bicycle attachment

Abstract

Bicycle device (56), comprising an ABS unit (58F, 58R) driven by an assist motor (36) which adds an assist force to a manual drive force introduced by a crankshaft (34) of a bicycle (10) and which controls a braking force exerted on a wheel of the bicycle (10), wherein the ABS unit (58F, 58R) comprises a pump (62) for exerting hydraulic pressure on a brake device (22F, 22R) which exerts the braking force on the wheel and the pump (62) is driven by the assist motor (36).

Description

[0001] The present invention relates to a bicycle device equipped with an ABS unit (Antilock Brake System).

[0002] A bicycle device incorporating an ABS unit is known. According to the bicycle device described in WO 2014 / 108 235 A1, which is an example of such a device, a braking force applied to a wheel of a bicycle is controlled by an ABS unit.

[0003] DE 196 30 447 A1 discloses a hydrostatic drive with a hydraulic motor and a variable displacement pump. Furthermore, DE 10 2011 084 601 A1, DE 10 2014 005 527 A1 and DE 10 2012 222 087 A1 disclose bicycles driven by an auxiliary motor that adds support to a manual drive force applied by a bicycle's crankshaft. An ABS unit is also provided.

[0004] The bicycle device described above is equipped with a drive unit to power the ABS unit. For this reason, the size of the bicycle device is increased.

[0005] The object of the present invention is to provide a bicycle device whose size is not readily increased even when it is equipped with an ABS unit.

[0006] According to the present invention, the bicycle device comprises an ABS unit driven by an auxiliary motor, which adds an assisting force to a manual drive force introduced by a bicycle crankshaft and controls a braking force exerted on a wheel of the bicycle. Furthermore, the ABS unit comprises a pump for applying hydraulic pressure to a brake device, which exerts a braking force on the wheel, and the pump is driven by the auxiliary motor.

[0007] One embodiment of the bicycle device further includes the support motor.

[0008] According to one embodiment of the bicycle device, an assisting force is added to the manual driving force by rotating the assisting motor in a first direction, and the pump is driven by rotating the assisting motor in a second direction, which is the opposite direction to the first direction.

[0009] One embodiment of the bicycle device further comprises a freewheel clutch that does not transmit a driving force from the support motor to the pump when the support motor is rotated in the first direction, and that transmits a driving force from the support motor to the pump when the support motor is rotated in the second direction.

[0010] One embodiment of the bicycle device further includes a control device for controlling the support motor and the ABS unit.

[0011] According to one embodiment of the bicycle device, the control device is connected to a first detection device for detecting an actuation state of an actuation device connected to the brake device, and to a second detection device for detecting a rotation state of the wheel, and controls the support motor and the ABS unit on the basis of the first detection device and the second detection device.

[0012] According to one embodiment of the bicycle device, the control device causes the output of the support motor in the first direction to be reduced if the actuating device is actuated, when it causes the support motor to be rotated in the first direction.

[0013] According to one embodiment of the bicycle device, the control device causes the ABS unit to reduce the hydraulic pressure exerted on the brake device based on the rotational state of the wheel, and causes the support motor to rotate in the second direction when the actuating device is actuated.

[0014] According to one embodiment of the bicycle device, the control device causes the rotation of the support motor in the second direction to be stopped if the actuating device is in a state not to be actuated when it causes the support motor to rotate in the second direction.

[0015] According to one embodiment of the bicycle device, the control device causes the rotation of the support motor in the second direction to be stopped if the rotational speed of the wheel is in a state in which it is less than a predetermined speed, when it causes the support motor to rotate in the second direction.

[0016] According to one embodiment of the bicycle device, the control device causes the pump to increase the hydraulic pressure after the hydraulic pressure exerted on the brake device is reduced.

[0017] One embodiment of the bicycle device further comprises a housing in which the support motor and the ABS unit are provided.

[0018] According to one embodiment of the bicycle device, the pump of the ABS unit is provided in an interior space of the housing.

[0019] According to one embodiment of the bicycle device, the wheels comprise the front wheel and the rear wheel, and the ABS unit comprises a first ABS unit for controlling a braking force applied to the front wheel, and a second ABS unit for controlling a braking force applied to the rear wheel.

[0020] The size of the bicycle device described above is not automatically increased, even if an ABS unit is installed. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view of a bicycle equipped with a bicycle device having an ABS unit, according to a first embodiment. Fig. 2 is a block diagram of the in Fig. 1 bicycle shown. Fig. 3 is a flowchart for a control system that is defined by the in Fig. The control device shown in 1 is used. Fig.4 is a flowchart for a control system that is defined by the in Fig. The control device shown in 1 is used. Fig. Figure 5 is a block diagram of a bicycle according to the second embodiment. Fig. Figure 6 is a block diagram of a modified example of the bicycle. EXECUTION FORMS OF THE INVENTION FIRST EXECUTION FORM

[0021] Fig.Figure 1 is the external appearance of an electrically assisted bicycle (hereinafter referred to as "bicycle 10"). The bicycle 10 comprises a frame 12, which forms its main body, a front wheel 14 and a rear wheel 16, which are rotatably attached to the frame 12, and a handlebar 18, which is operated to change the orientation of the front wheel 14. The bicycle 10 further comprises a pair of brake levers 20F and 20R, which are actuating devices attached to the handlebar 18, a brake device 22F for exerting a braking force on the front wheel 14, and a brake device 22R for exerting a braking force on the rear wheel 16. The diameter of the front wheel 14 and the rear wheel 16 is essentially the same.

[0022] Each of the brake assemblies 22F and 22R, for example, is a disc brake. The brake assemblies 22F and 22R consist of the disc rotors 26F and 26R, which are fixed to the hubs 24F and 24R so that they rotate as one unit with the wheels, a pair of brake bodies (not shown), and the brake calipers 28F and 28R, which brake the rotation of the disc rotors 26F and 26R by pressing the brake bodies against the disc rotors 26F and 26R.

[0023] One brake lever 20F from the pair brake levers 20F and 20R is connected to the brake caliper 28F for braking the front wheel 14. The other brake lever 20R is connected to the brake caliper 28R for braking the rear wheel 16. The brake calipers 28F and 28R grip the disc rotors 26F and 26R over the brake bodies by actuating the corresponding brake levers 20F and 20R. This slows the rotation of the brakes.

[0024] Each of the brake levers 20F and 20R comprises a base section 21A attached to the handlebar 18, a lever section 21B rotatably coupled to the base section 21A, and a piston (not shown) coupled to the lever section 21B. When the brake levers 20F and 20R are actuated, the lever section 21B is displaced relative to the base section 21A from an initial position, which is the position of the lever section 21B when no force is applied to it.

[0025] The bicycle 10 further comprises a drive mechanism 30 for transmitting a drive force to the rear wheel. The drive mechanism 30 includes a drive unit 32, which is detachably fixed to the frame 12, and a crankshaft 34, which is rotatably attached to the drive unit 32. The drive unit 32 includes an auxiliary motor 36 for adding support to a manual drive force applied by the crankshaft 34, and a housing 38 for accommodating a plurality of mechanical elements. The auxiliary motor 36 is an electric motor and is provided on the housing 38. The auxiliary motor 36 can be located inside the housing 38. The bicycle 10 further comprises a battery 40 for supplying the auxiliary motor 36 with electrical energy. The battery 40 is attached to the frame 12.

[0026] The drive mechanism 30 further comprises a pair of crank arms 42, which are coupled to the crankshaft 34, and a pair of pedals 44, which are rotatably attached to the crank arms 42. The drive mechanism 30 further comprises a front sprocket 48, which is connected to the crankshaft 34 via a freewheel clutch 46 (see Fig. 2) coupled, a rear sprocket 50 which is rotatably attached to the hub 24R of the rear wheel 16 via a freewheel (not shown), and a chain 52 which is wound onto the front sprocket 48 and the rear sprocket 50.

[0027] When a manual driving force is applied to the pedal 44 to rotate the crank arm 42 forward in a driving direction, the crank arm 42 and the crankshaft 34 rotate forward simultaneously with respect to the frame 12. The rotation of the crankshaft 34 is transmitted to the front sprocket 48, and the rotation of the front sprocket 48 is transmitted to the rear sprocket 50 and the rear wheel 16 via the chain 52. Conversely, when a manual driving force is applied to the pedal 44 to rotate the crank arm 42 backward in a non-driving direction, the crank arm 42 and the crankshaft 34 rotate backward simultaneously with respect to the frame 12. The rotation of the crankshaft 34 is not transmitted to the front sprocket 48 by the freewheel clutch 46.

[0028] The support motor 36 is rotated in a first direction in accordance with the manual drive force, which turns the crank arm 42 forward. When the support motor 36 is rotated in the first direction, the rotation of the support motor 36 is transferred to the front sprocket 48 via a reduction mechanism (not shown) and a freewheel clutch 54 (see Fig. 2) transferred. Accordingly, the assisting force is added to the manual driving force.

[0029] Fig. Figure 2 shows the electrical or mechanical connection relationships of the bicycle 10 (see Fig. 1) The broken lines from Fig. Figure 2 shows the electrical connections of bicycle 10. The solid lines from Fig. Figure 2 shows the mechanical connection relationships of the bicycle.

[0030] The bicycle 10 further comprises a bicycle device 56, which consists of a plurality of mechanical elements including the drive unit 32 (see Fig. 1) is formed. The bicycle device 56 comprises an ABS unit 58F and a control device 60. The ABS unit 58F is driven by the support motor 36 to control a braking force exerted by the brake caliper 28F on the front wheel 14 (see Fig. 1) The control device 60 is programmed to control the support motor 36 and the ABS unit 58F. The ABS unit 58F is housed inside the casing 38.

[0031] The ABS unit 58F comprises a pump 62 and a reservoir 64F. The pump 62 supplies the hydraulic oil and exerts hydraulic pressure on the brake caliper 28F. The reservoir 64F collects the hydraulic oil. The pump 62 includes, for example, a piston pump, a gear pump, or the like. A freewheel clutch 66, which is an integral part of the bicycle device 56, is arranged between the support motor 36 and the pump 62. The pump 62 is mechanically connected to the support motor 36 via the freewheel clutch 66.

[0032] The freewheel clutch 66 transmits the rotation of the support motor 36 to the pump 62 when an output shaft of the support motor 36 is rotated in the second direction, which is the opposite direction to the first. Accordingly, when the support motor 36 is rotated in the second direction, the pump 62 is driven via the freewheel clutch 66. Conversely, the freewheel clutch 66 does not transmit the rotation of the support motor 36 to the pump 62 when the output shaft of the support motor 36 is rotated in the first direction. The bicycle device 56 may further include a reduction mechanism (not shown) on a power transmission path between the support motor 36 and the pump 62.

[0033] The ABS unit 58F further comprises a first valve 68F and a second valve 70F, which regulate the hydraulic pressure exerted on the brake caliper 28F. The first valve 68F is arranged on a pipe connecting the brake lever 20F and the brake caliper 28F. The second valve 70F is arranged on a pipe connecting the brake caliper 28F and the reservoir 64F.

[0034] The first valve 68F and the second valve 70F each include a solenoid valve or a motor-driven valve. If each of the valves 68F and 70F includes a solenoid valve, preferably from the point of view of suppressing energy waste, the solenoid valve of the first valve 68F is open when no energy is supplied, and the solenoid valve of the second valve 70F is closed when no energy is supplied. The hydraulic pressure exerted on the brake caliper 28F is controlled by the control device 60 to control the opening and closing of each of the valves 68F and 70F.

[0035] When the hydraulic pressure exerted on the brake caliper 28F is high, the brake caliper 28F is brought close to the disc rotor 26F (see Fig.1) In this case, the brake caliper 28F grips the disc rotor 26F via the brake body, and the rotation of the front wheel 14 is braked. Conversely, if the hydraulic pressure exerted on the brake caliper 28F is low, the brake caliper 28F is disengaged from the disc rotor 26F. Consequently, the rotation of the front wheel 14 is not braked.

[0036] The hydraulic oil supplied by pump 62 flows through the first pipe 72F, the second pipe 74F, and the third pipe 76F. The first pipe 72F, the second pipe 74F, and the third pipe 76F are each pipes that branch into three. The three ends of the first pipe 72F are connected to the brake lever 20F, pump 62, and the first valve 68F. The three ends of the second pipe 74F are connected to the brake caliper 28F, the first valve 68F, and the second valve 70F. The three ends of the third pipe 76F are connected to pump 62, reservoir 64F, and the second valve 70F.

[0037] The ABS unit 58F further comprises a first check valve 78F, located in the first pipeline 72F, and a second check valve 80F, located in the third pipeline 76F. The first check valve 78F allows the hydraulic oil to flow from the pump 62 to the brake lever 20F and prevents it from flowing in the opposite direction. The second check valve 80F allows the hydraulic oil to flow from the reservoir 64F to the pump 62 and prevents it from flowing in the opposite direction. Accordingly, the hydraulic oil is supplied from the third pipeline 76F, which is connected to the reservoir 64F, to the first pipeline 72F by driving the pump 62. When pump 62 is driven, the hydraulic pressure of the first pipeline 72F is increased.When the second valve 70F is opened, the hydraulic oil also flows from the second pipe 74F to the third pipe 76F via the second valve 70F, along with driving the pump 62.

[0038] The bicycle 10 further comprises a first detection device 82F, a second detection device 84F, and a second detection device 84R. The first detection device 82F is configured to detect the actuation state of the brake lever 20F. The second detection device 84F is configured to detect the rotation state of the front wheel 14. The second detection device 84R is configured to detect the rotation state of the rear wheel 16 (see Fig. 1) The first detection device 82F and each of the second detection devices 84F and 84R are electrically connected to the control device 60.

[0039] The first detection device 82F is a first sensor for detecting whether a user is actuating the lever section 21B of the brake lever 20F (see Fig. 1) or not. The first detection device 82F is, for example, an angle sensor attached to the brake lever 20F. The angle sensor includes, for example, a potentiometer, a magnetic sensor, an optical sensor, or the like. The first detection device 82F detects the actuation state of the brake lever 20F by detecting the actuation angle, which is the angle of the lever section 21B with respect to the base section 21A (see Fig. 1) In the case where the angle sensor includes a magnetic sensor, a magnetic sensor provided on the base section 21A detects the movement of a magnet provided on the lever section 21B.

[0040] The second detection device 84F comprises a magnetic sensor and a magnet. The magnetic sensor of the second detection device 84F is, for example, attached to the frame 12 (see Fig. 1) attached near the front wheel 14. The magnet of the second detection device 84F is attached to the disc rotor 26F or to the spoke of the front wheel 14. The second detection device 84F detects the rotational speed of the front wheel 14 when it is rotating by having the magnetic sensor detect the magnet. The second detection device 84F can be provided with several magnets that rotate with the front wheel 14, can be arranged in the circumferential direction of the front wheel 14, and can be formed in a ring shape and magnetized with alternating polarities in the circumferential direction.

[0041] The second detection device 84R comprises a magnetic sensor and a magnet. The magnetic sensor of the second detection device 84R is, for example, attached to the frame 12 near the rear wheel 16. The magnet of the second detection device 84R is attached to the disc rotor 26R or to the spoke of the rear wheel 16. The second detection device 84R detects the rotational speed of the rear wheel 16 when it is rotating by the magnetic sensor detecting the magnet. The second detection device 84R can be provided with several of these magnets, which rotate with the rear wheel 16, and can be arranged in the circumferential direction of the rear wheel 16. These magnets can be formed in a ring shape and magnetized with alternating polarities in the circumferential direction.

[0042] The control device 60 calculates the vehicle speed, which is the speed of the bicycle 10, based on the detection result of at least one rotational speed of the front wheel 14 and the rear wheel 16, which is detected by each of the second detection devices 84F and 84R. The control device 60 calculates the vehicle speed of the bicycle 10 based on the detection result of the higher rotational speed from the detection results of the second detection devices 84F and 84R.

[0043] The bicycle 10 further comprises an actuation unit 86 and a torque sensor 87. The actuation unit 86 is attached to the handlebar 18 (see Fig.1) and is actuated to switch the operating mode of the support motor 36. The torque sensor 87 is configured to detect the manual drive force. The actuating unit 86 and the torque sensor 87 are electrically connected to the control device 60. The torque sensor 87 is provided on a power transmission path between, for example, the crankshaft 34 and the front sprocket 48. The torque sensor 87 comprises, for example, a strain sensor or a magnetostrictive sensor.

[0044] The actuation unit 86 includes an assist selector switch (not shown) for selecting the operating mode of the assist motor 36. When the operating mode of the assist motor 36 is set to an assist-ON mode by the assist selector switch, the assist motor 36 is powered by the battery 40 (see Fig.1) depending on the detection result of the torque sensor 87, it is supplied with energy. If, on the other hand, the operating mode of the support motor 36 is set to a support-OFF mode by the support selector switch, the manual drive force is not supported by the support motor 36.

[0045] The actuating unit 86 further includes an ABS operating mode switch (not shown) to switch between an ABS operating mode, which puts the ABS unit 58F into an operating state, and an ABS sleep mode, which puts the ABS unit 58F into a sleep state. The control of the ABS unit 58F by the control device 60 is effected by switching the ABS sleep mode to the ABS operating mode via the ABS operating mode switch. The control of the ABS unit 58F by the control device 60 is not dependent on actuation of the assist selector switch.

[0046] The control device 60 controls the output and direction of rotation of the support motor 36 based on the detection results of the first detection device 82F and the second detection devices 84F and 84R. The control device 60 comprises a microprocessor and a memory. The control device 60 is operated by the microprocessor, which executes a program stored in the memory. The control device 60 switches the open / closed state of the first valve 68F and the second valve 70F between a first pattern, a second pattern, and a third pattern based on the detection results of the first detection device 82F and the second detection devices 84F and 84R. Table 1 shows the open / closed state of the first valve 68F and the second valve 70F in each of the patterns. [Table 1] Open / closed state First valve Second valve First sample open closed Second pattern closed open Third pattern closed closed

[0047] The first pattern is a state in which the first valve 68F is open and the second valve 70F is closed. The second pattern is a state in which the first valve 68F is closed and the second valve 70F is open. The third pattern is a state in which both the first valve 68F and the second valve 70F are closed. When the ABS sleep mode is set by the actuating unit 86, the first pattern is selected.

[0048] When the first pattern is selected, a piston in the brake lever 20F compresses the hydraulic oil in the first line 72F and the second line 74F by actuating the brake lever 20F. This increases the hydraulic pressure in the second line 74F, and consequently, the hydraulic pressure exerted on the brake caliper 28F is increased. As a result, the brake caliper 28F grips the disc rotor 26F over the brake body, and the rotation of the front wheel 14 is braked by actuating the brake lever 20F.

[0049] When the second pattern is selected, the hydraulic oil in the second pipe 74F is moved into the third pipe 76F; thus, the hydraulic pressure in the second pipe 74F is reduced. Consequently, the hydraulic pressure exerted on the brake caliper 28F is also reduced, and the braking force exerted on the front wheel 14 is weakened. The hydraulic oil from the third pipe 76F flows into the reservoir 64F and into the pump 62. In the second pattern, because the first valve 68F is closed, the hydraulic pressure in the second pipe 74F does not change, even when the brake lever 20F is actuated. Therefore, the braking force exerted on the front wheel 14 is not dependent on the actuation of the brake lever 20F.

[0050] When the third pattern is selected, the hydraulic oil in the second pipe 74F is retained; thus, the hydraulic pressure in the second pipe 74F is maintained. Accordingly, the hydraulic pressure exerted on the brake caliper 28F is also maintained, and the braking force exerted on the front wheel 14 is kept constant. In the third pattern, since the first valve 68F is closed, the braking force exerted on the front wheel 14 is not dependent on the actuation of the brake lever 20F, in the same way as in the second pattern.

[0051] Fig. 3 and Fig. Figure 4 shows flowcharts of the ABS operating control, which is carried out by the control device 60. The control device 60 starts the process described in Figure 4. Fig. 3 and Fig.4 steps shown, by setting it to ABS operating mode via the actuating unit 86. When set to ABS operating mode, the following will be activated: Fig. 3 and Fig. The four steps shown are initiated by switching the power to the control device 60 ON. The ON and OFF of the power to the control device 60 is switched by the actuating unit 86. Here, a case is described in which the support-ON mode is selected by the actuating unit 86.

[0052] The control device 60 causes the auxiliary motor 36 to rotate in the first direction in accordance with the manual drive force. Furthermore, the open / closed state of the valves 68F and 70F is maintained in the first pattern until they are switched by the control device 60.

[0053] In step S1, the control device 60 determines, based on the detection result of the first detection device 82F, whether the brake lever 20F is actuated or not. If step S1 determines that the brake lever 20F is not actuated, the steps of step S1 are repeated. Conversely, if step S1 determines that the brake lever 20F is actuated, the steps of step S2 are executed. If, as in the present first embodiment, ABS operation control is performed only at the front wheel 14, only the brake lever 20F corresponding to the front wheel 14 is defined as the detection target. Conversely, if ABS operation control is performed only at the rear wheel 16, only the brake lever 20R corresponding to the rear wheel 16 is defined as the detection target.

[0054] In step S2, the control device 60 reduces the output of the support motor 36 by causing the support motor 36 to rotate in the first direction in accordance with the manual drive force. Thus, the control device 60 ultimately stops the support motor 36 by reducing its output.

[0055] In step S3, the control device 60 determines whether the vehicle speed of the bicycle 10 is greater than or equal to a predetermined speed, based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, less than or equal to 5 km / h. If step S3 determines that the vehicle speed is greater than or equal to the predetermined speed, the steps of step S4 are executed.

[0056] In step S4, the control device 60 determines whether the state of the bicycle 10 is in a predetermined state or not, based on the detection results of the second detection devices 84F and 84R. The predetermined state is a state in which at least one of the following is detected: a state in which the difference between the rotational speed of the front wheel 14 and the rotational speed of the rear wheel 16 is greater than or equal to a predetermined speed, and a state in which a change in the rotational speed of the wheels, greater than or equal to a predetermined value, has occurred.

[0057] If, as in the present first embodiment, an ABS operating control is implemented only at the front wheel 14, only the front wheel 14 is designated as the detection target with regard to whether or not a state exists in which a change in rotational speed greater than or equal to the predetermined value has occurred at the wheels. Conversely, if an ABS operating control is implemented only at the rear wheel 16, only the rear wheel 16 is designated as the detection target with regard to whether or not a state exists in which a change in rotational speed greater than or equal to the predetermined value has occurred at the wheels. The detection of the predetermined state indicates the possibility that the front wheel 14, which is braked by actuation of the brake lever 20F, will be locked.

[0058] If step S4 determines that the state of bicycle 10 is in the specified state, the steps of step S6 are executed. Conversely, if step S3 determines that the vehicle speed is less than the specified speed, or if step S4 determines that the state of bicycle 10 is not in the specified state, the steps of step S5 are executed.

[0059] In step S5, the control device 60 restores the output of the support motor 36 so that a drive force corresponding to the manual drive force is output by the support motor 36. That is, the control device 60 restores the output of the support motor 36, which was forcibly reduced in step S2, to a state in which a drive force corresponding to the manual drive force is output. Subsequently, after the completion of the steps of step S5, the control device 60 re-executes the steps of step S1.

[0060] In step S6, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the first pattern to the second pattern. Accordingly, the first valve 68F is closed and the second valve 70F is opened. Consequently, the hydraulic pressure exerted on the brake caliper 28F is reduced, and the braking force exerted on the front wheel 14 is weakened.

[0061] In step S7, the control device 60 causes the support motor 36 to rotate in the second direction. Drive force is transmitted from the support motor 36 to the pump 62, and the pump 62 is driven by the rotation of the support motor 36 in the second direction. Consequently, hydraulic oil is supplied to the first pipeline 72F, and the hydraulic pressure in the first pipeline 72F begins to increase. When the hydraulic pressure in the first pipeline 72F is increased, the lever section 21B of the brake lever 20F is pushed back to its initial position.

[0062] In step S8, the control device 60 determines whether a predetermined time has elapsed since the steps of step S6 were performed. If step S8 determines that the predetermined time has not elapsed, the steps of step S8 are executed again. Conversely, if step S8 determines that the predetermined time has elapsed, the steps of step S9 are executed.

[0063] In step S9, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the second pattern to the third pattern. Accordingly, both the first valve 68F and the second valve 70F are closed. Consequently, the hydraulic pressure exerted on the brake caliper 28F is maintained, and the braking force exerted on the front wheel 14 is kept constant. The hydraulic pressure exerted on the brake caliper 28F is continuously reduced until the valves 68F and 70F are switched from the second pattern to the third pattern.

[0064] In step S10, the control device 60 determines, based on the detection result of the first detection device 82F, whether the brake lever 20F is actuated or not. If step S10 determines that the brake lever 20F is actuated, the steps of step S11 are executed.

[0065] In step S11, the control device 60 determines whether the vehicle speed of the bicycle 10 is greater than or equal to a predetermined speed, based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, less than or equal to 5 km / h. If step S11 determines that the vehicle speed is greater than or equal to the predetermined speed, the steps of step S13 are executed. Conversely, if step S10 determines that the brake lever 20F is not actuated, or if step S11 determines that the vehicle speed is less than the predetermined speed, the steps of step S12 are executed.

[0066] In step S12, the control device 60 switches the open / closed state of the first valve 68F and the second valve 70F from the third pattern to the first pattern. Accordingly, the first valve 68F opens and the second valve 70F closes. Consequently, the rotation of the front wheel 14 is braked in conjunction with actuation of the brake lever 20F. After completion of the steps in step S12, the control device 60 then executes the steps of step S19 again.

[0067] In step S13, the control device 60 essentially performs the same step as the step performed in step S4. If, in step S13, it is determined that the state of the bicycle 10 is in the specified state, step S14 is executed.

[0068] In step S14, the control device 60 essentially performs the same step as the step performed in step S6. Subsequently, after completing step S14, the control device 60 performs step S8 again. When performing step S8 after step S14, the control device 60 determines whether a predetermined time has elapsed since step S14 was performed.

[0069] If, on the other hand, step S13 determines that the state of bicycle 10 is not in the specified state, step S15 is executed. In step S15, the control device 60 essentially performs the same step as the step performed in step S12.

[0070] In step S16, the control device 60 determines, based on the detection result of the first detection device 82F, whether the brake lever 20F is actuated or not. If step S16 determines that the brake lever 20F is actuated, step S17 is executed.

[0071] In step S17, the control device 60 determines whether the vehicle speed of the bicycle 10 is greater than or equal to a predetermined speed, based on the detection results of the second detection devices 84F and 84R. The predetermined speed is preferably, for example, less than or equal to 5 km / h. If step S17 determines that the vehicle speed is greater than or equal to the predetermined speed, step S18 is executed. Conversely, if step S16 determines that the brake lever 20F is not actuated, or if step S17 determines that the vehicle speed is less than the predetermined speed, the steps of step S19 are executed.

[0072] In step S18, the control device 60 essentially performs the same step as the step performed in step S4. If step S18 determines that the state of the bicycle 10 is in the specified state, step S14 is executed. Conversely, if step S18 determines that the state of the bicycle 10 is not in the specified state, step S19 is executed.

[0073] In step S19, the control device 60 determines whether a predetermined time has elapsed since step S6 or step S14 was performed. More precisely, it determines whether a predetermined time has elapsed since the last step in which the open / closed state of valves 68F and 70F was switched to the second pattern. The predetermined time is determined in advance, for example, based on the time required to increase the quantity of hydraulic oil in the first pipeline 72F and the second pipeline 74F to a predetermined level. The predetermined level is, for example, essentially the same level as the state before step S6.

[0074] If step S19 determines that the specified time has not elapsed, step S19 is executed again. Conversely, if step S19 determines that the specified time has elapsed, step S20 is executed.

[0075] The control device 60 stops the rotation of the support motor 36 in the second direction in step S20. Accordingly, the driving of the pump 62 is stopped. The control device 60 repeatedly executes the steps from step S1 to step S20 until the ABS operating mode has been switched to the ABS standby mode by the actuating unit 86. If the support-OFF mode has been selected by the actuating unit 86, an ABS operating control is executed in which the steps of step S2 and step S5 are omitted from the step that is in Fig. 3 and Fig. 4 is shown.

[0076] The mode of operation of the bicycle device 56 is described with reference to Fig. 1 and Fig. 2 described.

[0077] The user activates the actuation unit 86 before mounting the bicycle 10, or while riding it. The support motor 36 is rotated in the first direction in accordance with the manual driving force applied to the pedal 44, and support force is added to the manual driving force, with the mode set to the support-ON mode by the actuation unit 86.

[0078] When the user applies the brake lever 20F while the vehicle speed is greater than or equal to a predetermined speed, there are instances where the front wheel 14 will lock, depending on the road surface conditions or the force with which the user applies the brake lever 20F. At this point, the support motor 36 and the ABS unit 58F are controlled by the control device 60, and the braking force applied to the front wheel 14 of the bicycle 10 is regulated. More precisely, the following are described in Fig. 3 and Fig. The 4 steps S1 to S20 shown are repeated, whereby the mode is set to ABS operating mode by the actuating unit 86.

[0079] Even if the front wheel 14 is about to lock up after the brake lever 20F is applied, the ABS unit 58F is actuated by the control device 60, and the front wheel 14 is returned to its normal position. Therefore, it is less likely that the user will lose their balance while riding.

[0080] Furthermore, the pump 62 of the ABS unit 58F is driven by rotating the support motor 36 in the second direction. That is, an assisting force is added to the manual driving force by rotating the support motor 36 in the first direction, and the pump 62 is driven by rotating the support motor 36 in the second direction. Compared to an embodiment in which an assisting force is added to the manual driving force by the support motor 36, and the pump 62 is driven by a drive source different from the support motor 36, the size of the bicycle device 56 is less likely to increase. Accordingly, this embodiment can contribute to reducing the size and weight of the bicycle 10.

[0081] According to the bicycle device 56 of the first embodiment, the following effects are further achieved. (1) The bicycle device 56 causes the control device 60 to reduce the output of the support motor 36 if the brake lever 20F is applied when the support motor 36 is rotated in the first direction. Accordingly, if the front wheel 14 is about to lock up after the brake lever 20F is applied, the user is less likely to lose balance because the output of the support motor 36 is low. (2) In the bicycle device 56, the hydraulic pressure exerted on the brake caliper 28F is reduced, and the pump 62 is driven by rotating the support motor 36 in the second direction, with the support motor 36 and the ABS unit 58F being controlled by the control device 60. Compared to a design in which the pump 62 is driven after the hydraulic pressure exerted on the brake caliper 28F has been reduced, the quantity of hydraulic oil flowing in the first pipe 72F and the second pipe 74F can accordingly be more easily increased to a predetermined quantity at an early stage. (3) In the event that the rotational speed of the wheels of the bicycle 10 is less than a predetermined speed, that is to say, in the event that the vehicle speed of the bicycle 10 is less than a predetermined speed, it is less likely that the user will lose balance while riding, even if the wheels are locked. In view of this, the bicycle device 56 does not drive the ABS unit 58F, or stops driving the ABS unit 58F, when the control device 60 determines that the vehicle speed is in a state of being less than a predetermined speed.Accordingly, compared to training in which the ABS unit 58F is driven, or training in which driving the ABS unit 58F continues even when the vehicle speed is less than a predetermined speed, energy waste can be suppressed. (4) In the bicycle device 56, the support motor 36 and the ABS unit 58F are housed inside the casing 38. Accordingly, compared to a design in which part or all of the ABS unit 58F is located outside the casing 38, this design contributes to the protection of the ABS unit 58F. (5) According to the bicycle 10, there are instances where the front wheel 14 will be about to lock up again when the brake lever 20F is applied, even though the front wheel 14 is returned to its normal state by reducing the hydraulic pressure applied to the brake caliper 28F after actuation of the ABS unit 58F. In view of this, in the bicycle device 56, the control device 60 performs steps S16 to S18 after the front wheel 14 has been returned to its normal state by reducing the hydraulic pressure applied to the brake caliper 28F. Accordingly, it is less likely that the user will lose balance, even if the wheel is about to lock up again, because the ABS unit 58F will be actuated again. SECOND VERSION

[0082] The bicycle device 56 according to the second embodiment differs from the bicycle device 56 according to the first embodiment in the points described below and comprises, in the other points, embodiments that are essentially the same as those of the bicycle device 56 according to the first embodiment. In the description of the bicycle device 56 according to the second embodiment, the same reference numerals are given to the embodiments that it has in common with the bicycle device 56 according to the first embodiment, and some or all of the descriptions of these embodiments are omitted.

[0083] Fig. Figure 5 shows the electrical or mechanical connection relationships of the bicycle 10 (see Fig. 1) The broken lines from Fig. Figure 5 shows the electrical connections of the bicycle. Figure 10. The solid lines from Fig. Figure 5 shows the mechanical connection relationships of the bicycle. Figure 10.

[0084] The bicycle device 56 includes an ABS unit driven by the support motor 36 to control the braking force exerted on the wheels by the brake calipers 28F and 28R. The ABS unit comprises a first ABS unit 58F and a second ABS unit. The first ABS unit 58F is configured to control the braking force exerted on the front wheel 14 (see Fig. 1) The second ABS unit 58R is designed to control the braking force applied to the rear wheel 16 (see Fig. 1) The ABS units 58F and 58R are housed inside the casing 38. The control device 60 controls the support motor 36, the first ABS unit 58F, and the second ABS unit 58R. Since the design of the first ABS unit 58F is essentially the same as that of the first embodiment, part or all of its description is omitted.

[0085] The second ABS unit 58R comprises a pump 62, which is shared with the first ABS unit 58F, and a reservoir 64R that collects the hydraulic oil. The pump 62 is a common component in both ABS units 58F and 58R and supplies hydraulic pressure to the brake calipers 28F and 28R. The pump 62 can be installed on either ABS unit 58F or 58R.

[0086] The second ABS unit 58R further comprises a first valve 68R and a second valve 70R for adjusting the hydraulic pressure exerted on the brake caliper 28R. The first valve 68R has essentially the same design as the first valve 68F in the first ABS unit 58F. The first valve 68R is arranged on a pipe connecting the brake lever 20R and the brake caliper 28R. The second valve 70R has essentially the same design as the second valve 70F in the first ABS unit 58F. The second valve 70R is arranged on a pipe connecting the brake caliper 28R and the reservoir 64R.

[0087] When the hydraulic pressure exerted on the brake caliper 28R is high, the brake caliper 28R is brought close to the disc rotor 26R (see Fig.1) In this case, the brake caliper 28R grips the disc rotor 26R via the brake body, and the rotation of the rear wheel 16 is braked. Conversely, if the hydraulic pressure exerted on the brake caliper 28R is low, the brake caliper 28R is disengaged from the disc rotor 26R. Accordingly, the rotation of the rear wheel 16 is not braked.

[0088] The hydraulic oil supplied by pump 62 flows through the first pipe 72F, the second pipe 74F, and the third pipe 76F at the first ABS unit 58F, and also flows through the first pipe 72R, the second pipe 74R, and the third pipe 76R at the second ABS unit 58R. The first pipe 72R, the second pipe 74R, and the third pipe 76R are each pipes that branch into three.

[0089] Each end of the first pipe 72R is connected to the brake lever 20R, the pump 62, and the first valve 68R. The first pipe 72R is connected to the pump 62 by a section between the pump 62 and the first check valve 78F of the first pipe 72F. Each end of the second pipe 74R is connected to the brake caliper 28R, the first valve 68R, and the second valve 70R. Each end of the third pipe 76R is connected to the pump 62, the reservoir 64R, and the second valve 70R. The third pipe 76R is connected to the pump 62 by a section between the pump 62 and the second check valve 80F of the third pipe 76F.

[0090] The second ABS unit 58R further comprises a first check valve 78R, which is arranged on the first pipeline 72R, and a second check valve 80R, which is arranged on the third pipeline 76R. The first check valve 78R has essentially the same design as the first check valve 78F in the first ABS unit 58F. The second check valve 80R has essentially the same design as the second check valve 80F in the first ABS unit 58F.

[0091] The bicycle 10 further comprises a first detection device 82R for detecting the actuation state of the brake lever 20R. The first detection device 82R has essentially the same design as the first detection device 82F. The first detection device 82R is electrically connected to the control device 60.

[0092] The actuating unit 86 further includes an ABS operating changeover switch (not shown) to switch between an ABS operating mode, which puts the ABS units 58F and 58R into an operating state, and an ABS sleep mode, which puts the ABS units 58F and 58R into a sleep state.

[0093] The control device 60 controls the output and direction of rotation of the support motor 36 based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. The control device 60 switches the open / closed state of the first valve 68F and the second valve 70F in the first ABS unit 58F and the open / closed state of the first valve 68R and the second valve 70R in the second ABS unit 58R based on the detection results of the first detection devices 82F and 82R and the second detection devices 84F and 84R. The control regarding the switching of the open / close state of valves 68R and 70R in the second ABS unit 58R is essentially the same as the control regarding the switching of the open / close state of valves 68F and 70F in the first ABS unit 58F.

[0094] The control device 60 starts the in Fig.3 and Fig. Step 4 shown, by setting it to ABS operating mode via the actuating unit 86.

[0095] The control device 60 determines, in steps S1, S10 and S16, based on the first detection devices 82F and 82R, whether the brake levers 20F and 20R are actuated or not. If at least one of the brake levers 20F and 20R is actuated, it is determined that the brake levers 20F and 20R are actuated.

[0096] In step S6, the control device 60 switches the opening / closing state of at least one of the first valve 68F and the second valve 70F in the first ABS unit 58F and of the first valve 68R and the second valve 70R in the second ABS unit 58R from the first pattern to the second pattern.

[0097] For example, the control device 60 actuates the ABS units 58F and 58R corresponding to the wheel where a change in rotational speed of a predetermined value or greater is detected in step S4. That is, if in step S4 it is determined that the condition is one in which a change in rotational speed has occurred at the rear wheel 16 that is greater than or equal to a predetermined value, the control device 60 switches the open / closed state of the first valve 68R and the second valve 70R in the second ABS unit 58R from the first pattern to the second pattern in step S6.

[0098] Furthermore, the control device 60 actuates the ABS units 58F and 58R corresponding to the wheel with the lower rotational speed if, for example, in step S4 it is detected that the difference between the rotational speed of the front wheel 14 and the rotational speed of the rear wheel 16 has become greater than or equal to a predetermined speed. That is, if in step S4 it is determined that the rotational speed of the rear wheel 16 is less than the rotational speed of the front wheel 14 by a predetermined speed or more, the control device 60 switches the open / closed state of the first valve 68R and the second valve 70R in the second ABS unit 58R from the first pattern to the second pattern in step S6. The same applies to step S14.

[0099] The mode of operation of the bicycle device 56 is described with reference to Fig. 1 and Fig. 5 described.

[0100] When the user applies the brake levers 20F and 20R while the vehicle speed is greater than or equal to a predetermined speed, there are instances where at least one of the front wheel 14 and the rear wheel 16 will be locked, depending on the condition of the road surface or the force with which the user applies the brake levers 20F and 20R. At this point, the support motor 36 and the ABS units 58F and 58R are controlled by the control device 60, and the braking force applied to the front wheel of the bicycle 10 is regulated.

[0101] Even if at least one of the front wheel 14 and the rear wheel 16 is about to lock up after the brake levers 20F and 20R are actuated, the ABS units 58F and 58R are accordingly driven by the control device 60, and the wheels are returned to their normal position. Therefore, it is less likely that the user will lose balance while riding.

[0102] According to the bicycle device 56 of the second embodiment, the following effects are achieved, in addition to the effects of (1) to (5) achieved according to the first embodiment.

[0103] (6) The bicycle device 56 comprises the first ABS unit 58F for controlling the braking force applied to the front wheel 14 and the second ABS unit 58R for controlling the braking force applied to the rear wheel 16. Even if one or both of the front wheel 14 and the rear wheel 16 are about to lock up after the brake levers 20F and 20R have been actuated, the front wheel 14 and the rear wheel 16 are returned to their normal state by actuating the ABS units 58F and 58R. Accordingly, it is less likely that the user will lose balance while riding compared to training where only one of the first ABS units 58F or the second ABS unit 58R is provided. MODIFIED EXAMPLES

[0104] The descriptions relating to each embodiment are examples of forms that the bicycle device according to the present invention can take, and they are not intended to limit these forms. In addition to the embodiments described above, the bicycle device according to the present invention can also take the form of the modified examples of the embodiments shown below, as well as forms that combine at least two modified examples that are not mutually exclusive. • The control device 60 of a modified example executes step S6 and step S7 simultaneously in the ABS operating control. The control device 60 of another modified example executes step S7 before step S6 in the ABS operating control. • According to control device 60 of a modified example, in the ABS operating control, steps S16 to S18 are omitted from the step that is in Fig. 3 and Fig. 4 is shown. • According to the control device 60 of a modified example, in the ABS operating control, step S19 is omitted from the step that is in Fig. 3 and Fig. Figure 4 shows that, according to this modified example, the high-performance support motor 36 is preferably used, which can drive the pump 62 to increase the amount of hydraulic pressure in a short time. • According to the control device 60 of a modified example, the state in which the difference between the rotational speed of the front wheel 14 and the rotational speed of the rear wheel 16 has become greater than or equal to a predetermined speed is omitted from the prescribed state, which is determined in steps S4, S13 and S18, as described in Fig. 3 and Fig. 4 will be shown. • The first detection devices 82F and 82R of a modified example are, instead of an angle sensor, a hydraulic pressure sensor for detecting the hydraulic pressure of the first pipeline 72F and 72R. A hydraulic pressure sensor includes, for example, a pressure sensor provided on the inner wall of the first pipeline 72F and 72R. • The actuating device of a modified example comprises a handle that brakes the rotation of the wheels when it is rotated about the axis of the handlebar 18 relative to the handlebar 18, instead of the brake levers 20F and 20R. According to this modified example, the braking force exerted on the wheels is adjusted according to the amount of rotation of the handle. The actuating device of another modified example comprises a knob attached to the handlebar 18, instead of the brake levers 20F and 20R. According to this other modified example, the braking force exerted on the wheels is adjusted according to the amount by which the knob is pressed. • The brake devices 22F and 22R of a modified example are, for instance, a rim brake or a cantilever brake instead of a disc brake. • The bicycle device 56 of a modified example of the first embodiment comprises an ABS unit 58R for controlling the braking force exerted on the rear wheel 16, instead of the ABS unit 58F. The ABS unit 58R has essentially the same design as the second ABS unit 58R of the second embodiment. • According to the bicycle device 56 of a modified example of the first embodiment, the ABS unit 58F is attached to the outside of the housing 38. As in Fig.As shown in Figure 6, the bicycle device 56 further comprises a casing 88, which is attached, for example, to the outside of the housing 38. According to this modified example, the ABS unit 58F is housed inside the casing 88. The same modification can also be implemented in the second embodiment. According to the bicycle device 56 of a modified example of the second embodiment, for example, at least one of the first ABS unit 58F and the second ABS unit 58R are attached inside the casing 88. • In the bicycle device 56 of a modified example of the first embodiment, the pump 62 of the ABS unit 58F is located inside the housing 38, and the other elements of the ABS unit 58F are arranged outside the housing 38. According to this modified example, the other elements of the ABS unit 58F are, for example, located inside an enclosure that is attached to the outside of the housing 38. The same modification can also be implemented in the second embodiment. • According to the bicycle device 56 of a modified example, the control of the ABS units 58F and 58R by the control device 60 depends on the actuation of the support selector switch. For example, the mode is switched to the ABS operating mode when the support-ON mode is selected. • According to bicycle 10 of a modified example, the ABS operating switch is omitted from the actuation unit 86. According to this modified example, the mode is switched to ABS operating mode, for example, by selecting the assist-ON mode using the assist selector switch. Conversely, the mode is switched to ABS standby mode by selecting the assist-OFF mode using the assist selector switch.

Claims

[1] Bicycle device (56) comprising an ABS unit (58F, 58R) driven by an assist motor (36) which adds an assist force to a manual drive force introduced by a crankshaft (34) of a bicycle (10) and which controls a braking force applied to a wheel of the bicycle (10), wherein the ABS unit (58F, 58R) comprises a pump (62) for applying hydraulic pressure to a brake device (22F, 22R) which applies the braking force to the wheel and the pump (62) is driven by the assist motor (36). [2] Bicycle device (56) according to claim 1, further comprising the support motor (36). [3] Bicycle device (56) according to claim 1 or 2, wherein the support force is added to the manual drive force by rotating the support motor (36) in a first direction, and the pump (62) is driven by rotating the support motor (36) in a second direction, which is the opposite direction to the first direction. [4] Bicycle device (56) according to one of claims 1 to 3, further comprising a freewheel clutch (66) which does not transmit a drive force from the support motor (36) to the pump (62) when the support motor (36) is rotated in the first direction, and which transmits a drive force from the support motor (36) to the pump (62) when the support motor (36) is rotated in the second direction. [5] Bicycle device (56) according to one of claims 1 to 4, further comprising a control device (60) for controlling the support motor (36) and the ABS unit (58F, 58R). [6] Bicycle device (56) according to one of claims 1 to 5, wherein the control device (60) is connected to a first detection device (82F, 82R) for detecting an actuation state of an actuation device (20F, 20R) connected to the brake device (22F, 22R) and to a second detection device (84F, 84R) for detecting a rotation state of the wheel, and the control device (60) controls the support motor (36) and the ABS unit (58F, 58R) on the basis of the first detection device (82F, 82R) and the second detection device (84F, 84R). [7] Bicycle device (56) according to claim 6, which depends directly or indirectly on claim 3, wherein the control device (60) causes the output of the support motor (36) to be reduced in the first direction if the actuating device (20F, 20R) is actuated when it causes the support motor (36) to be rotated in the first direction. [8] Bicycle device (56) according to claim 6 or 7, wherein the control device (60) causes the ABS unit (58F, 58R) to reduce the hydraulic pressure applied to the brake device (22F, 22R) on the basis of the rotation state of the wheel, and causes the support motor (36) to rotate in the second direction when the actuating device (20F, 20R) is actuated. [9] Bicycle device (56) according to claim 8, wherein the control device (60) causes the rotation of the support motor (36) in the second direction to be stopped if the actuating device (20F, 20R) is in a state not to be actuated when it causes the support motor (36) to be rotated in the second direction. [10] Bicycle device (56) according to claim 8 or 9, wherein the control device (60) causes the rotation of the support motor (36) in the second direction to be stopped if the rotational speed of the wheel is in a state in which it is less than a predetermined speed, when it causes the support motor (36) to be rotated in the second direction. [11] Bicycle device (56) according to one of claims 8 to 10, wherein the control device (60) causes the pump (62) to increase the hydraulic pressure after the hydraulic pressure exerted on the brake device (22F, 22R) is reduced. [12] Bicycle device (56) according to one of claims 1 to 11, further comprising a housing (38) in which the support motor (36) and the ABS unit (58F, 58R) are provided. [13] Bicycle device (56) according to one of claims 1 to 12, wherein the pump (62) of the ABS unit (58F, 58R) is provided in an interior of the housing (38). [14] Bicycle device (56) according to any one of claims 1 to 13, wherein the wheels comprise a front wheel (14) and a rear wheel (16), and the ABS unit (58F, 58R) comprises a first ABS unit (58F) for controlling a braking force applied to the front wheel (14) and a second ABS unit (58R) for controlling a braking force applied to the rear wheel (16).

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