JP2019155962A - Electric bicycle and method for controlling electric bicycle - Google Patents

Abstract

To provide an electric bicycle and a method for controlling an electric bicycle which can stop a pushing-walking mode or a self-traveling mode and can thereby improve safety.SOLUTION: An electric bicycle 1 comprises an electric motor 21. The electric bicycle 1 further comprises a control section 221 which switches between an assist mode for traveling while first auxiliary driving force by the electric motor 21 is added to human power driving force due to treading force to a pedal 17, and a second mode for pushing the bicycle and walking while second auxiliary driving force by the electric motor 21 is added to pushing force to a bicycle body 10 or for causing the bicycle to travel by itself while the second auxiliary driving force is added, and which executes either of the modes. When an elapsed period after starting the second mode is equal to or longer than a first prescribed period, the control section 221 stops the second auxiliary driving force of the electric motor 21.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an electric bicycle and an electric bicycle control method.

  2. Description of the Related Art Conventionally, there has been disclosed an electric bicycle that includes an electric motor and enables the auxiliary driving force of the electric motor to be exhibited when the electric bicycle is pushed and walked (see, for example, Patent Document 1). According to this electric bicycle, it is possible to obtain the auxiliary driving force by the electric motor during the pushing walk by performing the pushing walk operation of the electric bicycle.

Japanese Patent No. 4118985

  For example, in an electric bicycle, when a long-time push-walking mode or a self-propelled mode is executed, some load may be applied to the electric bicycle and some trouble may occur. For example, if a device that executes the push-walking mode or the self-running mode fails, the push-walking mode or the self-running mode cannot be stopped. For this reason, in order to provide a safer electric bicycle, it is necessary to stop the push-walking mode or the self-propelled mode in some way.

  Then, an object of this invention is to provide the control method of the electric bicycle and electric bicycle which can improve safety | security by stopping pushing walk mode or self-propelled mode.

  In order to achieve the above object, an electric bicycle according to an aspect of the present invention is an electric bicycle including an electric motor, and a first auxiliary driving force by the electric motor is added to a human driving force based on a pedaling force on a pedal. And a second mode in which the second auxiliary driving force by the electric motor is added to the pushing force applied to the vehicle body, or the second auxiliary driving force is added to the self-running. The control unit stops the second auxiliary driving force of the electric motor when an elapsed period from the start of the second mode is equal to or longer than a first predetermined period. Let

  An electric bicycle according to an aspect of the present invention is an electric bicycle including an electric motor, and travels by adding a first auxiliary driving force by the electric motor to a human driving force based on a pedaling force on a pedal. Switch between the first mode and the second mode in which the second auxiliary driving force by the electric motor is added to the pushing force to the vehicle body, or the second mode in which the second auxiliary driving force is added to make the vehicle run independently. A control unit is provided, and the control unit has an automatic stop function for stopping the second mode without requiring an operation by a user.

  The electric bicycle control method according to one aspect of the present invention includes a first mode in which a first auxiliary driving force by an electric motor is added to a human driving force based on a pedaling force applied to a pedal, and a push on a vehicle body. A mode execution step of switching and executing a second mode in which the second auxiliary driving force by the electric motor is added to the force and pushed, or the second mode in which the second auxiliary driving force is added and self-runs, and the second And a stop control step of stopping the second auxiliary driving force of the electric motor when the elapsed period from the start of the second mode is equal to or longer than a first predetermined period in the mode.

  According to the electric bicycle and the method for controlling the electric bicycle according to the present invention, safety can be improved by stopping the push-walking mode or the self-running mode.

FIG. 1 is a side view of an electric bicycle according to an embodiment. FIG. 2 is a perspective view of the handle and the operation unit of the electric bicycle according to the embodiment. FIG. 3 is a block diagram illustrating a configuration of the electric bicycle according to the embodiment. FIG. 4 is a schematic diagram illustrating a display unit of the electric bicycle according to the embodiment. FIG. 5 is a flowchart showing the operation of the electric bicycle according to the embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each of the embodiments described below shows a specific example of the present invention. Therefore, numerical values, shapes, materials, components, component arrangement and connection forms, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept of the present invention are described as optional constituent elements.

  Each figure is a mimetic diagram and is not necessarily illustrated strictly. Therefore, for example, the scales and the like do not necessarily match in each drawing. Moreover, in each figure, the same code | symbol is attached | subjected about the substantially same structure, The overlapping description is abbreviate | omitted or simplified.

  Further, in the following description, “front” is the direction of travel of the electric bicycle and “rear” is the opposite direction. Specifically, the handle side is “front” with respect to the saddle of the electric bicycle. The “left / right direction” is a direction orthogonal to the front / rear direction.

(Embodiment)
[Constitution]
First, the configuration of the electric bicycle 1 according to the embodiment will be described.

  FIG. 1 is a side view showing an electric bicycle 1 according to an embodiment.

  As shown in FIG. 1, the electric bicycle 1 can weaken the second auxiliary driving force of the electric motor 21 so as to weaken the idling of the wheel when the wheel is separated from the ground.

  The electric bicycle 1 has a first mode and a second mode. The first mode is, for example, an assist mode, and assists the vehicle body 10 to advance based on the pedaling force of the user on the pedal 17. The second mode includes, for example, a push-walking mode or a self-running mode. In the push-walking mode, when the user walks while pushing the electric bicycle 1, the forward movement of the vehicle body 10 is assisted based on the force of the user pushing the vehicle body 10 forward. In the self-propelled mode, the forward movement of the vehicle body 10 is assisted when traveling while supporting the electric bicycle 1. In the second mode, when the user travels while supporting the electric bicycle 1, the electric bicycle 1 may run on its own.

  The electric bicycle 1 includes a vehicle body 10, a motor drive unit 20 attached to the vehicle body 10, an operation unit 40, a battery 50, a headlamp 60, a crank rotation sensor 31, a pedaling force sensor 33, and a current sensor 130. A vehicle speed sensor 243, a manual switch 42, and a gear position measuring unit 70.

  The vehicle body 10 includes a frame 11, a front wheel 12, a rear wheel 13, a handle 14, a saddle 15, a crank 16, a pedal 17, a sprocket 18, and a chain 19.

  The frame 11 includes a head pipe 111, a main frame 112, a standing pipe 113, a fork 114, and a chain stay 115. The head pipe 111 supports the fork 114 and the handle 14 that support the front wheel 12 so as to be rotatable 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 standing pipe 113. A crank 16 and a motor drive unit 20 are attached to the lower end portion 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 a crank 16 and a motor drive unit 20 are integrated.

  The standing pipe 113 supports the saddle 15 in a detachable manner. Specifically, a seat post that supports the saddle 15 is inserted and fixed to the standing pipe 113. In the present embodiment, the battery 50 is detachably attached to the standing 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. The chain stay 115 rotatably supports the rear wheel 13.

  FIG. 2 is a perspective view of the handle 14 and the operation unit 40 of the electric bicycle 1 according to the embodiment.

  As shown in FIG. 2, the handle 14 is provided with a pair of grips 141 and a brake lever 142 on the left and right. The pair of grips 141 are portions that are gripped by a hand when the user rides in an appropriate posture. Further, the pair of grips 141 are held by a hand when the electric bicycle 1 is pushed or supported and walked, and receive a forward pressing force. At least one of the pair of grips 141 may be provided with a grip sensor that detects a gripping force or a pressing force.

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

  As shown in FIG. 1, the saddle 15 is a portion where a person sits when the user gets in an appropriate posture.

  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 a 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 pedaling force is applied to the pedal 17, the crank arm 162 rotates around the crankshaft 161, and the manpower driving force due to the rotation is transmitted to the rear wheel 13 via the sprocket 18 and the chain 19. When operating in the first mode, the manpower driving force based on the treading force and the first auxiliary driving force by the electric motor 21 added to the manpower driving force are transmitted to the rear wheel 13.

  The motor drive unit 20 is unitized by storing an electric motor 21 and a control device 22 in a resin or metal casing.

  The electric motor 21 is driven by receiving power from the battery 50 based on control by the control device 22. The rotational torque of the electric motor 21 is transmitted to the sprocket of the rear wheel 13 and the rear wheel 13 rotates. The rotational torque means the first auxiliary driving force and the second auxiliary driving force. Further, the electric motor 21 can perform a regenerative operation of generating regenerative electric power to charge the battery 50 when not driven without outputting a motor output, and can operate as a regenerative brake.

  The electric motor 21 is a motor that serves as a first auxiliary driving force and a second auxiliary driving force. The electric motor 21 adds the first auxiliary driving force to the human driving force based on the depression force applied to the pedal 17 during execution of the first mode. In addition, the electric motor 21 adds a second auxiliary driving force to the force of pushing or supporting the electric bicycle 1 while walking in the second mode.

  FIG. 3 is a block diagram showing a configuration of the electric bicycle 1 according to the embodiment.

  As shown in FIG. 3, the control device 22 controls the operation of the electric motor 21 based on sensing information by sensors such as the crank rotation sensor 31, the pedaling force sensor 33, the current sensor 130, the vehicle speed sensor 243, and the gear position measuring unit 70. Control. In the present embodiment, the control device 22 is housed inside the housing of the motor drive unit 20, but is not limited thereto. The control device 22 may be provided separately from the motor drive unit 20.

  The control device 22 is implemented by, for example, a microcomputer (microcontroller) or the like, and executes 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 a program It is composed of a processor and so on. Alternatively, the control device 22 may be realized by a dedicated electronic circuit.

  Connected to the control device 22 are an electric motor 21, a crank rotation sensor 31, a pedaling force sensor 33, a current sensor 130, a vehicle speed sensor 243, a gear position measurement unit 70, a manual switch 42, an operation unit 40, a battery 50 and a headlamp 60. Has been. An operation signal for each switch and a detection result by each sensor are input to the control device 22.

  The crank rotation sensor 31 and the pedal force sensor 33 are disposed in the vicinity of the crankshaft 161. The current sensor 130 is disposed in the vicinity of the rotating shaft of the electric motor 21.

  The crank rotation sensor 31 can detect the number of rotations of the crank 16 per unit time. The crank rotation sensor 31 is realized by including a gear-shaped rotating body and a photodetector having a light emitting portion and a light receiving portion arranged so as to sandwich the teeth of the rotating body. The crank rotation sensor 31 may have any configuration as long as it can detect the rotation speed of the crank 16.

  The current sensor 130 is a circuit that calculates a current value flowing through the electric motor 21 and outputs current information indicating the current value. The current sensor 130 includes a motor rotation sensor 32 and a motor torque sensor 131. The current sensor 130 calculates a current value using the rotation speed of the electric motor 21 per unit time detected by the motor rotation sensor 32 and the torque of the electric motor 21 detected by the motor torque sensor 131. The calculation of the current value can be performed by the motor rotation sensor 32 and the motor torque sensor 131 alone. For this reason, it is not always necessary to use both the motor rotation sensor 32 and the motor torque sensor 131 for the calculation of the current value.

  The motor rotation sensor 32 includes a magnet that rotates integrally with the rotation shaft of the electric motor 21 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 21 by detecting a change in the magnetic field that changes according to the rotation of the magnet. The motor rotation sensor 32 may have any configuration as long as the number of rotations of the electric motor 21 can be detected.

  The motor torque sensor 131 can detect the torque of the electric motor 21. The motor torque sensor 131 is a torque sensor such as a magnetostrictive type, a strain gauge type, or an optical type, but is not limited to this, and may have any configuration as long as the torque of the electric motor 21 can be detected.

  The pedaling force sensor 33 is a magnetostrictive torque sensor, and detects a manpower driving force generated by the rotation of the crankshaft 161 based on the manpower driving force applied to the pedal 17. The pedal force sensor 33 includes a coil and a magnetostriction generator. For example, when a pedaling force is applied to the pedal 17 and a human driving force is generated, distortion occurs in the magnetostriction generating unit. In the magnetostriction generating portion, a portion where the magnetic permeability increases and a portion where the magnetic permeability decreases occur. By detecting the inductance difference between the coils, the human driving force is detected. The configuration of the pedal force sensor 33 is not particularly limited, and any configuration may be used as long as the human driving force to the pedal 17 can be detected. Human power driving force is synonymous with pedaling force.

  The vehicle speed sensor 243 is provided at the lower end of the fork 114, for example. The vehicle speed sensor 243 detects the traveling speed of the electric bicycle 1 from the rotation of the front wheels 12 and transmits speed information indicating the traveling speed to the control device 22. The vehicle speed sensor 243 is, for example, a speed sensor. The vehicle speed sensor 243 outputs speed information related to the traveling speed of the electric bicycle 1 to the control unit 221. The speed sensor may be, for example, a wheel sensor or the like, but may be a cycle computer that calculates based on the ground speed, and may have any configuration as long as the speed of the electric bicycle 1 can be detected.

  The gear stage measuring unit 70 measures the gear stage of the rear wheel 13 and transmits information indicating the gear stage to the control unit 221. The measurement of the shift speed may be realized, for example, by outputting information indicating the shift speed output by the shift speed switching device to the control unit 221.

  The control device 22 performs the operation of the electric motor 21, that is, an appropriate first auxiliary assistance based on sensing information by sensors such as the crank rotation sensor 31, the pedaling force sensor 33, the current sensor 130, the vehicle speed sensor 243, and the gear position measuring unit 70. The output of the electric motor 21 for applying the driving force and the second auxiliary driving force is controlled. In the present embodiment, the control device 22 is housed inside the housing of the motor drive unit 20, but is not limited thereto. The control device 22 may be provided separately from the motor drive unit 20.

  The control device 22 supplies the electric power supplied from the battery 50 to the electric motor 21 and the headlamp 60.

  The control device 22 has a control unit 221. The control unit 221 drives the electric motor 21 according to the operation mode of the electric bicycle 1. Specifically, the control unit 221 has a first mode and a second mode, and executes by switching between the first mode and the second mode.

  The assist mode, which is an example of the first mode, is a mode in which the vehicle travels by adding the first auxiliary driving force by the electric motor 21 to the human driving force based on the depression force applied to the pedal 17. The assist mode is executed when a person is on the electric bicycle 1 after the power switch 41 is pressed and the power is turned on. Specifically, the assist mode is executed when the pedaling force applied to the pedal 17 detected by the pedaling force sensor 33 is greater than a predetermined threshold value.

  The second mode is a mode in which the second auxiliary driving force by the electric motor 21 is added to the pushing force applied to the vehicle body 10 for walking, or the second auxiliary driving force is added for self-running (push-walking mode or self-running). Mode). In other words, the push-walking mode is a mode in which a person pushes the electric bicycle 1 and adds the second auxiliary driving force by the electric motor 21 to the vehicle body 10 and pushes it. The push-walking mode is executed when a person is not on the electric bicycle 1 and walks while pushing the vehicle body 10 of the electric bicycle 1.

  The self-propelled mode is a mode in which a second auxiliary driving force by the electric motor 21 is applied to the vehicle body 10 to be self-propelled while the electric bicycle 1 is supported by a person. As in the push-and-walk mode, the self-propelled mode is executed when a person is not on the electric bicycle 1 and walks while supporting the vehicle body 10 of the electric bicycle 1. In the self-running mode, the person does not apply a force that pushes the vehicle body 10 forward.

  The push-walking mode and the self-running mode can be distinguished from each other by the presence or absence of a forward pushing force on the vehicle body 10. For example, the control unit 221 may detect the presence or absence of a forward pushing force using a grip sensor provided in the grip 141 or the like, and switch between the push-walking mode and the self-running mode according to the detection result. . Or you may perform the control part 221 as a 2nd mode which adds a 2nd auxiliary | assistant driving force, without discriminating between a pushing walk mode and a self-propelled mode.

  In the present embodiment, the push-walking mode or the self-running mode is executed while the manual switch 42 is pressed. Note that the push-walking mode or the self-running mode may not be executed when the depressing force on the pedal 17 is larger than a predetermined threshold. That is, the assist mode and the push-walking mode or the self-running mode are executed exclusively.

  When executing the assist mode, the control unit 221 determines the magnitude of the first auxiliary driving force generated by the electric motor 21 based on the depression force applied to the pedal 17 and the traveling speed of the electric bicycle 1. The pedaling force on the pedal 17 is obtained from the detection result of the pedaling force sensor 33. The traveling speed of the electric bicycle 1 is calculated by the vehicle speed sensor 243.

  Note that a table in which the rotation speed of the crank 16 and the speed of the electric bicycle 1 are associated in advance may be stored in the memory of the control device 22. The controller 221 may determine the traveling speed of the electric bicycle 1 from the number of rotations of the crank 16 by referring to the table.

  The first auxiliary driving force in the assist mode varies depending on the traveling speed of the electric bicycle 1, but is, for example, twice or less the pedaling force applied to the pedal 17. For example, when the traveling speed of the electric bicycle 1 is less than 10 km / h, the control unit 221 generates the first auxiliary driving force that is not more than twice the pedaling force applied to the pedal 17 by driving the electric motor 21. The controller 221 does not cause the electric motor 21 to generate the first auxiliary driving force when the speed is 24 km / h or more. When the speed is 10 km / h or more and less than 24 km / h, the controller 221 drives the electric motor 21 to generate the first auxiliary driving force determined according to the speed.

  When executing the push-walking mode or the self-running mode, the control unit 221 causes the electric motor 21 to generate the second auxiliary driving force so that the running speed of the electric bicycle 1 does not exceed a predetermined upper limit value. The second auxiliary driving force in the push-walking mode or the self-running mode is, for example, a magnitude that makes the speed of the electric bicycle 1 less than 6 km / h. Here, although the upper limit of the traveling speed of the electric bicycle 1 is 6 km / h, it may be 3 km and is not particularly limited.

  The control unit 221 includes a time measuring unit 222 that measures an elapsed period from the start of the push-walking mode or the self-running mode. The control unit 221 determines whether or not the elapsed period calculated by the time measuring unit 222 is equal to or longer than the first predetermined period. The control unit 221 stops the second auxiliary driving force of the electric motor 21 when the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period. That is, if the first predetermined period has elapsed since the start of the push-walking mode or the self-running mode, the control unit 221 uses the second auxiliary driving force of the electric motor 21 even if the manual switch 42 is pressed. Stop.

  In addition, the control unit 221 gradually decreases the second auxiliary driving force of the electric motor 21 over a specified time, and stops the second auxiliary driving force of the electric motor 21. Note that, when the second auxiliary driving force of the electric motor 21 is stopped, the control unit 221 may stop it suddenly.

  The control unit 221 measures an accumulated time indicating a period in which the electric motor 21 is activated in the push-walking mode or the self-running mode in a preset period, and the accumulated time is a second predetermined time in the push-walking mode or the self-running mode. When it is more than the period, the second auxiliary driving force of the electric motor 21 is stopped. The control unit 221 acquires information indicating an accumulated time indicating a period during which the electric bicycle 1 is activated during a preset period from the time measuring unit 222. Here, the preset period is, for example, a period of 1 hour, 1 day, or 1 week. The accumulated time is the sum of the time during which the electric motor 21 is activated within a preset period.

  In addition, the control unit 221 performs the determination using the accumulated time before the determination using the elapsed period. That is, when the time counting unit 222 calculates the accumulated time and the elapsed period, the control unit 221 determines that the electric motor 21 has an elapsed time less than the first predetermined period when the accumulated time is equal to or longer than the second predetermined period. The second auxiliary driving force is stopped. For this reason, if the accumulated time is equal to or longer than the second predetermined period from when the user turns on the manual switch 42 until the elapsed period elapses, the control unit 221 stops the second auxiliary driving force of the electric motor 21. Let

  The control unit 221 controls the driving time of the electric motor 21, the current value flowing through the electric motor 21, the number of rotations of the electric motor 21 per unit time, the number of rotations of the crank per unit time, the shift state of the electric bicycle 1, and the electric bicycle 1. The first predetermined period is calculated based on at least one of the travel distance and the travel speed of the electric bicycle 1. The controller 221 acquires information indicating the value of the current flowing from the current sensor 130 to the electric motor 21 and information indicating the number of rotations of the electric motor 21 per unit time from the motor rotation sensor 32. The control unit 221 also includes information indicating the number of rotations of the crank per unit time from the crank rotation sensor 31, information indicating the shift state of the electric bicycle 1 from the gear position measurement unit 70, and traveling speed of the electric bicycle 1 from the vehicle speed sensor 243. The speed information indicating is acquired. Further, the control unit 221 acquires information indicating the driving time of the electric motor 21 from the time measuring unit 222. Moreover, the control part 221 may calculate the information which shows the travel distance of the electric bicycle 1 from the information which shows integration time, and speed information, for example.

  The first predetermined period calculated by the control unit 221 will be described.

  When the push-walking mode or the self-running mode is executed, the load applied to the electric motor 21 differs depending on whether the electric bicycle 1 travels on a flat ground, goes down a hill, or goes up a hill. An example of a case where the control unit 221 calculates the first predetermined period based on the drive time of the electric motor 21 will be given. For example, in the push-walking mode or the self-running mode, when the user pushes the electric bicycle 1 and walks down the hill, the driving time of the electric motor 21 is shorter than when the user pushes the flat ground with the electric bicycle 1. Tend to. For this reason, if the drive time of the electric motor 21 is short, the first predetermined period is shortened compared to the first predetermined period calculated when moving on a flat ground in the push-walking mode or the self-running mode.

  On the other hand, for example, when the user pushes the electric bicycle 1 and goes up a slope in the push-walking mode or the self-propelled mode, the driving time of the electric motor 21 is longer than when the user walks on the flat ground with the electric bicycle 1. Tend to be long. For this reason, if the drive time of the electric motor 21 is long, the first predetermined period is made longer than the first predetermined period calculated when moving on flat ground in the push-walking mode or the self-running mode.

  Specifically, if the first predetermined period in the case of flat ground is set to 10 minutes, if it is an uphill slope, a new coefficient can be obtained by multiplying 10 minutes (default period) by a predetermined coefficient greater than 1. The predetermined period may be calculated. In the case of a downhill road, a new predetermined period may be calculated by multiplying 10 minutes (first predetermined period) by a predetermined coefficient less than 1. Further, the predetermined coefficient may be varied according to the inclination angle of the slope.

  An example is given of the case where the control unit 221 calculates the first predetermined period based on the travel distance of the electric bicycle 1. For example, when the user moves by pushing the electric bicycle 1 in the push-walking mode or the self-running mode, the speed does not increase so much, and it takes time to push-walk. For example, if the moving distance in the push-walking mode or the self-running mode per day is equal to or greater than a specified distance, the first predetermined period is lengthened. On the other hand, if the movement distance in the push-walking mode or the self-propelled mode per day is less than the specified distance, it is considered that the movement in the push-walking mode or the self-propelled mode is not performed so much. shorten.

  The calculation of the first predetermined period is the same as the value of the current flowing through the electric motor 21, the number of revolutions of the electric motor 21 per unit time, the number of revolutions of the crank per unit time, and the shifting state of the electric bicycle 1. It is. In the present embodiment, the first predetermined period may be set by combining these pieces of information.

  The control unit 221 controls the driving time of the electric motor 21, the current value flowing through the electric motor 21, the number of rotations of the electric motor 21 per unit time, the number of rotations of the crank per unit time, the shift state of the electric bicycle 1, Each first predetermined period may be calculated based on the information indicating the travel distance of the bicycle 1 and the travel speed of the electric bicycle 1. And the control part 221 may employ | adopt the shortest 1st predetermined period among the calculated 1st predetermined periods, and may employ | adopt the longest 1st predetermined period.

  In this way, the control unit 221 calculates the optimal time for stopping the second auxiliary driving force of the electric motor 21 by calculating the first predetermined period based on the respective information.

  The time measuring unit 222 calculates a driving time of the electric motor 21 and an integrated time indicating a period in which the electric motor 21 is started after the push-walking mode or the self-running mode is started. The timer unit 222 outputs the calculated time to the control unit 221.

  The battery 50 is a storage battery that stores electric power for driving the electric motor 21. The battery 50 is, for example, a secondary battery, but may be a capacitor or the like. The battery 50 is electrically connected to the electric motor 21. Specifically, the battery 50 supplies power to the electric motor 21 and charges regenerative power from the electric motor 21.

  The operation unit 40 is a terminal device provided with a power switch 41, a light switch for turning on the headlamp 60, and the like. The operation unit 40 is a touch panel display, a mechanical button, or the like that receives an operation by a user.

  FIG. 4 is a schematic diagram showing the display unit 44 of the electric bicycle 1 according to the embodiment. As shown in FIG. 4, the operation unit 40 includes a display unit 44 that displays that the rear wheel 13 is idling. The display unit 44 is, for example, a liquid crystal display or an organic EL display.

[Operation]
FIG. 5 is a flowchart showing the operation of the electric bicycle 1 according to the embodiment.

  Here, assuming that the power switch 41 is turned on in advance, an operation for stopping the push-walking mode or the self-running mode of the electric bicycle 1 will be described. In this flow, if the power switch 41 is turned off or the manual switch 42 is turned off, the count of elapsed time is reset, or even if these are turned off during the procedure, the process is returned to the beginning. Or

  As shown in FIG. 5, first, the manual switch 42 is pushed by the user (S11). The control unit 221 executes the push-walking mode or the self-running mode (second mode) (S12). Specifically, the control unit 221 generates the second auxiliary driving force by driving the electric motor 21. Thereby, the second auxiliary driving force corresponding to the rotation of the electric motor 21 is added to the pushing walking force by the user. When the manual switch 42 is not pressed, the assist mode may be executed. Step S12 is an example of a mode execution process.

  Next, the control unit 221 causes the time measuring unit 222 to count the time after starting the push-walking mode or the self-running mode (S13). The timer unit 222 starts counting after starting the push-walking mode or the self-running mode, and outputs time information indicating time to the control unit 221 at a predetermined time interval. That is, the timer unit 222 measures the accumulated time used in step S16 and also measures the elapsed period used in step S17.

  Next, the control part 221 acquires sensing information from each sensor (S14).

  Next, the control unit 221 calculates a first predetermined period based on the sensing information (S15). The control unit 221 calculates a first predetermined period for comparing with the elapsed period and a second predetermined period for comparing with the accumulated time.

  Next, based on the time information measured by the time measuring unit 222 in step S13 and the second predetermined period for comparing with the integrated time calculated in step S14, the control unit 221 has a second predetermined time. It is determined whether or not the period is over (S16).

  When the accumulated time is equal to or longer than the second predetermined period (Yes in S16), the control unit 221 sets the second auxiliary driving force of the electric motor 21 to zero, that is, the electric motor 21 so as to stop the electric motor 21. Is controlled (S18).

  Next, the control unit 221 resets the time counted by the time measuring unit 222 in step S13 (S19). And the electric bicycle 1 complete | finishes this process, and returns to the beginning.

  On the other hand, when the accumulated time is less than the second predetermined period (No in S16), the control unit 221 determines whether the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period. Is determined (S17).

  When the control unit 221 determines that the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period (Yes in S17), the control unit 221 proceeds to step S18 and performs the same process.

  On the other hand, when the accumulated time after starting the push-walking mode or the self-running mode is less than the second predetermined period (No in S16), the control unit 221 proceeds to step S16 and performs the same processing.

[Function and effect]
Next, the effect of the electric bicycle 1 and the control method of the electric bicycle 1 in the present embodiment will be described.

  As described above, the electric bicycle 1 according to the present embodiment is the electric bicycle 1 including the electric motor 21. The electric bicycle 1 adds the first auxiliary driving force by the electric motor 21 to the human driving force based on the pedaling force applied to the pedal 17 and the second driving force by the electric motor 21 to the pushing force to the vehicle body 10. A control unit 221 is provided that switches between and executes a second mode (push walking mode or self-running mode) in which an auxiliary driving force is added to push the vehicle or a second auxiliary driving force is applied to make the vehicle run freely. And the control part 221 stops the 2nd auxiliary | assistant driving force of the electric motor 21, when the elapsed period after starting push-push mode or self-propelled mode is more than a 1st predetermined period.

  Thus, in the push-walking mode or the self-running mode, the control unit 221 performs the second auxiliary of the electric motor 21 when the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period. Stop the driving force. For this reason, in this electric bicycle 1, the second auxiliary driving force of the electric motor 21 can be stopped after the first predetermined period even if the device that executes the push-walking mode or the self-propelled mode breaks down. The walking mode or the self-running mode does not run for a long time.

  Therefore, in this electric bicycle 1, safety can be improved by stopping the push-walking mode or the self-running mode.

  The electric bicycle 1 of the electric bicycle 1 according to the present embodiment is an electric bicycle 1 including an electric motor 21. The electric bicycle 1 travels by adding the first auxiliary driving force by the electric motor 21 to the human driving force based on the pedaling force on the pedal 17, and the first force by the electric motor 21 to the pushing force to the vehicle body 10. The control part 221 which switches and performs 2nd mode which adds 2 auxiliary drive force and pushes, or adds 2nd auxiliary drive force and makes it self-propelled is provided. And the control part 221 has an automatic stop function which stops a 2nd mode, without requiring operation by a user.

  In addition, the method for controlling the electric bicycle 1 according to the present embodiment includes the assist mode in which the first auxiliary driving force by the electric motor 21 is added to the human driving force based on the pedaling force applied to the pedal 17, and the vehicle body 10. A mode execution step in which the second auxiliary driving force by the electric motor 21 is added to the pushing force and the second mode in which the second auxiliary driving force is added and the self-propelled operation is switched and executed. A stop control step of stopping the second auxiliary driving force of the electric motor 21 when the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period in the mode or the self-running mode. .

  Also in these cases, the same effects as described above are obtained.

  Moreover, the electric bicycle 1 according to the present embodiment further includes a time measuring unit 222 that measures an accumulated time in which the electric motor 21 is activated in the push-walking mode or the self-running mode during a preset period. And the control part 221 stops the 2nd auxiliary | assistant driving force of the electric motor 21, when the integration time measured by the time measuring part 222 is more than a 2nd predetermined period in pushing walk mode or self-propelled mode.

  According to this configuration, the time measuring unit 222 calculates the accumulated time during which the push-walking mode or the self-running mode is executed, for example, within one day as a preset period. The controller 221 stops the second auxiliary driving force of the electric motor 21 when the accumulated time calculated by the timer 222 is equal to or longer than the second predetermined period. In this way, by determining the period during which the push-walking mode or the self-running mode can be executed within the preset period, the electric motor 21 can be executed even if the push-walking mode or the self-running mode is intermittently executed. The second auxiliary driving force can be stopped. For this reason, in this electric bicycle 1, safety can be further improved.

  In the electric bicycle 1 according to the present embodiment, the control unit 221 controls the driving time of the electric motor 21, the current value flowing through the electric motor 21, the number of revolutions per unit time of the electric motor 21, and the crank unit time. The first predetermined period is calculated based on at least one of the rotation speed, the shift state of the electric bicycle 1 and the traveling speed of the electric bicycle 1.

  When the push-walking mode or the self-running mode is executed, the load applied to the electric motor 21 differs depending on whether the electric bicycle 1 travels on a flat ground, goes down a hill, or goes up a hill. For example, when the electric bicycle 1 is going down a slope, the electric motor 21 is not loaded as compared with the case where the electric bicycle 1 travels on a flat ground. In addition, when the electric bicycle 1 goes up a slope, the electric motor 21 is loaded more than when the electric bicycle 1 travels on a flat ground, so the first predetermined period is calculated longer than that on a flat ground. In this way, the control unit 221 calculates an optimal time for stopping the second auxiliary driving force of the electric motor 21 by calculating the first predetermined period based on the value of the current flowing through the electric motor 21. be able to.

  Moreover, the electric bicycle 1 according to the present embodiment further includes a current sensor 130 that calculates a current value flowing through the electric motor 21 and outputs current information indicating the current value. Then, the control unit 221 calculates the first predetermined period based on the current information.

  For example, when executing the push-walking mode or the self-running mode, when the electric bicycle 1 goes up a hill, it is difficult to increase the traveling speed of the electric bicycle 1, and it takes time to go up the hill. On the other hand, in the case of executing the push-walking mode or the self-running mode, when the electric bicycle 1 goes down the hill, the traveling speed of the electric bicycle 1 is likely to increase, and as it goes up the hill, it takes more time to go down the hill. It does not take. For this reason, when the electric bicycle 1 goes up the hill, the first predetermined period is calculated longer than when the electric bicycle 1 goes down the hill, and when the electric bicycle 1 goes down the hill, the first predetermined period is calculated shorter.

  The electric bicycle 1 according to the present embodiment further includes a vehicle speed sensor 243 that detects the traveling speed of the electric bicycle 1 and outputs speed information indicating the traveling speed. And the control part 221 calculates a 1st predetermined period based on speed information.

  According to this, the control unit 221 includes the driving time of the electric motor 21, the accumulated time indicating the period in which the electric motor 21 is activated, the current value flowing through the electric motor 21, the traveling speed of the electric bicycle 1, and the unit time of the electric motor 21. The first predetermined number based on at least one of information on the number of revolutions per revolution, the number of revolutions of the crank per unit time, the shift state of the electric bicycle 1, the travel distance of the electric bicycle 1, and the travel speed of the electric bicycle 1. Calculate the period. For this reason, for example, even if a certain device that senses such information fails, the first predetermined period can be calculated based on the remaining information.

  Moreover, in the electric bicycle 1 according to the present embodiment, the control unit 221 uses the second auxiliary of the electric motor 21 when the elapsed period from the start of the push-walking mode or the self-running mode is equal to or longer than the first predetermined period. The driving force is gradually reduced to stop the second auxiliary driving force of the electric motor 21.

  According to this, the control unit 221 gradually decreases the second auxiliary driving force of the electric motor 21 and stops it later. If the second auxiliary driving force of the electric motor 21 suddenly stops, the user may feel uncomfortable due to sudden load, but by gradually reducing the second auxiliary driving force of the electric motor 21, the user It becomes difficult to give a sense of incongruity.

(Other)
As described above, the electric bicycle and the electric bicycle control method according to the present invention have been described based on the above embodiment, but the present invention is not limited to the above embodiment.

  For example, in the above-described embodiment, an example in which a manual switch is provided as an example of an input unit that receives an instruction to start the push-walking mode or the self-running mode has been described. For example, instead of the manual switch, a grip sensor provided on the grip of the handle may be provided. When the grip sensor detects a forward pressing force, the control unit may execute the push-walking mode or the self-running mode. When the grip sensor does not detect the forward pressing force, the control unit may stop the push-walking mode or the self-running mode.

  Further, in the above embodiment, in the electric bicycle, any one of steps S16 and S17 in FIG. 5 may be omitted.

  Further, in the above embodiment, the timing unit is provided in the control device, but may be provided in the control unit or may be provided outside the control device.

  In the above embodiment, all or some of the components of the control device may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. Good. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as an HDD (Hard Disk Drive) or a semiconductor memory. Good.

  Moreover, the component of the control apparatus 22 may be comprised by the 1 or several electronic circuit. Each of the one or more electronic circuits may be a general-purpose circuit or a dedicated circuit.

  The one or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), an LSI (Large Scale Integration), or the like. The IC or LSI may be integrated on one chip or may be integrated on a plurality of chips. Here, it is called IC or LSI, but the name changes depending on the degree of integration, and may be called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). An FPGA (Field Programmable Gate Array) programmed after manufacturing the LSI can be used for the same purpose.

  The general or specific aspect of the present invention may be realized by a system, an apparatus, a method, an integrated circuit, or a computer program. Alternatively, it may be realized by a computer-readable non-transitory recording medium such as an optical disk, HDD, or semiconductor memory in which the computer program is stored. Further, the present invention may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

  In addition, it is realized by arbitrarily combining the components and functions in each embodiment without departing from the scope of the present invention, or a form obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. Forms are also included in the present invention.

DESCRIPTION OF SYMBOLS 1 Electric bicycle 10 Car body 17 Pedal 21 Electric motor 130 Current sensor 221 Control part 222 Timekeeping part 243 Vehicle speed sensor

Claims (8)

An electric bicycle equipped with an electric motor,
A first mode in which the first auxiliary driving force by the electric motor is added to the manpower driving force based on the pedaling force on the pedal, and a second auxiliary driving force by the electric motor is added to the pressing force to the vehicle body. A control unit that switches and executes the second mode in which the vehicle is pushed and walked, or the second mode in which the second auxiliary driving force is added to self-run,
The control unit stops the second auxiliary driving force of the electric motor when an elapsed period from the start of the second mode is equal to or longer than a first predetermined period. Furthermore, a time measuring unit that measures the accumulated time that the electric motor is activated in the second mode in a preset period,
The electric control according to claim 1, wherein, in the second mode, the control unit stops the second auxiliary driving force of the electric motor when the accumulated time measured by the time measuring unit is equal to or longer than a second predetermined period. bicycle. The control unit includes a driving time of the electric motor, a current value flowing through the electric motor, a rotation speed per unit time of the electric motor, a rotation speed per unit time of the crank, a shift state of the electric bicycle, and the The electric bicycle according to claim 1, wherein the first predetermined period is calculated based on at least one piece of information on a traveling speed of the electric bicycle. Furthermore, a current sensor that calculates a current value flowing through the electric motor and outputs current information indicating the current value is provided.
The electric bicycle according to claim 1, wherein the control unit calculates the first predetermined period based on the current information. And a vehicle speed sensor that detects a traveling speed of the electric bicycle and outputs speed information indicating the traveling speed,
The electric bicycle according to claim 1, wherein the control unit calculates the first predetermined period based on the speed information. When the elapsed period from the start of the second mode is equal to or longer than the first predetermined period, the control unit gradually decreases the second auxiliary driving force of the electric motor to increase the first of the electric motor. 2 The auxiliary driving force is stopped. The electric bicycle according to any one of claims 1 to 5. An electric bicycle equipped with an electric motor,
A first mode in which the first auxiliary driving force by the electric motor is added to the manpower driving force based on the pedaling force on the pedal, and a second auxiliary driving force by the electric motor is added to the pressing force to the vehicle body. A control unit that switches and executes the second mode in which the vehicle is pushed and walked, or the second mode in which the second auxiliary driving force is added to self-run,
The said control part has an automatic stop function which stops said 2nd mode, without requiring operation by a user. A first mode in which the first auxiliary driving force by the electric motor is added to the human driving force based on the pedaling force on the pedal, and a second auxiliary driving force by the electric motor is added to the pressing force to the vehicle body. A mode execution step of switching and executing a second mode of pushing or walking and adding the second auxiliary driving force to self-run,
A stopping control step of stopping the second auxiliary driving force of the electric motor when an elapsed period from the start of the second mode is equal to or longer than a first predetermined period in the second mode. Control method.

Images