, the motor can be driven when the second operation section provided at a position different from the handlebar is operated. become. Therefore, the motor can be preferably driven by using not only the first operation section but also the second operation section.

In the control device for a manpowered vehicle according to the first aspect, the control unit controls the second operation unit when the operation is performed on each of the first operation unit and the second operation unit. It enables the motor to be driven by manipulation.
According to the manpower-driven vehicle control device of the second aspect, when the first operation section and the second operation section are operated, the motor can be driven by operating the second operation section.

In the third aspect of the manpowered vehicle control device according to the first or second aspect, the control section is adapted to switch the second operation section to the second operation section when the first operation section and the second operation section are operated simultaneously. to drive the motor.
According to the manpower-driven vehicle control device of the third aspect, the motor can be driven by operating the second operating section by simultaneously operating the first operating section and the second operating section.

In the control device for a manpowered vehicle according to any one of the first to third aspects, the operating section further includes a third operating section different from the first operating section and the second operating section. wherein, when at least one of the first operating section, the second operating section, and the third operating section is operated, the control section controls the motor by operating the third operating section. drive.
According to the control device for a manpowered vehicle of the fourth aspect, when at least one of the first operating section, the second operating section, and the third operating section is operated, the third operating section is operated. The motor can be driven by

In the manpowered vehicle control device according to the fifth aspect according to the fourth aspect, the third operating portion is provided at a position different from the handlebar.
According to the manpower-driven vehicle control device of the fifth aspect, the user can drive the motor by operating the third operation section provided at a position different from the handlebar.

In the control device for a manpowered vehicle according to the sixth aspect according to the fourth or fifth aspect, the control unit, when the second operation unit and the third operation unit are operated at the same time, switches to the third operation unit. to drive the motor.
According to the control device for a manpower-driven vehicle of the sixth aspect, when the second operating section and the third operating section are operated simultaneously, the motor can be driven by operating the third operating section.

In the control device for a manpowered vehicle according to any one of the first to sixth aspects, at least the second operation section includes an operation switch.
According to the manpower-driven vehicle control device of the seventh aspect, the user can operate the second operation section by operating the operation switch.

In the control device for manpowered vehicle of the eighth aspect according to any one of the fourth to sixth aspects, at least one of the second operation section and the third operation section includes an operation switch.
According to the manpower-driven vehicle control device of the eighth aspect, the user can operate at least one of the second operating section and the third operating section by operating the operating switch.

In the control device for manpowered vehicle according to the ninth aspect according to any one of the first to sixth aspects, at least the second operation section includes a load sensor.
According to the manpower-driven vehicle control device of the ninth aspect, the user can operate the second operating section by applying a load to the second operating section.

In the tenth aspect of the manpowered vehicle control device according to any one of the fourth to sixth aspects, at least one of the second operating portion and the third operating portion includes a load sensor.
According to the control device for a manpowered vehicle of the tenth aspect, the user can operate at least one of the second operating section and the third operating section by applying a load to at least one of the second operating section and the third operating section. .

In the eleventh aspect control device for a manpowered vehicle according to any one of the first to tenth aspects, the second operation unit includes a seat post, a saddle, a seat stay, a seat tube, and the seat of the manpowered vehicle. It is provided on at least one of the bridge portion of the stay, the top tube, the down tube, the stem, the front fork, the front suspension, and the rear suspension.
According to the control device for a manpowered vehicle of the eleventh aspect, the second operating portion includes a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, Since it is provided on at least one of the front suspension and the rear suspension, the user can preferably operate the second operation section.

In the twelfth aspect of the manpowered vehicle control device according to any one of the fourth to sixth, eighth, and tenth aspects, at least one of the second operating section and the third operating section includes: At least one of a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, a front suspension, and a rear suspension of a manpowered vehicle.
According to the control device for a manpowered vehicle of the twelfth aspect, at least one of the second operation portion and the third operation portion includes a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, Since it is provided on at least one of the down tube, stem, front fork, front suspension, and rear suspension, the user can preferably operate at least one of the second operating section and the third operating section.

In the control device for a manpowered vehicle according to the ninth or tenth aspect, the load sensor includes a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, and a stem. , the front fork, the front suspension, and the rear suspension.
According to the control device for a manpowered vehicle of the thirteenth aspect, the load sensor includes a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, a front suspension, and , at least one of the rear suspensions, so that the user can preferably apply a load to the load sensor.

In the controller for a manpowered vehicle according to any one of the first to thirteenth aspects, the control section drives the motor in response to an operation on the second operation section.
According to the manpower-driven vehicle control device of the fourteenth aspect, the user can drive the motor by operating the second operation section.

In the control device for a manpowered vehicle according to any one of the fourth to sixth, eighth, tenth and twelfth aspects, the control unit controls the operation of the third operation unit. In response, the motor is driven.
According to the manpower-driven vehicle control device of the fifteenth aspect, the user can drive the motor by operating the third operation section.

In the control device for manpowered vehicle according to the sixteenth aspect according to any one of the first to fifteenth aspects, the control section changes the control mode of the motor according to the operation of the first operation section.
According to the manpower-driven vehicle control device of the sixteenth aspect, the user can change the control mode of the motor by operating the first operation section.

In the control device for a manpowered vehicle according to the sixteenth aspect, the manpowered vehicle includes a crank arm to which manpower driving force is input, and the control mode is a control mode of the manpower driving force from the crank arm. A first mode for controlling the motor according to an input and a second mode for controlling the motor according to an operation on the operation unit are included.
According to the manpower-driven vehicle control device of the seventeenth aspect, the motor can be preferably driven in the first mode and the second mode.

In the control device for a manpowered vehicle according to the 17th aspect, the control unit drives the motor in response to the operation of the second operation unit while the second mode is selected. .
According to the manpower-driven vehicle control device of the eighteenth aspect, the motor can be favorably driven while the second mode is selected.

In the controller for manpowered vehicle according to the nineteenth aspect according to any one of the first to sixteenth aspects, the control section changes the control mode of the motor according to the operation of the second operation section.
According to the manpower-driven vehicle control device of the nineteenth aspect, the user can change the control mode of the motor by operating the second operation section.

A manpowered vehicle control device according to a twentieth aspect of the present invention includes a control unit for controlling a motor for applying propulsion force to the manpowered vehicle in response to an operation on at least one operation unit, the at least one The operating section includes at least a first operating section and a second operating section, the first operating section being provided on a handlebar of the manpowered vehicle, and the second operating section being provided at a position different from the handlebar. The control unit enables the motor to be driven by the operation of the second operation unit when the second operation unit is operated two or more times.
According to the manpower-driven vehicle control device of the twentieth aspect, the user can drive the motor by operating the second operation section two or more times. Therefore, the motor can be preferably driven by the operating portion.

A manpowered vehicle control device according to a twenty-first aspect of the present invention includes a control unit for controlling a motor for applying propulsion force to the manpowered vehicle in response to an operation on at least one operation unit, The operating portion includes at least a first operating portion and a second operating portion, the first operating portion being provided on a handlebar of the manpowered vehicle, and the second operating portion being provided at a position different from the handlebar. and the control unit starts driving the motor according to the operation of the second operation unit when the second operation unit is continuously operated for a predetermined time or longer, and performs the second operation. When the operation on the portion continues for less than the predetermined time, the motor does not start to be driven in response to the operation on the second operation portion.
According to the manpower-driven vehicle control device of the 21st aspect, the user drives the motor by continuously operating the second operation unit for a predetermined period of time or longer.

The manpower-driven vehicle control device of the present disclosure can suitably drive the motor by the operation unit. Therefore, the motor can be preferably driven by the operating portion.

1 is a side view of a manpowered vehicle including a manpowered vehicle control device according to a first embodiment; FIG. 1 is a block diagram showing an electrical configuration of a controller for a manpowered vehicle according to a first embodiment; FIG. FIG. 2 is a plan view of the first operating portion in FIG. 1; FIG. 3 is a flowchart of a process for changing a motor control mode executed by the control unit in FIG. 2; FIG. FIG. 3 is a flowchart of a process for driving a motor in a second mode, which is executed by the controller in FIG. 2; FIG. FIG. 11 is a flow chart of processing for driving the motor in the second mode, which is executed by the control unit of the second embodiment; FIG. The block diagram which shows the electrical structure of the control apparatus for manpower-driven vehicles of 3rd Embodiment. FIG. 8 is a flowchart of processing for changing a motor control mode executed by the control unit in FIG. 7; FIG. FIG. 8 is a flowchart of a process for driving a motor in a second mode, which is executed by the controller in FIG. 7; FIG. FIG. 11 is a flowchart of processing for changing the motor control mode executed by the control unit of the first modified example; FIG. FIG. 11 is a flow chart of processing for changing the motor control mode executed by the control unit of the second modification; FIG. A side view of a manpowered vehicle including a manpowered vehicle control device of a third modification. FIG. 11 is a flowchart of a process of driving a motor in accordance with an operation to an operation unit executed by a control unit according to a fourth modified example; FIG. FIG. 11 is a flowchart of processing for driving a motor according to an operation to an operation unit, which is executed by a control unit according to a fifth modified example; FIG. A block diagram showing an electrical configuration of a control device for a manpower-driven vehicle according to a sixth modification.

(First embodiment)
A human-powered vehicle control device 70 according to a first embodiment will be described with reference to FIGS. 1 to 5. FIG. Hereinafter, the human-powered vehicle control device 70 is simply referred to as the control device 70 . The control device 70 is provided in the manpowered vehicle 10 . The manpowered vehicle 10 is a vehicle that can be driven by at least the manpower driving force H. As shown in FIG. The manpowered vehicle 10 is not limited in the number of wheels and includes, for example, unicycles and vehicles with three or more wheels. The human powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, and recumbent bikes. Bicycles include electric bicycles (E-bikes) powered by electric motors. Electric bicycles include power-assisted bicycles that assist the propulsion of the vehicle with an electric motor. Electric bicycles include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the manpowered vehicle 10 will be described as a bicycle having two wheels.

Manpowered vehicle 10 has wheels 12 , crank 14 and body 16 . Body 16 includes frame 18 and seatpost 20 . A human power driving force H is input to the crank 14 . The crank 14 includes a crankshaft 14A rotatable with respect to the frame 18 and crank arms 14B provided at axial ends of the crankshaft 14A. A pair of pedals 22 are individually connected to each crank arm 14B. Wheels 12 include driven wheels 12A and drive wheels 12B. Drive wheel 12B is driven by rotation of crank 14 . Drive wheel 12B is supported by frame 18 . A drive mechanism 24 connects the crank 14 and the drive wheel 12B. The drive mechanism 24 includes a first rotor 26 coupled to the crankshaft 14A. The crankshaft 14A and the first rotating body 26 may be coupled so as to rotate integrally, or may be coupled via a first one-way clutch. The first one-way clutch rotates the first rotating body 26 forward when the crank 14 rotates forward, and prevents the first rotating body 26 from rotating backward when the crank 14 rotates backward. The first rotating body 26 includes a sprocket, pulley, or bevel gear. Drive mechanism 24 further includes a second rotating body 28 and a connecting member 30 . The connecting member 30 transmits the rotational force of the first rotating body 26 to the second rotating body 28 . Coupling member 30 includes, for example, a chain, a belt, or a shaft.

The second rotating body 28 is connected to the drive wheel 12B. The second rotating body 28 includes a sprocket, pulley, or bevel gear. A second one-way clutch is preferably provided between the second rotor 28 and the drive wheel 12B. The second one-way clutch is configured to rotate the driving wheel 12B forward when the second rotating body 28 rotates forward, and prevent the driving wheel 12B from rotating backward when the second rotating body 28 rotates backward. . The manpowered vehicle 10 may include a transmission 58 that is used to change the transmission ratio B of the rotational speed of the drive wheels 12B relative to the rotational speed of the crankshaft 14A. Transmission 58 includes, for example, at least one of a front derailleur, a rear derailleur, and an internal transmission. Transmission 58 may include a front derailleur only, a rear derailleur only, an internal transmission only, or any combination of a front derailleur, a rear derailleur and an internal transmission. In this embodiment, at least one of the first rotating body 26 and the second rotating body 28 includes a plurality of sprockets. Only the first rotating body 26, only the second rotating body 28, or both the first rotating body 26 and the second rotating body 28 may include multiple sprockets. In this embodiment, the first rotating body 26 includes one sprocket, and the second rotating body 28 includes multiple sprockets. The derailleur includes a front derailleur when the first rotating body 26 includes multiple front sprockets, and includes a rear derailleur when the second rotating body 28 includes multiple front sprockets. When transmission 58 includes an internal transmission, the internal transmission is provided, for example, at the hub of drive wheel 12B.

Manpowered vehicle 10 includes front and rear wheels. A front wheel is attached to the frame 18 via a front fork 32 . A handle portion 34 is attached to the front fork 32 . Handle portion 34 includes stem 36 and handlebar 38 . A handlebar 38 is connected to the front fork 32 via a stem 36 . In the following embodiments, the rear wheels are described as the drive wheels 12B, but the front wheels may be the drive wheels 12B.

A saddle 20S is attached to the seat post 20 . The seat post 20 is preferably configured such that the height of the seat post 20 can be changed. Seatpost 20 preferably includes an electric actuator for changing the height of seatpost 20 . The electric actuator may control the valve of an electric seat post that extends using hydraulics or pneumatics. The electric actuator includes at least one of an electric motor and a solenoid. The seatpost 20 may be configured such that the height of the seatpost 20 can be changed by a mechanical cable or lever.

Frame 18 includes seat tube 40 , top tube 42 , down tube 44 and head tube 46 . The seat post 20 is attached to the seat tube 40 . The top tube 42 connects the seat tube 40 and the head tube 46 . A down tube 44 connects the head tube 46 and the seat tube 40 . A front fork 32 is attached to the head tube 46 .

Human powered vehicle 10 preferably includes suspension 48 . Suspension 48 includes at least one of rear suspension 50 and front suspension 52 . The suspension 48 absorbs impacts applied to the wheels.

If the manpowered vehicle 10 includes a rear suspension 50 , a swing arm 54 is attached to the frame 18 . If the manpowered vehicle 10 does not include a rear suspension 50, the frame 18 preferably includes seat stays 92 (see FIG. 12) and chain stays 94 (see FIG. 12).

The rear suspension 50 is configured to be provided between the frame 18 and the rear wheels of the manpowered vehicle 10 . More specifically, the rear suspension 50 is provided between the frame 18 and a swing arm 54 that supports the rear wheels. The rear suspension 50 absorbs impacts applied to the rear wheels. The rear suspension 50 may be a hydraulic suspension or an air suspension.

Rear suspension 50 includes a first portion and a second portion that is fitted in the first portion and is movable relative to the first portion. The operating state of the rear suspension 50 includes a locked state in which relative movement between the first portion and the second portion is restricted, and an unlocked state in which relative movement between the first portion and the second portion is permitted. Rear suspension 50 may further include an actuator. Actuators include, for example, electric motors. The actuator switches the operating state of the rear suspension 50 . Note that the locked state of the rear suspension 50 may include a state in which the first portion and the second portion move slightly relative to each other when a strong force is applied to the rear wheel.

The front suspension 52 is configured to be provided between the frame 18 and the front wheels of the manpowered vehicle 10 . More specifically, the front suspension 52 is provided on the front fork 32 . The front suspension 52 absorbs impact applied to the front wheels. The front suspension 52 may be a hydraulic suspension or an air suspension.

The front suspension 52 includes a first portion and a second portion fitted in the first portion and movable relative to the first portion. The operating state of the front suspension 52 includes a locked state in which relative movement between the first portion and the second portion is restricted, and an unlocked state in which relative movement between the first portion and the second portion is permitted. Front suspension 52 may further include an actuator. Actuators include, for example, electric motors. The actuator switches the operating state of the front suspension 52 . Note that the locked state of the front suspension 52 may include a state in which the first portion and the second portion move slightly relative to each other when a strong force is applied to the front wheel.

The human powered vehicle 10 further includes a battery 56 . Battery 56 includes one or more battery cells. A battery cell includes a rechargeable battery. The battery 56 supplies power to other electrical components provided in the manpowered vehicle 10 and electrically connected to the battery 56 , such as a manpowered vehicle controller 70 . The battery 56 is communicably connected to the manpowered vehicle controller 70 by wire or wirelessly. The battery 56 can communicate with the manpowered vehicle controller 70 by, for example, power line communication (PLC). The battery 56 may be attached to the outside of the frame 18 or at least partially housed inside the frame 18 .

Manpowered vehicle 10 includes a motor 60 configured to assist in propulsion of manpowered vehicle 10 . Manpowered vehicle 10 further includes a drive circuit 62 . Drive circuit 62 includes an inverter circuit. Motor 60 is preferably provided in the same housing as the drive circuit. A drive circuit 62 controls power supplied from the battery 56 to the motor 60 . The drive circuit 62 is communicably connected to the manpowered vehicle controller 70 by wire or wirelessly. The drive circuit 62 can communicate with the controller 72 of the manpowered vehicle controller 70, for example, by serial communication. The drive circuit 62 may be included in the manpowered vehicle controller 70 . The drive circuit 62 drives the motor 60 according to the control signal from the controller 72 .

Motor 60 includes an electric motor. The motor 60 is provided so as to transmit rotation to the power transmission path of the manpower driving force H from the pedals 22 to the rear wheels or to the front wheels. The motor 60 is provided on the frame 18 of the manpowered vehicle 10, the rear wheels, or the front wheels. In this embodiment, the motor 60 is coupled to the power transmission path from the crankshaft 14A to the first rotating body 26. As shown in FIG. A one-way clutch is provided in the power transmission path between the motor 60 and the crankshaft 14A so that the torque of the crank 14 does not rotate the motor 60 when the crankshaft 14A is rotated in the forward direction of the manpowered vehicle 10. preferably provided. The housing in which the motor 60 and the drive circuit 62 are provided may be provided with components other than the motor 60 and the drive circuit 62. For example, a reduction gear that reduces the speed of rotation of the motor 60 and outputs it may be provided.

The manpowered vehicle controller 70 includes a controller 72 . Control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Control unit 72 may include one or more microcomputers. The control unit 72 may include a plurality of processing units that are spaced apart at a plurality of locations. The manpowered vehicle control device 70 further includes a storage unit 74 . The storage unit 74 stores various control programs and information used for various control processes. The storage unit 74 includes, for example, nonvolatile memory and volatile memory. The control unit 72 and the storage unit 74 are provided, for example, in a housing in which the motor 60 is provided.

The manpowered vehicle controller 70 preferably further includes a crank rotation sensor 76 , a vehicle speed sensor 78 and a torque sensor 80 . Crank rotation sensor 76, vehicle speed sensor 78, and torque sensor 80 may be provided inside or outside the housing in which motor 60 is provided. At least one of crank rotation sensor 76 , vehicle speed sensor 78 , and torque sensor 80 may not be included in manpowered vehicle control device 70 .

A crank rotation sensor 76 is used to detect the rotation speed N of the crank 14 of the manpowered vehicle 10 . The crank rotation sensor 76 is mounted, for example, on the frame 18 of the manpowered vehicle 10 or the housing in which the motor 60 is provided. The crank rotation sensor 76 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. An annular magnet whose magnetic field strength changes in the circumferential direction is provided on the crankshaft 14A or on the power transmission path between the crankshaft 14A and the first rotating body 26 . The crank rotation sensor 76 is communicably connected to the controller 72 by wire or wirelessly. The crank rotation sensor 76 outputs a signal corresponding to the rotational speed N of the crank 14 to the control section 72 . The crank rotation sensor 76 may be provided on a member that rotates integrally with the crankshaft 14A in the power transmission path of the manpower driving force H from the crankshaft 14A to the first rotor 26 . For example, the crank rotation sensor 76 may be provided on the first rotor 26 when the first one-way clutch is not provided between the crankshaft 14A and the first rotor 26 . Crank rotation sensor 76 may be used to detect vehicle speed V of manpowered vehicle 10 . In this case, the control unit 72 calculates the rotation speed of the drive wheels 12B according to the rotation speed N of the crank 14 detected by the crank rotation sensor 76 and the gear ratio B, and calculates the vehicle speed V of the manpowered vehicle 10. to detect Information about the gear ratio B is pre-stored in the storage unit 74 .

When the manpowered vehicle 10 is provided with the transmission 58 for changing the gear ratio B, the control unit 72 changes the gear ratio B according to the vehicle speed V of the manpowered vehicle 10 and the rotation speed N of the crank 14. can be calculated. In this case, information about the circumference of the drive wheel 12B, the diameter of the drive wheel 12B, or the radius of the drive wheel 12B is stored in advance in the storage unit 74 . The manpowered vehicle controller 70 may include a shift sensor. A shift sensor is provided in the transmission 58, for example. A shift sensor detects the current shift stage of the transmission 58 . The shift sensor is electrically connected to the controller 72 . The relationship between the shift stage and the shift ratio B is pre-stored in the storage unit 74 . The control unit 72 can detect the current gear ratio B from the detection result of the gear shift sensor. The control unit 72 can calculate the rotation speed N of the crank 14 by dividing the rotation speed of the driving wheel 12B by the gear ratio B. In this case, the vehicle speed sensor 78 and shift sensor may be used as the crank rotation sensor 76 . Instead of the transmission 58, the shift sensor may be provided in the shift operating portion, or may be provided in the shift wire.

A vehicle speed sensor 78 is used to detect the rotational speed of the wheels 12 . The vehicle speed sensor 78 is electrically connected to the controller 72 by wire or wirelessly. The vehicle speed sensor 78 is communicably connected to the controller 72 by wire or wirelessly. Vehicle speed sensor 78 outputs a signal corresponding to the rotation speed of wheel 12 to control unit 72 . The control unit 72 calculates the vehicle speed V of the manpowered vehicle 10 based on the rotational speed of the wheels 12 . The control unit 72 stops the motor 60 when the vehicle speed V reaches or exceeds a predetermined value. The predetermined value is, for example, 25 Km/h or 45 Km/h. The vehicle speed sensor includes, for example, a magnetic lead that constitutes a reed switch or a Hall element. The vehicle speed sensor 78 may be attached to the chain stay of the frame 18 and configured to detect a magnet attached to the rear wheel, or may be provided to the front fork 32 and configured to detect a magnet attached to the front wheel. In another example, vehicle speed sensor 78 includes a GPS (Global Positioning System) receiver. The control unit 72 may detect the vehicle speed V of the manpowered vehicle 10 according to GPS information acquired by the GPS receiving unit, map information pre-recorded in the storage unit 74, and time. The controller 72 preferably includes a timer for timing.

The torque sensor 80 is used to detect the torque TH of the manpower driving force H. FIG. Torque sensor 80 is provided, for example, in a housing in which motor 60 is provided. The torque sensor 80 detects the torque TH of the manpower driving force H input to the crank 14 . For example, when a power transmission path is provided with a first one-way clutch, the torque sensor 80 is provided upstream of the first one-way clutch. Torque sensor 80 includes a strain sensor, a magnetostrictive sensor, or the like. A strain sensor includes a strain gauge. If the torque sensor 80 includes a strain sensor, the strain sensor is preferably provided on the outer circumference of the rotating body included in the power transmission path. Torque sensor 80 may include a wireless or wired communication unit. A communication unit of the torque sensor 80 is configured to be able to communicate with the control unit 72 .

The control unit 72 controls the motor 60 so that the motor driving force with respect to the human driving force H becomes a predetermined assist ratio A, for example. For example, the control unit 72 may control the motor 60 so that the output torque TM of the motor driving force of the motor 60 with respect to the torque TH of the manpower driving force H of the manpowered vehicle 10 becomes a predetermined assist ratio A. . The control unit 72 controls the motor 60 in one operation mode selected from a plurality of operation modes in which the assist ratio A of the motor driving force to the human driving force H is different, for example. A torque ratio AT of the output torque TM of the motor 60 to the torque TH of the manpower driving force H of the manpowered vehicle 10 may be referred to as an assist ratio A in some cases. For example, the control unit 72 may control the motor 60 so that the power WX (watts) of the motor 60 becomes a predetermined assist ratio A with respect to the power WH (watts) of the human driving force H. . A ratio AW of the power WX of the motor drive force to the power WH of the manpower drive force H of the manpowered vehicle 10 may be referred to as an assist ratio A in some cases. The power WH of the manpower driving force H is calculated by multiplying the manpower driving force H and the rotation speed N of the crank 14 . When the output of the motor 60 is input to the power path of the manpower driving force H through the speed reducer, the output of the speed reducer is used as the motor driving force. The control unit 72 outputs a control command to the drive circuit 62 of the motor 60 according to the power WH or the torque TH of the manpower driving force H. The control command includes, for example, a torque command value.

The control unit 72 controls the motor 60 so that the upper limit of the motor driving force is equal to or less than a predetermined value. For example, the control unit 72 controls the motor 60 in one operation mode selected from a plurality of operation modes with different upper limits. The motor driving force includes the output torque TM of the motor 60 . The motor driving force may include power WX of the motor 60 . In this case, the control unit 72 controls the motor 60 so that the power WX of the motor 60 is equal to or less than the predetermined value WX1. The predetermined value WX1 is, for example, 500 watts. The predetermined value WX1 is 300 watts in another example. The control unit 72 may control the motor 60 so that the torque ratio AT is equal to or lower than a predetermined torque ratio AT1. The predetermined torque ratio AT1 is, for example, 300%.

At least one of the assist ratio A and the upper limit value of the motor driving force may be different in each of the plurality of operation modes. Only the assist ratio A, only the upper limit value, or both the assist ratio A and the upper limit value may be different in each of the plurality of operation modes. In this case, the control unit 72 controls the motor 60 so that the assist ratio A defined in the operation mode of the motor 60 in which the motor driving force is selected is less than or equal to the predetermined value.

The plurality of operation modes are, for example, a maximum operation mode in which the assist ratio A is the maximum, a minimum operation mode in which the assist ratio A is the minimum, and an intermediate operation mode in which the assist ratio A is smaller than the maximum operation mode and larger than the minimum operation mode. including. The plurality of operation modes include, for example, a maximum operation mode with a maximum predetermined value, a minimum operation mode with a minimum predetermined value, and an intermediate operation mode with a predetermined value that is less than the maximum operation mode and greater than the minimum operation mode. You can The plurality of operation modes may include a plurality of intermediate operation modes with different assist ratios A, or may not include any intermediate operation modes. When the operation mode is changed from one of the plurality of operation modes to another operation mode, the control unit 72 increases stepwise at least one of the assist ratio A and the upper limit defined for each operation mode. , or to decrease in stages.

The control device 70 includes a control unit 72 that controls a motor 60 for applying propulsion force to the manpowered vehicle 10 in response to operation of at least one operation unit 82 . At least one operating portion 82 includes at least a first operating portion 84 and a second operating portion 86 . The first operating portion 84 is provided on the handlebar 38 of the manpowered vehicle 10 . The second operating portion 86 is provided at a position different from the handlebar 38 . The control unit 72 enables the motor 60 to be driven by operating the second operating unit 86 when the first operating unit 84 is operated.

It is preferable that the control section 72 changes the control mode of the motor 60 according to the operation of the first operation section 84 . The human-powered vehicle 10 includes a crank arm 14B to which a human-powered driving force H is input. and a second mode for controlling motor 60 in response to manipulation of 82 . The first mode preferably includes multiple operating modes and an off mode. The controller 72 does not drive the motor 60 in the off mode.

The first operating portion 84 shown in FIG. 2 includes a first operating button 84A and a second operating button 84B. The manpowered vehicle 10 may include a display 88 that displays the control mode. The display section 88 is provided, for example, in the vicinity of the first operation section 84 of the handlebar 38 .

In the first mode, when the first operation button 84A is pressed and the current operation mode is not the maximum operation mode, the control unit 72 changes the operation mode to the operation mode in which the assist ratio A is increased by one step. In the first mode, the control unit 72 maintains the maximum operation mode when the first operation button 84A is pressed and the current operation mode is the maximum operation mode. When the first operation button 84A is pressed in the first mode and in the OFF mode, the control unit 72 changes to the minimum operation mode.

In the first mode, when the second operation button 84B is pressed and the current operation mode is not the minimum operation mode, the control unit 72 changes the operation mode to the operation mode in which the assist ratio A is one step lower. When the second operation button 84B is pressed in the first mode and the current operation mode is the minimum operation mode, the control unit 72 changes to the off mode.

When the second operation button 84B is pressed in the first mode and in the off mode, the control section 72 shifts to the second mode. When the first operation button 84A is pressed in the second mode, the control unit 72 changes the first mode to the off mode. In the second mode, the controller 72 drives the motor 60 when the second operation button 84B is pressed. While the second operation button 84B is being pressed, an ON signal is output from the second operation button 84B. It is preferable that the control unit 72 enables the driving of the motor 60 in response to the ON signal output from the second operation button 84B. In this case, the controller 72 allows the motor 60 to be driven while the ON signal is output from the second operation button 84B.

When driving the motor 60 with the second mode selected, the control unit 72 controls the motor 60 so that the vehicle speed V of the manpowered vehicle 10 is equal to or lower than a predetermined speed VX, for example. When driving the motor 60 with the second mode selected, the control unit 72 stops driving the motor 60 when the vehicle speed V exceeds the predetermined speed VX. The predetermined speed VX is, for example, 6 km/h or 5 km/h.

The second operation portion 86 includes the seat post 20, the saddle 20S, the seat stay 92 (see FIG. 12), the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, It is provided on at least one of the front fork 32 , the front suspension 52 and the rear suspension 50 .

At least the second operation portion 86 may include a load sensor 86A. The load sensor 86A is connected to the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and the rear suspension. 50. The load sensor 86A is, for example, the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and It is provided in a portion of the rear suspension 50 that can be contacted by the user. The load sensor 86A is connected to the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and the rear suspension. Different members of 50 may be provided in portions that are attached to each other. In this case, the user applies a load to the load sensor 86A by pushing one of the different members provided with the load sensor 86A toward the other. The load sensor 86A preferably outputs a signal corresponding to the load while the load is applied to the load sensor 86A. Control unit 72 preferably enables driving of motor 60 according to a signal output from load sensor 86A. In this case, the control unit 72 allows the motor 60 to be driven while the signal input from the load sensor 86A corresponds to the signal when a load greater than or equal to the predetermined load is applied.

At least the second operation portion 86 may include an operation switch 86B (see FIG. 7). Each time the operation switch 86B is pressed, the ON signal and the OFF signal output from the operation switch 86B are switched. In this case, the operation switch 86B operates the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and the , are provided in a portion of the rear suspension 50 that can be operated by the user. When the second operation unit 86 includes operation switches, the operation switches preferably include at least one of push buttons, slide switches, touch switches, joystick switches, and lever switches. The operation switch 86B outputs an ON signal while the operation switch 86B is being pressed. It is preferable that the control unit 72 enables the driving of the motor 60 according to the ON signal output from the operation switch 86B. In this case, the controller 72 allows the motor 60 to be driven while the ON signal is output from the operation switch 86B.

It is preferable that the control unit 72 enables the motor 60 to be driven by the operation of the second operation unit 86 when the first operation unit 84 and the second operation unit 86 are operated. The control section 72 drives the motor 60 according to the operation of the second operating section 86 . It is preferable that the control unit 72 drives the motor 60 according to the operation of the second operation unit 86 while the second mode is selected.

For example, in a state where the first mode and the off mode are selected, the control unit 72 shifts to the second mode in response to the operation of the first operation unit 84, and in the second mode, the second operation unit 86 is operated. , the motor 60 is driven. In this case, the operation performed on the first operation unit 84 is the operation of pressing the second operation button 84B. An operation performed on the second operation portion 86 is an operation of applying a load to the load sensor 86A of the second operation portion 86 or an operation of pressing an operation switch. When driving the motor 60 in response to the operation of the second operation unit 86, the control unit 72 controls the operation of the motor 60 when the operation of the second operation unit 86 is continued and the vehicle speed V is equal to or lower than the predetermined speed VX. It is preferable to continue driving.

Processing for changing the control mode of the motor 60 will be described with reference to FIG. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S11 in the flowchart shown in FIG. After the flow chart of FIG. 4 ends, the control unit 72 repeats the process from step S11 after a predetermined period until the power supply is stopped.

In step S11, the control unit 72 determines whether or not it is the first mode. In the case of the first mode, the controller 72 proceeds to step S12. In step S12, the control unit 72 determines whether or not the first operation unit 84 has been operated. For example, when the second operation button 84B of the first operation unit 84 is pressed in the first mode and the off mode, the control unit 72 determines that the first operation unit 84 has been operated. When the first operation unit 84 is operated in step S12, the control unit 72 proceeds to step S13. In step S13, the control unit 72 switches to the second mode and terminates the process. If the first operation unit 84 is not operated in step S12, the control unit 72 ends the process.

If the control unit 72 determines that the mode is not the first mode in step S11, the process proceeds to step S14. In step S14, the control unit 72 determines whether or not the conditions for changing to the first mode are satisfied. For example, when the first operation button 84A is operated in the second mode, the control unit 72 determines that the condition for changing to the first mode is satisfied. When the conditions for changing to the first mode are satisfied, the control unit 72 proceeds to step S15. In step S15, the control unit 72 switches to the first mode and ends the process. If the condition for changing to the first mode is not satisfied in step S14, the control unit 72 ends the process.

The control section 72 may change the control mode of the motor 60 according to the operation of the second operation section 86 . For example, when the second operation unit 86 is operated while the first mode and the off mode are selected, the control unit 72 switches to the second mode. In this case, when the second operation portion 86 is operated, the mode is changed to the second mode, and when the second operation portion 86 is operated, the motor 60 may be driven. The control unit 72 may change to the second mode when the second operation unit 86 is operated, and may drive the motor 60 when the second operation unit 86 is continuously operated. In this case, in step S12 of FIG. 4, a change may be made to make an affirmative determination when the second operation unit 86 is operated.

A process of driving the motor 60 according to the operation of the second operation unit 86 will be described with reference to FIG. 5 . When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. After the flow chart of FIG. 5 ends, the control unit 72 repeats the process from step S21 after a predetermined period until the power supply is stopped.

In step S21, the control unit 72 determines whether or not it is the second mode. If the control unit 72 is not in the second mode, the process ends. In the case of the second mode, the controller 72 proceeds to step S22. In step S22, the control section 72 determines whether or not the second operation section 86 has been operated. For example, when the load sensor 86A of the second operation portion 86 detects a load exceeding a predetermined value, or when the operation switch of the second operation portion 86 is turned on, the control portion 72 controls the second operation portion 86. It is determined that an operation has been performed. If the second operation unit 86 has not been operated, the control unit 72 ends the process. When the second operation unit 86 is operated, the control unit 72 proceeds to step S23. In step S23, the control unit 72 drives the motor 60 and terminates the process.

(Second embodiment)
A control device 70 of the second embodiment will be described with reference to FIGS. 2 and 6. FIG. The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment except that the process of driving the motor 60 in the second mode is different. , are denoted by the same reference numerals as in the first embodiment, and overlapping descriptions are omitted.

The control unit 72 enables the motor 60 to be driven by operating the second operating unit 86 when the first operating unit 84 and the second operating unit 86 are operated simultaneously. The case where the first operating section 84 and the second operating section 86 are operated at the same time includes, for example, the case where the first operating section 84 and the second operating section 86 are operated within a predetermined period of time. If the control unit 72 determines that the second operation unit 86 has been operated while the operation of the first operation unit 84 is being continued, the control unit 72 determines that the first operation unit 84 and the second operation unit 86 have been operated simultaneously. . If the control unit 72 determines that the first operation unit 84 has been operated while the operation of the second operation unit 86 is being continued, the control unit 72 determines that the first operation unit 84 and the second operation unit 86 have been operated simultaneously. .

The control unit 72 may continue to drive the motor 60 when the operation on the first operation unit 84 and the operation on the second operation unit 86 are continued in the second mode. After driving the motor 60 by simultaneously operating the first operating unit 84 and the second operating unit 86 in the second mode, the control unit 72 also performs the second operation when the operation of the first operating unit 84 ends. If the operation of the portion 86 is continued, the driving of the motor 60 may be continued.

The second operating section 86 is preferably provided in a portion of the manpowered vehicle 10 that can be operated simultaneously with the first operating section 84 by the user. The first operating section 84 and the second operating section 86 may be provided in portions that can be operated with the right hand and the left hand, respectively. For example, the first operating portion 84 is provided on the handlebar 38 and the second operating portion 86 is provided on the saddle 20S or the seat post 20 . In this case, the motor 60 is driven while the user presses different parts of the manpowered vehicle 10 with the right hand and the left hand respectively. Therefore, the manpowered vehicle 10 can be preferably pushed while walking off-road or the like.

Referring to FIG. 6, the process of driving motor 60 in response to operations on first operation unit 84 and second operation unit 86 will be described. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. After the flow chart of FIG. 6 ends, the control unit 72 repeats the process from step S31 after a predetermined period until the power supply is stopped.

In step S31, the control unit 72 determines whether or not it is the second mode. If the control unit 72 is not in the second mode, the process ends. In the case of the second mode, the controller 72 proceeds to step S32.

In step S32, the control section 72 determines whether or not the second operation section 86 has been operated and the second operation section 86 has been operated. For example, when the second operation button 84B of the first operation unit 84 is pressed, the control unit 72 determines that the first operation unit 84 has been operated. For example, when the load sensor 86A of the second operation portion 86 detects a load exceeding a predetermined value, or when the operation switch of the second operation portion 86 is turned on, the control portion 72 controls the second operation portion 86. It is determined that an operation has been performed. When the first operation portion 84 and the second operation portion 86 are being operated at the same time, the control portion 72 determines in step S32 that the first operation portion 84 is operated and the second operation portion 86 is operated. It can be determined that an operation has been performed.

The control unit 72 controls when the first operation unit 84 is not operated, when the second operation unit 86 is not operated, and when the first operation unit 84 and the second operation unit 86 are not operated. If no operation has been performed on any of them, the process ends.

When the first operation portion 84 is operated and the second operation portion 86 is operated, the control portion 72 proceeds to step S33. In step S33, the control unit 72 drives the motor 60 and terminates the process.

(Third Embodiment)
A control device 70 of the third embodiment will be described with reference to FIGS. 7 to 9. FIG. The control device 70 of the third embodiment is the same as the control device of the first embodiment, except that the operation unit 82 includes a third operation unit 90 and the motor 60 is driven according to the operation of the third operation unit 90 . Since it is the same as the device 70, the same reference numerals as in the first embodiment are given to the configurations that are common to the first embodiment, and overlapping explanations are omitted.

Operating portion 82 further includes a third operating portion 90 different from first operating portion 84 and second operating portion 86 . When at least one of the first operating portion 84, the second operating portion 86, and the third operating portion 90 is operated, the control portion 72 drives the motor 60 by operating the third operating portion 90. enable

The third operating portion 90 is preferably provided at a position different from the handlebar 38 . At least one of the second operation portion 86 and the third operation portion 90 is the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, and the down tube 44 of the manpowered vehicle 10. , stem 36 , front fork 32 , front suspension 52 , and rear suspension 50 . The second operating portion 86 and the third operating portion 90 are preferably provided in different portions of the manpowered vehicle 10 .

At least one of the second operating section 86 and the third operating section 90 may include an operating switch. At least one of the second operating portion 86 and the third operating portion 90 may include a load sensor. The second operation portion 86 may include the operation switch 86B, the third operation portion 90 may include the operation switch 90A, the second operation portion 86 may include the load sensor 86A, and the third operation portion 90 may include the operation switch. 90A, the second operating portion 86 may include the load sensor 86A (see FIG. 2), and the third operating portion 90 may include the load sensor. When the third operation unit 90 includes an operation switch 90A, the operation switch 90A preferably includes at least one of a push button, slide switch, touch switch, joystick, and lever switch.

Each time the operation switch 86B is pressed, the ON signal and the OFF signal output from the operation switch 86B are switched. In this case, the operation switch 86B operates the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and the , are provided in a portion of the rear suspension 50 that can be operated by the user.

Each time the operation switch 90A is pushed, the ON signal and the OFF signal output from the operation switch 90A are switched. In this case, the operation switch 90A operates the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front suspension 52, and the , are provided in a portion of the rear suspension 50 that can be operated by the user. The operation switch 90A outputs an ON signal while the operation switch 90A is being pushed. It is preferable that the control unit 72 enables the driving of the motor 60 according to the ON signal output from the operation switch 90A. In this case, the controller 72 allows the motor 60 to be driven while the ON signal is output from the operation switch 90A.

The load sensors provided in the third operation portion 90 are, for example, the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32 , the front suspension 52, and the rear suspension 50, which can be contacted by the user. The load sensors provided in the third operating portion 90 are the seat post 20, the saddle 20S, the seat stay 92, the seat tube 40, the bridge portion of the seat stay 92, the top tube 42, the down tube 44, the stem 36, the front fork 32, the front Suspension 52 and rear suspension 50 may be provided at portions where different members are attached to each other. In this case, the user applies a load to the load sensor by pushing one of the different members provided with the load sensor of the third operation unit 90 toward the other. The load sensor of the third operation unit 90 preferably outputs a signal corresponding to the load while the load is applied to the load sensor. It is preferable that the control section 72 enable the motor 60 to be driven according to the signal output from the load sensor of the third operation section 90 . In this case, the control unit 72 enables the motor 60 to be driven while the signal input from the load sensor of the third operation unit 90 corresponds to the signal when a load greater than or equal to the predetermined load is applied. do.

The control unit 72 enables the motor 60 to be driven by operating the third operating unit 90 when the second operating unit 86 and the third operating unit 90 are operated simultaneously. The case where the second operating section 86 and the third operating section 90 are operated at the same time includes, for example, the case where the second operating section 86 and the third operating section 90 are operated within a predetermined period of time. When the control unit 72 determines that the third operation unit 90 is operated while the second operation unit 86 is being operated, the second operation unit 86 and the third operation unit 90 are operated simultaneously. determined to have been If the control unit 72 determines that the second operation unit 86 has been operated while the operation of the third operation unit 90 continues, the control unit 72 determines that the second operation unit 86 and the third operation unit 90 have been operated simultaneously. do. The control section 72 drives the motor 60 according to the operation of the third operating section 90 .

For example, when the operation switch 86B of the second operation unit 86 and the operation switch 90A of the third operation unit 90 are pressed simultaneously in the first mode and the off mode, the control unit 72 shifts to the second mode. In the second mode, the control unit 72 drives the motor 60 when the third operation unit 90 is operated and the vehicle speed V is equal to or lower than the predetermined vehicle speed VX.

In the second mode, the control unit 72 may drive the motor 60 when the operation switch 86B of the second operation unit 86 is pressed and the vehicle speed V is equal to or lower than the predetermined vehicle speed VX. In the second mode, when the operation switch 86B of the second operation portion 86 and the operation switch 90A of the third operation portion 90 are pressed at the same time and the vehicle speed V is equal to or lower than the predetermined vehicle speed VX, the control portion 72 switches the motor 60 may be driven.

In the second mode and in a state in which the motor 60 is driven in accordance with the operation of the operation switch 86B of the second operation unit 86, the control unit 72 operates the operation switch 86B of the second operation unit 86 and the third operation switch 86B. When the operation switch 90A of the operation unit 90 is operated at the same time, it is preferable to enable the motor 60 to be driven according to the operation of the operation switch 90A of the third operation unit 90. FIG.

Processing for changing the control mode of the motor 60 will be described with reference to FIG. When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S41 of the flowchart shown in FIG. After the flow chart of FIG. 8 ends, the control unit 72 repeats the process from step S41 after a predetermined period until the power supply is stopped.

In step S41, the control unit 72 determines whether or not it is the first mode. In the case of the first mode, the controller 72 proceeds to step S42. In step S42, the control section 72 determines whether or not at least one of the first operating section 84, the second operating section 86, and the third operating section 90 has been operated. For example, when the second operation button 84B of the first operation unit 84 is pressed in the first mode and the off mode, the control unit 72 determines that the first operation unit 84 has been operated. For example, when the operation switch 86B of the second operation unit 86 is pressed or the load sensor 86A of the second operation unit 86 detects a predetermined load or more in the first mode and the off mode, the control unit 72 performs the first operation. 2 It is determined that the operation unit 86 has been operated. For example, when the operation switch 90A of the third operation unit 90 is pressed or the load sensor of the third operation unit 90 detects a predetermined load or more in the first mode and the off mode, the control unit 72 switches the third It is determined that an operation has been performed on the operation unit 90 .

If the determination in step S42 is affirmative, the control unit 72 proceeds to step S43. If the determination in step S42 is negative, the control unit 72 ends the process. When the first operation portion 84 is operated, the control portion 72 proceeds to step S43, and regardless of the operation of the second operation portion 86 and the third operation portion 90, the operation of the first operation portion 84 is performed. is not performed, the process may be terminated. When the second operation portion 86 is operated, the control portion 72 proceeds to step S43, and regardless of the operation of the first operation portion 84 and the third operation portion 90, the operation of the second operation portion 86 is performed. is not performed, the process may be terminated. When the third operation unit 90 is operated, the control unit 72 proceeds to step S43, and regardless of the operation of the first operation unit 84 and the second operation unit 86, the operation of the third operation unit 90 is performed. is not performed, the process may be terminated. The control unit 72 operates only when all operation units 84, 86, and 90 in a predetermined combination among the first operation unit 84, the second operation unit 86, and the third operation unit 90 are operated. You may make it transfer to step S43. In step S43, the control unit 72 switches to the second mode and terminates the process.

If the control unit 72 determines that the mode is not the first mode in step S41, the process proceeds to step S44. In step S44, the control unit 72 determines whether or not the conditions for changing to the first mode are satisfied. For example, when the first operation button 84A is operated in the second mode, the control unit 72 determines that the condition for changing to the first mode is established. When the conditions for changing to the first mode are satisfied, the control unit 72 proceeds to step S45. In step S45, the control unit 72 switches to the first mode and terminates the process. If the condition for changing to the first mode is not satisfied in step S44, the control unit 72 ends the process.

A process of driving the motor 60 in accordance with the operation of the second operation portion 86 and the third operation portion 90 will be described with reference to FIG. 9 . When power is supplied to the control unit 72, the control unit 72 starts processing and proceeds to step S51 of the flowchart shown in FIG. After the flow chart of FIG. 9 ends, the control unit 72 repeats the process from step S51 after a predetermined cycle until the power supply is stopped.

In step S51, the control unit 72 determines whether or not it is the second mode. If the control unit 72 is not in the second mode, the process ends. In the case of the second mode, the controller 72 proceeds to step S52.

In step S52, the control section 72 determines whether or not the second operation section 86 has been operated and the third operation section 90 has been operated. For example, when the load sensor 86A of the second operating section 86 detects a load greater than or equal to a predetermined load, or when the operating switch 86B of the second operating section 86 is turned on, the control section 72 sends a signal to the second operating section 86. is determined to have been performed. For example, when the load sensor of the third operation unit 90 detects a load greater than or equal to a predetermined load, or when the operation switch 90A of the third operation unit 90 is turned on, the control unit 72 controls the third operation unit 90. It is determined that an operation has been performed. The control unit 72 controls when the second operation unit 86 is not operated, when the third operation unit 90 is not operated, and when either the second operation unit 86 or the third operation unit 90 is operated. If no operation has been performed on either, the process ends. When the second operating section 86 and the third operating section 90 are being operated at the same time, the control section 72 determines in step S52 that the second operating section 86 has been operated and the third operating section 90 has been operated. It can be determined that an operation has been performed.

When the first operation portion 84 is operated and the second operation portion 86 is operated, the control portion 72 proceeds to step S53. In step S53, the control unit 72 drives the motor 60 and terminates the process.

(Modification)
The description of the embodiment is an example of the possible forms of the manpowered vehicle control device according to the present invention, and is not intended to limit the forms. The manpowered vehicle control device according to the present invention can take, for example, a modification of the embodiment shown below and a combination of at least two mutually consistent modifications. In the following modified examples, the same reference numerals as in the embodiment are given to the parts that are common to the embodiment, and the description thereof is omitted.

The control device 70 includes a control unit 72 that controls a motor 60 for applying propulsive force to the manpowered vehicle 10 in accordance with an operation to at least one operation unit 82, and the at least one operation unit 82 operates at least A first operating portion 84 and a second operating portion 86 are provided, the first operating portion 84 being provided on the handlebar 38 of the manpowered vehicle 10 and the second operating portion 86 being provided at a position different from the handlebar 38. The control unit 72 may enable the motor 60 to be driven by operating the second operating unit 86 when the second operating unit 86 is operated two or more times. Specifically, the process of step S12 in FIG. 4 is replaced with the process of step S61 in FIG. If the determination in step S11 is affirmative, the control unit 72 proceeds to step S61. In step S61, when the second operation unit 86 is operated two or more times, the control unit 72 proceeds to step S13. If the second operation unit 86 has not been operated two or more times, the control unit 72 terminates the process. The control unit 72 does not switch from the first mode to the second mode, and drives the motor 60 according to the operation of the second operation unit 86 when the second operation unit 86 is operated two or more times. You may do so. In this case, for example, the control unit 72 may start driving the motor 60 when the second operation unit 86 is operated for the second time.

In step S61, the control unit 72 switches from the first mode to the second mode when the second operation unit 86 is operated once, and when the second operation unit 86 is operated one more time, the motor 60 is turned on. You may make it possible to drive.

- The control device 70 includes a control unit 72 that controls a motor 60 for applying propulsive force to the manpowered vehicle 10 in accordance with an operation to at least one operation unit 82, and the at least one operation unit 82 is at least a first The first operating portion 84 is provided on the handlebar 38 of the manpowered vehicle 10, and the second operating portion 86 is provided at a position different from the handlebar 38. , the control unit 72 starts to drive the motor 60 by operating the second operation unit 86 when the second operation unit 86 is continuously operated for a predetermined time or longer, and controls the operation of the second operation unit 86. continues for less than a predetermined period of time, the motor 60 may not start to be driven in response to the operation of the second operation unit 86 . Specifically, the process of step S12 in FIG. 4 is replaced with the process of step S71 in FIG. If the determination in step S11 is affirmative, the control unit 72 proceeds to step S71. In step S71, if the second operation unit 86 has been operated for a predetermined period of time or more, the control unit 72 proceeds to step S13. If the second operation unit 86 has not been operated for a predetermined period of time or more, the control unit 72 terminates the process. The control unit 72 does not switch from the first mode to the second mode, and drives the motor 60 according to the operation of the second operation unit 86 when the second operation unit 86 is operated for a predetermined time or longer. You may make it In this case, for example, the control unit 72 may start driving the motor 60 when the second operation unit 86 is operated for a predetermined time or longer.

- The control unit 72 may perform two or more of the processes in FIG. 4, the processes in FIG. 8, the processes in FIG. 10, and the processes in FIG. In this case, for example, in step S12 of FIG. 4, any of the processing of step S12 of FIG. 4, the processing of step S42 of FIG. 8, the processing of step S61 of FIG. 10, and the processing of step S71 of FIG. In the case of determination, the process proceeds to step S13.

When an operation for shifting from the first mode to the second mode is performed on the operation unit 82, the control unit 72 controls the vehicle speed V to be equal to or lower than the predetermined speed VX as long as the operation to the operation unit 82 is continued. In the case of , the motor 60 may be driven. For example, when the first operation button 84A of the first operation unit 84 is pressed in the OFF mode of the first mode, the control unit 72 shifts to the second mode and starts driving the motor 60 . As long as the vehicle speed V is equal to or lower than the predetermined speed VX, the control unit 72 continues driving the motor 60 until the first operation unit 84 is no longer pressed.

- The control unit 72 may shift to the second mode when the first operation unit 84 and the second operation unit 86 are operated simultaneously in the first mode. In the third embodiment, the control section 72 may shift to the second mode when the first operating section 84 and the third operating section 90 are simultaneously operated in the first mode. In the third embodiment, the control section 72 may shift to the second mode when the second operating section 86 and the third operating section 90 are simultaneously operated in the first mode.

- The control unit 72 may change the second mode to the first mode without operating the operation unit 82 . For example, when the period during which the motor 60 is not driven by the operation of the operation unit 82 is longer than a predetermined period, or when the traveling distance is longer than a predetermined distance, the control unit 72 applies the human power driving force H to the crank 14. When input, when the rotation speed N of the crank 14 becomes a predetermined speed NX or more, when the vehicle speed V becomes a predetermined speed VX or more, when the brake is operated, and when the roll angle of the manpowered vehicle 10 is changed In any one of the cases where the angle becomes equal to or greater than a predetermined angle, the second mode may be changed to the first mode. Specifically, in steps S14 of FIGS. 4, 10 and 11 and step S44 of FIG. 8, the control unit 72 controls the operation unit When the period in which the motor 60 is not driven by the operation to 82 is longer than a predetermined period, when the traveling distance is longer than the predetermined distance, and when the human power driving force H is input to the crank 14, the crank 14 rotates. When the speed N becomes equal to or greater than a predetermined speed NX, when the vehicle speed V becomes equal to or greater than a predetermined speed VX, when the brake is operated, or when the roll angle of the manpowered vehicle 10 becomes equal to or greater than a predetermined angle. or one, it is determined that the condition for changing to the first mode is established.

The control unit 72 may stop the motor 60 according to conditions other than the vehicle speed V when the motor 60 is driven according to the operation of the operation unit 82 . For example, when the traveling distance after the start of driving the motor 60 becomes a predetermined distance or more, when the human driving force H is input to the crank 14, or when the rotation speed N of the crank 14 becomes a predetermined speed NX or more. , the brake is operated, or the roll angle of the manpowered vehicle 10 exceeds a predetermined angle, the driving of the motor 60 is stopped.

- The manpowered vehicle 10 may include a bed 96 shown in FIG. In this case, the second operating portion 86 may be provided on the loading platform 96 . In this case, the third operation section 90 may be provided on the loading platform 96 .

- In the third embodiment, the third operating portion 90 may be provided on the handlebar 38 . In this case, for example, the first operating portion 84 may be provided on one of the right and left handlebars 38 and the third operating portion 90 may be provided on the other of the right and left handlebars 38 .

- At least one of the first operating section 84, the second operating section 86, and the third operating section 90 may be configured to be able to adjust the motor driving force when driving the motor 60 in the second mode.

- The control unit 72 may drive the motor 60 according to the operation of the operation unit 82 as shown in FIG. 13 . After the motor 60 is started to be driven in accordance with the operation of the first operation portion 84 and the operation of the second operation portion 86, the control portion 72 operates either the first operation portion 84 or the second operation portion 86. The driving of the motor 60 is continued while the operation to the left is continued. In this case, the controller 72 may not switch from the first mode to the second mode. A process of driving the motor 60 according to the operation on the operation unit 82 will be described with reference to FIG. 13 . In the process of FIG. 13, when power is supplied to the control unit 72, the process starts and proceeds to step S81 of the flowchart shown in FIG. After the flow chart of FIG. 13 ends, the control unit 72 repeats the process from step S81 after a predetermined period until the power supply is stopped.
In step S81, the control unit 72 determines whether or not the first operation unit 84 has been operated. If the first operation unit 84 is not operated, the control unit 72 ends the process. When the first operation unit 84 is operated, the control unit 72 proceeds to step S82. The controller 72 drives the motor 60 in step S82, and proceeds to step S83. In step S83, the control section 72 determines whether or not the first operating section 84 is being operated. If the first operation unit 84 is not being operated, the control unit 72 terminates the process. If the first operation unit 84 is being operated, the control unit 72 proceeds to step S84. For example, if the second operation button 84B of the first operation unit 84 has been pressed since it started being pressed in step S81, the control unit 72 proceeds to step S84. The control unit 72 determines whether or not the second operation unit 86 has been operated in step S84. If the second operation unit 86 has not been operated, the control unit 72 returns to step S83. When the second operation unit 86 is operated, the control unit 72 proceeds to step S85. In step S85, the control unit 72 determines whether or not the operation of the first operation unit 84 has ended. The control unit 72 repeats the process of step S85 until the operation of the first operation unit 84 is completed. When the processing of the first operation unit 84 is completed, the control unit 72 proceeds to step S86. In step S86, the control section 72 determines whether or not the operation of the second operating section 86 has ended. The control unit 72 repeats the process of step S86 until the operation of the second operation unit 86 is completed. When the operation of the second operation unit 86 is completed, the control unit 72 proceeds to step S87. In step S87, the control unit 72 stops the motor 60 and terminates the process.

- The control part 72 may drive the motor 60 according to operation to the operation part 82, as shown in FIG. After the motor 60 starts to be driven in response to the operation of the first operation portion 84, the control portion 72 controls the operation of the second operation portion 86 in response to the operation of the first operation portion 84 while the operation of the first operation portion 84 continues. to drive the motor 60. In this case, the controller 72 may not switch from the first mode to the second mode. A process of driving the motor 60 according to the operation on the operation unit 82 will be described with reference to FIG. 14 . In the process of FIG. 14, when power is supplied to the control unit 72, the process starts and proceeds to step S91 of the flowchart shown in FIG. After the flow chart of FIG. 14 ends, the control unit 72 repeats the process from step S91 after a predetermined period until the power supply is stopped.
In step S91, the control unit 72 determines whether or not the first operation unit 84 has been operated. If the first operation unit 84 is not operated, the control unit 72 ends the process. When the first operation unit 84 is operated, the control unit 72 proceeds to step S92. The controller 72 drives the motor 60 in step S92, and proceeds to step S93. In step S93, the control section 72 determines whether or not the first operation section 84 is being operated. If the first operation unit 84 is being operated, the control unit 72 proceeds to step S94. For example, if the second operation button 84B of the first operation unit 84 has been pressed since it was first pressed in step S91, the control unit 72 proceeds to step S94. In step S94, the control section 72 drives the motor 60 according to the operation of the second operation section 86, and proceeds to step S95. After step S94, the control unit 72 drives the motor 60 when the second operation unit 86 is operated. In step S95, the control unit 72 determines whether or not a condition for stopping the motor 60 is satisfied. For example, when neither the first operation unit 84 nor the second operation unit 86 is operated for a predetermined time or longer, the control unit 72 determines that the condition for stopping the motor 60 is satisfied. If the condition for stopping the motor 60 is not satisfied, the controller 72 proceeds to step S94. If the condition for stopping the motor 60 is satisfied, the controller 72 proceeds to step S96. In step S96, the control unit 72 stops the motor 60 and ends the process. If the first operation unit 84 is not being operated in step S93, the control unit 72 proceeds to step S96.

In the process of FIG. 14, the control unit 72 determines that the condition for stopping the motor 60 is satisfied when the state in which the second operation unit 86 has not been operated for a predetermined period of time or longer in step S95. may In this case, after an affirmative determination is made in step S93, the motor 60 may not be driven even if the first operation unit 84 is operated.

- In the third embodiment, the motor 60 can be driven in response to operation of at least one of the first operating section 84, the second operating section 86, and the third operating section 90, and the first operating section 84, After driving the motor 60 according to the operation of at least one of the second operating portion 86 and the third operating portion 90, the first operating portion 84, the second operating portion 86 and the third operating portion 90 are operated. Motor 60 may be driven when at least one of 90 is operated. In this case, the control section 72 preferably drives the motor 60 as long as at least one of the first operating section 84, the second operating section 86, and the third operating section 90 is operated.

- In the third embodiment, the motor 60 is driven when at least two of the first operating section 84, the second operating section 86, and the third operating section 90 are operated simultaneously in the second mode. may In this case, for example, the motor 60 may be driven when one of the two operating sections 84, 86, 90 operated simultaneously continues to be operated.

- In 2nd Embodiment, the control part 72 may abbreviate|omit a 2nd mode from a control mode, and may make it not switch from a 1st mode to a 2nd mode. In this case, for example, when the second operation button 84B of the first operation unit 84 and the operation switch 86B of the second operation unit 86 are pressed simultaneously and the vehicle speed V is equal to or lower than the predetermined vehicle speed VX, the control unit 72 , drives the motor 60 .

- In 3rd Embodiment, the control part 72 may abbreviate|omit 2nd mode from a control mode, and may be made not to switch from 1st mode to 2nd mode. In this case, for example, when the operation switch 86B of the second operation unit 86 and the operation switch 90A of the third operation unit 90 are pressed at the same time and the vehicle speed V is equal to or lower than the predetermined vehicle speed VX, the control unit 72 drive the

- As shown in FIG. 15, the first operation unit 84 may include a third operation button 84C for switching from the first mode to the second mode. The third operating button 84C is configured separately from the first operating button 84A and the second operating button 84B. In this case, the control unit 72 switches to the second mode when the third operation button 84C is operated and the first mode is the off mode.

When the first operation unit 84 includes the third operation button 84C shown in FIG. 15, the control unit 72 operates the third operation button 84C and the passenger is not on the human-powered vehicle. You may make it switch to a 2nd mode.

- If the second operation portion 86 is operated while the first operation portion 84 is being operated, the control portion 72 drives the motor 60 in the second mode according to the operation of the second operation portion 86. may For example, when the second operation portion 86 is operated while the third operation button 84C shown in FIG. 60 may be driven. In this case, in the off mode of the first mode, when the first operation unit 84 is operated, the control unit 72 switches from the first mode to the second mode and drives the motor 60 in the second mode. It is preferable that this is performed in response to one operation on the one-operation unit 84 .

When the second operation portion 86 is operated for a predetermined period of time after the first operation portion 84 is operated, or before the predetermined period of time elapses, the control portion 72 responds to the operation of the second operation portion 86 by The motor 60 may be driven in two modes. For example, the control unit 72 operates until a predetermined time elapses after the third operation button 84C shown in FIG. The motor 60 may be driven in the second mode according to the operation of the 2-operation unit 86 . The predetermined period is, for example, a period until the amount of wheel rotation reaches a predetermined amount or a period until the traveling distance reaches the processing distance. In this case, in the off mode of the first mode, the control unit 72 switches from the first mode to the second mode and drives the motor 60 in the second mode when the first operation unit 84 is operated. This is performed in response to one operation on the first operation unit 84 . Since the driving command for the motor 60 in the second mode is interrupted when the ON signal by the operation of the first operation unit 84 is interrupted, the output of the motor 60 is reduced. The control unit 72 performs the second operation until a predetermined period of time elapses after the operation of the first operation unit 84 is interrupted, or when an operation is input to the second operation unit 86 before the predetermined period of time elapses. The motor 60 is driven in the second mode according to the operation of the portion 86 . The condition for driving the motor 60 in response to the operation of the second operation portion 86 is that the first operation portion 84 is operated when the second operation portion 86 is operated while the first operation portion 84 is being operated. This includes the case where the second operation portion 86 is operated within a predetermined period of time after the operation, or the case where the second operation portion 86 is operated within a predetermined period of time after the first operation portion 84 is operated. If the second operation portion 86 is not operated within a predetermined period of time after the first operation portion 84 is operated, or the predetermined period of time elapses, the control portion 72 operates the motor 60 in response to the operation of the second operation portion 86. Driving may be prohibited.

- The 1st operation part 84 may be provided separately from the operation part for changing an operation mode. In this case, when the first operation unit 84 is operated in the first mode, the control unit 72 may switch to the second mode and drive the motor 60 with one operation. In this case, even if an operation mode other than the off mode is selected in the first mode, the control unit 72 operates the first operation unit 84 with one operation when the first operation unit 84 is operated in the first mode. It is also possible to switch between two modes and drive the motor 60 .

- If the second operation button 84B is pressed in the first mode and the current operation mode is the minimum operation mode, the control unit 72 may maintain the minimum operation mode. In this case, the off mode may be omitted from the operation modes. In this case, it is preferable that the control section 72 changes from the first mode to the second mode according to the operation of the operation section other than the second operation button 84B.

DESCRIPTION OF SYMBOLS 10... Human-powered vehicle, 14B... Crank arm, 20... Seat post, 20S... Saddle, 32... Front fork, 36... Stem, 38... Handlebar, 40... Seat tube, 42... Top tube, 44... Down tube, 50 ...Rear suspension 52...Front suspension 60...Motor 70...Control device for human-powered vehicle 72...Control unit 82...Operation unit 84...First operation unit 86...Second operation unit 86A...Load sensor , 86B... operation switch, 90... third operation unit, 90A... operation switch, 92... seat stay.

Claims (16)

a control unit for controlling a motor for applying propulsion force to the manpowered vehicle in response to operation of at least one operation unit;
the manpowered vehicle includes a crank arm;
the at least one operation unit includes at least a first operation unit and a second operation unit;
The first operation unit is provided on a handlebar of the manpowered vehicle,
The second operation portion is provided at a position different from the handlebar,
When an operation is performed on the first operation unit, the control unit changes the control mode of the motor from a first mode in which the motor is controlled according to the input of the human power driving force from the crank arm to the at least Control for a manpowered vehicle, wherein the motor is changed to a second mode in which the motor is controlled in accordance with the operation of one operation unit, and the motor is driven when a load is applied to the second operation unit in the second mode. Device. The control unit changes a control mode of the motor from the first mode to the second mode when each of the first operation unit and the second operation unit is operated, and changes the control mode of the motor to the second mode. 2. The control device for a manpowered vehicle according to claim 1 , wherein said motor can be driven by operating said second operation portion. The control unit changes the control mode of the motor from the first mode to the second mode when the first operation unit and the second operation unit are operated simultaneously, and in the second mode, 3. The manpowered vehicle control device according to claim 1, wherein the motor can be driven by operating the second operation section. The operating section further includes a third operating section different from the first operating section and the second operating section,
The control unit drives the motor by operating the third operating unit when at least one of the first operating unit, the second operating unit, and the third operating unit is operated. The control device for a manpowered vehicle according to any one of claims 1 to 3, which enables 5. The control device for a manpowered vehicle according to claim 4, wherein said third operating portion is provided at a position different from said handlebar. 6. The control unit according to claim 4, wherein when the second operation unit and the third operation unit are operated simultaneously, the control unit enables the motor to be driven by operating the third operation unit. Control device for human-powered vehicles. The manpowered vehicle control device according to any one of claims 1 to 6, wherein at least the second operation section includes an operation switch. The manpowered vehicle control device according to any one of claims 4 to 6, wherein at least one of said second operating portion and said third operating portion includes an operation switch. The manpowered vehicle control device according to any one of claims 1 to 6, wherein at least the second operation section includes a load sensor. The manpowered vehicle control device according to any one of claims 4 to 6, wherein at least one of said second operating portion and said third operating portion includes a load sensor. The second operating portion includes at least a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, a front suspension, and a rear suspension of the manpowered vehicle. A control device for a manpowered vehicle according to any one of claims 1 to 10, provided in one. At least one of the second operation portion and the third operation portion includes a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, and a seat post of the manpowered vehicle. The manpowered vehicle control device according to any one of claims 4 to 6, 8 and 10, which is provided in at least one of the front suspension and the rear suspension. The load sensor is provided on at least one of a seat post, a saddle, a seat stay, a seat tube, a bridge portion of the seat stay, a top tube, a down tube, a stem, a front fork, a front suspension, and a rear suspension. 11. A controller for a manpowered vehicle according to Item 9 or 10. The manpowered vehicle control device according to any one of claims 4 to 6, 8, 10, and 12, wherein the control unit drives the motor according to the operation of the third operation unit. . 15. The controller for a manpowered vehicle according to any one of claims 1 to 14 , wherein said control section changes the control mode of said motor according to an operation on said second operation section. a control unit for controlling a motor for applying propulsion force to the manpowered vehicle in response to operation of at least one operation unit;
the manpowered vehicle includes a crank arm;
the at least one operation unit includes at least a first operation unit and a second operation unit;
The first operation unit is provided on a handlebar of the manpowered vehicle,
The second operation portion is provided at a position different from the handlebar,
The control unit
When the second operation unit is operated two or more times , the control mode of the motor is changed from the first mode in which the motor is controlled according to the input of the human power driving force from the crank arm to the at least one operation. A control device for a manpowered vehicle , which changes to a second mode for controlling the motor according to an operation on a part, and drives the motor when a load is applied to the second operation part in the second mode .

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