JP7349639B2 - Electric bicycles and electric bicycle control devices - Google Patents

Description

The present disclosure relates to an electric bicycle and a control device for an electric bicycle.

Conventionally, an electric bicycle has been provided with an electric motor, a pushing operation device that enables the electric motor to exert assist power when pushing the vehicle, and a controller that controls the assist power of the electric motor in accordance with the operation of the push operation device. has been disclosed (for example, see Patent Document 1).

Patent No. 4118985

For example, in a conventional electric bicycle, if a high load is applied to the electric bicycle, such as when pushing the vehicle body forcefully, the electric bicycle will reach the target speed due to the high load before the output of the electric motor has sufficiently increased. Therefore, there is a concern that the output of the electric motor may be insufficient. Therefore, it is conceivable to increase the rate of increase in the output of the electric motor so that the output of the electric motor does not become insufficient. However, in this case, even if a low load is applied to the electric bicycle, such as when pushing with a weak force, an overshoot with respect to the target speed may occur, such as sudden acceleration or sudden start.

Therefore, an object of the present disclosure is to provide an electric bicycle and an electric bicycle control device that can appropriately output the output of an electric motor when pushing or supporting an electric bicycle.

In order to achieve the above object, an electric bicycle according to one aspect of the present disclosure includes an electric motor and an auxiliary driving force by the electric motor that is added to the pushing force against the vehicle body, and the electric bicycle is pushed around, or The control unit includes a control unit that executes an additional self-propelling mode, and a first sensor that outputs information regarding the acceleration of the vehicle body when the mode is executed; The increase value of the auxiliary driving force per unit time to be added when the acceleration of the vehicle body based on the information is equal to or higher than the first threshold value, and the increase value of the auxiliary driving force per unit time to be added when the acceleration of the vehicle body is less than the first threshold value. The electric motor is controlled to be smaller than the increase value of the auxiliary driving force , and the increase value of the auxiliary driving force per unit time to be added when the acceleration of the vehicle body is less than the first threshold value is set to be smaller than the increase value of the auxiliary driving force of the vehicle body. The electric motor is controlled so that the increase value of the auxiliary driving force per unit time is greater than the increase value of the auxiliary driving force added when the acceleration is equal to or greater than the first threshold value.

Further, the control device for an electric bicycle according to one aspect of the present disclosure is provided with a mode in which the electric bicycle is pushed while adding an auxiliary driving force by an electric motor to a pushing force on the vehicle body, or in which the electric bicycle is made to move by itself by adding the auxiliary driving force to the pushing force on the bicycle body. and an output unit that outputs information regarding the acceleration of the vehicle body when the mode is executed, and the controller is configured to output information regarding the acceleration of the vehicle body based on the information regarding the acceleration when the mode is executed. The increase value of the auxiliary driving force per unit time that is added when the acceleration of the vehicle body is greater than or equal to the first threshold value is set to be larger than the increase value of the auxiliary driving force that is added per unit time when the acceleration of the vehicle body is less than the first threshold value. The electric motor is controlled so as to reduce the increase value of the auxiliary driving force per unit time that is added when the acceleration of the vehicle body is less than the first threshold value. The electric motor is controlled so that the increase value of the auxiliary driving force per unit time is greater than the increase value of the auxiliary driving force added in the case of .

According to the electric bicycle or the like according to the present disclosure, the output of the electric motor can be made appropriate when the electric bicycle is being pushed or supported.

FIG. 1 is a side view of the electric bicycle according to the first embodiment. FIG. 2 is a block diagram showing the configuration of the electric bicycle according to the first embodiment. FIG. 3 is a perspective view of the handle and operation section of the electric bicycle according to the first embodiment. FIG. 4 is a flowchart showing a case where the electric bicycle according to the first embodiment operates in the second mode. FIG. 5 is a diagram showing the relationship between the speed of the electric bicycle and time, and the relationship between the output of the electric motor and time. FIG. 6 is a diagram showing the relationship between the speed of the electric bicycle and time and the relationship between the output of the electric motor and time when the output of the electric motor is set on level ground in the electric bicycle in the comparative example. FIG. 7 is a diagram showing the relationship between the speed of the electric bicycle and time and the relationship between the output of the electric motor and time when the output of the electric motor is set for climbing a hill in the electric bicycle according to the comparative example. FIG. 8 is a block diagram showing the configuration of an electric bicycle according to the second embodiment. FIG. 9 is a flowchart showing a case where the electric bicycle according to the second embodiment operates in the second mode.

Below, embodiments of the present disclosure will be described in detail using the drawings. Note that the embodiments described below each represent a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims will be described as arbitrary constituent elements.

Furthermore, each figure is a schematic diagram and is not necessarily strictly illustrated. Therefore, for example, the scale etc. of each figure do not necessarily match. Further, in each figure, substantially the same configurations are denoted by the same reference numerals, and overlapping explanations will be omitted or simplified.

Hereinafter, an electric bicycle and an electric bicycle control device according to the present embodiment will be described.

(Embodiment 1)
<Configuration>
FIG. 1 is a side view of an electric bicycle 1 according to the first embodiment.

As shown in FIG. 1, the electric bicycle 1 has a first mode and a second mode. The first mode is, for example, an assist mode, which assists the electric bicycle 1 to move forward based on the force applied to the pedals 17 by a person (user). The second mode includes, for example, at least one of a push walking mode and a self-propelled mode. In the push walking mode, when the user pushes the electric bicycle 1 while walking, the forward movement of the electric bicycle 1 is assisted based on the force of the user pushing the vehicle body 10 forward. In the self-propelled mode, when a person walks while supporting the electric bicycle 1, the electric bicycle 1 is assisted in moving forward.

FIG. 2 is a block diagram showing the configuration of the electric bicycle 1 according to the first embodiment.

As shown in FIGS. 1 and 2, the electric bicycle 1 includes a vehicle body 10, an operating section 21, a manual switch 22, a crank rotation sensor 31, a motor rotation sensor 32, a pedal force sensor 33, and a vehicle speed sensor 34. , a transmission measuring section 35, a motor drive unit 40, a battery 50, a headlamp 60, and a transmission 70.

[Vehicle body 10]
The vehicle body 10 includes a frame 11, a front wheel 12, a rear wheel 13, a saddle 15, a handle 14, a crank 16, pedals 17, a sprocket (not shown), and a chain 19.

The frame 11 includes a head pipe 111, a main frame 112, a vertical pipe 113, a fork 114, and a chainstay 115. The head pipe 111 rotatably supports a fork 114 that supports the front wheel 12 and a handle 14 about the axis of the head pipe 111 . By turning the handle 14 left and right, the direction of the front wheel 12 supported by the fork 114 can be rotated left and right.

The main frame 112 is a part that connects the head pipe 111 and the vertical pipe 113. The crank 16 and the motor drive unit 40 are attached to the lower end of the main frame 112. The electric bicycle 1 according to the present embodiment is a so-called center unit type electric bicycle 1 in which the crank 16 and the motor drive unit 40 are integrated, but the electric bicycle 1 is not limited to the center unit type.

The vertical pipe 113 supports the saddle 15 in a detachable manner. Specifically, a seat post that supports the saddle 15 is inserted into and fixed to the vertical pipe 113. In this embodiment, the battery 50 is removably attached to the vertical pipe 113.

The fork 114 rotatably supports the front wheel 12. A headlamp 60 is attached to the fork 114 that supports the front wheel 12.

Chain stay 115 rotatably supports rear wheel 13.

The saddle 15 is a part on which a person sits when riding in an appropriate posture.

The handle 14 is provided with a pair of grips 141 and a pair of brake levers 142 on the left and right sides.

The pair of grips 141 are parts that are held by hands when riding in an appropriate posture. Furthermore, the pair of grips 141 are held in the hands when pushing or supporting the electric bicycle 1 while walking, and receive a forward pushing force. At least one of the pair of grips 141 may be provided with a grip sensor that detects gripping force or pressing force.

The pair of brake levers 142 are operation levers of a brake device (not shown) attached to each of the front wheels 12 and the rear wheels 13. By operating one of the brake levers 142, a brake device attached to the front wheels 12 is driven, and a mechanical braking force is applied to the front wheels 12. By operating the other brake lever 142, the brake device attached to the rear wheel 13 is driven, and provides mechanical braking force to the rear wheel 13.

The brake lever 142 is provided with a brake sensor, and this brake sensor detects an operation on the brake lever 142.

The crank 16 has a crankshaft 161 and a pair of crank arms 162. One crank arm 162 is provided on each side of the main frame 112, and is fixed to both ends of the crankshaft 161 extending in the left-right direction. One end of the crank arm 162 is fixed to the crankshaft 161, and the pedal 17 is rotatably fixed to the other end. When a pedal force is applied to the pedal 17, the crank arm 162 rotates around the crankshaft 161, and the human driving force resulting from this rotation is transmitted to the rear wheel 13 via the sprocket and chain 19. When operating in the first mode, the human driving force based on the pedal effort and the first auxiliary driving force by the electric motor 41 added to the human driving force are transmitted to the rear wheels 13.

[Operation unit 21]
FIG. 3 is a perspective view of the handle and operation section 21 of the electric bicycle 1 according to the first embodiment.

As shown in FIGS. 2 and 3, the operating section 21 is provided near one of the pair of brake levers 142 (the left brake lever 142 in this embodiment). The operation unit 21 is a terminal device that includes a light switch (not shown) that turns on the headlight 60 and the like. The operation unit 21 has buttons and the like for accepting human operations. The button may be a touch panel display, a mechanical button, or the like.

Further, the operation unit 21 includes a display unit 44 that displays, for example, that the rear wheel 13 in FIG. 1 is idling. The display section 44 is, for example, a liquid crystal display, an organic EL display, or the like.

[Manual switch 22]
The manual switch 22 is a mechanical switch that accepts a pushing operation or a self-propelling operation to execute the second mode. The manual switch 22 is, for example, a momentary type switch. Specifically, while the manual switch 22 is being pressed by a person, the operation unit 21 continues to output a second mode on signal for executing the second mode to the control device 42 (described later). On the other hand, during the period when the manual switch 22 is not pressed down, the operation unit 21 does not output the second mode-on signal to the control device 42.

Note that even if the manual switch 22 is pressed once, the second mode may be executed without continuing to press the manual switch 22. The second mode may be stopped if the manual switch 22 is pressed again during execution of the second mode. In this case, there is no need to keep pressing the manual switch 22, so the person can concentrate on pressing the vehicle body 10.

Further, the manual switch 22 includes two different switches: a push-and-walk switch for executing the second mode of push-and-walk mode, and a self-propelled switch for executing the second mode of self-propelled mode. Good too. In this case, the control unit 43 may execute the push-and-walk mode when the push-and-walk switch is pressed, and may execute the self-propelled mode when the self-propelled switch is pressed.

[Crank rotation sensor 31]
As shown in FIGS. 1 and 3, the crank rotation sensor 31 detects the number of rotations of the crank 16 per unit time when the first mode and the second mode are executed. The crank rotation sensor 31 is realized by having a gear-shaped rotating body and a photodetector having a light emitting part and a light receiving part arranged so as to sandwich the teeth of the rotating body. The crank rotation sensor 31 outputs crank rotation speed information indicating the detected rotation speed of the crank 16 to the control device 42 . Note that the crank rotation sensor 31 may have any configuration as long as it can detect the rotation speed of the crank 16. Crank rotation sensor 31 is an example of a third sensor.

Further, the crank rotation sensor 31 is arranged near the crankshaft 161.

[Motor rotation sensor 32]
Motor rotation sensor 32 is arranged near the rotation axis of electric motor 41. The motor rotation sensor 32 outputs information regarding the acceleration of the electric bicycle 1 when the first mode and the second mode are executed. The motor rotation sensor 32 is a Hall IC sensor that detects the number of rotations per unit time of the electric motor 41 and outputs motor rotation number information. The motor rotation speed information is information that allows the acceleration of the electric bicycle 1 to be calculated based on the rotation speed per unit time of the electric motor 41, and is included in the information regarding the acceleration of the electric bicycle 1. In this embodiment, the acceleration of the electric bicycle 1 is mainly the acceleration of the vehicle body 10 when the second mode is executed. The motor rotation sensor 32 is an example of a first sensor and also an example of an output section.

Specifically, the motor rotation sensor 32 includes a magnet that rotates integrally with the rotation shaft of the electric motor 41 and a Hall IC. The Hall IC detects the number of rotations of the magnet per unit time, that is, the number of rotations of the electric motor 41, by detecting changes in the magnetic field that changes according to the rotation of the magnet. Note that the motor rotation sensor 32 may have any configuration as long as it can detect the rotation speed of the electric motor 41. Motor rotation sensor 32 outputs motor rotation speed information indicating the rotation speed of electric motor 41 to control device 42 .

[Tread force sensor 33]
The pedal force sensor 33 is a magnetostrictive torque sensor, and detects the human power driving force generated when the crankshaft 161 rotates based on the human power driving force applied to the pedal 17 . The pedal force sensor 33 includes a coil and a magnetostriction generating section. For example, when a pedal force is applied to the pedal 17 and human driving force is generated, distortion occurs in the magnetostriction generating section. In the magnetostriction generating portion, there are areas where magnetic permeability increases and areas where magnetic permeability decreases. The pedal force sensor 33 detects the human driving force by detecting the inductance difference between the coils. The pedal force sensor 33 outputs pedal force information indicating the detected human power driving force to the control device 42 . Note that the configuration of the pedal force sensor 33 is not particularly limited, and any configuration may be used as long as it can detect the human driving force applied to the pedal 17.

Further, the pedal force sensor 33 is arranged near the crankshaft 161.

[Vehicle speed sensor 34]
The vehicle speed sensor 34 detects the speed of the electric bicycle 1 when the first mode and the second mode are executed. Vehicle speed sensor 34 outputs speed information indicating the detected speed of electric bicycle 1 to control device 42 . For example, the vehicle speed sensor 34 is a speed sensor such as a foil sensor that detects the speed of the electric bicycle 1 from the rotation of the front wheel 12 or the rear wheel 13 and outputs speed information indicating the speed to the control device 42. Vehicle speed sensor 34 is an example of a second sensor.

Note that the vehicle speed sensor 34 may be a foil sensor, a magnet sensor, or the like, or may be a cycle computer that calculates based on ground speed, and may have any configuration as long as it can detect the speed of the electric bicycle 1.

The vehicle speed sensor 34 is provided, for example, at the lower end of the fork 114, and is placed at a position where the speed can be easily measured.

[Transmission measurement unit 35]
The transmission measurement unit 35 measures the gear position of the transmission 70 of the rear wheel 13 and transmits information indicating the gear position of the transmission 70 to the control device 42 . Measurement of the gear of the transmission 70 may be realized, for example, by outputting information indicating the gear of the transmission 70 output by the transmission switching device to the control device 42.

[Motor drive unit 40]
The motor drive unit 40 is attached to the vehicle body 10 and includes an electric motor 41 and a control device 42. The motor drive unit 40 is formed into a unit by housing an electric motor 41 and a control device 42 in a resin or metal casing. A crank rotation sensor 31, a motor rotation sensor 32, a pedal force sensor 33, and the like are provided inside the housing.

The electric motor 41 is driven by receiving electric power from the battery 50 under the control of the control device 42 . The rotational torque of the electric motor 41 is transmitted to the sprocket of the rear wheel 13, causing the rear wheel 13 to rotate. Rotational torque means the first auxiliary driving force and the second auxiliary driving force.

The electric motor 41 is a motor that provides a first auxiliary driving force and a second auxiliary driving force. The electric motor 41 adds the first auxiliary driving force to the human power driving force based on the pedal force applied to the pedal 17 while executing the first mode. Further, the electric motor 41 adds the second auxiliary driving force to the pushing force on the electric bicycle 1 while executing the second mode. Furthermore, during execution of the second mode, the electric motor 41 applies a second auxiliary driving force that allows the electric bicycle 1 to travel by itself while being supported by a person.

As shown in FIG. 2, the control device 42 includes an electric motor 41, a crank rotation sensor 31, a motor rotation sensor 32, a pedal force sensor 33, a vehicle speed sensor 34, a transmission measuring section 35, a manual switch 22, an operating section 21, and a battery. 50 and a headlamp 60 are electrically connected. The control device 42 controls the operation of the electric motor 41 based on sensing information from sensors such as the crank rotation sensor 31, the pedal force sensor 33, the motor rotation sensor 32, the vehicle speed sensor 34, and the transmission measuring section 35. In addition, the control device 42 receives operation signals from the operation unit 21 and the manual switch 22, and sensing information that is the detection result from each sensor. Sensing information is a general term that includes crank rotation speed information, motor rotation speed information, pedal force information, speed information, and information indicating the gear of the transmission 70.

The control device 42 has a control section 43. The control unit 43 drives the electric motor 41 according to the operating mode of the electric bicycle 1. Specifically, the control unit 43 has a first mode and a second mode, and executes each mode by switching between the first mode and the second mode. For example, if the pedal force sensor 33 does not detect the pedal force on the pedal 17 after the second mode is stopped, the control unit 43 restarts the second mode when receiving an instruction to start the second mode again. . Specifically, the control unit 43 restarts the second mode when the manual switch 22 is pressed after the second mode is stopped. Further, when the pedal force sensor 33 detects the pedal force on the pedal 17, the control unit 43 does not restart the second mode even if the manual switch 22 is pressed.

The first mode is an assist mode in which the vehicle travels by adding the first auxiliary driving force from the electric motor 41 to the human driving force based on the pedal force applied to the pedal 17 . The first mode is executed when a person is riding the electric bicycle 1 after the manual switch 22 is pressed and the power is turned on. Specifically, the first mode is executed when the pedal force on the pedal 17 detected by the pedal force sensor 33 is greater than a predetermined value.

When executing the first mode, the control unit 43 determines the magnitude of the first auxiliary driving force generated by the electric motor 41 based on the pedal force applied to the pedals 17 and the speed of the electric bicycle 1. The pressing force on the pedal 17 is obtained from the detection result by the pressing force sensor 33. For example, the speed of the electric bicycle 1 is calculated based on the number of revolutions per unit time of the front wheel 12 and the size of the front wheel 12, or the number of revolutions per unit time of the rear wheel 13 and the size of the rear wheel 13. Calculated based on

Note that a table in which the number of rotations per unit time of the front wheel 12 or the rear wheel 13 and the speed of the electric bicycle 1 are associated in advance may be stored in the memory of the control device 42. The control unit 43 may determine the speed of the electric bicycle 1 from the rotation speed of the front wheel 12 or the rear wheel 13 by referring to the table.

The first auxiliary driving force in the first mode varies depending on the traveling speed of the electric bicycle 1, but is, for example, twice or less the force applied to the pedals 17. For example, when the traveling speed of the electric bicycle 1 is less than 10 km/h, the control unit 43 generates the first auxiliary driving force that is twice or less the pedal force applied to the pedals 17 by driving the electric motor 41. The control unit 43 does not cause the electric motor 41 to generate the first auxiliary driving force when the speed is 24 km/h or more. When the speed is greater than or equal to 10 km/h and less than 24 km/h, the control unit 43 drives the electric motor 41 to generate a first auxiliary driving force determined according to the speed.

In the second mode, the vehicle body 10 is pushed by adding a second auxiliary driving force from the electric motor 41 to the pushing force, or the second auxiliary driving force is added to the supported vehicle body 10 to make it move on its own (supported walking). ) mode (push walking mode or self-propelled mode). The second mode is an example of a mode.

The push-and-walk mode is a mode in which the second auxiliary driving force by the electric motor 41 is applied to the body 10 of the electric bicycle 1 when the person pushes the body 10 of the electric bicycle 1 while the power is on. The push walking mode is executed when a person is not riding the electric bicycle 1 and walks while pushing the vehicle body 10.

The self-propelling mode is a mode in which the electric bicycle 1 is supported by a person and the second auxiliary driving force from the electric motor 41 is applied to the vehicle body 10 to make the electric bicycle 1 self-propelled. The self-propelled mode, like the push-and-walk mode, is executed when a person is not riding the electric bicycle 1 and walks while supporting the body 10 of the electric bicycle 1. In the self-propelled mode, the person is not applying any force to push the vehicle body 10 forward.

The control unit 43 can determine which mode to execute, the push-walking mode or the self-propelled mode, depending on the presence or absence of a forward pushing force on the vehicle body 10. For example, the control unit 43 detects the presence or absence of a force pushing the vehicle body 10 forward using a grip sensor provided on the grip 141 or the like, and switches and executes the pushing mode and the self-propelled mode according to the detection result. It's okay. Alternatively, the control unit 43 may execute the mode as a second mode in which the second auxiliary driving force is added, without determining whether the mode is push walking mode or self-propelled mode. Further, the control unit 43 may switch between the push walking mode and the self-propelled mode by operating the manual switch 22 by a person.

In this embodiment, each of the push walking mode and the self-propelled mode is executed while the manual switch 22 is pressed down. Each of the push walking mode and the self-propelling mode does not need to be executed if the pedal force applied to the pedal 17 is greater than a predetermined value. That is, the first mode and the second mode are executed exclusively. In addition, both the push walking mode and the self-propelled mode are executed exclusively.

Furthermore, the control unit 43 acquires information regarding the acceleration of the electric bicycle 1 from the motor rotation sensor 32 when executing the second mode. The information regarding the acceleration of the electric bicycle 1 includes motor rotation speed information indicating the rotation speed of the electric motor 41 from which the acceleration of the electric bicycle 1 can be calculated. In the present embodiment, the control unit 43 acquires motor rotation speed information from the motor rotation sensor 32 as information regarding the acceleration of the electric bicycle 1.

Further, when the control unit 43 acquires the motor rotation speed information from the motor rotation sensor 32 during execution of the second mode, the control unit 43 calculates the acceleration of the electric bicycle 1 from the motor rotation speed information. For example, the control unit 43 calculates the acceleration of the electric bicycle 1 from the increase in the number of rotations per unit time of the electric motor 41.

When the control unit 43 executes the second mode, the load applied to the electric motor 41 is different depending on whether the electric bicycle 1 is traveling on a flat ground, going down a slope, or going up a slope. Therefore, when the control unit 43 executes the second mode, it is necessary to control the second auxiliary driving force that the electric motor 41 applies to the vehicle body 10 depending on the location where a person pushes the electric bicycle 1. In this embodiment, the control unit 43 controls the output of the electric motor 41 according to acceleration.

Specifically, the control unit 43 determines whether the calculated acceleration of the electric bicycle 1 is equal to or greater than the first threshold value when the second mode is executed. The control unit 43 controls the electric motor 41 to reduce the increase value of the second auxiliary driving force when the acceleration of the electric bicycle 1 based on information regarding acceleration becomes equal to or higher than the first threshold value when executing the second mode. If the acceleration of the electric bicycle 1 increases too much, it is considered that, for example, the electric bicycle 1 is being pushed forcefully on a flat ground. For example, when a person pushes the electric bicycle 1 while moving on flat ground in the second mode, the acceleration of the electric bicycle 1 tends to be larger than when a person walks and pushes the electric bicycle 1 up a slope. In order to suppress the acceleration of the electric bicycle 1 from becoming too large, the control unit 43 controls the increase value of the second auxiliary driving force by the electric motor 41 to be applied when the acceleration of the electric bicycle 1 is equal to or higher than the first threshold value. is made smaller than the increase value of the second auxiliary driving force that the electric motor 41 applies when the second auxiliary driving force is less than the first threshold value. Here, the increase value of the second auxiliary driving force includes an amount of increase in the second auxiliary driving force or an increase rate of the second auxiliary driving force.

Here, the first threshold value is a value that is preset according to the acceleration of the person's walking speed. The first threshold value is set in a range of 1.5 m/s ² or more and less than 4.0 m/s ² , for example, 2.0 m/s ² .

Furthermore, when executing the second mode, the control unit 43 determines whether the acceleration of the electric bicycle 1 is equal to or greater than a second threshold value that is larger than the first threshold value. The second threshold value is set, for example, in a range of 3.5 m/s ² or more and 5.5 m/s ² or less, and is set to 4.0 m/s ² , for example. During execution of the second mode, when the acceleration of the electric bicycle 1 exceeds a second threshold value that is larger than the first threshold value, the control unit 43 significantly weakens the second auxiliary driving force of the electric motor 41 or controls the electric motor 41 to stop. If the acceleration of the electric bicycle 1 increases abnormally, this may be due to, for example, the electric bicycle 1 idling or going down a slope. When a person pushes the electric bicycle 1 down a slope in the second mode, the acceleration of the electric bicycle 1 is greater than when a person pushes the electric bicycle 1 and moves on a flat ground. Therefore, the control unit 43 controls the electric motor 41 to apply the second auxiliary driving force to the vehicle body 10 when the second auxiliary driving force is greater than or equal to the second threshold than the second auxiliary driving force that the electric motor 41 applies to the vehicle body 10 when the second auxiliary driving force is greater than or equal to the first threshold and less than the second threshold. The second auxiliary driving force to be applied is reduced. For example, the control unit 43 controls the second auxiliary driving force of the electric motor 41 when a person pushes the electric bicycle 1 while walking down a slope, rather than the second auxiliary driving force when a person pushes the electric bicycle 1 and moves down a slope. Reduce auxiliary driving force. The second auxiliary driving force applied to the vehicle body 10 when the second threshold value is greater than or equal to the first threshold value is smaller than the second auxiliary driving force applied to the vehicle body 10 when the second auxiliary driving force is greater than or equal to the first threshold value and less than the second threshold value.

Moreover, when the acceleration of the electric bicycle 1 becomes less than the first threshold value during execution of the second mode, the control unit 43 controls the electric motor 41 to increase the increase value of the second auxiliary driving force. If the increased value of the acceleration of the electric bicycle 1 is small, it is considered that the electric bicycle 1 is climbing up a slope, for example. When a person walks and pushes the electric bicycle 1 up a slope in the second mode, the acceleration of the electric bicycle 1 is smaller than when a person walks and pushes the electric bicycle 1 on flat ground. For this reason, the control unit 43 changes the increase value of the second auxiliary driving force by the electric motor 41 to be added when the acceleration of the electric bicycle 1 is less than the first threshold to the second threshold. The increase value of the second auxiliary driving force that is applied by the electric motor 41 when

Furthermore, upon acquiring the speed information from the vehicle speed sensor 34, the control unit 43 corrects the acceleration of the electric bicycle 1 when executing the second mode.

For example, when the control unit 43 acquires speed information from the vehicle speed sensor 34 during execution of the second mode, the control unit 43 corrects the acceleration of the electric bicycle 1 based on the speed indicated by the speed information. Since the acceleration of the electric bicycle 1 calculated based on the rotation information detected by the motor rotation sensor 32 may not be accurate, the control unit 43 corrects the acceleration of the electric bicycle 1 based on more accurate speed information. .

Furthermore, upon acquiring the crank rotation speed information from the crank rotation sensor 31 during execution of the second mode, the control unit 43 calculates the speed of the electric bicycle 1 from the crank rotation speed information, and based on the calculated speed of the electric bicycle 1. The acceleration of the electric bicycle 1 can also be corrected. That is, since the acceleration of the electric bicycle 1 calculated based on the rotation information detected by the motor rotation sensor 32 may not be accurate, the control unit 43 calculates the acceleration of the electric bicycle 1 based on the speed of the electric bicycle 1 calculated from the crank rotation speed information. It is also possible to correct the acceleration of the electric bicycle 1.

Furthermore, when executing the second mode, the control unit 43 causes the electric motor 41 to generate the second auxiliary driving force so that the traveling speed of the electric bicycle 1 does not exceed a predetermined upper limit. The second auxiliary driving force in the second mode is, for example, such that the speed of the electric bicycle 1 is less than 6 km/h. In the present embodiment, when executing the second mode, the upper limit of the speed of the electric bicycle 1 is 6 km/h, but it may be 3 to 4 km/h, and is not particularly limited.

The control device 42 supplies electric power supplied from the battery 50 to the electric motor 41, the headlight 60, and the like.

The control device 42 is realized by, for example, a microcomputer (microcontroller) or the like, and includes a nonvolatile memory in which a program is stored, a volatile memory that is a temporary storage area for executing the program, an input/output port, and an input/output port for executing the program. It consists of a processor, etc. Note that the control device 42 may be realized by a dedicated electronic circuit.

In this embodiment, the control device 42 is housed inside the casing of the motor drive unit 40, but the present invention is not limited thereto. The control device 42 may be provided separately from the motor drive unit 40.

[Battery 50]
The battery 50 is a storage battery that stores power for driving the electric motor 41. The battery 50 is, for example, a secondary battery, but may also be a capacitor or the like. Battery 50 is electrically connected to electric motor 41. Specifically, the battery 50 supplies electric power to the electric motor 41.

[Headlight 60]
The headlight 60 is a lighting device that emits light in the direction of travel of the electric bicycle 1 using electric power supplied from the battery 50. The headlight 60 is turned on or off by receiving an operation by a person via the operation unit 21 . The headlight 60 can be turned on or off by a light switch on the operating section 21.

[Transmission 70]
The transmission 70 is configured with a known transmission mechanism such as a planetary gear or a multi-stage gear, which has a plurality of drive force transmission paths with different gear ratios. The transmission 70 can be shifted to, for example, a low gear, a middle gear, a top gear, or the like by switching the driving force transmission path.

<Operation>
Here, a control process for the electric bicycle 1 will be described using FIG. 4, assuming that the manual switch 22 is turned on in advance. Further, in the following explanation, it is mainly assumed that the electric bicycle 1 is pushed around while walking, but the same applies to the case where the electric bicycle 1 is self-propelled, so the explanation thereof will be omitted.

FIG. 4 is a flowchart showing a case where the electric bicycle 1 according to the first embodiment operates in the second mode.

As shown in FIG. 4, the motor rotation sensor 32 first detects the number of rotations of the electric motor 41 per unit time when the second mode is executed (S11), and detects the number of rotations of the electric motor 41 indicating the detected number of rotations of the electric motor 41. The rotation speed information is output to the control device 42.

Upon acquiring the motor rotation speed information, the control unit 43 of the control device 42 calculates the acceleration of the electric bicycle 1 from the motor rotation speed indicated by the motor rotation speed information (S12).

Furthermore, the vehicle speed sensor 34 detects the speed of the electric bicycle 1 when executing the second mode (S13), and outputs speed information indicating the detected speed of the electric bicycle 1 to the control device 42.

Upon acquiring the speed information from the vehicle speed sensor 34, the control unit 43 of the control device 42 corrects the acceleration of the electric bicycle 1 when executing the second mode (S14).

Note that steps S13 and S14 may be omitted. In this case, the vehicle speed sensor 34 does not need to be mounted on the electric bicycle 1 either, and the vehicle speed sensor 34 is not an essential component.

When executing the second mode, the control unit 43 determines whether the calculated acceleration of the electric bicycle 1 is equal to or greater than the first threshold (S15).

If the acceleration of the electric bicycle 1 is less than the first threshold (No in S15), for example, the electric bicycle 1 is going up an uphill slope or has just started pushing. Acceleration is small. Therefore, the control unit 43 increases the increase value (hereinafter referred to as the first increase value) of the second auxiliary driving force by the electric motor 41 that is added when the acceleration of the electric bicycle 1 is less than the first threshold value (S16). . The control unit 43 controls the electric motor 41 with the second auxiliary driving force having the first increased value. Then, the control unit 43 ends the process and repeats the same process.

FIG. 5 is a diagram showing the relationship between the speed (vehicle speed) of the electric bicycle 1 and time, and the relationship between the output of the electric motor 41 and time. In FIG. 5, the vehicle speed on flat ground is shown by a solid line, the output of the electric motor 41 on flat ground is shown by a broken line, the vehicle speed when climbing a slope is shown by a dashed line, and the output of the electric motor 41 when climbing a slope is shown by a chain double dotted line. .

Specifically, in FIG. 5, straight line A of two-dot chain line is a tangent line when the acceleration of electric bicycle 1 is less than the first threshold, and straight line B of two-dot chain line is a tangent line when the acceleration of electric bicycle 1 is equal to or higher than the first threshold value. This is the tangent line when the value is less than the second threshold. The slope of straight line A indicates the acceleration of electric bicycle 1 when the acceleration of electric bicycle 1 is less than the first threshold, and the slope of straight line B indicates the acceleration of electric bicycle 1 when the acceleration of electric bicycle 1 is greater than or equal to the first threshold and less than the second threshold. The acceleration of the electric bicycle 1 is shown. The control unit 43 increases the first increase value of the second auxiliary driving force so that the slope of the straight line A becomes larger than the slope of the straight line B when the acceleration of the electric bicycle 1 is less than the first threshold value.

In this way, while the acceleration of the electric bicycle 1 is less than the first threshold value, the second auxiliary driving force is applied to the vehicle body 10 in addition to the force of pushing the electric bicycle 1 at the first increase value, so that when the person pushes the electric bicycle 1 while walking, the second auxiliary driving force is applied to the body 10. To reduce the force applied to an electric bicycle 1. Therefore, even if the force applied by the person to the electric bicycle 1 in the second mode is small, the electric bicycle 1 reaches the target speed in a short time. The target speed is a preset speed, and in this embodiment, the maximum speed is 6 km/h. Furthermore, since there are individual differences in the speed at which a person pushes or runs the electric bicycle 1, the target speed may be 6 km/h or less. Note that the target speed can be estimated as the intermediate speed between the maximum vehicle speed and the minimum vehicle speed while the electric bicycle 1 continues to travel on the same road surface condition.

As shown in FIG. 4, if the acceleration of the electric bicycle 1 is equal to or higher than the first threshold (Yes in S15), the control unit 43 determines whether the acceleration of the electric bicycle 1 is equal to or higher than a second threshold, which is larger than the first threshold. It is determined whether or not (S17).

As shown in FIGS. 4 and 5, if the acceleration of the electric bicycle 1 is not equal to or higher than the second threshold (No in S17), for example, the speed of the electric bicycle 1 has reached or is close to the target speed, and is constant. A person is walking while pushing electric bicycle 1 at a walking speed of . Therefore, the control unit 43 reduces the increase value of the second auxiliary driving force (hereinafter referred to as the second increase value) that the electric motor 41 applies when the acceleration of the electric bicycle 1 is greater than or equal to the first threshold value and less than the second threshold value. do. The control unit 43 controls the electric motor 41 with the second auxiliary driving force having the second increased value (S18). Further, the control unit 43 may control the electric motor 41 so that the second increase value of the second auxiliary driving force becomes 0 or substantially 0 when the target speed is exceeded. That is, when the speed of the electric bicycle 1 reaches the target speed or becomes close to the target speed, the control unit 43 only applies the constant second auxiliary driving force to the vehicle body 10. Specifically, when the target speed is 3.6 km/h, the speed corresponding to the second auxiliary driving force added by the second auxiliary driving force is 1 km/h to 2.4 km/h. For example, the speed corresponding to the second auxiliary driving force by the electric motor 41 corresponds to about 30% to 70% of the target speed. Further, the control unit 43 performs control based on the target output of the electric motor 41 that is controlled at the target speed. At this time, the output of the electric motor 41 can be observed by detecting the output current of the electric motor 41. Note that the target output differs depending on whether the vehicle is moving up a slope, on flat ground, or down a slope. Then, the control unit 43 ends the process and repeats the same process.

As shown in FIG. 4, if the acceleration of the electric bicycle 1 is equal to or higher than the second threshold (Yes in S17), this means that the electric bicycle 1 is idling or going down a slope. acceleration has increased abnormally. Therefore, the control unit 43 significantly weakens the second auxiliary driving force of the electric motor 41 or stops the electric motor 41. Note that even if the vehicle speed of the electric bicycle 1 has not reached the target speed, if the acceleration of the electric bicycle 1 is equal to or higher than the second threshold value, the control unit 43 similarly controls the second auxiliary driving force of the electric motor 41. Significantly weaken the electric motor 41 or stop the electric motor 41 (S19). Then, the control unit 43 ends the process and repeats the same process.

<Comparative example>
FIG. 6 is a diagram showing the relationship between the speed (vehicle speed) of the electric bicycle and time, and the relationship between the output of the electric motor and time when the output of the electric motor is set on flat ground in the electric bicycle in the comparative example. It is.

As shown in FIG. 6, when the output of the electric motor is adjusted to the setting on flat ground, the vehicle speed when climbing a hill, shown by the dashed-dotted line, takes longer to reach the target speed than the first time t1 to reach the target speed on flat land. The second time t2 is longer (for example, the first time t1 is less than half the second time t2).

In this way, immediately after you start pushing an electric bicycle, the output of the electric motor is insufficient when climbing a hill, as shown by the two-dot chain line, and for example, when a person pushes an electric bicycle up a hill, a large burden is placed on the person. .

FIG. 7 is a diagram showing the relationship between the speed (vehicle speed) of the electric bicycle and time and the relationship between the output of the electric motor and time when the electric motor output is set for climbing a hill in the electric bicycle in the comparative example. It is.

As shown in Figure 7, when the output of the electric motor is adjusted to the setting for climbing a hill, the output of the electric motor on flat ground shown by the broken line is too large immediately after starting push walking, and the output of the electric motor on flat ground shown by the solid line is too large. The vehicle speed greatly exceeds the target speed.

In this way, immediately after starting pushing the bicycle, the output of the electric motor on the level ground indicated by the two-dot chain line is too large, and the electric bicycle may jump out due to sudden acceleration. In the electric bicycle of the comparative example, overshoot with respect to the target speed may occur, such as sudden acceleration or sudden start.

[Effect]
Next, the effects of the electric bicycle 1 and the control device 42 of the electric bicycle 1 in this embodiment will be explained.

As described above, the electric bicycle 1 according to the present embodiment is pushed around by adding the second auxiliary driving force (auxiliary driving force) by the electric motor 41 to the electric motor 41 and the pushing force to the vehicle body 10. Alternatively, it includes a control unit 43 that executes a second mode in which the electric bicycle 1 is self-propelled by applying a second auxiliary driving force, and a motor rotation sensor 32 that outputs information regarding the acceleration of the electric bicycle 1 when executing the second mode. Then, during execution of the second mode, when the acceleration of the electric bicycle 1 based on the information regarding acceleration exceeds the first threshold value, the control unit 43 controls the electric motor 41 to reduce the increase value of the second auxiliary driving force. However, when the acceleration of the electric bicycle 1 becomes less than the first threshold value, the electric motor 41 is controlled to increase the increase value of the second auxiliary driving force.

According to this, if the acceleration of the electric bicycle 1 is less than the first threshold, the control unit 43 increases the increase value of the second auxiliary driving force, for example, when pushing the electric bicycle 1 up a hill. , it is possible to suppress the burden on people. In particular, in order to increase the increase value of the second auxiliary driving force, the second auxiliary driving force with a large increase value is applied to the electric bicycle 1 immediately after starting to push the electric bicycle 1. When walking, it is possible to shorten the time it takes to reach the target speed.

Further, if the acceleration of the electric bicycle 1 is equal to or higher than the first threshold value, the control unit 43 decreases the increase value of the second auxiliary driving force, so that, for example, when the electric bicycle 1 is pushed around on flat ground, the control unit 43 Acceleration, sudden starts, etc. are suppressed.

Therefore, the electric bicycle 1 can make the output of the electric motor 41 appropriate when the electric bicycle 1 is being pushed or supported.

In particular, since the acceleration of the electric bicycle 1 can be obtained by using the motor rotation sensor 32, which is an existing sensor, without installing a new sensor, the manufacturing cost of the electric bicycle 1 is unlikely to increase.

In addition, when running the second mode, this electric bicycle 1 can reach the target speed faster than conventional electric bicycles, whether going up a hill or moving on flat ground, so you can ride the electric bicycle 1 comfortably. You can push it around.

Further, the control device 42 of the electric bicycle 1 according to the present embodiment adds a second auxiliary driving force by the electric motor 41 to the pushing force on the vehicle body 10 and pushes it while walking, or adds the second auxiliary driving force to the pushing force on the vehicle body 10. The electric bicycle 1 includes a control unit 43 that executes a second mode in which the electric bicycle 1 runs on its own, and an output unit that outputs information regarding the acceleration of the electric bicycle 1 when the second mode is executed. During execution of the second mode, the control unit 43 controls the electric motor 41 to reduce the increase value of the second auxiliary driving force when the acceleration of the electric bicycle 1 based on information regarding acceleration becomes equal to or higher than the first threshold value, When the acceleration of the electric bicycle 1 becomes less than the first threshold value, the electric motor 41 is controlled to increase the increase value of the second auxiliary driving force.

This control device also provides the same effects as described above.

In the electric bicycle 1 according to the present embodiment, when the acceleration of the electric bicycle 1 becomes a second threshold value or more that is larger than the first threshold value when the second mode is executed, the control unit 43 controls the electric bicycle 1 to The second auxiliary driving force of the electric motor 41 is made smaller than the second auxiliary driving force that the electric motor 41 applies to the vehicle body 10 when it is less than the threshold value, or the electric motor 41 is stopped.

According to this, if the acceleration of the electric bicycle 1 is equal to or greater than the second threshold, the control unit 43 determines that the electric bicycle 1 is idling or going down a downhill slope, for example. Therefore, in order to prevent the speed of the electric bicycle 1 from becoming too large, the second auxiliary driving force is reduced or the electric motor 41 is stopped, thereby suppressing a decrease in the safety of the electric bicycle 1. I can do it.

Furthermore, in the electric bicycle 1 according to the present embodiment, the motor rotation sensor 32 is a Hall IC sensor that detects the number of rotations per unit time of the electric motor 41 and outputs motor rotation number information. The motor rotation speed information is included in the information regarding the acceleration of the electric bicycle 1.

According to this, it is possible to detect the number of rotations per unit time of the electric motor 41 from the start of pushing the bicycle, so that the acceleration of the electric bicycle 1 can be calculated with high accuracy. Therefore, the second auxiliary driving force can be applied to the vehicle body 10 of the electric bicycle 1 immediately after starting pushing the electric bicycle 1, so it is possible to suppress an increase in burden when a person pushes the electric bicycle 1 while walking. .

Furthermore, the electric bicycle 1 according to the present embodiment further includes a vehicle speed sensor 34 that detects and outputs the speed of the electric bicycle 1 when the second mode is executed. Then, the control unit 43 corrects the acceleration of the electric bicycle 1 based on the speed of the electric bicycle 1 detected by the vehicle speed sensor 34 when executing the second mode.

According to this, by correcting the acceleration of the electric bicycle 1 from the speed measured by the vehicle speed sensor 34, the increased value of the acceleration of the electric bicycle 1 can be calculated with higher accuracy.

Furthermore, the electric bicycle 1 according to the present embodiment further includes a crank rotation sensor 31 that detects and outputs the rotation speed of the crank 16 when the second mode is executed. Then, when the second mode is executed, the control unit 43 corrects the acceleration of the electric bicycle 1 based on the speed of the electric bicycle 1 calculated from the rotation speed of the crank 16 detected by the crank rotation sensor 31.

According to this, by correcting the acceleration of the electric bicycle 1 from the speed based on the rotation speed of the crank 16, it is possible to calculate an increase in the acceleration of the electric bicycle 1 with higher accuracy.

(Embodiment 2)
<Configuration>
The configuration of the electric bicycle 2 of this embodiment and the control device 42 of the electric bicycle 2 will be explained using FIG. 8.

FIG. 8 is a block diagram showing the configuration of an electric bicycle 2 according to the second embodiment.

The second embodiment differs from the first embodiment in that the electric bicycle 2 further includes an acceleration sensor 36. Unless otherwise specified, other configurations in this embodiment are the same as those in Embodiment 1, and the same configurations are denoted by the same reference numerals and detailed explanations regarding the configurations will be omitted.

[Acceleration sensor 36]
As shown in FIG. 8, the acceleration sensor 36 detects the acceleration of the electric bicycle 2 when the first mode and the second mode are executed. The acceleration sensor 36 outputs acceleration information indicating the detected acceleration of the electric bicycle 2 to the control device 42. For example, the acceleration sensor 36 uses piezoresistance as a strain resistance method, detects the acceleration of the electric bicycle 2 according to changes in the piezoresistance applied during acceleration, and outputs acceleration information indicating the acceleration to the control device 42. Acceleration sensor 36 is an example of a first sensor. Note that the acceleration sensor 36 may have any configuration as long as it can detect the acceleration of the electric bicycle 2.

The acceleration sensor 36 is provided, for example, on the main frame 112, the vertical pipe 113, etc., and is placed at a position where it is easy to measure the acceleration of the electric bicycle 2.

[Control device 42]
The control unit 43 of the control device 42 acquires information regarding the acceleration of the electric bicycle 2 from the acceleration sensor 36 when executing the second mode. The information regarding the acceleration of the electric bicycle 2 includes motor rotation speed information indicating the rotation speed of the electric motor 41 from which the acceleration of the electric bicycle 2 can be calculated based on the information, as well as acceleration information indicating the actual acceleration of the electric bicycle 2, etc. including.

In addition, when the control unit 43 acquires acceleration information when executing the second mode, it acquires speed information from the vehicle speed sensor 34, acquires crank rotation speed information from the crank rotation sensor 31, and uses the crank rotation speed information. The speed of the electric bicycle 2 is calculated. The control unit 43 corrects the acceleration of the electric bicycle 2 based on the speed of the electric bicycle 2 when executing the second mode.

<Operation>
Here, a control process for the electric bicycle 2 will be described using FIG. 9, assuming that the manual switch 22 is turned on in advance.

FIG. 9 is a flowchart showing a case where the electric bicycle 2 according to the second embodiment operates in the second mode.

Processes similar to those in FIG. 4 of Embodiment 1 are designated by the same reference numerals and description thereof will be omitted as appropriate.

The acceleration sensor 36 detects the acceleration of the electric bicycle 2 when the second mode is executed (S21). The acceleration sensor 36 outputs acceleration information indicating the detected acceleration of the electric bicycle 2 to the control device 42.

Upon acquiring the acceleration information from the acceleration sensor 36, the control unit 43 of the control device 42 detects the speed of the electric bicycle 2 (S13), and outputs speed information indicating the detected speed of the electric bicycle 2 to the control device 42. Then, the processes from steps S14 to S19 are performed. Then, the control unit 43 ends the process and repeats the same process.

[Effect]
Next, the effects of the electric bicycle 2 and the control device 42 of the electric bicycle 2 in this embodiment will be explained.

As described above, in the electric bicycle 2 according to the present embodiment, the first sensor is the acceleration sensor 36 that detects the acceleration of the electric bicycle 2 and outputs acceleration information. The acceleration information is included in information regarding the acceleration of the electric bicycle 2.

According to this, the acceleration of the electric bicycle 2 can be detected with high accuracy.

Further, in this embodiment, the same effects as in Embodiment 1 are achieved.

(Other variations, etc.)
Although the present disclosure has been described above based on Embodiments 1 and 2, the present disclosure is not limited to these Embodiments 1 and 2.

For example, in the first and second embodiments described above, an example is shown in which a manual switch is provided as an example of the input unit that receives an instruction to start the push walking mode or the self-propelled mode, but the invention is not limited to this. For example, instead of a manual switch, a grip sensor provided on the grip of the handle may be provided. When the grip sensor detects a forward pushing force, the control unit may execute the pushing mode or the self-propelling mode. If the grip sensor does not detect a forward pushing force, the control unit may stop the pushing mode or the self-propelled mode.

Further, in the control device for the electric bicycle 1 according to each of the first and second embodiments, an output interface (not shown) for electrically connecting the control device and the motor rotation sensor may be an example of the output section. good. The output interface is mounted on a control device, for example.

Further, the control device for the electric bicycle 1 according to each of the first and second embodiments described above is realized by a program using a computer, and such a program may be stored in a storage device.

Further, each processing section included in the electric bicycle and the electric bicycle control device according to each of the first and second embodiments described above is typically realized as an LSI, which is an integrated circuit. These may be integrated into one chip individually, or may be integrated into one chip including some or all of them.

Further, circuit integration is not limited to LSI, and may be realized using a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells inside the LSI may be used.

In each of the first and second embodiments described above, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Moreover, all the numbers used above are exemplified to specifically explain the present disclosure, and Embodiments 1 and 2 of the present disclosure are not limited to the illustrated numbers.

Furthermore, the division of functional blocks in the block diagram is just an example; multiple functional blocks can be realized as one functional block, one functional block can be divided into multiple functional blocks, or some functions can be moved to other functional blocks. It's okay. Further, functions of a plurality of functional blocks having similar functions may be processed in parallel or in a time-sharing manner by a single piece of hardware or software.

Further, the order in which the steps in the flowchart are executed is for illustrative purposes to specifically explain the present disclosure, and may be in an order other than the above. Further, some of the above steps may be executed simultaneously (in parallel) with other steps.

Other forms can be obtained by making various modifications to the first and second embodiments that those skilled in the art can think of, and by arbitrarily combining the components and functions of the first and second embodiments without departing from the spirit of the present disclosure. Implemented forms are also included in this disclosure.

1, 2 Electric bicycle 10 Vehicle body 16 Crank 31 Crank rotation sensor (third sensor)
32 Motor rotation sensor (first sensor, output section)
34 Vehicle speed sensor (second sensor)
36 Acceleration sensor (first sensor)
41 Electric motor 42 Control device 43 Control section

Claims (7)

electric motor and
A control unit that executes a mode in which the vehicle is pushed by adding an auxiliary driving force from the electric motor to the pushing force on the vehicle body, or a mode in which the vehicle is driven by itself by adding the auxiliary driving force;
a first sensor that outputs information regarding the acceleration of the vehicle body when the mode is executed;
The control unit, when executing the mode,
An increase value of the auxiliary driving force per unit time is added when the acceleration of the vehicle body based on the information regarding the acceleration is equal to or higher than a first threshold value , and an increase value of the auxiliary driving force is added per unit time when the acceleration of the vehicle body is less than the first threshold value. controlling the electric motor so that the increase value of the auxiliary driving force is smaller than the increase value of the auxiliary driving force ,
The increase value of the auxiliary driving force per unit time is added when the acceleration of the vehicle body is less than the first threshold, and the auxiliary drive per unit time is added when the acceleration of the vehicle body is greater than or equal to the first threshold. An electric bicycle in which the electric motor is controlled so that the increase in force is greater than the increase value . When the acceleration of the vehicle body is greater than or equal to a second threshold value, which is greater than the first threshold value, when the acceleration of the vehicle body is greater than or equal to the first threshold value and less than the second threshold value, the control unit may cause the electric motor to stop the acceleration of the vehicle body. The electric bicycle according to claim 1, wherein the auxiliary driving force of the electric motor is made smaller than the auxiliary driving force applied to the electric motor, or the electric motor is stopped. The first sensor is a Hall IC sensor that detects the number of rotations per unit time of the electric motor and outputs motor rotation number information,
The electric bicycle according to claim 1 or 2, wherein the motor rotation speed information is included in information regarding acceleration of the vehicle body. The first sensor is an acceleration sensor that detects acceleration of the vehicle body and outputs acceleration information,
The electric bicycle according to claim 1 or 2, wherein the acceleration information is included in information regarding acceleration of the vehicle body. further comprising a second sensor that detects and outputs the speed of the vehicle body when the mode is executed;
The electric bicycle according to any one of claims 1 to 4, wherein the control unit corrects the acceleration of the vehicle body based on the speed of the vehicle body detected by the second sensor when executing the mode. Furthermore, it includes a third sensor that detects and outputs the rotation speed of the crank when the mode is executed,
5. The control unit corrects the acceleration of the vehicle body based on the speed of the vehicle body calculated from the rotation speed of the crank detected by the third sensor when executing the mode. Electric bicycles listed in section. A control unit that executes a mode in which the vehicle is pushed by adding an auxiliary driving force from an electric motor to the pushing force on the vehicle body, or a mode in which the vehicle is driven by itself by adding the auxiliary driving force;
an output unit that outputs information regarding the acceleration of the vehicle body when the mode is executed;
The control unit, when executing the mode,
An increase value of the auxiliary driving force per unit time is added when the acceleration of the vehicle body based on the information regarding the acceleration is equal to or higher than a first threshold value , and an increase value of the auxiliary driving force is added per unit time when the acceleration of the vehicle body is less than the first threshold value. controlling the electric motor so that the increase value of the auxiliary driving force is smaller than the increase value of the auxiliary driving force ,
The increase value of the auxiliary driving force per unit time is added when the acceleration of the vehicle body is less than the first threshold, and the auxiliary drive per unit time is added when the acceleration of the vehicle body is greater than or equal to the first threshold. A control device for an electric bicycle, which controls the electric motor so that the force is greater than an increase value .

Images