JP2019177719A - Electric bicycle and control method of electric bicycle - Google Patents

Abstract

An object of the present invention is to suppress the self-propelled operation of an electric bicycle caused by an erroneous operation with respect to a pushing-walking operation, thereby improving safety. An electric bicycle 1 includes an electric motor 21 and travels by adding a first auxiliary driving force by an electric motor 21 to a human-powered driving force based on a depression force on a pedal 17. A control unit that switches between a mode and a second mode in which the second auxiliary driving force of the electric motor 21 is added to the pressing force to the vehicle body 10 to push or walk, or the second mode in which the second auxiliary driving force is added and the vehicle runs by itself is executed. 221, an operation unit 40 for receiving an operation for executing the second mode, and a movement detection unit (vehicle speed sensor 243) for detecting the movement of the electric bicycle 1. The control unit 221 controls the operation The second mode is executed during a period in which the reception state in which is received and the detection state in which the movement detection unit detects the movement of the electric bicycle 1 overlap. [Selection diagram] FIG.

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 (for example, see 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

  By the way, in an electric bicycle having a push-walking mode, an auxiliary driving force is generated based on a user's push-walking operation, and the electric bicycle is accelerated to a predetermined speed. For this reason, when the user accidentally pushes and walks, the electric bicycle runs independently of the user's intention. This self-running not only confuses the user, but can also contribute to an accident.

  An object of the present invention is to provide an electric bicycle and a method for controlling the electric bicycle that can suppress the self-running of the electric bicycle due to an erroneous operation with respect to the push-walking operation and can improve safety.

  In order to achieve the above object, an electric bicycle according to one aspect of the present invention is an electric bicycle including an electric motor, and adds 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 that travels and the second mode in which the second auxiliary driving force by the electric motor is added to the pressing force to the vehicle body, or the second mode is driven by adding the second auxiliary driving force. A control unit, an operation unit that receives an operation for executing the second mode, and a movement detection unit that detects the movement of the electric bicycle, and the control unit is in a reception state in which the operation unit receives an operation, The second mode is executed during a period in which the movement detection unit overlaps the detection state in which the movement of the electric bicycle is detected.

  The electric bicycle control method according to one aspect of the present invention includes a first mode in which the first auxiliary driving force by the electric motor is added to the human power driving force based on the pedaling force applied to the pedal, and the electric bicycle is driven. The second mode is executed when the second auxiliary driving force by the motor is added to the pressing force to the vehicle body and the walking is performed or the second mode in which the second auxiliary driving force is added and the self-running mode is switched. In the period in which the reception state in which the operation unit that receives the operation for receiving the operation and the detection state in which the movement detection unit that detects the movement of the electric bicycle detects the movement of the electric bicycle overlaps each other, Run the mode.

  ADVANTAGE OF THE INVENTION According to this invention, the self-propelling of the electric bicycle resulting from the erroneous operation with respect to pushing walk operation can be suppressed, and safety can be improved.

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 flowchart showing a flow of the control method 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, arrangement and connection forms of components, 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.

  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.

  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. And a vehicle speed sensor 243 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 operation 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 143 (see FIG. 3), and the brake sensor 143 detects an operation on the brake lever 142.

  An operation unit 40 is provided in the vicinity of one of the pair of brake levers 142 (the left brake lever 142 in the present embodiment). The operation unit 40 is a terminal device that includes a light switch (not shown) for turning on the headlamp 60, a power switch 41 (see FIG. 3), and the like. The operation unit 40 includes a mechanical manual switch 42. The manual switch 42 accepts a push-walking operation for executing the second mode. The manual switch 42 is, for example, a momentary switch. Specifically, during a period when the manual switch 42 is pressed by the user, the operation unit 40 continues to output a second mode on signal for executing the second mode to the control device 22 (described later). On the other hand, the operation unit 40 does not output the second mode ON signal to the control device 22 during a period when the manual switch 42 is not pressed.

  As shown in FIG. 1, the saddle 15 is a portion where a person (user) 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 a human 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 manual driving force based on the treading force and the first auxiliary driving force by the electric motor 21 added to the manual driving force are transmitted to the rear wheel 13.

  The motor drive unit 20 is unitized by storing the electric motor 21 and the 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 a first auxiliary driving force and a 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 serving 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. Moreover, 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 power switch 41, 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 pedaling 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. That is, the vehicle speed sensor 243 is a movement detection unit that detects the movement of the electric bicycle 1. 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 device 22. 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 shift speed measurement unit 70 measures the shift speed of the rear wheel 13 and transmits information indicating the shift speed to the control device 22. 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 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 the user 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 pressing force 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 the second auxiliary driving force by the electric motor 21 is applied to the vehicle body 10 when the user pushes the electric bicycle 1 while the power is on. The push-walking mode is executed when the user does not get 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 the electric bicycle 1 is supported by the user, and the second auxiliary driving force by the electric motor 21 is applied to the vehicle body 10 to be self-propelled. 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 user does not apply a force to push 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 into a pushing walk mode and a self-propelled mode.

  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 drives the electric motor 21 to generate a first auxiliary driving force that is not more than twice the pedaling force applied to the pedal 17. 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 higher. 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.

  The control unit 221 executes the second mode during a period in which the reception state and the detection state overlap. The acceptance state is a state where the operation unit 40 accepts an operation (push walking operation) for executing the second mode. Specifically, the acceptance state is a state in which the second mode on signal is output from the operation unit 40 to the control device 22 when the manual switch 42 is pressed by the user. It can be said that the acceptance state is a state in which the user indicates an intention to add the second auxiliary driving force to the electric bicycle 1 when pushing.

  The detection state is a state in which the vehicle speed sensor 243 that is a movement detection unit detects the movement of the electric bicycle 1. Specifically, the detection state is a state in which the traveling speed detected by the vehicle speed sensor 243 is greater than zero. The detection state occurs when the electric bicycle 1 is traveling and also occurs when the electric bicycle 1 is pushed. Here, the pedal force sensor 33 does not detect the human driving force when pushing. For this reason, the control unit 221 can determine whether the detection state occurs during traveling or the detection state that occurs during push-walking based on the detection result of the pedal force sensor 33. In other words, it can be said that the detection state when the pedal force sensor 33 does not detect the human power driving force is a state in which the user indicates an intention to push the electric bicycle 1 and walk.

  As described above, since the second mode is executed in a period in which the reception state and the detection state overlap, even if the user erroneously operates the manual switch 42 when the electric bicycle 1 stops (non-detection state), for example. Two modes are not executed.

  The control unit 221 has a timer unit 222. The timer unit 222 measures the time during which the detection state continues. When the detection state occurs after the acceptance state occurs, the control unit 221 executes the second mode when the timing result of the timing unit 222 is equal to or longer than a predetermined time. As described above, after the reception state and the detection state are aligned, the second mode is executed after the detection state continues for a predetermined time. For example, immediately after the user erroneously operates the manual switch 42, the electric bicycle 1 is moved slightly. The second mode is not executed simply by making it happen.

  Note that the control unit 221 can calculate the distance from the occurrence of the detection state based on the duration from the start of the detection state and the travel speed detected by the vehicle speed sensor 243 during that time. is there. The control unit 221 may execute the second mode after the detection state continues for a predetermined distance.

  The predetermined time or the predetermined time is a time or a distance in which the user's intention to push the electric bicycle 1 is reflected. For example, the predetermined time may be 1 second or longer, and the predetermined distance may be 50 cm or longer.

  On the other hand, when the acceptance state occurs after the detection state occurs, the control unit 221 executes the second mode immediately after the acceptance state occurs. For example, when the user operates the manual switch 42 while pushing the electric bicycle 1, the user's intention to push the electric bicycle 1 is already reflected. In this case, since the second mode is executed immediately after the acceptance state occurs, time loss can be suppressed.

  The control unit 221 stops the second mode when at least one of the reception state and the detection state is canceled during execution of the second mode. The cancellation of the acceptance state is a state where the operation unit 40 does not accept an operation for executing the second mode. Specifically, the user does not press down the manual switch 42 and the second mode on signal is not output from the operation unit 40 to the control device 22. The release of the detection state is a state in which the vehicle speed sensor 243 that is a movement detection unit does not detect the movement of the electric bicycle 1. Specifically, the traveling speed detected by the vehicle speed sensor 243 is zero.

  The control unit 221 also functions as a stop detection unit that detects a stop operation of the electric bicycle 1 based on the detection result of the vehicle speed sensor 243. The stop operation is an operation until the electric bicycle 1 is completely stopped. Specifically, the control unit 221 determines that the electric bicycle 1 is stopping when the detection result of the vehicle speed sensor 243 is decelerating more than immediately before or indicates negative acceleration. . When the control unit 221 detects a stop operation of the electric bicycle 1 during execution of the second mode, the control unit 221 stops the second mode. Further, when the brake sensor 143 detects an operation on the brake lever 142 during execution of the second mode, the control unit 221 stops the second mode. In these cases, the second mode is stopped before the traveling speed of the electric bicycle 1 becomes zero.

  The second mode may not be executed when the pedaling force on the pedal 17 is greater than a predetermined threshold. That is, the first mode and the second mode are executed exclusively.

  When executing the second mode, the control unit 221 causes the electric motor 21 to generate the second auxiliary driving force so that the traveling speed of the electric bicycle 1 does not exceed a predetermined upper limit value. The second auxiliary driving force in the second mode is, for example, such a magnitude that the speed of the electric bicycle 1 is 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 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.

[Control method of electric bicycle]
FIG. 4 is a flowchart showing a flow of a control method of the electric bicycle 1 according to the embodiment.

  Here, assuming that the power switch 41 is turned on in advance, a process for causing the electric bicycle 1 to execute the second mode will be described. If the power switch 41 is turned off during the execution of the second mode, the power supply to the electric motor 21 is stopped, so the second mode is also stopped.

  In step S1, the control unit 221 determines whether or not the reception state and the detection state overlap each other. If they overlap, the process proceeds to step S2, and if they do not overlap, the state continues.

  In step S2, the control unit 221 determines whether or not the reception state has occurred first when the reception state and the detection state overlap. If the reception state has occurred first, the control unit 221 proceeds to step S3. If the detection state has occurred first, the process proceeds to step S4.

  In step S3, the control unit 221 determines whether or not the detection state has continued for a predetermined time. If the detection state has continued for a predetermined time, the process proceeds to step S4, and if not, the process proceeds to step S1. To do.

  In step S4, the control unit 221 executes the second mode. In other words, when the acceptance state and the detection state are aligned after the occurrence of the acceptance state first (YES in step S2), the second mode is executed after a predetermined time has elapsed since the alignment. On the other hand, when the acceptance state and the detection state are aligned after the detection state is generated first (NO in step S2), the second mode is executed immediately after the detection state is aligned. In any case, the electric bicycle 1 is running at the start of execution of the second mode. For this reason, the control unit 221 may gradually increase the starting speed of the electric motor 21 in the second mode so as to correspond to the traveling speed of the electric bicycle 1 immediately before execution of the second mode. Thereby, the impact immediately after execution of the second mode can be mitigated.

  In step S5, the control unit 221 determines whether or not a stop operation of the electric bicycle 1 is detected based on the detection result of the vehicle speed sensor 243. If detected, the control unit 221 proceeds to step S8 and does not detect it. In this case, the process proceeds to step S6.

  In step S6, the control unit 221 determines whether or not an operation on the brake lever 142 has been detected based on the detection result of the brake sensor 143. If detected, the control unit 221 proceeds to step S8 and does not detect it. To step S7.

  In step S7, the control unit 221 determines whether or not the acceptance state has been canceled. If it has been canceled, the process proceeds to step S8, and if not, the process proceeds to step S5.

  In step S8, the control unit 221 stops the second mode. Thus, the second mode is executed in a period in which the reception state and the detection state overlap. After the stop of the second mode, the control unit 221 ends this processing and returns to the beginning.

[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, and the first auxiliary driving force by the electric motor 21 is added to the human driving force based on the pedaling force on the pedal 17. A first mode that travels in addition, and a second mode in which the second auxiliary driving force by the electric motor 21 is added to the pressing force to the vehicle body 10 to walk, or the second auxiliary driving force is added to make the vehicle run by itself. A control unit 221 that switches and executes the operation, an operation unit 40 that receives an operation (push walking operation) for executing the second mode, and a movement detection unit (vehicle speed sensor 243) that detects the movement of the electric bicycle 1. The control unit 221 executes the second mode in a period in which the reception state in which the operation unit 40 receives the operation overlaps with the detection state in which the movement detection unit detects the movement of the electric bicycle 1.

  Moreover, the control method of the electric bicycle 1 according to the present embodiment is the first mode in which the electric bicycle 1 is driven by adding 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 when the second auxiliary driving force by the electric motor 21 is added to the pressing force to the vehicle body 10 to walk, or the second mode in which the second auxiliary driving force is added and self-propelled is executed. A reception state in which the operation unit 40 that receives an operation for executing the second mode is receiving the operation, and a detection state in which a movement detection unit that detects the movement of the electric bicycle 1 detects the movement of the electric bicycle 1; The second mode is executed during the period when the two overlap.

  Thus, since the second mode is executed in a period in which the reception state and the detection state overlap, for example, even if the user erroneously operates the manual switch 42 when the electric bicycle 1 stops, the second mode is not executed. That is, the self-running of the electric bicycle 1 against the user's intention can be suppressed. Therefore, it is possible to suppress the self-running of the electric bicycle 1 due to an erroneous operation with respect to the push-walking operation, and to improve safety.

  In addition, since the execution of the second mode is a period in which the reception state and the detection state overlap, it is a time when the electric bicycle 1 is traveling. That is, in the second mode, the electric motor 21 is activated when the electric bicycle 1 is traveling. For this reason, compared with the case where the electric motor 21 is driven from when the electric bicycle 1 is stopped, the load on the electric motor 21 and each drive unit can be reduced. If the load on the electric motor 21 is small, the electromotive force can be reduced, and as a result, the load on the battery 50 can also be suppressed. Further, if the load on each drive unit is small, the reinforcement on each drive unit can be reduced accordingly. Thereby, the weight increase of electric bicycle 1 itself can be suppressed.

  In addition, when the detection state occurs after the reception state occurs, the control unit 221 executes the second mode after the detection state continues for a predetermined time or a predetermined distance.

  As described above, after the reception state and the detection state are aligned, the second mode is executed after the detection state continues for a predetermined time. For example, immediately after the user erroneously operates the manual switch 42, the electric bicycle 1 is moved slightly. The second mode is not executed simply by making it happen. Therefore, the safety of the electric bicycle 1 can be further improved.

  In addition, when the acceptance state occurs after the detection state occurs, the control unit 221 executes the second mode immediately after the acceptance state occurs.

  For example, when the user operates the manual switch 42 while pushing the electric bicycle 1, the user's intention to push the electric bicycle 1 is already reflected. In this case, since the second mode is executed immediately after the acceptance state occurs, a time loss until the start of the execution of the second mode can be suppressed.

  In addition, the electric bicycle 1 includes a stop detection unit (control unit 221) that detects a stop operation of the electric bicycle 1, and the control unit 221 detects the stop operation while the second mode is being executed. To stop the second mode.

  For example, when the user senses some danger and performs an operation to stop the electric bicycle 1, the electric bicycle 1 also performs a stop operation due to the operation. Since the control unit 221 stops the second mode based on the stopping operation of the electric bicycle 1, the application of the second auxiliary driving force by the electric motor 21 is stopped. Therefore, the electric bicycle 1 can be quickly stopped and safety can be further improved.

  The electric bicycle 1 also includes a brake sensor 143 that detects an operation on the brake lever 142, and the control unit 221 detects an operation on the brake lever 142 during execution of the second mode. Stop the second mode.

  For example, when the user operates the brake lever 142 during pushing, the control unit 221 stops the second mode, so that the application of the second auxiliary driving force by the electric motor 21 is stopped. Therefore, the electric bicycle 1 can be quickly stopped and safety can be further improved.

(Other)
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 embodiment, the vehicle speed sensor 243 is exemplified as the movement detection unit. Any movement detection unit may be employed as long as it can detect the movement of the electric bicycle 1. Examples of other movement detection units include a grip sensor provided on the grip of the handle, a vibration sensor that detects vibration of the electric bicycle 1 itself, and a GPS sensor. In the case of the grip sensor, it is assumed that the movement of the electric bicycle 1 is detected when the grip sensor detects a forward pressing force. In the case of the vibration sensor, it is assumed that the movement of the electric bicycle 1 is detected when the vibration sensor detects the vibration of the electric bicycle 1 itself.

  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 part 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, apparatus, method, integrated circuit, or 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, the embodiment can be 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 14 Handle 17 Pedal 21 Electric motor 40 Operation part 142 Brake lever 143 Brake sensor 221 Control part (stop detection part)
243 Vehicle speed sensor (movement detector)

Claims (6)

An electric bicycle equipped with an electric motor,
A first mode in which the vehicle travels by adding the first auxiliary driving force by the electric motor to the human driving force based on the pedaling force on the pedal, and the second auxiliary driving force by the electric motor is added to the pushing force to the vehicle body. A control unit that switches between and executes a second mode of pushing or walking and adding the second auxiliary driving force for self-running;
An operation unit that receives an operation for executing the second mode;
A movement detector for detecting movement of the electric bicycle,
The control unit executes the second mode in a period in which a reception state in which the operation unit receives the operation overlaps with a detection state in which the movement detection unit detects the movement of the electric bicycle. Electric bicycle. The electric control according to claim 1, wherein when the detection state occurs after the acceptance state occurs, the control unit executes the second mode after the detection state continues for a predetermined time or a predetermined distance. bicycle. The electric bicycle according to claim 1, wherein the control unit executes the second mode immediately after the acceptance state occurs when the acceptance state occurs after the detection state occurs. A stop detection unit for detecting a stop operation of the electric bicycle;
The electric control according to any one of claims 1 to 3, wherein the control unit stops the second mode when the stop detection unit detects the stop operation during the execution of the second mode. bicycle. It has a brake sensor that detects operation on the brake lever,
5. The control unit according to claim 1, wherein the control unit stops the second mode when the brake sensor detects an operation on the brake lever during the execution of the second mode. Electric bicycle. A first mode in which the first auxiliary driving force by the electric motor is applied to the electric bicycle and the second auxiliary driving force by the electric motor is added to the pushing force to the vehicle body in addition to the human driving force based on the pedaling force on the pedal. When pushing and walking, or switching to the second mode for self-propelled by adding the second auxiliary driving force,
A reception state in which an operation unit that receives an operation for executing the second mode is receiving the operation, and a detection state in which a movement detection unit that detects the movement of the electric bicycle detects the movement of the electric bicycle; The method for controlling the electric bicycle, wherein the second mode is executed during a period in which the two overlap.

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