Bicycle control device, motor unit, drive unit, electric bicycle, and program

Abstract

To accurately detect the speed of an electric bicycle.SOLUTION: A control device 1 for a bicycle is used with a speed detecting device 5 and a rotation detecting device 6. The speed detecting device 5 detects a rotating state of each of wheels of an electric bicycle. The rotation detecting device 6 detects a rotating state of a power mechanism for moving each wheel of the electric bicycle. A rotational speed detecting unit 11 calculates a rotational speed of the power mechanism by using a detection result from the rotation detecting device 6. By using a detection result from the rotation detecting device 6, a rotation angle detecting unit 12 calculates a rotation angle of the power mechanism when each wheel rotates only a predetermined rotation angle. When the rotating state of each wheel is detected by the speed detecting device 5, a shift position estimating unit 13 estimates a shift position of a change gear of the electric bicycle by using the above rotation angle. By using the above rotational speed and the above shift position, a speed calculation unit 14 calculates the speed of the electric bicycle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention generally relates to a bicycle control device, a motor unit, a drive unit, an electric bicycle, and a program. More specifically, the present invention relates to a bicycle control device used with a speed detection device and a rotation detection device, a motor unit including the bicycle control device, a drive unit including the motor unit, an electric bicycle including the bicycle control device, and a program for a computer used with the speed detection device and the rotation detection device. [Background technology]

[0002] Conventionally, a bicycle control device of a first example and a bicycle control device of a second example are known as bicycle control devices that detect the speed of an electric bicycle.

[0003] The bicycle control device of the first example is a bicycle control device that detects the speed of an electric bicycle using the detection results of a speed detection device. The speed detection device detects the rotation state of the wheels of the electric bicycle.

[0004] The second example of a bicycle control device is a bicycle control device that estimates the speed of an electric bicycle (see, for example, Patent Document 1). The bicycle control device described in Patent Document 1 estimates the speed of the bicycle from the motor rotation speed, the highest gear or the highest gear ratio of the transmission, and the circumference of the wheels when the detection result of the vehicle speed sensor is below a predetermined speed, or when an abnormality has occurred in the vehicle speed sensor. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2016-7905 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the bicycle control device of the first example, the speed of the electric bicycle is detected using the detection results of the speed detection device, so the speed of the electric bicycle is updated every time the wheel rotates once. For this reason, when the bicycle is traveling at a low speed, it is difficult to detect the speed of the electric bicycle and control the power mechanism with sufficient accuracy.

[0007] In the bicycle control device of the second example, the rotation ratio changes when the user changes gears. For this reason, a sensor is required to identify the gear position of the electric bicycle's transmission, or it is limited to the highest gear (maximum speed) of the transmission, making it difficult to obtain sufficient auxiliary power when shifting down a gear.

[0008] The present invention has been made in consideration of the above points, and an object of the present invention is to provide a bicycle control device, a motor unit, a drive unit, an electric bicycle, and a program that can accurately detect the speed of an electric bicycle. [Means for solving the problem]

[0009] A bicycle control device according to one aspect of the present invention is a bicycle control device used together with a speed detection device and a rotation detection device. The speed detection device detects the rotation state of a wheel of an electric bicycle. The rotation detection device detects the rotation state of a power mechanism for moving the wheel of the electric bicycle at intervals shorter than the detection interval of the speed detection device. The bicycle control device comprises a rotation number detection unit, a rotation angle detection unit, a shift position estimator, and a speed calculation unit. The rotation number detection unit calculates the rotation number of the power mechanism using the detection result of the rotation detection device. When the rotation state of the wheel is detected by the speed detection device, the rotation angle detection unit uses the detection result of the rotation detection device to calculate the rotation angle of the power mechanism when the wheel rotates a predetermined rotation angle. When the rotation state of the wheel is detected by the speed detection device, the shift position estimator calculates the rotation angle calculated by the rotation angle detection unit. DegreeThe speed calculation unit calculates the speed of the electric bicycle using the rotation speed calculated by the rotation speed detection unit and the shift position estimated by the shift position estimation unit.

[0010] A motor unit according to one aspect of the present invention includes the bicycle control device and a motor, the motor providing rotational power to the wheels of the electric bicycle.

[0011] A drive unit according to one aspect of the present invention includes the motor unit and a battery. The battery supplies power to the motor unit.

[0012] An electric bicycle according to one aspect of the present invention includes the motor unit, a frame, and the wheels. The motor unit is attached to the frame. The wheels are attached to the frame and rotate by the power output from the motor unit.

[0013] A program according to one aspect of the present invention is a program for causing a computer used together with a speed detection device and a rotation detection device to function as a rotation number detection unit, a rotation angle detection unit, a shift position estimation unit, and a speed calculation unit. The speed detection device detects the rotation state of a wheel of an electric bicycle. The rotation detection device detects the rotation state of a power mechanism for moving the wheel of the electric bicycle at intervals shorter than the detection intervals of the speed detection device. The rotation number detection unit calculates the rotation number of the power mechanism using the detection result of the rotation detection device. When the rotation state of the wheel is detected by the speed detection device, the rotation angle detection unit uses the detection result of the rotation detection device to calculate the rotation angle of the power mechanism when the wheel rotates a predetermined rotation angle. When the rotation state of the wheel is detected by the speed detection device, the shift position estimation unit calculates the rotation angle calculated by the rotation angle detection unit. DegreeThe speed calculation unit calculates the speed of the electric bicycle using the rotation speed calculated by the rotation speed detection unit and the shift position estimated by the shift position estimation unit. Effect of the Invention

[0014] According to the bicycle control device, motor unit, drive unit, electric bicycle, and program relating to the above aspects of the present invention, the speed of the electric bicycle can be detected with high accuracy. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram of a bicycle control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a flowchart showing the operation of the bicycle control device. [Diagram 3] FIG. 3 is a side view of the electric bicycle according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Below, a bicycle control device 1, an electric bicycle 2, a motor unit 3, and a drive unit 4 according to an embodiment will be described with reference to the drawings. Figure 3, which is referred to in the following embodiment, is a schematic diagram, and the ratios of sizes and thicknesses of the components in the figure do not necessarily reflect the actual dimensional ratios.

[0017] In the following description, unless otherwise specified, the running surface 100 is assumed to be a horizontal surface. However, in reality, the running surface 100 does not have to be a horizontal surface, and may be inclined relative to the horizontal surface or may be an uneven surface.

[0018] Furthermore, hereinafter, the direction in which the electric bicycle 2 moves is defined as the "forward direction", the opposite direction to the forward direction is defined as the "rearward direction", and the forward and rearward directions collectively are defined as the "front-rear direction". In addition, two directions perpendicular to the front-rear direction and opposite to each other along a horizontal plane are defined as the "left-right direction". However, the definitions of these directions are not intended to limit the manner in which the bicycle control device 1, motor unit 3, drive unit 4, and electric bicycle 2 are used. Also, the arrows indicating each direction in the drawings are merely shown for explanatory purposes and do not have any substance.

[0019] (Embodiment) (1) Overall configuration of bicycle control device The overall configuration of a bicycle control device 1 according to this embodiment will be described with reference to FIG.

[0020] As shown in FIG. 1, the bicycle control device 1 according to this embodiment includes a rotation speed detection unit 11, a rotation angle detection unit 12, a gear shift position estimation unit 13, a speed calculation unit 14, a drive control unit 15, and a memory unit 16.

[0021] Bicycle control device 1 is composed of, for example, a microprocessor having a processor and memory. The processor executes a program stored in the memory to function as rotation speed detection unit 11, rotation angle detection unit 12, shift position estimator 13, speed calculation unit 14, and drive control unit 15. In other words, the above-mentioned program is a program for causing a computer used together with speed detection device 5 and rotation detection device 6 to function as rotation speed detection unit 11, rotation angle detection unit 12, shift position estimator 13, speed calculation unit 14, and drive control unit 15.

[0022] Bicycle control device 1 is used, for example, in electric bicycle 2. In particular, bicycle control device 1 is used together with speed detection device 5 and rotation detection device 6, which will be described later.

[0023] (2) Electric bicycles 3, the electric bicycle 2 is a bicycle that can travel on a riding surface 100 by electrical power. In this embodiment, the electric bicycle 2 is an electrically assisted bicycle in which a motor 8 assists the pedaling force (pedaling force) of the user.

[0024] As shown in Fig. 3, the electric bicycle 2 includes a motor unit 3 and a frame 7. Furthermore, the electric bicycle 2 includes a plurality of wheels 21 (two in the illustrated example), a front fork 22, a handlebar 23, a saddle 24, a pair of crank arms 25, a pair of pedals 26, a power transmission body 27, and a battery 41. The motor unit 3 and the battery 41 form a drive unit 4.

[0025] (2.1) Wheels The multiple wheels 21 are members that support the frame 7 above the riding surface 100. The electric bicycle 2 according to this embodiment has a front wheel 28 and a rear wheel 29 as the multiple wheels 21. The front wheel 28 has a hub 281 at its center, and the rear wheel 29 has a hub 291 at its center.

[0026] The front wheel 28 is the front wheel of the two wheels 21 arranged in the front-rear direction. In this embodiment, the front wheel 28 is supported by the leg 221 so as to be rotatable about an axis along the left-right direction. In this embodiment, the front wheel 28 is a wheel that does not receive power transmitted from the motor unit 3.

[0027] The rear wheel 29 is the rear wheel of the two wheels 21 aligned in the front-rear direction. In this embodiment, the rear wheel 29 is supported by two chain stays 77 so as to be rotatable about an axis along the left-right direction.

[0028] The rear wheel 29 includes a rear sprocket 292 that is concentric with a hub 291 and attached integrally to the hub 291. The rear sprocket 292 is connected to a driving sprocket 32 ​​of the motor unit 3 via a power transmission body 27. In this way, the power output from the motor unit 3 is transmitted to the rear wheel 29.

[0029] (2.2) Front fork The front fork 22 supports the front wheel 28. The front fork 22 includes a pair of legs 221, a crown 222, and a steering column 223. The crown 222 connects the upper ends of the pair of legs 221. The steering column 223 protrudes from the crown 222. The front wheel 28 is rotatably attached to the pair of legs 221 via a shaft that passes through a hub 281. The rotation axis of the front wheel 28 is parallel to the running surface 100. The protruding direction (longitudinal direction) of the steering column 223 extends from the crown 222 so as to go rearward as it goes upward, and is inclined with respect to the running surface 100.

[0030] (2.3) Handle The handlebars 23 are attached to the upper end of a steering column 223 and fixed to the front fork 22. The steering column 223 passes through a head pipe 71 of a frame 7 (described later) and is rotatably attached to the frame 7. The rotation axis of the steering column 223 is approximately parallel to the longitudinal direction of the steering column 223. Therefore, the handlebars 23 can rotate the front wheel 28 about an axis along the longitudinal direction of the steering column 223.

[0031] (2.4) Frame The frame 7 is a framework to which the multiple wheels 21, the front fork 22, the handlebars 23, the saddle 24, the battery 41, and the motor unit 3 are attached. The material of the frame 7 is, for example, an aluminum alloy containing aluminum as a main component. However, the material of the frame 7 is not limited to an aluminum alloy, and may be, for example, iron, chrome molybdenum steel, high tensile steel, titanium, or magnesium. Furthermore, the material of the frame 7 is not limited to a metal, and may be, for example, carbon, wood, bamboo, or fiber reinforced synthetic resin (e.g., CFRP; Carbon Fiber Reinforced Plastics).

[0032] The frame 7 of this embodiment includes a head pipe 71, an upper pipe 72, a reinforcing pipe 73, a lower pipe 74, a vertical pipe 75, a plurality of seat stays 76 (only one is shown in FIG. 3), a plurality of chain stays 77 (two here), and a bracket 78. In this disclosure, a "pipe" refers to a long, thin, hollow member. The cross-sectional shape of the pipe in this disclosure may be, for example, a circle (including a perfect circle, an oval, and an ellipse), a rectangle (including a square), a hexagon, or an octagon.

[0033] (2.4.1) Head pipe The head pipe 71 is a pipe that supports the front fork 22. The central axis of the head pipe 71 is inclined with respect to the riding surface 100 so that it approaches the rear as it goes upward. The steering column 223 passes through the head pipe 71 so that the central axis of the head pipe 71 and the central axis of the steering column 223 are aligned. This allows the head pipe 71 to rotatably support the steering column 223. In this embodiment, the rotation axis of the steering column 223 is the same as the central axis of the head pipe 71.

[0034] (2.4.2) Upper Pipe The upper pipe 72 connects the head pipe 71 and the stand pipe 75. The front end of the upper pipe 72 in the longitudinal direction is connected to the head pipe 71. The rear end of the upper pipe 72 in the longitudinal direction is connected to the stand pipe 75. In this embodiment, the longitudinal direction of the upper pipe 72 is inclined with respect to the riding surface 100 so as to go downward as it goes rearward. However, in the present disclosure, the upper pipe 72 does not have to be inclined with respect to the riding surface 100. In addition, the electric bicycle 2 according to the present disclosure does not have to be equipped with the upper pipe 72.

[0035] (2.4.3) Reinforcement pipe The reinforcing pipe 73 is a reinforcing member for reinforcing the connection portion between the vertical pipe 75 and the upper pipe 72. The reinforcing pipe 73 connects the vertical pipe 75 and the upper pipe 72. It should be noted that in the present disclosure, the electric bicycle 2 does not necessarily have to include the reinforcing pipe 73.

[0036] (2.4.4) Standpipe The stand pipe 75 holds the saddle 24. The lower end of the stand pipe 75 in the longitudinal direction is connected to the bracket 78. The central axis of the stand pipe 75 is inclined with respect to the running surface 100 so as to move rearward as it moves upward from the lower end. The rear end of the upper pipe 72 in the longitudinal direction is connected to the middle part of the stand pipe 75. The "middle part of the stand pipe 75" here means the part of the stand pipe 75 in the longitudinal direction excluding the lower end and the upper end. However, in the present disclosure, the upper pipe 72 may be connected to the upper end of the stand pipe 75.

[0037] (2.4.5) Down Pipe The lower pipe 74 connects the bracket 78 and the head pipe 71. The front end of the lower pipe 74 in the longitudinal direction is connected to the head pipe 71. The rear end of the lower pipe 74 in the longitudinal direction is connected to the bracket 78. The central axis of the lower pipe 74 is inclined with respect to the horizontal plane so as to extend upward from the rear end in the longitudinal direction toward the front. In this embodiment, the battery 41 is removably attached to the lower pipe 74.

[0038] (2.4.6) Chainstay The multiple chain stays 77 support the shaft of the rear wheel 29. The longitudinal front ends of the chain stays 77 are connected to a bracket 78. The longitudinal rear ends of the chain stays 77 are connected to the rear ends of the seat stays 76. The pair of chain stays 77 are separated in the left-right direction, and the rear wheel 29 is rotatably attached to the rear ends of the pair of chain stays 77 via a shaft that passes through a hub 291. The rotation axis of the rear wheel 29 is approximately parallel to the riding surface 100 and is the same as the central axis of the shaft that supports the rear wheel 29.

[0039] (2.4.7) Seat stays The multiple seat stays 76 connect the chain stays 77 and the vertical pipe 75. In this embodiment, the longitudinal rear ends of the seat stays 76 are connected to the longitudinal rear ends of the chain stays 77. The longitudinal front ends of the seat stays 76 are connected to an intermediate portion of the vertical pipe 75. In this embodiment, the pair of seat stays 76 branch off from the upper pipe 72 and are integral with the upper pipe 72. However, the seat stays 76 and the upper pipe 72 may be separate bodies.

[0040] (2.4.8) Brackets The bracket 78 is a portion to which the motor unit 3 is attached. In this embodiment, the bracket 78 is formed in a substantially C-shape when viewed from a direction perpendicular to both the up-down direction and the front-rear direction. The longitudinal rear end of the lower pipe 74, the longitudinal lower end of the upright pipe 75, and the longitudinal front end of the chain stay 77 are connected to the bracket 78. As a result, the longitudinal rear end of the lower pipe 74, the longitudinal lower end of the upright pipe 75, and the longitudinal front end of the chain stay 77 are fixed to one another.

[0041] (2.5) Saddle The seat pillar 241 has a saddle 24, a seat pillar 241, and a portion 242 on which the driver sits. The seat pillar 241 is passed through the stand pipe 75 along the central axis of the stand pipe 75. The seat pillar 241 protrudes downward from the portion 242 on which the driver sits in the saddle 24. In this embodiment, the seat pillar 241 is inclined with respect to the running surface 100 so as to move forward as it goes downward. The seat pillar 241 is attached to the stand pipe 75 so as to be movable along the central axis of the stand pipe 75.

[0042] (2.6) Pedals The pedals 26 are attached to the longitudinal ends of the crank arms 25, the ends opposite the crankshaft 31. The pedals 26 are attached rotatably with respect to the crank arms 25. The rotation axis of the pedals 26 is approximately parallel to the rotation axis of the crankshaft 31.

[0043] (2.7) Power transmission body The power transmission body 27 transmits the power output from the motor unit 3 to at least one of the multiple wheels 21. In this embodiment, the power transmission body 27 is a chain that is stretched between the drive sprocket 32 ​​of the motor unit 3 and the rear sprocket 292 of the rear wheel 29 so as to be capable of transmitting power. However, in the present disclosure, the power transmission body 27 may be, for example, a belt, a shaft, a wire, or a gear.

[0044] (3) Motor unit 1, the motor unit 3 includes a bicycle control device 1, a speed detection device 5, a rotation detection device 6, a motor 8, a crankshaft 31, and a drive sprocket 32. The motor unit 3 is a device capable of outputting a drive auxiliary output. In this embodiment, the motor unit 3 adds the drive auxiliary output to the pedaling force, which is the human-powered drive force, and transmits it to the rear wheel 29 via the power transmission body 27.

[0045] 3, a pair of crank arms 25 are attached to the crank shaft 31 of the motor unit 3. The longitudinal direction of the crank arm 25 intersects with the rotation axis of the crank shaft 31 (in the illustrated example, it is perpendicular). The pair of crank arms 25 are aligned in a straight line when viewed in the direction of the rotation axis of the crank shaft 31.

[0046] The drive sprocket 32 ​​is made up of, for example, a plurality of sprockets, and constitutes a transmission together with the rear sprocket 292. By changing the shift position of this transmission, the electric bicycle 2 can be shifted.

[0047] (3.1) Motor The motor 8 is configured to provide rotational power to the wheel 21 (see FIG. 3) of the electric bicycle 2. The motor 8 is provided near the crankshaft 31 (see FIG. 3) of the electric bicycle 2, and is driven by electric power from the battery 41 to transmit power to the crankshaft 31.

[0048] (3.2) Speed ​​detection device The speed detection device 5 detects the rotation state of the wheel 21 (see FIG. 3) of the electric bicycle 2. In this embodiment, the speed detection device 5 detects the rotation state of the rear wheel 29 (see FIG. 3) of the electric bicycle 2. The speed detection device 5 includes a magnet 51 and a speed sensor 52. The magnet 51 is provided on the rear wheel 29 and rotates together with the rear wheel 29. The speed detection device 5 may also detect the rotation state of the front wheel 28 (see FIG. 3) of the electric bicycle 2. In this case, the magnet 51 is provided on the front wheel 28 and rotates together with the front wheel 28.

[0049] The speed sensor 52 is a Hall IC that detects the magnetic force of a magnet provided on the rear wheel 29. The speed sensor 52 is provided, for example, on a chain stay 77 (see FIG. 3) of the frame 7. The speed sensor 52 detects the magnetic force of the magnet 51 provided on the rear wheel 29 using the Hall effect. The speed sensor 52 outputs an electric signal based on the detection result to the bicycle control device 1. In this embodiment, the speed detection device 5 detects the rotational state of the rear wheel 29 once for each rotation of the rear wheel 29.

[0050] (3.3) Rotation detection device The rotation detector 6 is a motor rotation detector that detects the rotation state of the motor 8. The rotation detector 6 of this embodiment includes a rotating member 61 and a rotation sensor 62.

[0051] The rotating member 61 is attached to the outer circumferential surface of the output shaft 81 of the motor 8, and rotates together with the output shaft 81. Therefore, the rotation axis of the rotating member 61 is the same as the rotation axis of the output shaft 81. The rotating member 61 is composed of, for example, a member in which magnets are embedded so that their magnetic poles alternate in the circumferential direction of the rotating member 61, or a magnet that is magnetized so that its magnetic poles alternate in the circumferential direction.

[0052] The rotation sensor 62 is a Hall IC that detects the magnetic force of the magnet of the rotating member 61. The rotation sensor 62 is provided facing the rotating member 61. The rotation sensor 62 outputs an electrical signal to the bicycle control device 1 that indicates a change in the magnetic field that accompanies the rotation of the rotating member 61.

[0053] The rotation detection device 6 detects the rotation state of the motor 8 at intervals shorter than the detection interval of the speed detection device 5. In other words, the rotation detection device 6 has a higher resolution than the speed detection device 5. For example, when the speed detection device 5 detects one rotation state of the wheel 21, the rotation detection device 6 detects the rotation state of the motor 8 at intervals shorter than the time required for one rotation of the wheel 21. During one rotation of the wheel 21, the rotation detection device 6 detects the rotation state of the motor 8 multiple times.

[0054] (4) Drive unit As shown in FIG. 3, the drive unit 4 includes the motor unit 3 and a battery 41.

[0055] The battery 41 supplies power to the motor unit 3. More specifically, the battery 41 supplies power to the motor 8 of the motor unit 3. The battery 41 also supplies power to the motor 8, for example, a headlight and an ON / OFF operation unit of the motor 8. The battery 41 is removably attached to the down pipe 74. The battery 41 may be disposed along the upright pipe 75, behind the upright pipe 75.

[0056] (5) Components of a bicycle control device Each component of the bicycle control device 1 will now be described with reference to FIG.

[0057] (5.1) Rotational speed detector The rotation speed detection unit 11 calculates the rotation speed of the motor 8 using the detection result of the rotation detection device 6. The rotation speed of the motor 8 means the number of rotations of the motor 8 per unit time (for example, one second).

[0058] Furthermore, the rotation speed detection unit 11 detects whether or not the motor 8 is being driven, using the detection result of the rotation detection device 6. This makes it possible to determine whether the motor 8 is being driven or stopped.

[0059] (5.2) Rotation angle detection unit Using the detection result of the rotation detection device 6, the rotation angle detection unit 12 calculates the rotation angle of the motor 8 when the wheel 21 rotates by a predetermined rotation angle. The rotation angle detection unit 12 detects the rotation angle of the motor 8 every time the rotation detection device 6 detects the rotation state of the motor 8. Information on the rotation angle detected by the rotation angle detection unit 12 is stored in the memory unit 16.

[0060] (5.3) Gear position estimation unit When the rotation state of the wheel 21 is detected by the speed detection device 5, the shift position estimation unit 13 estimates (calculates) the shift position of the transmission of the electric bicycle 2 using the rotation angle calculated by the rotation angle detection unit 12. After estimating the shift position of the transmission, the shift position estimation unit 13 updates the information of the shift position stored in the memory unit 16.

[0061] The shift position estimator 13 has a function of checking the detection of the speed detection device 5. More specifically, the detection of the speed detection device 5 is checked within a predetermined time range from the previous detection of the speed detection device 5. As described above, in the normal case, the speed detection device 5 detects the rotation state of the wheel 21 every time the wheel 21 rotates once. Therefore, in the normal case, the shift position estimator 13 obtains the detection result of the speed detection device 5 every time the wheel 21 rotates once. On the other hand, in the abnormal case where the magnet of the speed detection device 5 has come off the wheel 21, for example, the shift position estimator 13 cannot obtain the detection result of the speed detection device 5 even if the wheel 21 rotates once.

[0062] When the gear shift position estimation unit 13 acquires the detection result of the speed detection device 5, it estimates the gear shift position of the transmission using the rotation angle of the motor 8 measured by the rotation angle detection unit 12. The gear shift position estimation unit 13 estimates the gear shift position using the correspondence between the rotation angle and the gear shift position. The correspondence is stored in advance in the storage unit 16. The gear shift position estimation unit 13 acquires information on the latest rotation angle detected by the rotation angle detection unit 12 from the storage unit 16, and further acquires information on the gear shift position corresponding to the latest rotation angle from the storage unit 16, thereby estimating the gear shift position of the transmission.

[0063] This makes it possible to estimate the gear shift position of the transmission even without a sensor that detects the actual gear shift position. Even if the electric bicycle 2 is traveling at a low speed and it takes a long time for the wheel 21 to make one rotation, the speed of the electric bicycle 2 can be accurately estimated in the speed calculation unit 14 described below by using the rotation angle of the motor 8 when the wheel 21 makes one rotation.

[0064] Incidentally, the shift position estimation unit 13 estimates the shift position of the transmission only when the speed of the electric bicycle 2 is 6 km / h or less. On the other hand, when the speed of the electric bicycle 2 is faster than 6 km / h, the shift position estimation unit 13 does not estimate the shift position as described above. More specifically, the shift position estimation unit 13 can switch between enabling and disabling the shift position estimation function as described above. When the speed of the electric bicycle 2 is 6 km / h or less, the shift position estimation unit 13 enables the shift position estimation function. On the other hand, when the speed of the electric bicycle 2 is faster than 6 km / h, the shift position estimation unit 13 disables the shift position estimation function.

[0065] Furthermore, when the push-walk button is operated, the gear shift position estimating unit 13 may activate the estimation function of the gear shift position. In other words, when an operation of the push-walk button is detected, the gear shift position estimating unit 13 estimates the gear shift position of the transmission of the electric bicycle 2 using the rotation angle calculated by the rotation angle detecting unit 12.

[0066] Meanwhile, if there is no detection of the speed detection device 5 within a predetermined time range, the shift position estimator 13 checks for a failure of the speed detection device 5. More specifically, the shift position estimator 13 checks for a failure of the speed detection device 5 by judging whether the rotation ratio, which indicates the rotation angle of the motor 8 from the previous detection of the speed detection device 5, is equal to or greater than a specified value.

[0067] The specified value is a value that is specified based on the rotation angle of the motor 8 during one rotation of the wheel 21 under normal conditions. In other words, the specified value is a value that is specified based on the rotation angle of the motor 8 from the previous detection by the speed detection device 5 under normal conditions. Specifically, the specified value is set to a value that is larger than the rotation angle of the motor 8 under normal conditions. In other words, the specified value is set to a value that allows for a margin compared to the rotation angle of the motor 8 under normal conditions.

[0068] If the rotation ratio is equal to or greater than a specified value, the magnet of the speed detection device 5 may fall, making it impossible to detect the rotation state of the wheels 21. Therefore, if the rotation ratio is equal to or greater than a specified value, the shift position estimation unit 13 estimates (sets) the shift position of the transmission to the highest gear (top gear). By estimating the shift position of the transmission to the highest gear, the estimated speed is higher than the actual speed, preventing the speed limit from being exceeded.

[0069] If the rotation ratio is less than the specified value, for example, the rotation of the wheel 21 may be slow and the speed detection device 5 may not have detected it yet, so the shift position estimation unit 13 continues to check the detection of the speed detection device 5.

[0070] (5.4) Speed ​​calculation section The speed calculation unit 14 calculates the speed of the electric bicycle 2 using the rotation speed calculated by the rotation speed detection unit 11 and the shift position estimated by the shift position estimation unit 13. The speed of the electric bicycle 2 is the product of the circumference of the wheel 21, the rotation speed of the motor 8, and the rotation ratio. The circumference of the wheel 21 is a known value and is stored in advance in the storage unit 16. The rotation ratio is stored in advance in the storage unit 16 in correspondence with the shift position of the transmission. The speed calculation unit 14 acquires information on the rotation ratio corresponding to the shift position estimated by the shift position estimation unit 13 from the storage unit 16. The speed calculation unit 14 also acquires information on the circumference of the wheel 21 from the storage unit 16. The speed calculation unit 14 calculates the speed of the electric bicycle 2 as the product of the circumference of the wheel 21 acquired from the storage unit 16, the rotation speed detected by the rotation speed detection unit 11, and the rotation ratio acquired from the storage unit 16.

[0071] (5.5) Drive control section The drive control unit 15 controls the motor 8. More specifically, the drive control unit 15 uses the speed calculated by the speed calculation unit 14 to calculate a rotation speed associated with the speed, and outputs a drive control signal to the motor 8 to control the motor 8 so that the motor 8 rotates at the calculated rotation speed. For example, the drive control unit 15 controls the motor 8 to assist at the speed calculated by the speed calculation unit 14.

[0072] (5.6) Storage section The memory unit 16 stores the circumference of the wheels 21 of the electric bicycle 2. The memory unit 16 also stores the correspondence between the rotation ratio and the shift position of the transmission. The memory unit 16 also stores the shift position estimated by the shift position estimating unit 13. The shift position estimated by the shift position estimating unit 13 is updated every time it is estimated by the shift position estimating unit 13.

[0073] (6) Operation of bicycle control device Hereinafter, the operation of bicycle control device 1 relating to estimation of the gear shift position of the transmission (bicycle control method) will be described with reference to FIG.

[0074] The rotation speed detection unit 11 detects whether the motor 8 is being driven using the detection result of the rotation detection device 6 (step S1). If the motor 8 is not being driven in step S1 ("No" in step S1), for example because the electric bicycle 2 is traveling downhill and the motor 8 is not being driven, the operation related to estimating the gear position of the transmission is terminated. On the other hand, if the rotation speed detection unit 11 detects that the motor 8 is being driven in step S1 ("Yes" in step S1), the gear position estimation unit 13 checks the detection of the speed detection device 5 (step S2).

[0075] If there is detection by the speed detection device 5 ("Yes" in step S3), the rotation angle detection unit 12 starts measuring the rotation angle of the motor 8 (step S4). Using the detection result of the rotation detection device 6, the rotation angle detection unit 12 measures the rotation angle of the motor 8 when the wheel 21 makes one rotation. Thereafter, the shift position estimation unit 13 estimates (sets) the shift position of the transmission to a tentative position (step S5). Then, the shift position estimation unit 13 updates the information of the shift position stored in the memory unit 16 (step S6).

[0076] The gear shift position estimation unit 13 checks for detection of the speed detection device 5 within a predetermined time range from the previous detection of the speed detection device 5 (for example, step S3) (step S7). If the speed detection device 5 is detected within the predetermined time range ("Yes" in step S8), the gear shift position estimation unit 13 estimates the gear shift position of the transmission (step S9). Thereafter, the gear shift position estimation unit 13 updates the information on the gear shift position stored in the memory unit 16 (step S10).

[0077] Thereafter, if the motor 8 is being driven ("Yes" in step S11), the process returns to step S7. On the other hand, if the motor 8 is stopped ("No" in step S11), the operation relating to estimation of the gear position of the transmission is terminated.

[0078] Incidentally, in step S8, if the speed detection device 5 is not detected within a predetermined time range ("No" in step S8), the shift position estimation unit 13 checks for a malfunction of the speed detection device 5 (step S12). If the rotation ratio, which indicates the rotation angle of the motor 8 from the previous detection of the speed detection device 5, is equal to or greater than a specified value ("Yes" in step S13), the shift position estimation unit 13 estimates (sets) the shift position of the transmission to the highest gear (top gear) (step S14). Thereafter, the shift position estimation unit 13 updates the information of the shift position stored in the memory unit 16 (step S15). On the other hand, in step S13, if the rotation ratio is less than the specified value ("No" in step S13), the process returns to step S7, and the shift position estimation unit 13 checks for the detection of the speed detection device 5.

[0079] (7) Effects The bicycle control device 1 according to this embodiment calculates the rotation angle of the motor 8 (power mechanism) when the wheel 21 of the electric bicycle 2 is at a specified rotation angle, and estimates the gear shift position of the transmission of the electric bicycle 2 using the rotation angle of the motor 8. This makes it possible to accurately calculate the speed of the electric bicycle 2 when the gear shift position of the transmission changes, even without a sensor to detect the gear shift position.

[0080] The bicycle control device 1 according to this embodiment calculates the rotation angle of the motor 8 using the detection results of the rotation of the motor 8, which has a higher resolution than other parts. This makes it possible to calculate the speed of the electric bicycle 2 with even greater accuracy.

[0081] The bicycle control device 1 according to this embodiment uses the speed calculated from the estimated gear position to control the motor 8. This makes it possible to control the motor 8 with high precision even without a sensor that detects the gear position of the transmission.

[0082] In the bicycle control device 1 according to this embodiment, the shift position estimator 13 estimates the shift position of the transmission at least when the speed of the electric bicycle 2 is 6 km / h or less. This enhances the advantage of being able to accurately calculate the speed of the electric bicycle 2, particularly when the electric bicycle 2 is traveling at a low speed.

[0083] (Modification) A modification of this embodiment will now be described.

[0084] In the first modified example of this embodiment, the rotation detection device 6 is not limited to detecting the rotation state of the motor 8. The rotation detection device 6 may detect the rotation state of a power mechanism for moving the wheel 21 of the electric bicycle 2. Examples of the power mechanism include the rear sprocket 292, the driving sprocket 32, the crankshaft 31, and a pulley. As in the first embodiment, the rotation detection device 6 detects the rotation state of the power mechanism at intervals shorter than the detection intervals of the speed detection device 5. Then, the rotation angle detection unit 12 uses the detection result of the rotation detection device 6 to calculate the rotation angle of the motor 8 when the wheel 21 rotates by a predetermined rotation angle.

[0085] When the power mechanism is crankshaft 31, rotation detection device 6 is a crankshaft rotation detection device that detects the rotation state of crankshaft 31. In this case, rotation detection device 6 includes a rotation dog (detectable part) and a crankshaft rotation sensor. Rotation detection device 6 outputs an electrical signal detected by the crankshaft rotation sensor to bicycle control device 1, and bicycle control device 1 executes processing to detect the rotation state of crankshaft 31.

[0086] The crankshaft rotation sensor is, for example, an optical sensor. The crankshaft rotation sensor includes a light-emitting element (for example, an LED) and a light-receiving element (for example, a phototransistor). The light-emitting element and the light-receiving element are connected to the bicycle control device 1 so as to be able to send and receive electrical signals. A rotating dog is positioned between the light-emitting element and the light-receiving element. The crankshaft rotation sensor emits light from the light-emitting element toward the light-receiving element, and the light that passes through the light-transmitting portion is received by the light-receiving element.

[0087] However, the rotation detection device 6 is not limited to the above configuration. For example, the rotation detection device 6 may use an annular ferrite magnet as the rotation dog, and an electromagnetic rotation sensor that detects changes in a magnetic field as the crankshaft rotation sensor.

[0088] When a rotation angle other than that of motor 8 is used, the specified value differs depending on the shift position of the transmission in step S13 of Fig. 2. For this reason, the specified value is set to a value corresponding to the shift position most recently estimated by shift position estimator 13. More specifically, the specified value is set to a value greater than the normal rotation speed of motor 8 at the shift position most recently estimated by shift position estimator 13.

[0089] As a second modification of this embodiment, the shift position estimation unit 13 is not limited to estimating the shift position of the transmission only when the speed of the electric bicycle 2 is 6 km / h or less. The shift position estimation unit 13 may also estimate the shift position of the transmission even when the speed of the electric bicycle 2 is faster than 6 km / h. In short, the shift position estimation unit 13 only needs to estimate the shift position of the transmission at least when the speed of the electric bicycle 2 is 6 km / h or less.

[0090] As a third modified example of this embodiment, the speed detection device 5 is not limited to detecting the rotation state of the wheel 21 once per rotation of the wheel 21, and may detect the wheel 21 multiple times per rotation of the wheel 21. In this case, the speed detection device 5 includes multiple magnets. The multiple magnets are provided at different positions on the wheel 21. The speed detection device 5 may detect the rotation state of the wheel 21 once per half rotation of the wheel 21, or may detect the rotation state of the wheel 21 once per quarter rotation of the wheel 21. Alternatively, the speed detection device 5 may detect the rotation state of the wheel 21 once per multiple rotations of the wheel 21. The speed detection device 5 may detect the rotation state of the wheel 21 once per two rotations of the wheel 21, for example.

[0091] In this embodiment, the motor unit 3 is a single-shaft drive unit. However, the motor unit 3 may be a two-shaft drive unit.

[0092] In this embodiment, the electric bicycle 2 is an electrically assisted bicycle in which the motor 8 assists the pedaling force of the user, but as a variation of this embodiment, the electric bicycle 2 may be a bicycle in which the human-powered drive system and the motor-driven system are independent. In other words, the electric bicycle 2 may be a bicycle in which the drive system (human-powered drive system) that provides power to the wheels 21 by pedaling force and the drive system (motor-driven system) that provides power to the wheels 21 by the motor 8 are independent (a bicycle that can run only on the power output from the motor 8). In short, the electric bicycle 2 may be an electrically assisted bicycle, or may be a bicycle that can run only on the power output from the motor 8.

[0093] The electric bicycle 2 according to this embodiment is a two-wheeled bicycle with one front wheel 28 and one rear wheel 29, but as a modification of this embodiment, the electric bicycle 2 may be a three-wheeled bicycle with one front wheel 28 and two rear wheels 29. Alternatively, the electric bicycle 2 may be a three-wheeled bicycle with two front wheels 28 and one rear wheel 29. The electric bicycle 2 may also be a four-wheeled bicycle with two front wheels 28 and two rear wheels 29.

[0094] The bicycle control device 1 according to each of the above-mentioned modified examples achieves the same effects as the bicycle control device 1 according to this embodiment.

[0095] The above-described embodiment and modifications are merely a part of the various embodiments and modifications of the present invention. Furthermore, the embodiment and modifications can be modified in various ways depending on the design, etc., as long as the object of the present invention can be achieved.

[0096] (Aspect) The above-described embodiment and modified examples disclose the following aspects.

[0097] A bicycle control device (1) according to a first aspect is a bicycle control device used together with a speed detection device (5) and a rotation detection device (6). The speed detection device (5) detects the rotation state of a wheel (21) of an electric bicycle (2). The rotation detection device (6) detects the rotation state of a power mechanism (motor 8; rear sprocket 292; driving sprocket 32; crankshaft 31) for moving the wheel (21) of the electric bicycle (2) at intervals shorter than the detection intervals of the speed detection device (5). The bicycle control device (1) includes a rotation speed detection unit (11), a rotation angle detection unit (12), a shift position estimation unit (13), and a speed calculation unit (14). The rotation speed detection unit (11) calculates the rotation speed of the power mechanism using the detection result of the rotation detection device (6). The rotation angle detection unit (12) calculates the rotation angle of the power mechanism when the wheel (21) rotates by a predetermined rotation angle using the detection result of the rotation detection device (6). When the rotation state of the wheel (21) is detected by the speed detection device (5), a shift position estimation unit (13) estimates the shift position of the transmission of the electric bicycle (2) using the rotation angle calculated by the rotation angle detection unit (12). A speed calculation unit (14) calculates the speed of the electric bicycle (2) using the rotation speed calculated by the rotation speed detection unit (11) and the shift position estimated by the shift position estimation unit (13).

[0098] According to the bicycle control device (1) of the first aspect, when the gear shift position of the transmission is changed, the speed of the electric bicycle (2) can be calculated with high accuracy, even without a sensor that detects the gear shift position.

[0099] In the bicycle control device (1) according to the second aspect, in the first aspect, the power mechanism is a motor (8). The rotation angle detection unit (12) uses the detection result of the rotation detection device (6) to calculate, as the rotation angle of the power mechanism, the rotation angle of the motor (8) when the wheel (21) is at a predetermined rotation angle.

[0100] According to the bicycle control device (1) of the second aspect, the speed of the electric bicycle (2) can be calculated with even greater accuracy.

[0101] The bicycle control device (1) according to the third aspect is the same as the first or second aspect, and further includes a drive control unit (15). The drive control unit (15) calculates a rotational speed associated with the speed calculated by the speed calculation unit (14), and controls the motor (8) by outputting a drive control signal to the motor (8) so that the motor (8) rotates at the calculated rotational speed.

[0102] According to the bicycle control device (1) of the third aspect, the motor (8) can be controlled with high precision even without a sensor for detecting the gear position of the transmission.

[0103] In the bicycle control device (1) according to the fourth aspect, in any one of the first to third aspects, the shift position estimator (13) estimates the shift position at least when the speed of the electric bicycle (2) is 6 km / h or less.

[0104] According to the bicycle control device (1) of the fourth aspect, the advantage of being able to accurately calculate the speed of the electric bicycle (2) can be enhanced, particularly when the electric bicycle (2) is traveling at a low speed.

[0105] A motor unit (3) according to a fifth aspect includes the bicycle control device (1) according to any one of the first to fourth aspects, and a motor (8). The motor (8) provides rotational power to a wheel (21) of an electric bicycle (2).

[0106] According to the motor unit (3) of the fifth aspect, in the bicycle control device (1), when the shift position of the transmission changes, the speed of the electric bicycle (2) can be calculated with high accuracy, even without a sensor that detects the shift position.

[0107] A drive unit (4) according to a sixth aspect includes the motor unit (3) according to the fifth aspect and a battery (41). The battery (41) supplies power to the motor unit (3).

[0108] According to the drive unit (4) of the sixth aspect, in the bicycle control device (1), when the gear shift position of the transmission changes, the speed of the electric bicycle (2) can be calculated with high accuracy, even without a sensor that detects the gear shift position.

[0109] An electric bicycle (2) according to a seventh aspect includes the motor unit (3) according to the fifth aspect, a frame (7), and a wheel (21). The motor unit (3) is attached to the frame (7). The wheel (21) is attached to the frame (7) and rotates by the power output from the motor unit (3).

[0110] According to the electric bicycle (2) of the seventh aspect, in the bicycle control device (1), when the gear shift position of the transmission changes, the speed of the electric bicycle (2) can be calculated with high accuracy, even without a sensor that detects the gear shift position.

[0111] The program according to the eighth aspect is a program for causing a computer used together with the speed detection device (5) and the rotation detection device (6) to function as a rotation number detection unit (11), a rotation angle detection unit (12), a shift position estimation unit (13), and a speed calculation unit (14). The speed detection device (5) detects the rotation state of the wheel (21) of the electric bicycle (2). The rotation detection device (6) detects the rotation state of the power mechanism (motor 8; rear sprocket 292; driving sprocket 32; crankshaft 31) for moving the wheel (21) of the electric bicycle (2) at intervals shorter than the detection intervals of the speed detection device (5). The rotation number detection unit (11) calculates the rotation number of the power mechanism using the detection result of the rotation detection device (6). The rotation angle detection unit (12) calculates the rotation angle of the power mechanism when the wheel (21) rotates by a predetermined rotation angle using the detection result of the rotation detection device (6). When the rotation state of the wheel (21) is detected by the speed detection device (5), a shift position estimation unit (13) estimates the shift position of the transmission of the electric bicycle (2) using the rotation angle calculated by the rotation angle detection unit (12). A speed calculation unit (14) calculates the speed of the electric bicycle (2) using the rotation speed calculated by the rotation speed detection unit (11) and the shift position estimated by the shift position estimation unit (13).

[0112] According to the program of the eighth aspect, when the gear shift position of the transmission is changed, the speed of the electric bicycle (2) can be calculated with high accuracy even without a sensor for detecting the gear shift position. [Explanation of symbols]

[0113] 1 Bicycle control device 11 Rotational speed detector 12 Rotation angle detection unit 13 Gear shift position estimation unit 14 Speed ​​calculation section 15 Drive control unit 2. Electric bicycles 21 wheels 292 Rear sprocket (power mechanism) 3 Motor unit 31 Crankshaft (power mechanism) 32 Drive sprocket (power mechanism) 4 Drive Unit 41 Battery 5 Speed ​​detection device 6 Rotation detection device 7 Frame 8 Motor (power mechanism)

Claims

1. A bicycle control device used together with a speed detection device that detects the rotational state of a wheel of an electric bicycle, and a rotation detection device that detects the rotational state of a power mechanism for moving the wheel of the electric bicycle at an interval shorter than the detection interval of the speed detection device, a rotation speed detection unit that calculates a rotation speed of the power mechanism using a detection result of the rotation detection device; a rotation angle detection unit that, when a rotation state of the wheel is detected by the speed detection device, calculates a rotation angle of the power mechanism when the wheel rotates by a predetermined rotation angle using the detection result of the rotation detection device; a gear shift position estimation unit that, when the rotation state of the wheel is detected by the speed detection device, estimates a gear shift position of a transmission of the electric bicycle using the rotation angle calculated by the rotation angle detection unit; a speed calculation unit that calculates a speed of the electric bicycle using the rotation speed calculated by the rotation speed detection unit and the shift position estimated by the shift position estimation unit, Bicycle control device.

2. the power mechanism is a motor, the rotation angle detection unit uses the detection result of the rotation detection device to calculate, as a rotation angle of the power mechanism, a rotation angle of the motor when the wheel is at the predetermined rotation angle. The bicycle control device according to claim 1 .

3. a drive control unit that calculates a rotation speed associated with the speed calculated by the speed calculation unit, and outputs a drive control signal to the motor to control the motor so that the motor rotates at the calculated rotation speed; The bicycle control device according to claim 2.

4. a drive control unit that outputs a drive control signal to the motor to control the motor so that the motor rotates at a rotation speed associated with the speed calculated by the speed calculation unit, The bicycle control device according to claim 2.

5. the shift position estimating unit estimates the shift position at least when the speed of the electric bicycle is 6 km / h or less; The bicycle control device according to any one of claims 1 to 4.

6. the shift position estimating unit has a function of switching between enabling and disabling an estimation function for estimating the shift position; The bicycle control device according to any one of claims 1 to 4.

7. the shift position estimation unit enables the estimation function when the speed of the electric bicycle is equal to or lower than a specified speed, and disables the estimation function when the speed of the electric bicycle is higher than the specified speed.

7. The bicycle control device according to claim 6.

8. The specified speed is 6 km / h.

8. The bicycle control device according to claim 7.

9. The shift position estimation unit enables the estimation function when an operation on a push-walk button is detected.

7. The bicycle control device according to claim 6.

10. A bicycle control device according to any one of claims 1 to 9, A motor that provides rotational power to the wheels of the electric bicycle. Motor unit.

11. A motor unit according to claim 10; A battery that supplies power to the motor unit. Drive unit.

12. A motor unit according to claim 10; a frame to which the motor unit is attached; The wheel is attached to the frame and rotates by the power output from the motor unit. Electric bicycle.

13. A speed detection device that detects the rotational state of a wheel of an electric bicycle, and a computer that is used together with a rotation detection device that detects the rotational state of a power mechanism for moving the wheel of the electric bicycle at intervals shorter than the detection intervals of the speed detection device, a rotation speed detection unit that calculates the rotation speed of the power mechanism using a detection result of the rotation detection device; a rotation angle detection unit that, when a rotation state of the wheel is detected by the speed detection device, calculates a rotation angle of the power mechanism when the wheel rotates by a predetermined rotation angle using the detection result of the rotation detection device; a shift position estimation unit that, when the rotation state of the wheel is detected by the speed detection device, estimates a shift position of a transmission of the electric bicycle using the rotation angle calculated by the rotation angle detection unit; and a speed calculation unit that calculates a speed of the electric bicycle using the rotation speed calculated by the rotation speed detection unit and the shift position estimated by the shift position estimation unit; A program to function as a

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