JP7184554B2 - DRIVE FOR MANPOWERED VEHICLE AND CONTROL METHOD THEREOF - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a drive system for a manpowered vehicle and a control method thereof.

For example, Patent Literature 1 describes a manpower-driven vehicle in which a one-way clutch is provided between an electric motor and a crankshaft so that when the crankshaft rotates in the reverse direction, the manpower driving force applied to the crankshaft is transmitted to the electric motor. It is

Japanese Patent No. 4906982

In the manpower-driven vehicle described in Patent Document 1, when the crankshaft rotates in the reverse direction, there is a possibility that an induced voltage is generated in the electric motor due to the manpower driving force, causing a problem.

One of the objects of the present disclosure is to provide a driving device for a manpowered vehicle and a control method thereof for suppressing problems caused by an induced voltage in an electric motor that accompanies reverse rotation of a crankshaft.

A driving device for a manpowered vehicle according to the first aspect of the present disclosure rotates in a first rotation direction to assist propulsion of the manpowered vehicle when the crankshaft rotates forward, and when the crankshaft rotates in the reverse direction. a state in which the electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation by transmission of the driving force from the crankshaft and the crankshaft rotate in the opposite direction; and a control device that controls the electric motor to generate rotational torque in the first rotational direction in at least one of states in which the electric motor is rotating in the second rotational direction.

According to the manpower-driven vehicle drive device of the first aspect, the rotation speed of the electric motor in the second rotation direction is reduced, so that the induced voltage generated in the electric motor by the manpower driving force can be suppressed. As a result, problems due to the induced voltage of the electric motor caused by the reverse rotation of the crankshaft can be suppressed.

In the manpowered vehicle drive device according to the second aspect according to the first aspect, the control device controls the electric motor such that the rotation speed of the reverse rotation of the crankshaft is equal to or lower than a predetermined first speed.

According to the drive device for a manpowered vehicle of the second aspect, it is possible to suppress the rotational speed of the reverse rotation of the crankshaft, and to suppress the induced voltage of the electric motor to a value less likely to cause problems.

In the third aspect of the manpowered vehicle drive device according to the first or second aspect, the control device includes an assist mode in which the electric motor assists propulsion of the manpowered vehicle according to the rotation state of the crankshaft. , a non-assist mode in which the electric motor does not assist the propulsion of the manpowered vehicle, and in the assist mode, the crankshaft rotates in the opposite direction; When at least one of the states of rotation in the second rotation direction is reached, the electric motor is caused to generate a rotation torque in the first rotation direction.

According to the drive device for a manpowered vehicle of the third aspect, when the control device is operating in the assist mode, it is possible to suppress problems caused by the induced voltage of the electric motor that accompanies the reverse rotation of the crankshaft.

In the fourth aspect manpowered vehicle drive device according to any one of the first to third aspects, the control device controls a state in which the crankshaft rotates in the reverse direction and the electric motor rotates in the second rotation state. When a predetermined condition is satisfied in at least one of the states of rotation in the first direction, the electric motor is caused to generate rotational torque in the first direction of rotation.

According to the manpowered vehicle driving device of the fourth aspect, it is possible to control the timing at which the control device starts controlling the electric motor to generate rotational torque in the first rotational direction according to a predetermined condition.

A driving device for a manpowered vehicle according to a fifth aspect of the present disclosure rotates in a first rotation direction to assist propulsion of the manpowered vehicle when the crankshaft rotates forward, and when the crankshaft rotates in the reverse direction. a state in which the electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation by transmission of the driving force from the crankshaft and the crankshaft rotate in the opposite direction; and a control device that causes a notification device to output predetermined warning information in at least one of states in which the electric motor is rotating in the second rotation direction.

According to the drive device for a manpowered vehicle of the fifth aspect, the reverse rotation of the crankshaft is stopped by predetermined warning information in order to suppress problems caused by the induced voltage of the motor that accompanies the reverse rotation of the crankshaft. It can prompt the user or prompt the user to reduce the rotational speed of the reverse rotation.

In the manpowered vehicle driving device according to the sixth aspect according to the fifth aspect, the control device includes an assist mode in which the electric motor assists the propulsion of the manpowered vehicle according to the rotation state of the crankshaft; It operates either in a non-assist mode in which the motor does not assist the propulsion of the human-powered vehicle, and in the assist mode state, the crankshaft rotates in the reverse direction, and the electric motor operates in the second mode. When at least one of the rotating states is reached, the notification device is caused to output predetermined warning information.

According to the manpowered vehicle driving device of the sixth aspect, when the control device is operating in the assist mode, a predetermined warning is given to suppress problems caused by the induced voltage of the motor accompanying the reverse rotation of the crankshaft. The information may prompt the user to stop reverse rotation of the crankshaft, or may prompt the user to decrease the rotational speed of reverse rotation. Predetermined warning information is output.

In the manpowered vehicle drive device of the seventh aspect according to the fifth or sixth aspect, the controller controls a state in which the crankshaft rotates in reverse and a state in which the electric motor rotates in the second direction of rotation. When a predetermined condition is satisfied in at least one of the states where the notification device is on, the notification device is caused to output predetermined warning information.

According to the driving device for a manpower-driven vehicle of the seventh aspect, the timing of outputting predetermined warning information to the notification device can be controlled by a predetermined condition.

A driving device for a manpowered vehicle according to an eighth aspect of the present disclosure rotates in a first rotation direction to assist propulsion of the manpowered vehicle when the crankshaft rotates forward, and when the crankshaft rotates in the reverse direction. an electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation by transmission of a driving force from the crankshaft; and a battery connector electrically connected to a battery. an electric circuit having a switching element and configured to electrically connect the electric motor and the battery connection via the switching element; a state in which the crankshaft rotates in reverse; and and a control device for controlling the switching element to cut off current from the electric motor to the battery connection in at least one of the states in which the electric motor is rotating in the second direction of rotation.

According to the drive device for a manpower-driven vehicle of the eighth aspect, in order to cut off the current from the electric motor to the battery connection, the induced voltage generated in the electric motor by the manpower driving force is suppressed from being applied to the battery connection. can be done. As a result, problems due to the induced voltage of the electric motor caused by the reverse rotation of the crankshaft can be suppressed.

In the ninth aspect manpowered vehicle drive device according to the eighth aspect, the switching element includes at least one of a transistor and a relay.

According to the manpowered vehicle driving device of the ninth aspect, the electric motor and the battery connecting portion can be electrically cut off with a simple configuration.

In the tenth aspect man-powered vehicle drive device according to the eighth or ninth aspect, the switching element is adapted to flow from the battery connection to the electric motor while interrupting current flow from the electric motor to the battery connection. current is not interrupted.

According to the manpowered vehicle drive device of the tenth aspect, since the electric current from the battery connection to the electric motor is not interrupted, it is not necessary to stop the electric circuit to which power is supplied via the battery connection.

The manpowered vehicle drive device of the eleventh aspect according to any one of the eighth to tenth aspects, further comprising a first housing in which the electric motor, the battery connection and the electric circuit are provided.

According to the drive device for a manpower-driven vehicle of the eleventh aspect, it is possible to suppress the induced voltage generated in the electric motor by the manpower drive force from being applied to the battery without interrupting the current to the battery connecting portion of the battery.

The twelfth aspect of the manpowered vehicle drive device according to any one of the eighth to eleventh aspects, further comprising a second housing in which the battery is housed, wherein the battery connector and the electric circuit are connected to the second provided in the housing.

According to the man-powered vehicle drive device of the twelfth aspect, it is possible to interrupt the current from the electric motor to the battery connection near the battery.

In the thirteenth aspect manpowered vehicle drive device according to any one of the eighth to twelfth aspects, the control device causes the electric motor to propel the manpowered vehicle according to the rotation state of the crankshaft. a state in which the electric motor operates in either an assist mode in which the electric motor assists the propulsion of the human-powered vehicle, and a non-assist mode in which the electric motor does not assist the propulsion of the human-powered vehicle; and controlling the switching element to cut off current from the electric motor to the battery connection when the electric motor is rotating in at least one of the second directions of rotation.

According to the manpowered vehicle drive device of the thirteenth aspect, the current from the electric motor to the battery connection can be interrupted when the control device is operating in the assist mode.

In the fourteenth aspect manpowered vehicle drive device according to any one of the eighth to thirteenth aspects, the controller controls a state in which the crankshaft rotates in the reverse direction and the electric motor rotates in the second rotation. In at least one of the directions of rotation, the switching element is controlled to cut off current from the electric motor to the battery connection when a predetermined condition is met.

According to the manpower-driven vehicle drive device of the fourteenth aspect, the timing of cutting off the current from the electric motor to the battery connection can be controlled by a predetermined condition.

A driving device for a manpowered vehicle according to a fifteenth aspect of the present disclosure rotates in a first rotation direction to assist propulsion of the manpowered vehicle when the crankshaft rotates forward, and when the crankshaft rotates in the reverse direction. an electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation by transmission of a driving force from the crankshaft; and a first connecting portion connected to the electric motor. and a second connection coupled to the crankshaft, the transmission being configured to change the ratio of the rotation speed of the second connection to the rotation speed of the first connection; and the crankshaft a control device that controls the transmission so that the ratio when the crankshaft rotates in the reverse direction is smaller than the ratio when the crankshaft rotates in the forward direction.

According to the fifteenth aspect of the driving device for a manpowered vehicle, the electric motor is rotated in the second direction of rotation by manpower driving force by changing the ratio of the rotational speed of the second connecting portion to the rotational speed of the first connecting portion. Since the speed can be reduced, the induced voltage generated in the electric motor by the human power driving force can be suppressed. As a result, problems due to the induced voltage of the electric motor caused by the reverse rotation of the crankshaft can be suppressed.

In the manpowered vehicle drive device of the sixteenth aspect according to the fifteenth aspect, the control device controls the state in which the crankshaft is rotating in the reverse direction and the state in which the electric motor is rotating in the second direction of rotation. In at least one, when a predetermined condition is satisfied, the transmission is operated such that the ratio when the crankshaft rotates in the reverse direction is smaller than the ratio when the crankshaft rotates in the forward direction.

According to the manpowered vehicle driving device of the sixteenth aspect, the ratio of the rotation speed of the second connection portion to the rotation speed of the first connection portion when the crankshaft rotates in the reverse direction is the first ratio when the crankshaft rotates in the forward direction. The timing of operating the transmission so as to be smaller than the ratio of the rotation speed of the second connection portion to the rotation speed of the connection portion can be controlled by a predetermined condition.

The manpowered vehicle drive apparatus of the seventeenth aspect according to any one of the fifth to fourteenth aspects, wherein the crankshaft rotates in the reverse direction and the electric motor rotates in the second direction of rotation. In at least one of the states, the controller controls the electric motor so as to generate rotational torque in the first rotational direction.

According to the manpower-driven vehicle drive device of the seventeenth aspect, the rotation speed of the electric motor in the second rotation direction is reduced, so that the induced voltage generated in the electric motor by the manpower driving force can be suppressed.

The manpowered vehicle drive apparatus of the eighteenth aspect according to any one of the eighth to fourteenth aspects, wherein the crankshaft rotates in the reverse direction and the electric motor rotates in the second direction of rotation. In at least one of the states, the control device causes the notification device to output predetermined warning information.

According to the eighteenth aspect of the manpowered vehicle driving device, the reverse rotation of the crankshaft 114a is stopped by predetermined warning information in order to suppress problems caused by the induced voltage of the motor accompanying the reverse rotation of the crankshaft. or prompt the user to decrease the rotational speed of the reverse rotation.

The nineteenth aspect manpowered vehicle drive device according to any one of the eighth to fourteenth aspects, wherein the crankshaft rotates in the opposite direction and the electric motor rotates in the second direction of rotation. In at least one of the states, the control device controls the electric motor so as to generate rotational torque in the first rotational direction, and causes the notification device to output predetermined warning information.

According to the manpower-driven vehicle drive device of the nineteenth aspect, since the rotational speed of the electric motor in the second rotation direction is reduced, the induced voltage generated in the electric motor by the manpower driving force can be suppressed. In addition, in order to suppress problems caused by the induced voltage of the motor that accompanies the reverse rotation of the crankshaft, predetermined warning information prompts the user to stop the reverse rotation of the crankshaft, or the rotational speed of the reverse rotation is reduced. The user can be urged to reduce it.

In the manpowered vehicle drive device of the twentieth aspect according to any one of the fourth, seventh, fourteenth and sixteenth aspects, the predetermined condition is that the rotational speed of the electric motor in the second rotational direction is , including becoming equal to or higher than a predetermined second speed.

According to the drive device for a manpowered vehicle of the twentieth aspect, since the induced voltage of the electric motor depends on the rotation speed of the electric motor, the control device provides a threshold value for the rotation speed of the electric motor, whereby a suitable can be controlled.

A man-powered vehicle drive according to any one of the fourth, seventh or fourteenth aspects of the twenty-first aspect, wherein a first connection is connected to the electric motor and a second connection is connected to the crankshaft and configured to change the ratio of the rotational speed of the second connecting portion to the rotational speed of the first connecting portion, wherein the predetermined condition is that the crankshaft rotates in reverse. The rotational speed of the rotating portion of the transmission in the state where the transmission is on becomes equal to or higher than a predetermined third speed.

According to the manpowered vehicle driving device of the 21st aspect, the electric motor is rotated in the second rotational direction by manpower driving force by changing the ratio of the rotational speed of the second connecting portion to the rotational speed of the first connecting portion. Since the speed can be reduced, the induced voltage of the electric motor can be suppressed by the human drive force. Since the induced voltage of the electric motor depends on the rotational speed of the electric motor, the controller can perform control by setting a threshold value for the rotational speed of the rotating portion of the transmission, thereby making it possible to perform suitable control.

In the man-powered vehicle drive system according to the 16th aspect, the predetermined condition is that the rotation speed of the rotating portion of the transmission when the crankshaft is rotating in the reverse direction is a predetermined third speed or higher. including becoming

According to the drive device for a manpowered vehicle of the twenty-second aspect, since the induced voltage of the electric motor depends on the rotational speed of the electric motor, by setting a threshold value for the rotational speed of the rotating portion of the transmission and performing control by the controller, , suitable control can be performed.

In the twenty-third aspect of the manpowered vehicle drive device according to any one of the fourth, seventh, fourteenth and sixteenth aspects, the predetermined condition is that the electric motor rotates in the second direction of rotation. The regenerative voltage generated by becomes equal to or greater than a predetermined first value.

According to the manpower-driven vehicle driving device of the twenty-third aspect, suitable control can be performed by setting a threshold value for the regenerative voltage of the electric motor and performing control by the control device.

In the twenty-fourth aspect according to any one of the fourth, seventh, fourteenth and sixteenth aspects, the predetermined condition is that the electric motor rotates in the second direction of rotation. The regenerative current generated by becomes equal to or greater than a predetermined second value.

According to the manpower-driven vehicle driving device of the twenty-fourth aspect, suitable control can be performed by setting a threshold value for the regenerative current of the electric motor and performing control by the control device.

A method for controlling a driving device for a manpowered vehicle according to the twenty-fifth aspect, wherein when a crankshaft rotates forward, it rotates in a first rotation direction to assist propulsion of the manpowered vehicle, and when the crankshaft rotates in a reverse direction. (2) a control method for a driving device for a manpowered vehicle having an electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation by transmission of a driving force from the crankshaft; a predetermined first condition is satisfied in at least one of a state in which the crankshaft rotates in the reverse direction and a state in which the electric motor rotates in the second rotation direction, a predetermined condition is determined by the notification device. first control for outputting warning information, and controlling the electric motor to generate rotational torque in the first rotation direction when a predetermined second condition is satisfied after outputting the predetermined warning information; and , and a second control for interrupting the current output from the electric motor.

According to the control method for a drive system for a manpowered vehicle according to the twenty-fifth aspect, the reverse rotation of the crankshaft is stopped by predetermined warning information in order to suppress problems caused by the induced voltage of the motor that accompanies the reverse rotation of the crankshaft. The user can be urged to reduce the rotation speed of the reverse rotation. Furthermore, by reducing the rotation speed of the electric motor in the second rotation direction to suppress the induced voltage generated in the electric motor by the human power driving force, or by interrupting the current output from the electric motor, the crank It is possible to suppress problems caused by the induced voltage of the electric motor that accompanies the reverse rotation of the shaft.

According to the drive device of the present disclosure, it is possible to provide a drive device for a manpowered vehicle and a control method thereof for suppressing problems caused by the induced voltage of the motor that accompanies the reverse rotation of the crankshaft.

1 is a schematic diagram of a human-powered vehicle including a driving device according to a first embodiment; FIG. It is a sectional view of a drive concerning a 1st embodiment. 1 is a block diagram of a driving device according to a first embodiment; FIG. 4 is a flowchart for explaining the control flow of the driving device according to the first embodiment; It is a block diagram of a driving device according to a second embodiment. 9 is a flowchart for explaining the control flow of the driving device according to the second embodiment; It is a block diagram of a drive device according to a third embodiment. It is a block diagram of a drive device according to a third embodiment. It is a flow chart explaining a control flow of a drive concerning a 3rd embodiment. FIG. 11 is a block diagram of a driving device according to a fourth embodiment; FIG. 1 is a schematic diagram of a drive system including a transmission; FIG. It is a flow chart explaining a control flow of a drive concerning a 4th embodiment. FIG. 11 is a block diagram of a driving device according to a fifth embodiment; FIG. FIG. 12 is a flowchart for explaining the flow of drive device control according to the fifth embodiment; FIG. FIG. 11 is a block diagram of a driving device according to a sixth embodiment;

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The present invention is not limited by the embodiment, and when there are multiple embodiments, the invention includes a configuration in which each embodiment is combined. For example, although the embodiment describes the case where the human-powered vehicle is a bicycle, the human-powered vehicle may be another human-powered vehicle. A human-powered vehicle 100 according to the first embodiment is a vehicle that can be driven at least by human power. Manpowered vehicle 100 is not limited in the number of wheels, and includes, for example, unicycles and vehicles with three or more wheels. Human powered vehicles 100 include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, handcycles, and recumbents, as well as electric bicycles (E-bikes). Electric bicycles include power-assisted bicycles that assist the propulsion of the vehicle with an electric motor. Vehicles that use only motive power other than human power are not included in human-powered vehicle 100 . In particular, the manpowered vehicle 100 does not include a vehicle that uses only an internal combustion engine as a driving force. Usually, the human-powered vehicle 100 is assumed to be a small light vehicle, and a vehicle that does not require a license for driving on public roads.

As shown in FIG. 1, the manpowered vehicle 100 is a bicycle. The manpowered vehicle 100 includes a frame 102, a handlebar 104, a front fork 106, a seat post 108a, a saddle 108, front wheels 110, and rear wheels 112. The manpowered vehicle 100 further includes a pedal 114d, a crank 114, a first rotating body 114C, a second rotating body 116, and a connecting member 118 as drive members. The manpowered vehicle 100 further includes a battery unit 120 and a driving device 10 as auxiliary drive members.

The frame 102 includes, for example, a head tube 102a, a top tube 102b, a down tube 102c, a seat tube 102d, seat stays 102e, and chain stays 120f. Head tube 102 a supports handle 104 and front fork 106 . The top tube 102b has one end connected to the head tube 102a and the other end connected to the seat tube 102d. The down tube 102c has one end connected to the head tube 102a and the other end connected to the seat tube 102d. The seat stay 102e has one end connected to the seat tube 102d and the other end connected to the chain stay 102f. The chain stay 102f has one end connected to the seat tube 102d and the other end connected to the seat stay 102e. The other end of the down tube 102c, one end of the seat tube 102d and one end of the chain stay 102f are connected via a bracket to which the driving device 10 is attached, for example.

A handle 104 is rotatable with respect to the head tube 102 a and fixed to the front fork 106 . The seat post 108a is attached to the seat tube 102d. A saddle 108 is fixed to a seat post 108a.

A front wheel 110 is attached to the front fork 106 . Front wheel 110 is rotatable with respect to frame 102 . The rear wheel 112 is attached to the rear end defined as the connection point between the seatstay 102e and the chainstay 102f. Rear wheel 112 is rotatable with respect to frame 102 .

The crank 114 has a crankshaft 114a and a plurality of crank arms 114b. The crankshaft 114 a is rotatably supported by the first housing 12 of the driving device 10 . The plurality of crank arms 114b are fixed to both ends in the axial direction of the crankshaft 114a. The first rotor 114C includes one or a plurality of front sprockets having different numbers of teeth. When the first rotor 114C includes multiple sprockets, the multiple front sprockets are connected to each other. The first rotor 114</b>C is connected to the resultant force portion 14 of the driving device 10 . When a user's force is applied to the pedal 114d attached to the crank arm 114b, the crankshaft 114a and the first rotor 114C rotate.

Second rotor 116 includes a rear sprocket assembly. The second rotor 116 is supported by the rear wheel 112 . A rear sprocket assembly includes a plurality of rear sprockets having different numbers of teeth. The second rotor 116 is rotatable relative to the rear wheel 112 . The second rotor 116 is connected to the rear wheel 112 via a one-way clutch.

Coupling member 118 includes a chain. The connecting member 118 transmits the force input to the crank 114 from the first rotor 114C to the second rotor 116 . The connecting member 118 is wound around the first rotor 114C and the second rotor 116 .

Manpowered vehicle 100 may include transmission 121 . Transmission 121 is configured to change the ratio of the rotational speed of rear wheel 112 to the rotational speed of first rotor 114C. The transmission 121 may be configured to operate via a wire by operating an operation device, or may be configured to operate by an electric actuator. In this embodiment, transmission 121 includes a derailleur. The derailleur includes at least one of a front derailleur and a rear derailleur. Transmission 121 may include an internal transmission instead of or in addition to a derailleur. The internal transmission is provided, for example, at the hub of rear wheel 112 . When an internal transmission is provided as the transmission 121 instead of the derailleur, the front sprocket and the rear sprocket each include one sprocket.

The first rotating body 114C and the second rotating body 116 may be configured by pulleys, and the transmission body may be configured by a belt. The first rotating body 114C and the second rotating body 116 may be configured by bevel gears, and the transmission body may be configured by a shaft. When the first rotating body 114C and the second rotating body 116 are configured by pulleys or bevel gears and a transmission is provided, the transmission includes an internal transmission instead of a derailleur.

The battery unit 120 includes a battery 120a and a second housing 120b that accommodates the battery 120a. The battery 120a is a rechargeable battery (rechargeable battery), and can store electric power by charging. The battery 120a may be attached to the outside of the frame 102 or at least partially housed inside the frame 102 . In this embodiment, the battery unit 120 is attached to the down tube 102c. Battery 120 a is electrically connected to drive device 10 and supplies power to drive device 10 .

The driving device 10 is arranged around the crank 114 . The driving device 10 is attached to the frame 102 . The driving device 10 is configured to assist the propulsion of the manpowered vehicle 100 . The drive system 10 includes an electric motor 24 described below to assist in propelling the manpowered vehicle 100 . The rotational torque of the electric motor 24 is transmitted to the resultant force portion 14 and the first rotor 114C.

As shown in FIG. 2, the drive device 10 includes a crankshaft 114a, a first housing 12, a force resultant portion 14, a speed reduction mechanism 15, a one-way clutch 22, and an electric motor 24.

The first housing 12 accommodates at least a portion of the crankshaft 114a, at least a portion of the force resultant portion 14, the speed reduction mechanism 15, the one-way clutch 22, and at least a portion of the electric motor 24. The first housing 12 has a hole 12a through which the crankshaft 114a and the resultant force portion 14 penetrate in one side wall in the axial direction of the crankshaft 114a. The first housing 12 has a hole 12b through which the crankshaft 114a penetrates in the other side wall in the axial direction of the crankshaft 114a. The first housing 12 supports the resultant force portion 14 and the crankshaft 114a so as to be rotatable about the rotation axis of the crankshaft 114a.

The resultant force portion 14 is arranged coaxially with the crankshaft 114a on the outer peripheral portion of the crankshaft 114a. Force resultant portion 14 includes a hollow shaft. One end 14a of the force resultant portion 14 in the axial direction of the crankshaft 114a is connected to the first rotor 114c. The resultant force portion 14 is fixed to the crankshaft 114a at the other end 14b in the axial direction of the crankshaft 114a.

The speed reduction mechanism 15 includes a first gear 16 , a second gear 18 and a third gear 20 . The first gear 16 is arranged coaxially with the crankshaft 114 a and the resultant force portion 14 . The first gear 16 is fixed to the outer peripheral portion of the force resultant portion 14 and rotates together with the force resultant portion 14 . In the present embodiment, the first gear 16 is formed separately from the force resultant portion 14 and is non-rotatably fixed to the force resultant portion 14 , but may be formed integrally with the force resultant portion 14 . The outer diameter of the first gear 16 is larger than the outer diameter of the resultant force portion 14 . The first gear 16 has a first tooth portion 16a on its outer periphery.

The second gear 18 is arranged radially adjacent to the first gear 16 . The rotation axis of the second gear 18 is parallel to the rotation axes of the crankshaft 114 a , force resultant portion 14 and the first gear 16 . The second gear 18 is rotatably supported by the first housing 12 with respect to the first housing 12 . The outer diameter of the second gear 18 is smaller than the outer diameter of the first gear 16 . The second gear 18 has a second tooth portion 18a on part of the outer circumference. The second toothed portion 18a meshes with the first toothed portion 16a. The number of teeth of the second tooth portion 18a is smaller than the number of teeth of the first tooth portion 16a.

A third gear 20 is arranged coaxially with the second gear 18 . A third gear 20 is connected to the second gear 18 via a one-way clutch 22 . The outer diameter of the third gear 20 is larger than the outer diameter of the second gear 18 . The third gear 20 has a third tooth portion 20a on its outer peripheral portion. The third gear 20 is rotatably supported by the first housing 12 with respect to the first housing 12 .

The one-way clutch 22 transmits the rotational torque of the output shaft 24c of the electric motor 24 to the resultant force portion 14 when the electric motor 24 rotates in the first rotation direction RA, and transmits the rotational torque of the resultant force portion 14 when the crankshaft 114a rotates forward. It is configured not to transmit rotational torque to the output shaft 24 c of the electric motor 24 . The one-way clutch 22 does not transmit the rotational torque of the output shaft 24c of the electric motor 24 to the resultant force portion 14 when the electric motor 24 rotates in the second rotation direction RB, and transmits the rotational torque to the resultant force portion 14 when the crankshaft 114a rotates in the reverse direction. to the output shaft 24 c of the electric motor 24 . A one-way clutch 22 is provided between the third gear 20 and the second gear 18 in this embodiment. The first rotation direction RA corresponds to the direction in which the crankshaft 114a is rotated forward. In this embodiment, the first rotation direction RA is the same direction as the forward rotation of the crankshaft 114a. The second rotation direction RB is opposite to the first rotation direction RA. In this embodiment, the second rotation direction RB is the same direction as the reverse rotation of the crankshaft 114a.

The electric motor 24 is arranged radially away from the crankshaft 114a. In this embodiment, the electric motor 24 is an inner rotor type motor. Electric motor 24 includes a brushless motor. Electric motor 24 includes a rotor 24a, a stator 24b, and an output shaft 24c that rotates with rotor 24a. The rotation axis of the output shaft 24c is parallel to the rotation axis of the crankshaft 114a. The outer diameter of the output shaft 24 c is smaller than the outer diameter of the third gear 20 . The output shaft 24c has an output tooth portion 24d that meshes with the third tooth portion 20a. The output tooth portion 24d may be formed integrally with the output shaft 24c, or may be formed separately from the output shaft 24c and fixed to the output shaft 24c. The number of teeth of the output tooth portion 24d is smaller than the number of teeth of the third tooth portion 20a.

In this embodiment, the one-way clutch 22 is provided between the second gear 18 and the third gear 20, but the one-way clutch 22 is provided between the force resultant portion 14 and the first gear 16, or between the output teeth. It may be provided between the portion 24d and the output shaft 24c. One-way clutch 22 includes a ratchet clutch, roller clutch, or sprag clutch.

The electric motor 24 is electrically connected to the battery 120a shown in FIG. 1 and driven by the power of the battery 120a. The electric motor 24 is configured to rotate in the first rotation direction RA when the crankshaft 114a rotates forward. Electric motor 24 is configured to assist in propulsion of manpowered vehicle 100 when rotated in first rotational direction RA. When the electric motor 24 rotates in the first rotation direction RA, the driving force of the electric motor 24 is transmitted through the output shaft 24c, the third gear 20, the second gear 18, and the first gear 16 to the resultant force portion 14 and the crank. The force is transmitted to the shaft 114a to forwardly rotate the first rotating body 114c shown in FIG. The one-way clutch 22 prevents the user's positive rotational direction manpower applied to the crank 114 from being transmitted to the electric motor 24 . The electric motor 24 is configured to receive driving force from the crankshaft 114a and rotate in a second rotation direction RB opposite to the first rotation direction RA when the crankshaft 114a rotates in the reverse direction. When the crankshaft 114a rotates in the reverse direction, the human power driving force is transmitted to the output shaft 24C via the crankshaft 114a, the resultant force portion 14, the third gear 20, the one-way clutch 22, the second gear 18, and the first gear 16. As a result, the rotor 24a of the electric motor 24 shown in FIG. 1 is rotated in the second rotation direction RB.

The rotational torque of the electric motor 24 is reduced in two stages by the output shaft 24c and the third gear 20, and the second gear 18 and the first gear 16. The configuration of the reduction mechanism 15 is not limited to this embodiment. For example, the reduction mechanism 15 may be configured to use two gears to reduce the speed in one step, or use six or more gears to reduce the speed in three or more steps. The speed reduction mechanism 15 may include any one of a planetary gear mechanism, a belt and a chain.

As shown in FIG. 3, drive 10 further includes a battery connection 26 and an electrical circuit 28 . Battery connector 26 is electrically connected to battery 120a. The electrical circuit 28 includes, during normal operation, a positive current path 28a through which current flows from the battery connection 26 to the electric motor 24, a negative current path 28b through which current flows from the electric motor 24 to the battery connection 26, including. An electrical circuit 28 is configured to electrically connect the electric motor 24 and the battery connection 26 .

Drive device 10 further includes a control device 30 . The control device 30 includes a computer and an arithmetic processing device that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MCU (Micro Controller Unit). Controller 30 may include one or more microcomputers. The controller 30 may include multiple processors that are remotely located at multiple locations. Control device 30 further includes a storage unit. The storage unit stores various control programs and information used for various control processes. The storage unit includes, for example, non-volatile memory and volatile memory. The storage unit includes, for example, ROM (Read Only Memory), RAM (Random Access Memory), flash memory, and the like. Each function of the control device 30 is realized by executing a predetermined control program by the arithmetic processing device. The controller 30 is electrically connected to the electric motor 24 and controls the electric motor 24 . In this embodiment, controller 30 is included as part of electrical circuit 28 . Control device 30 operates by being powered by battery 120a, but may be powered by a battery different from battery 120a. A battery different from the battery 120a is provided, for example, in the manpowered vehicle 100 or the driving device 10. FIG. Control device 30 is provided, for example, in first housing 12 . Control device 30 further includes a motor drive circuit 30c. Motor drive circuit 30c includes an inverter circuit. Motor drive circuit 30 c may be provided separately from control device 30 . A motor drive circuit 30 c is connected to the battery connection 26 and to the electric motor 24 . Motor drive circuit 30 c is controlled by a computer included in control device 30 .

The control device 30 includes a detection section 30a. The detector 30 a is configured to detect the direction and speed of rotation of the crankshaft 114 a , the direction and speed of rotation of the electric motor 24 , and the voltage and current of the electric circuit 28 . The detection unit 30a includes a first detection unit for detecting the rotation direction and rotation speed of the crankshaft 114a, a second detection unit for detecting the rotation direction and rotation speed of the electric motor 24, and the electric circuit 28. A third detector for detecting voltage and a fourth detector for detecting current in electrical circuit 28 are included. The first detector and the second detector include, for example, magnetic sensors and rotary encoders. The second detector may detect the rotation direction and rotation speed of the electric motor 24 from changes in the current flowing through the electric motor 24, for example. The third detector includes a voltage sensor. The fourth detector includes a current sensor. If one, two, or three of the first detection unit, the second detection unit, the third detection unit, and the fourth detection unit are unnecessary in the processing executed by the control device 30, they are omitted. good too.

The control device 30 selects an assist mode in which the electric motor 24 assists the propulsion of the manpowered vehicle 100 and a non-assist mode in which the electric motor 24 does not assist the propulsion of the manpowered vehicle 100, depending on the rotation state of the crankshaft 114a. Either one works. Assisted mode and non-assisted mode can be selected by, for example, an operating unit. The operation unit is provided on the handle 104, for example. The operating section includes a mode selection switch. Control device 30 sets the assist mode and the non-assist mode according to the operation of the operation unit. When the user of the control device 30 applies a manual driving force to the pedal 114d shown in FIG. Then, the rear wheels 112 rotate and the manpowered vehicle 100 travels. In this embodiment, the first crank rotation direction F1 is the forward rotation direction. When the user applies a human power driving force to the pedal 114d shown in FIG. Although the second rotary body 116 rotates, the rear wheel 112 does not rotate and the manpowered vehicle 100 does not travel. In this embodiment, the second crank rotation direction F2 is the reverse rotation direction. In the first assist mode, for example, when the crankshaft 114a rotates forward and the human-powered driving force reaches or exceeds a predetermined value, the control device 30 drives the electric motor 24 to generate an assisting force, thereby reducing the human-powered driving force. The electric motor 24 is controlled so that the ratio of the assisting force of the electric motor 24 to .theta. The assist mode may include a plurality of assist modes in which the ratio of the assist force by the electric motor 24 to the manpower driving force is different. The control device 30 may control the electric motor 24 according to at least one of the vehicle speed and the rotational speed of the crankshaft 114a in addition to the human power driving force.

Drive 10 further includes a sensor 40 for detecting the human drive force. The sensor 40 is connected to the control device 30 by wire or wirelessly. The sensor 40 is used, for example, to detect the torque of the manpower driving force. Sensor 40 is provided, for example, in first housing 12 . Sensor 40 outputs a signal corresponding to the human power driving force input to crank 114 . Sensor 40 includes a strain sensor, a magnetostrictive sensor, or the like. A strain sensor includes a strain gauge. If sensor 40 includes a strain sensor, the strain sensor is preferably provided on the outer circumference of force resultant portion 14 . When sensor 40 includes a magnetostrictive sensor, the magnetostrictive sensor is preferably provided on the outer periphery of force resultant portion 14 so as to detect the state of a magnetostrictive element formed on the outer periphery of force resultant portion 14 . The drive device 10 stops driving the electric motor 24 in the first rotation direction RA when the crankshaft 114a rotates in the reverse direction or when the human power driving force becomes less than a predetermined value.

In a state in which the crank 114 shown in FIG. 1 rotates in the reverse direction, the crankshaft 114a rotates in the reverse direction. In a state in which the crankshaft 114a is rotating in the reverse direction, the rotational force of the crankshaft 114a passes through the resultant force portion 14, the first gear 16, the second gear 18, the one-way clutch 22, and the third gear 20 shown in FIG. It is transmitted to the electric motor 24 to rotate the electric motor 24 in the second rotation direction RB. In this case, an induced voltage may be generated in the electric motor 24 and a regenerative current RC may flow through the electric circuit 28 .

The driving device 10 generates rotational torque in the first rotational direction RA in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotational direction RB. The electric motor 24 is controlled as follows. When the detection result of the detection unit 30a corresponds to at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 The electric motor 24 is controlled so as to generate rotational torque in one rotational direction RA. In a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 controls the electric motor to reduce the rotation torque in the second rotation direction RB. It controls the motor 24 . As the rotational torque of the electric motor 24 in the second rotation direction RB is reduced, the induced voltage of the electric motor 24 generated by the human power driving force and the regenerated current flowing through the electric circuit 28 are reduced. The control device 30 may control the electric motor 24 so that the rotation speed of the reverse rotation of the crankshaft 114a is equal to or lower than a predetermined first speed. When the electric motor 24 rotates at the predetermined first speed in the second rotation direction RB, the induced voltage and the regenerated current exceed the withstand voltage and withstand current of the electric circuit 28 and the battery 120a. set not to exceed Since the induced voltage of the electric motor 24 is proportional to the rotation speed of the electric motor 24 , the induced voltage of the electric motor 24 can be controlled by controlling the rotation speed of the electric motor 24 .

Preferably, in the state of the assist mode, the control device 30 controls the electric motor when at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB is reached. The electric motor 24 is controlled so as to cause the electric motor 24 to generate a rotational torque in the first rotational direction RA. In the present embodiment, in the state of the non-assist mode, the control device 30 controls at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB. The electric motor 24 is not controlled so that the electric motor 24 generates rotational torque in the first rotational direction RA.

When a predetermined condition is satisfied in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 controls the electric motor 24 to A rotational torque may be generated in the second rotational direction RB. Predetermined conditions include, for example, at least one of the following conditions (1) to (3).
(1) The rotation speed of the electric motor 24 in the second rotation direction RB becomes equal to or higher than a predetermined second speed.
(2) The regenerative voltage generated by the electric motor 24 rotating in the second rotation direction RB becomes equal to or greater than the predetermined first value.
(3) The regenerated current generated by the electric motor 24 rotating in the second rotation direction RB becomes equal to or greater than a predetermined second value.

The predetermined conditions may include only one of the conditions (1) to (3), may include only any two of the conditions (1) to (3), ( All of the conditions 1) to (3) may be included.

An example of the control flow by the control device 30 in the driving device 10 of the first embodiment will be described with reference to the flowchart shown in FIG. When power is supplied, the control device 30 proceeds to step S1 and starts processing. After completing the process of the flowchart, the control device 30 starts the process from step S1 at predetermined intervals until the power supply is stopped. If the control device 30 determines in step S1 that the assist mode has been set, the process proceeds to step S2, and if it determines that the assist mode has not been set, the process ends.

In step S2, the control device 30 acquires the rotation state of the crankshaft 114a by the detection unit 30a, and determines whether or not the crankshaft 114a is rotating in the reverse direction. If the control device 30 determines in step S2 that the crankshaft 114a is not rotating in the reverse direction, the process proceeds to step S3, and if it determines that the crankshaft 114a is rotating in the reverse direction, the process proceeds to step S4.

In step S3, the control device 30 obtains the rotation status of the electric motor 24 by the detection unit 30a, and determines whether the electric motor 24 is rotating in the second rotation direction RB. When the control device 30 determines in step S3 that the electric motor 24 is rotating in the second rotation direction RB, the process proceeds to step S4 and determines that the electric motor 24 is not rotating in the second rotation direction RB. If so, terminate the process.

In step S4, the control device 30 acquires the rotation speed of the electric motor 24 in the second rotation direction RB by the detection unit 30a, and the rotation speed of the electric motor 24 in the second rotation direction RB is set to the predetermined second speed. It is determined whether or not the above is satisfied. In step S4, when the control device 30 determines that the rotation speed of the electric motor 24 in the second rotation direction RB is equal to or higher than the predetermined second speed, the process proceeds to step S5, and the electric motor 24 performs the second rotation. When it is determined that the rotation speed in the direction RB is not equal to or higher than the predetermined second speed, the process proceeds to step S6.

In step S6, the control device 30 determines whether or not the induced voltage of the electric motor 24 is greater than or equal to a predetermined first value using the detection section 30a. In step S6, when the control device 30 determines that the induced voltage of the electric motor 24 is equal to or higher than the predetermined first value, the process proceeds to step S5, and the induced voltage of the electric motor 24 reaches the predetermined first value. If it is determined that the above is not the case, the process proceeds to step S7.

In step S7, the control device 30 determines whether or not the regenerated current RC of the electric circuit 28 is equal to or greater than a predetermined second value by the detection section 30a. In step S7, when the control device 30 determines that the regenerated current RC of the electric circuit 28 is equal to or greater than the predetermined second value, the process proceeds to step S5, and the regenerated current RC of the electric circuit 28 is reduced to the predetermined second value. If it is determined that it is not equal to or greater than the value of , the process ends.

In step S5, the control device 30 acquires the rotational speed of the reverse rotation of the crankshaft 114a by the detection unit 30a, and controls the electric motor so that the rotational speed of the reverse rotation of the crankshaft 114a is equal to or lower than a predetermined first speed. 24 to generate a rotational torque in the first rotational direction RA, and the process ends. Through the process of step S5, the rotational torque of the electric motor 24 in the second rotational direction RB is reduced.

In the flowchart of FIG. 4, step S1 may be omitted. In this case, even when the assist mode is not set, the control device 30 can control the electric motor 24 in the same manner as when the assist mode is set.

In the flowchart of FIG. 4, any one of step S2 and step S3 may be omitted. When omitting step S3, if the determination by the control device 30 is NO in step S2, the process ends. When omitting step S2, in step S1, when the determination of the control device 30 is NO, the process proceeds to step S3. In the flowchart of FIG. 4, the order of steps S2 and S3 may be interchanged. When the order of steps S2 and S3 is interchanged, when step S1 ends, the process proceeds to step S3. If the determination is NO, the process ends.

In the flowchart of FIG. 4, one or two of steps S4, S6 and S7 may be omitted. If two of steps S4, S6, and S7 are omitted, and if the determination of control device 30 is YES in step S2 or step S3, any one of steps S4, S6, and S7 , and if the determination by the control device 30 is NO, the process ends. If one of step S4, step S6 and step S7 is omitted, if the determination of control device 30 is YES in step S2 or step S3, any two of step S4, step S6 and step S7 If the determination by the control device 30 is NO, the process proceeds to the other of any two of steps S4, S6 and S7, and the process proceeds to one of steps S4, S6 and S7. In the other of any two, when the determination of the control device 30 is NO, the process ends.

In the flowchart of FIG. 4, the order of steps S4, S6 and S7 may be changed. If the order of steps S4, S6, and S7 is interchanged, and if the determination of control device 30 is YES in step S2 or step S3, the process proceeds to one of steps S4, S6, and S7, and each In the step, when the judgment of the control device 30 is NO, if there is a next step, the process proceeds to the next step, and if there is no next step, the process ends.

The predetermined conditions may include any one of the following conditions (4) to (7) instead of the conditions (1) to (3).
(4) The crankshaft 114a reversely rotates a predetermined number of times or more.
(5) The reverse rotation of the crankshaft 114a continues for a predetermined time.
(6) The electric motor 24 rotates in the second rotation direction RB a predetermined number of times or more.
(7) The rotation of the electric motor 24 in the second rotation direction RB continues for a predetermined time.

For example, in the flowchart of FIG. 4, instead of steps S4, S6, and S7, after detecting the reverse rotation of the crankshaft 114a, it is determined whether or not the crankshaft 114a has reversely rotated a predetermined number of times or more, It is determined whether or not the reverse rotation of the crankshaft 114a continues for a predetermined elapsed time, or the rotation of the electric motor 24 in the second rotation direction RB is detected. It is determined whether or not the electric motor 24 has rotated in the second rotation direction RB, or whether or not the rotation of the electric motor 24 in the second rotation direction RB has continued for a predetermined time. , the process may be terminated when the determination by the control device 30 is NO.

The driving device 10 according to the first embodiment is arranged such that the electric motor 24 rotates in the second direction in at least one of a state in which the crankshaft 114a rotates in the reverse direction and a state in which the electric motor 24 rotates in the second rotation direction RB. By reducing the rotational speed in the rotational direction RB, the induced voltage of the electric motor 24 and the regenerated current of the electric circuit 28 can be reduced. In the drive device 10, the induced voltage and regenerated current generated by the electric motor 24 rotating in the second rotation direction RB exceed the withstand voltage and withstand current of electric components such as the electric motor 24, the battery 120a and the electric circuit 28. failure caused by the induced voltage can be suppressed.

Next, the driving device 10 of the second embodiment will be described with reference to FIG. The drive device 10 of the second embodiment differs from the drive device 10 of the first embodiment in the configuration of the control device 30, and other configurations are the same as those of the drive device 10 of the first embodiment. In the drive device 10 of the second embodiment, the same reference numerals are given to the same configurations as those of the drive device 10 of the first embodiment, and the description thereof will be omitted, and the different configurations will be described. In the drive device 10 of the second embodiment, the control device 30 further includes a notification section 30b in addition to the configuration of the control device 30 of the first embodiment. The notification unit 30b causes the notification device 122 to output warning information. The notification unit 30b is connected to the notification device 122 by wire or wirelessly. The notification device 122 is provided outside the first housing 12 in this embodiment, but may be provided inside the first housing 12 and may be held by the user. Notification device 122 may be attached, for example, to handle 104 shown in FIG. The notification device 122 includes at least one of a display device that visually notifies predetermined alarm information, a speaker that notifies predetermined alarm information with sound, and a light emitting device that notifies predetermined alarm information with light. The display device includes, for example, a liquid crystal display device, an organic EL (Electro Luminescence) display device, and an LED (Light Emitting Diode). Light emitting devices include, for example, LEDs. Notification device 122 may include a portable electronic device capable of wireless communication. Portable electronic devices include, for example, cycle computers and smart phones. The predetermined warning information preferably includes, for example, at least one of contents prompting the reverse rotation of the crankshaft 114a to stop and contents prompting the rotation speed of the reverse rotation of the crankshaft 114a to decrease. If notification device 122 includes a speaker, the predetermined warning information includes at least one of predetermined sound and predetermined voice. If notification device 122 includes a light emitting device, the predetermined warning information includes at least one of a predetermined color and a predetermined light emission pattern.

The drive device 10 causes the notification device 122 to output predetermined warning information in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB. When the detection result of the detection unit 30a corresponds to at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB, the notification unit of the control device 30 30b causes the notification device 122 to output predetermined warning information. When the user notices the predetermined warning information and stops the reverse rotation of the crankshaft 114a or reduces the reverse rotation speed, the rotation speed of the electric motor 24 in the second rotation direction RB decreases. . As the rotation speed of the electric motor 24 in the second rotation direction RB decreases, the induced voltage of the electric motor 24 and the regenerated current of the electric circuit 28 decrease.

Preferably, in the state of the assist mode, the control device 30 turns on the notification device when at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB is reached. 122 to output predetermined warning information. When the crankshaft 114a is rotated in the reverse direction, the control device 30 causes the notification device 122 to output predetermined warning information.

When a predetermined condition is satisfied in at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 causes the notification device 122 to Predetermined warning information may be output. Predetermined conditions are the same as in the first embodiment.

An example of the control flow by the control device 30 in the driving device 10 of the second embodiment will be described with reference to the flowchart shown in FIG. In the flowchart of FIG. 6, step S5 in the flowchart shown in FIG. 4 is replaced with step S15, and in the flowchart of FIG. 6, each step other than step S15 is the same as each step of the flowchart shown in FIG. are assigned the same step numbers, and the description thereof is omitted.

In at least one of step S4, step S6 and step S7, when the determination of control device 30 is YES, the process proceeds to step S15. In step S15, the control device 30 causes the notification device 122 to notify predetermined warning information, and ends the process.

In the drive device 10 according to the second embodiment, the induced voltage and the regenerated current generated by the rotation of the electric motor 24 in the second rotation direction RB are reduced by the resistance of the electric parts such as the electric motor 24, the battery 120a and the electric circuit 28. The user can be encouraged to suppress the induced voltage by warning against exceeding the voltage and withstand current.

Next, the driving device 10 of the third embodiment will be described with reference to FIGS. 7 and 8. FIG. The drive device 10 of the third embodiment differs from the drive device 10 of the first embodiment in the configuration of the electric circuit 28, and other configurations are the same as those of the drive device 10 of the first embodiment. In the drive device 10 of the third embodiment, the same reference numerals are assigned to the same configurations as those of the drive device 10 of the first embodiment, and the description thereof is omitted, and the different configurations will be described. In the drive device 10 of the third embodiment, the electric circuit 28 further has a switching element SW in addition to the configuration of the electric circuit 28 of the first embodiment. Switching element SW includes at least one of a transistor and a relay. In this embodiment, the switching element SW is provided in the positive current path 28a, but may be provided in the negative current path 28b. The electrical circuit 28 is configured to electrically connect the electric motor 24 and the battery connection 26 via the switching element SW. Control device 30 is electrically connected to switching element SW and controls switching element SW. The switching element SW may be configured so as not to cut off the current from the battery connection 26 to the electric motor 24 while cutting off the current from the electric motor 24 to the battery connection 26 . In this embodiment, the switching element SW includes a PNP transistor. When the control device 30 controls the switching element SW to ON, the switching element SW does not cut off the current from the electric motor 24 to the battery connection 26, so that the battery connection 26, as indicated by arrows A1 and A2 in FIG. Current flows bidirectionally between 26 and motor drive circuit 30c. When the control device 30 turns off the switching element SW, the switching element SW functions as a diode whose anode is connected to the battery connection section 26 and whose cathode is connected to the motor drive circuit 30c. , current flows from the battery connection 26 to the motor drive circuit 30c, but the current from the electric motor 24 to the battery connection 26 is cut off, and the regenerative current in the electric circuit 28 becomes zero.

When a predetermined condition is satisfied in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 controls the electric motor 24 to The switching element SW is controlled so as to cut off the current to the battery connecting portion 26 . When the detection result of the detection unit 30a corresponds to at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 The switching element SW is controlled to cut off the current from the motor 24 to the battery connection 26 . The regenerated current in the electrical circuit 28 is brought to zero by interrupting the current from the electric motor 24 to the battery connection 26 .

Preferably, in the state of the assist mode, the control device 30 controls the electric motor when at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB is reached. The switching element SW is controlled so as to cut off the current from 24 to the battery connection 26 .

When a predetermined condition is satisfied in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 controls the electric motor 24 to The switching element SW may be controlled so as to cut off the current to the battery connecting portion 26 . Predetermined conditions are the same as in the first embodiment.

An example of the control flow by the control device 30 in the drive device 10 of the third embodiment will be described with reference to the flowchart shown in FIG. In the flowchart of FIG. 9, step S5 is replaced with step S25 in the flowchart shown in FIG. 4, and in the flowchart of FIG. 9, each step other than step S25 is the same as each step of the flowchart shown in FIG. are assigned the same step numbers, and the description thereof is omitted.

In at least one of step S4, step S6 and step S7, when the determination of control device 30 is YES, the process proceeds to step S25. In step S25, the control device 30 controls the switching element SW so as to cut off the current from the electric motor 24 to the battery connecting portion 26, and ends the process.

In the drive device 10 according to the third embodiment, since the induced voltage of the electric motor 24 and the regenerated current RC from the electric motor 24 are cut off by the switching element SW, the battery 120a, the electric circuit 28, and the like are provided with the withstand voltage of the electric parts. It is possible to control the application of a voltage greater than or equal to the withstand current and a current greater than or equal to the withstand current.

Next, the driving device 10 of the fourth embodiment will be described with reference to FIG. 10 . The driving device 10 of the fourth embodiment includes a transmission 32 in place of the speed reduction mechanism 15 in the driving device 10 of the first embodiment, and other configurations are the same as those of the driving device 10 of the first embodiment. In the driving device 10 of the fourth embodiment, the same reference numerals are given to the same configurations as those of the driving device 10 of the first embodiment, and the description thereof will be omitted, and the different configurations will be described. The drive device 10 of the fourth embodiment includes a transmission 32 between the electric motor 24 and the crankshaft 114a. The transmission 32 includes a first connection portion 32a connected to the electric motor 24 and a second connection portion 32b connected to the crankshaft 114a. The transmission 32 has a gear mechanism including the one-way clutch 22 between the first connection portion 32a and the second connection portion 32b. The gear mechanism of the transmission 32 is configured to reduce the rotation speed of the second connection portion 32b with respect to the rotation speed of the first connection portion 32a, similarly to the speed reduction mechanism 15, and functions as a speed reducer. The one-way clutch 22 of the transmission 32 transmits the rotational torque of the output shaft 24c of the electric motor 24 to the resultant force unit 14 when the electric motor 24 rotates in the first rotation direction RA, and when the crankshaft 114a rotates forward, It is constructed so as not to transmit the rotational torque of the crankshaft 114 a to the output shaft 24 c of the electric motor 24 . The one-way clutch 22 does not transmit the rotational torque of the output shaft 24c of the electric motor 24 to the force combining portion 14 when the electric motor 24 rotates in the second rotation direction RB, and when the crankshaft 114a rotates in the reverse direction, the crankshaft 114a to the output shaft 24 c of the electric motor 24 . The transmission 32 is configured to change the ratio of the rotation speed of the second connection portion 32b to the rotation speed of the first connection portion 32a. Transmission 32 is configured to change the reduction ratio. The transmission 32 includes a switching device 32c configured to switch the ratio of the rotation speed of the second connection portion 32b to the rotation speed of the first connection portion 32a. The control device 30 is electrically connected to the switching device 32c and controls the switching device 32c.

FIG. 11 shows an example of the transmission 32. As shown in FIG. Transmission 32 further includes a fourth gear 34 and a fifth gear 36 in addition to the configuration of speed reduction mechanism 15 shown in FIG. The fourth gear 34 is arranged coaxially with the second gear 18 and rotates together with the second gear 18 . The outer diameter of the fourth gear 34 is larger than the outer diameter of the second gear 18 . The fourth gear 34 has a fourth tooth portion 34a on its outer peripheral portion. The fifth gear 36 is arranged coaxially with the first gear 16 . The first gear 16 and the fifth gear 36 are provided in the force resultant portion 14 and selectively connected to the force resultant portion 14 by a switching device 32c. For the configuration of the switching device 32c, the configuration disclosed in, for example, Japanese Patent Application Laid-Open No. 11-240481 can be used, so detailed description thereof will be omitted. The outer diameter of the fifth gear 36 is smaller than the outer diameter of the first gear 16 . The fifth gear 36 has a fifth tooth portion 36a on its outer periphery. The fourth toothed portion 34a of the fourth gear 34 and the fifth toothed portion 36a of the fifth gear 36 mesh with each other. The number of teeth of the fifth tooth portion 36a is smaller than the number of teeth of the fourth tooth portion 34a. The switching device 32c has a first state in which the first gear 16 and the force resultant portion 14 rotate integrally and the fifth gear 36 and the force resultant portion 14 rotate relative to each other, and a state in which the first gear 16 and the force resultant portion 14 rotate relative to each other. and the second state in which the fifth gear 36 and the force resultant portion 14 rotate integrally. In the second state, the speed reduction ratio in the case where the torque is transmitted from the crankshaft 114a to the output shaft 24c of the electric motor 24 is larger than in the first state. The control device 30 adjusts the ratio (V1/V2) of the rotation speed V2 of the second connection portion 32b to the rotation speed V1 of the first connection portion 32a when the crankshaft 114a rotates in the reverse direction. The transmission 32 is controlled so as to be smaller than the ratio in the case of rotation. For example, the control device 30 places the transmission 32 in the first state when the crankshaft 114a rotates forward, and places the transmission 32 in the second state when the crankshaft 114a rotates in the reverse direction. When the crankshaft 114a rotates in the reverse direction, the control device 30 controls the switching device 32c of the transmission 32 to reduce the rotation speed of the electric motor 24 relative to the rotation speed of the crankshaft 114a. As the rotation speed of the electric motor 24 in the second rotation direction RB decreases, the induced voltage of the electric motor 24 and the regenerated current of the electric circuit 28 decrease.

When a predetermined condition is satisfied in at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 switches the transmission 32 to the The switching device 32c may be operated. The predetermined conditions include at least one of conditions (1) to (3) and condition (8) below.
(8) The rotation speed of the rotating portion of the transmission 32 becomes equal to or higher than the predetermined third speed.

The predetermined conditions may include only one of the conditions (1) to (3) and (8), and only any two of the conditions (1) to (3) and (8) may contain any three of the conditions (1) to (3) and (8), and all of the conditions (1) to (3) and (8) You can stay. The predetermined conditions may include any one of the conditions (4) to (7) instead of the conditions (1) to (3) and (8).

In this embodiment, the detector 30 a is configured to detect the rotational speed of the rotating portion of the transmission 32 . Detector 30 a includes a fifth detector for detecting the rotational speed of the rotating portion of transmission 32 . The fifth detector includes, for example, a magnetic sensor and a rotary encoder. The rotating portion of transmission 32 may include any of first gear 16 , second gear 18 , third gear 20 , fourth gear 34 and fifth gear 36 of transmission 32 .

In the driving device 10 of the fourth embodiment, an example of control flow by the control device 30 will be described with reference to the flow chart shown in FIG. The flowchart of FIG. 12 replaces step S5 with step S35 in the flowchart shown in FIG. 4, and adds step S38. In the flowchart of FIG. 12, each step other than steps S35 and S38 is the same as each step of the flowchart shown in FIG. will be explained.

In step S7, when the determination of the control device 30 is NO, the process proceeds to step S38. In step S38, the control device 30 determines whether or not the rotation speed of the rotating portion of the transmission 32 is equal to or higher than a predetermined third speed by the detection section 30a. When the control device 30 determines in step S38 that the rotation speed of the rotating portion of the transmission 32 is equal to or higher than the predetermined third speed, the process proceeds to step S35 and determines that it is not equal to or higher than the predetermined third speed. If so, terminate the process.

In the flowchart of FIG. 12, one, two, or three of steps S4, S6, S7 and S38 may be omitted. If three of steps S4, S6, S7 and S38 are omitted, if the determination of control device 30 is YES in step S2 or step S3, step S4, step S6, step S7 and step S38 If the control device 30 determines NO after moving to any one of them, the process ends. If one of step S4, step S6, step S7 and step S38 is omitted, if the determination of control device 30 is YES in step S2 or step S3, step S4, step S6, step S7 and step S38 transition to any one of the three. If the determination of control device 30 is NO in any one of three of steps S4, step S6, step S7 and step S38, any one of step S4, step S6, step S7 and step S38 Move to the other one of the three. If the determination of control device 30 is NO in the other one of any three of steps S4, S6, S7 and S38, one of steps S4, S6, S7 and S38 Move to yet another one of any three. If the determination by control device 30 is NO in still another one of the three of steps S4, S6, S7 and S38, the process ends.

In the flowchart of FIG. 4, the order of steps S4, S6, S7 and S38 may be changed. If the order of step S4, step S6, step S7 and step S38 is interchanged, and if the determination of control device 30 is YES in step S2 or step S3, one of step S4, step S6, step S7 and step S38 In each step, if the judgment of the control device 30 is NO, the next step is performed if there is a next step, and the process is terminated if there is no next step.

In each step, when the determination of the control device 30 is YES, the process proceeds to step S35. In step S35, the control device 30 switches the gear ratio of the transmission 32, and terminates the process. In step S35, the control device 30 controls the switching device 32c so that the ratio of the rotation speed of the second connection portion 32b to the rotation speed of the first connection portion 32a is reduced. This reduces the rotational speed of the electric motor 24 relative to the rotational speed of the crankshaft 114a. The control device 30 is configured to control the switching device 32c so that the transmission 32 maintains the first state while the crankshaft 114a is rotating forward.

The driving device 10 according to the fourth embodiment is such that the rotational speed of the crankshaft 114a is reduced in at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB. reduces the rotational speed of the electric motor 24 relative to the In the drive device 10, the induced voltage and regenerated current generated by the electric motor 24 rotating in the second rotation direction RB exceed the withstand voltage and withstand current of electric components such as the electric motor 24, the battery 120a and the electric circuit 28. failure caused by the induced voltage can be suppressed.

The first to fourth embodiments can be combined as appropriate. For example, the drive device 10 of the fifth embodiment shown in FIG. 13 is configured by combining the drive devices 10 of the first, second and third embodiments. The drive device 10 of the fifth embodiment replaces the control device 30 of the drive device 10 of the first embodiment with the control device 30 of the drive device 10 of the second embodiment, and the electric circuit of the drive device 10 of the first embodiment 28 is replaced with the electric circuit 28 of the drive device 10 of the third embodiment, and other configurations are the same as those of the drive device 10 of the first embodiment. In the drive device 10 of the fifth embodiment, the same reference numerals are given to the same configurations as those of the drive devices 10 of the first to third embodiments, and the description thereof will be omitted, and the different configurations will be described.

When a predetermined first condition is satisfied in at least one of a state in which the crankshaft 114a is rotating in the reverse direction and a state in which the electric motor 24 is rotating in the second rotation direction RB, the control device 30 controls the notification device 122 outputs predetermined warning information. The user is warned by the notification unit 30b of the control device 30 causing the notification device 122 to output warning information. After outputting the predetermined warning information by the notification device 122, when the predetermined second condition is satisfied, the control device 30 controls the electric motor 24 to generate a rotational torque in the first rotational direction RA. control. After performing the first control, when the predetermined third condition is satisfied, the control device 30 performs the second control to cut off the current output from the electric motor 24 . In the present embodiment, the control device 30 performs the second control when a predetermined third condition is satisfied after performing the first control, and performs the second control when the predetermined second condition is satisfied. You may do so. Control device 30 may perform at least one of the first control and the second control when a predetermined second condition is satisfied. The predetermined first, second, and third conditions are, for example, the rotation speed of the electric motor 24 in the second rotation direction RB, the induced voltage of the electric motor 24, the regenerative current RC of the electric circuit 28, and the crankshaft 114a It is determined from the number of rotations, the time for which the crankshaft 114a rotates, and the like. Compared to the case where the predetermined second condition is satisfied, when the predetermined third condition is satisfied, the induced voltage of the electric motor 24 generated by the reverse rotation of the crankshaft 114a is large, and the electric motor 24 At least one of a state in which the induced voltage is generated for a long time. Compared to the case where the predetermined first condition is satisfied, when the predetermined second condition is satisfied, the induced voltage of the electric motor 24 generated by the reverse rotation of the crankshaft 114a is large, and the electric motor 24 At least one of a state in which the induced voltage is generated for a long time.

An example of the control flow by the control device 30 in the drive device 10 of the fifth embodiment will be described with reference to the flowchart shown in FIG. When power is supplied, the control device 30 proceeds to step S1 and starts processing. After completing the process of the flowchart, the control device 30 starts the process from step S1 at predetermined intervals until the power supply is stopped. In the flowchart shown in FIG. 14, steps S1 to S3 are the same as the steps in the flowchart shown in FIG. If the determination by the control device 30 is YES in step S2 or step S3, the process proceeds to step S41. In step S41, the control device 30 determines whether or not the first condition is satisfied. In step S41, when the control device 30 determines that the first condition is satisfied, it proceeds to step S42, and when it determines that the first condition is not satisfied, it proceeds to step S2. In step S42, the control device 30 causes the notification device 122 to notify predetermined warning information, and proceeds to step S43. When the user notices the predetermined warning information and stops the reverse rotation of the crankshaft 114a or decreases the rotation speed of the reverse rotation, the rotation speed of the electric motor 24 in the second rotation direction RB is Decrease. After outputting the predetermined warning information by the notification device 122, in step S43, the control device 30 determines whether or not the second condition is satisfied. In step S43, when the control device 30 determines that the second condition is satisfied, the process proceeds to step S44, and when it determines that the second condition is not satisfied, the process proceeds to step S2. In step S44, the control device 30 performs first control to control the electric motor 24 so as to generate rotational torque in the first rotation direction RA, and proceeds to step S45. By the process of step S44, the rotation speed of the electric motor 24 in the second rotation direction RB is decreased. After performing the first control, in step S45, the control device 30 determines whether or not the third condition is satisfied. In step S45, when the control device 30 determines that the third condition is satisfied, the process proceeds to step S46, and when it determines that the third condition is not satisfied, the process proceeds to step S2. In step S46, the control device 30 performs the second control to cut off the current output from the electric motor 24, and ends the process. The regenerative current of the electric circuit 28 becomes zero by the processing of step S46.

The driving device 10 according to the fifth embodiment provides warning, control of the electric motor 23, and control of the electric circuit 28 to suppress problems caused by the induced voltage generated by the rotation of the electric motor 24 in the second rotation direction RB. is executed step by step, failures caused by the induced voltage can be suppressed.

In the fifth embodiment, step S43 may be omitted, and in this case, after finishing the process of step S42, the process proceeds to step S44. In the fifth embodiment, steps S41 and S42 may be omitted, steps S42 and S43 may be omitted, steps S43 and S44 may be omitted, and steps S44 and S45 may be omitted. Alternatively, steps S45 and S46 may be omitted. In the fifth embodiment, the processes of steps S42, S44 and S46 may be interchanged.

In each embodiment, the electric motor 24, battery connections 26, and electrical circuitry 28 are provided in the first housing 12, but as in the sixth embodiment shown in FIG. The circuit 28 may be provided in the second housing 120b.

In each embodiment, the controller 30 may be configured to operate only in assist mode. In this case, step S1 can be omitted in each flowchart.

In each embodiment, the control device 30 may perform processing without distinguishing between the assisted mode and the non-assisted mode. In this case, step S1 can be omitted in each flowchart. For example, in the non-assist mode, the control device 30 of the first embodiment controls at least one of the state in which the crankshaft 114a is rotating in the reverse direction and the state in which the electric motor 24 is rotating in the second rotation direction RB. , the electric motor 24 may be controlled so as to generate rotational torque in the first rotational direction RA. In this case, in each flowchart, when power is supplied to the control device 30, the process proceeds to step S2.

Although the embodiments of the present invention have been described above, the embodiments are not limited by the contents of these embodiments. The components described above include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. The components described above can be combined as appropriate. Various omissions, replacements, or modifications of components can be made without departing from the gist of the above-described embodiments.

For example, in embodiments, the electrical circuit 28 does not control the rotation of the crankshaft 114a or the electric motor 24, but rather interrupts current flow from the electric motor 24 to the battery connection 26 under normal operating conditions. A current interrupt circuit may be provided to prevent current from the battery connection 26 to the electric motor 24 to be interrupted. Such a current cut-off circuit can be constructed, for example, by combining a plurality of transistors, or by switching the switching element SW as a diode whose anode is connected to the battery connection section 26 and whose cathode is connected to the motor drive circuit 30c. can be configured by replacing

10: drive device, 12: first housing, 24: electric motor, 26: battery connection, 28: electric circuit, 30: control device, 32: transmission, 32a: first connection, 32b: second connection , 100: human powered vehicle, 114a: crankshaft, 120a: battery, 120b: second housing, 122: notification device, RA: first direction of rotation, RB: second direction of rotation, SW: switching element

Claims (23)

When the crankshaft rotates forward, it rotates in the first rotation direction to assist the propulsion of the manpowered vehicle, and when the crankshaft rotates backward, the driving force from the crankshaft is transmitted to the an electric motor configured to rotate in a second direction of rotation opposite the first direction of rotation;
a control device for controlling the electric motor to generate rotational torque in the first rotational direction when the crankshaft is rotating in the reverse direction. 2. The driving device for a manpowered vehicle according to claim 1, wherein said control device controls said electric motor such that the speed of reverse rotation of said crankshaft is equal to or lower than a predetermined first speed. The control device selects an assist mode in which the electric motor assists propulsion of the manpower-driven vehicle and a non-assist mode in which the electric motor does not assist in propulsion of the manpower-driven vehicle, according to the rotation state of the crankshaft. 3. Operating either one of them, and in the state of the assist mode, when the crankshaft rotates in the reverse direction, the electric motor is caused to generate rotational torque in the first rotational direction. 2. A driving device for a manpower-driven vehicle according to . Claims 1 to 3, wherein the control device causes the electric motor to generate rotational torque in the first rotational direction when a predetermined condition is satisfied while the crankshaft is rotating in the reverse direction. The driving device for a manpowered vehicle according to any one of Claims 1 to 3. When the crankshaft rotates forward, it rotates in the first rotation direction to assist the propulsion of the manpowered vehicle, and when the crankshaft rotates backward, the driving force from the crankshaft is transmitted to the an electric motor configured to rotate in a second direction of rotation opposite the first direction of rotation;
a control device that controls the electric motor so as to generate rotational torque in the first rotation direction when the crankshaft is rotating in the reverse direction, and outputs predetermined warning information to a notification device; A drive for a man-powered vehicle comprising: The control device selects an assist mode in which the electric motor assists propulsion of the manpower-driven vehicle and a non-assist mode in which the electric motor does not assist in propulsion of the manpower-driven vehicle, according to the rotation state of the crankshaft. 6. The apparatus for a human-powered vehicle according to claim 5, wherein the notification device outputs predetermined warning information when the crankshaft rotates in the reverse direction in the assist mode. drive. 7. The manpower drive according to claim 5, wherein said control device causes said notification device to output predetermined warning information when a predetermined condition is satisfied while said crankshaft is rotating in the reverse direction. Vehicle drive. When the crankshaft rotates forward, it rotates in the first rotation direction to assist the propulsion of the manpowered vehicle, and when the crankshaft rotates backward, the driving force from the crankshaft is transmitted to the an electric motor configured to rotate in a second direction of rotation opposite the first direction of rotation;
a battery connection electrically connected to the battery;
an electrical circuit having a switching element and configured to electrically connect the electric motor and the battery connection via the switching element;
controlling the electric motor to generate rotational torque in the first rotational direction when the crankshaft is rotating in the reverse direction, and interrupting current flow from the electric motor to the battery connecting portion; and a control device for controlling the switching element such that: 9. The manpowered vehicle drive of claim 8, wherein the switching element includes at least one of a transistor and a relay. 10. The switching element according to claim 8 or 9, wherein the switching element is configured not to interrupt current from the battery connection to the electric motor while interrupting current from the electric motor to the battery connection. Drive unit for human-powered vehicles. A drive for a manpowered vehicle according to any one of claims 8 to 10, further comprising a first housing in which said electric motor, said battery connection and said electric circuit are provided. further comprising a second housing in which the battery is accommodated;
The drive for a manpowered vehicle according to any one of claims 8 to 10, wherein said battery connection and said electric circuit are provided in said second housing. The control device selects an assist mode in which the electric motor assists propulsion of the manpower-driven vehicle and a non-assist mode in which the electric motor does not assist in propulsion of the manpower-driven vehicle, according to the rotation state of the crankshaft. When the crankshaft rotates in the reverse direction in the assist mode, the switching element is controlled to cut off current from the electric motor to the battery connection. The driving device for a manpowered vehicle according to any one of claims 8 to 12. The control device controls the switching element so as to cut off current from the electric motor to the battery connection when a predetermined condition is satisfied while the crankshaft is rotating in the reverse direction. The driving device for a manpowered vehicle according to any one of claims 8 to 13. When the crankshaft rotates forward, it rotates in the first rotation direction to assist the propulsion of the manpowered vehicle, and when the crankshaft rotates backward, the driving force from the crankshaft is transmitted to the an electric motor configured to rotate in a second direction of rotation opposite the first direction of rotation;
a first connection coupled to the electric motor and a second connection coupled to the crankshaft for varying the ratio of the rotational speed of the second connection to the rotational speed of the first connection. a transmission configured to
The electric motor is controlled to generate rotational torque in the first rotation direction in a state in which the crankshaft rotates in the reverse direction, and the ratio when the crankshaft rotates in the reverse direction is the and a control device for controlling the transmission to be smaller than the ratio in forward rotation. When a predetermined condition is satisfied in a state in which the crankshaft rotates in the reverse direction, the control device determines that the ratio in the case in which the crankshaft rotates in the reverse direction is equal to the ratio in the case where the crankshaft rotates in the forward direction. 16. The manpowered vehicle drive system of claim 15, wherein the transmission is operated to be less than the ratio. 15. The driving device for a manpowered vehicle according to any one of claims 8 to 14, wherein the control device outputs predetermined warning information to a notification device when the crankshaft is rotating in the reverse direction. . 17. The predetermined condition according to any one of claims 4, 7, 14, and 16, wherein the predetermined condition includes that the rotational speed of the electric motor in the second rotational direction is equal to or greater than a predetermined second speed. Drive unit for human-powered vehicles. a first connection coupled to the electric motor and a second connection coupled to the crankshaft for varying the ratio of the rotational speed of the second connection to the rotational speed of the first connection. further comprising a transmission configured for
15. The predetermined condition includes that the rotation speed of the rotating portion of the transmission when the crankshaft is rotating in reverse is equal to or higher than a predetermined third speed. 1. A driving device for a manpower-driven vehicle according to claim 1. 17. The manpowered vehicle according to claim 16, wherein said predetermined condition includes that the rotational speed of said rotating portion of said transmission in a state in which said crankshaft is rotating in reverse is equal to or greater than a predetermined third speed. drive. 17. The apparatus of claim 4, 7, 14, or 16, wherein said predetermined condition includes that a regenerative voltage generated by said electric motor rotating in said second rotation direction becomes equal to or greater than a predetermined first value. A drive system for a manpowered vehicle according to any one of the preceding claims. 17. The apparatus of claim 4, 7, 14, 16, wherein said predetermined condition includes that a regenerated current generated by said electric motor rotating in said second rotation direction becomes equal to or greater than a predetermined second value. A drive system for a manpowered vehicle according to any one of the preceding claims. When the crankshaft rotates forward, it rotates in the first rotation direction to assist the propulsion of the manpowered vehicle, and when the crankshaft rotates backward, the driving force from the crankshaft is transmitted to the A method of controlling a drive for a manpowered vehicle having an electric motor configured to rotate in a second direction of rotation opposite to the first direction of rotation, comprising:
When the predetermined first condition is satisfied while the crankshaft is rotating in the reverse direction, the notification device outputs predetermined warning information, and after outputting the predetermined warning information, the predetermined second condition is satisfied, at least one of a first control that controls the electric motor to generate rotational torque in the first rotation direction and a second control that cuts off the current output from the electric motor is performed. A method of controlling a drive for a manpowered vehicle, comprising:

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