JPH085428B2 - Reverse control device for motorcycles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a reversing device for a motorcycle in which a vehicle is moved backward by a driving force of a motor, and the motorcycle can be retreated at an appropriate retreat speed. The present invention relates to a reverse control device.

[Prior art]

Japanese Patent Laid-Open No. 60-252079 discloses that a rear wheel of a large motorcycle is provided with an auxiliary wheel that can be raised and lowered freely, and an electric motor for reverse movement is connected to the auxiliary wheel through a reduction mechanism to drive the reverse motor. A large motorcycle is shown that is retracted by force.

This large motorcycle requires a separate auxiliary wheel,
And since the auxiliary wheel is set at a position offset from the line connecting the front and rear wheels, not only the power transmission system for transmitting the power of the internal combustion engine, including the rear wheels, acts as a resistor but also the auxiliary wheel is Since it is offset from the center line of the vehicle body connecting the front and rear wheels, it is not efficient in towing the front and rear wheels, and auxiliary wheels are required outside the front and rear wheels, which is not preferable in terms of weight reduction of the vehicle body.

[Problems to be solved]

For the above reason, it is better to rotate the rear wheel of the motorcycle directly in the backward direction.

When the motorcycle having no auxiliary wheel is moved backward, it is preferable to appropriately control the reverse speed of the motorcycle so that the motorcycle can be moved backward easily.

[Means and Actions for Solving Problems]

The present invention relates to improvement of a reverse control device for a motorcycle which meets such a demand, and a rear wheel of the motorcycle is rotationally driven in a backward direction by a driving force of a motor regardless of a driving force of a traveling drive engine. In the motorcycle, the motor, the first switch, and the second switch are connected in series to a power source, the control means is connected in parallel to the second switch, and the first switch is the first switch or the starter switch. The second switch is a switch that is turned on by an on operation, and is turned off only when the reverse operation member that moves the motorcycle backward is always turned on, and the control means is the reverse operation member. It is turned on by the reverse operation of the vehicle and is activated for a predetermined time, and after the lapse of the predetermined time, the vehicle speed is controlled by searching the duty ratio to the vehicle speed. It is characterized in.

Since the present invention is configured as described above, when the first switch or the starter switch is turned on while the retreat operation member is operated to the retreat side, the first switch and the control means are turned on. The motor may rotate, and the driving force of the motor may cause the motorcycle to move backward.

In the present invention, since the start control is performed within a predetermined time after the motor starts rotating, a large start shock at the time of start is avoided, and after the predetermined time has elapsed, the vehicle speed is controlled by the duty ratio search for the vehicle speed. Therefore, the required vehicle speed is appropriately controlled, and the backward movement of the motorcycle is smoothly performed.

〔Example〕

An embodiment of the present invention shown in FIGS. 1 to 12 will be described below.

First, the outline of the power transmission system of the present invention will be described with reference to FIG.

Reference numeral 1 denotes a multi-cylinder engine mounted on a large motorcycle (not shown), a crank shaft 2 of the engine 1 is connected to a clutch 3 and a multi-stage gear transmission 4, and an output shaft 5 of the multi-stage gear transmission 4 is It is connected to the rear wheels 7 through a power transmission system 6 including a sprocket, a chain, a gear, a shaft, etc., the engine 1 is in an operating state, the clutch 3 is in an engaged state, and the multi-stage gear transmission 4 is in a state other than neutral. In such a case, the power of the engine 1 is transmitted to the rear wheels 7 so that the vehicle can move forward.

Further, the output shaft 9 of the cell starter motor 8 is connected to the crankshaft 2 via a one-way clutch 10 and a reverse speed reducer 11 incorporating a clutch 12 which is turned on / off by a reverse lever 19 is used for multistage gear shifting. Is connected to the output shaft 5 of the machine 4, disengages the clutch 3 or sets the multi-stage gear transmission 4 to neutral, and is a reverse speed reducer.
When the cell starter motor 8 is normally rotated with the reverse clutch 12 of 11 disengaged, the engine 1 is cranked and started, and the clutch 3 is disengaged or the multi-stage gear transmission 4 is set to neutral. At the same time, when the reverse lever 12 is operated and the reverse clutch 12 of the reverse speed reducer 11 is engaged, when the cell starter motor 8 is normally rotated, the rear wheels 7 are significantly decelerated and driven in the reverse direction. It is like this.

Furthermore, a seat switch 14 is built into the seat 13, and a handle grip 15 has a handle switch 16l,
16r is attached, and step switch 18
l and 18r are provided.

In this sheet switch 14, as shown in FIG. 3, a pair of conductive leaf springs 14c are arranged with an insulating movable piece 14b pushed upward by a spring 14a interposed therebetween. In the state where no force is applied to the receiving piece 14d integrated with the head, the tips of the pair of conductive leaf springs 14c are insulated by the insulating movable piece 14b. The tips of the springs 14c enter the holes 14e of the insulating movable piece 14b and come into contact with each other, so that the sheet switch 14 is turned on.

Moreover, the cell starter motor 8 is controlled so that its rotation / stop is turned on / off by the electric control device 20 and the rotation speed is also controlled.

Then, the seat switch 14, the handle switch 16, the step switch 18, and the side stand switch 35 described later.
Constitutes a backward movement prohibition condition detecting means in the claims.

Then, the electric control device 20 includes a first starter magnetic relay 21 which is a first switch for controlling the operation of the cell starter motor 8 and a second starter starter which is a second switch which is turned on by turning on a reverse switch 29 described later at the time of starting. Power supply consisting of a magnetic relay 22, a power transistor unit 23 that is a reverse control circuit that controls the power supply current to the cell starter motor 8 in the reverse state, and resistors 25 and 26 that control the power supply current to the cell starter motor 8 in the reverse state. The current suppressing circuit 24, the starter switch 27 which is switched at the time of starting operation, the reverse lever switch 28 which is switched when the reverse lever 19 is operated to the reverse position, the multi-stage gear transmission 4 is operated to the neutral position, and the reverse lever 19 is operated.
Reverse switch 29 that is turned off when is operated to the reverse position and is turned on otherwise, and reverse relay 30 that turns on the first starter magnetic relay 21.
Then, after the first starter magnetic relay 21 is turned on, the coil 21b of the first starter magnetic relay 21
A starter magnetic controller 31 which supplies a current necessary for self-holding, a speed limiter relay 32 which short-circuits both electrodes of the cell starter motor 8 when the cell starter motor 8 exceeds a predetermined rotation speed in a retracted state,
A clutch switch 33 that is turned on when the clutch 3 is in a disengaged state, a neutral switch 34 that is turned on when the multi-stage gear transmission 4 is operated in a neutral state, and a side stand switch 35 that is turned on when a side stand (not shown) is jumped up. An oil pressure switch 36 that is turned off when the engine 1 is in a rotating state, an electronic control unit 37 that controls these, a seat switch 14 that is turned on when a driver is seated on the seat 13, and a handle grip.
It has a handlebar switch 16 which is turned on when 15 is grasped and a step switch 18 which is turned on when a foot is not placed on the step 17.

Further, on the engine starting wiring 40 connecting the battery + terminal 38 and the battery ground terminal 39, the a contact (normally open contact) 21a of the first starter magnetic relay 21 and the cell starter motor 8 are connected.
And a contact 22a of the second starter magnetic relay 22 are interposed in series.

In addition, the a contact of the second starter magnetic relay 22
The resistor 25 of the power supply current suppressing circuit 24 and the power transistor unit 23 are interposed in series on the backward wiring 41 connected in parallel to the resistor 22a, and the leak is connected in parallel to the resistor 25 and the power transistor unit 23. Resistance 26 to wiring 42
The brake wiring 43 connecting the positive terminal of the cell starter motor 8 and the battery ground terminal 39 is provided with the a contact 32a of the speed limiter relay 32 and the fuse 44 in series.

Furthermore, the starter switch 27 comprises a b-contact (normally closed contact) 27a and an a-contact (normally open contact) 27b. When the starter switch 27 is switched, the b-contact 27a is turned off and the a-contact 28b is turned on. The coil 30b of the reverse relay 30, the diode 45 and the reverse switch 29 are connected in series to the line connecting the a-contact 27b and the battery ground terminal 39, and the starter switch 27a The coil 21b of the first starter magnetic relay 21 is connected to the wire connecting the contact 27b and the battery ground terminal 39.
And a contact 30a of reverse relay 30 and clutch switch 33
And are interposed in series.

Moreover, the diode 46 and the coil 22b of the second starter magnetic relay 22 are connected in series to the line connecting the + side terminal 8a of the cell starter motor 8 and the reverse switch 29.

Further, the neutral display lamp 47 and the neutral switch 34 are connected in series to the contact 28a of the reverse lever switch 28 and the battery ground terminal 39 which are turned on to the battery + terminal 38 when the reverse lever is operated to the non-reverse position.
Battery + terminal with the reverse lever operated to the reverse position
The contact 28b of the reverse lever switch 28 turned on by 38 is connected to the terminal 37-1 of the electronic control unit 37.

Therefore, when the reverse lever switch 28 is operated to the non-retracted position (the position connected to the contact 28a side), the power supply to the electronic control unit 37 is cut off and the execution of the program is stopped.

Further, the terminal 37-2 of the electronic control unit 37 is connected to the seat switch 14, the step switches 18l and 18r, and the handle switch 1
Connected to the battery ground terminal 39 via 6l, 16r and the side stand switch 35, and the terminal of the electronic control unit 37.
37-3 is connected to the battery + terminal 38 via the oil pressure indicating lamp 48, and is also connected to the battery ground terminal 39 via the oil pressure switch 36.

Furthermore, the terminals 37-4 and 37-5 of the electronic control unit 37 are connected to the + side terminal 8a and the-side terminal 8b of the cell starter motor 8, and the voltage applied to the cell starter motor 8 is detected. It is like this.

The terminal 37-6 of the electronic control unit 37 is a voltage applied detection terminal of the power transistor unit 23, and the terminal 37-7 of the electronic control unit 37 is a terminal for detecting the switching operation of the starter switch 27.

Further, the terminal 37-8 of the electronic control unit 37 is connected to the high beam relay via the dimmer switch 49 even in the backward movement.
It is an output terminal for supplying current to the coil 50b of the 50 or the coil 51b of the low beam relay 51, and an output terminal for supplying current to the coil 50b of the high beam relay 50. When the coil 51b of 51 is energized, the a contact 50a of the high beam relay 50 or the a contact 51a of the low beam relay 51
Is turned on and the high beam light 52 or the low beam light 53 is turned on.

The relays 50 and 51 are designed to be energized via the b contact 27a of the starter switch 27.
High beam light 52 and low beam light with 27 off
One of the 53 is lit.

That is, when the ignition switch is turned on, either the high beam light 52 or the low beam light 53 is lit on a trial basis, and it is turned off when the starter switch 27 is turned on,
The starter motor is driven without power being consumed by lighting.

Furthermore, the terminal 37-9 of the electronic control unit 37 is an output terminal that controls the output of the power transistor unit 23, and the terminal 37-10 of the electronic control unit 37 is an output terminal that controls the on / off of the speed limiter relay 32. Is connected to the coil 32b of the speed limiter relay 32, and when the coil 32b is energized, the a contact 32a of the speed limiter relay 32 is turned on.

Moreover, the terminal 37-11 of the electronic control unit 37 is an output terminal for turning on the reverse relay 30 and turning on the first starter magnetic relay 21 even when the reverse switch 29 is in the off state. Terminal
37-12 is a coil of the first starter magnetic relay 21 that operates the starter magnetic controller 31 after a lapse of a predetermined time after the first starter magnetic relay 21 is turned on to operate the first starter magnetic relay 21 by itself. 21b is an output terminal for supplying a current, and the terminal 37-13 of the electronic control unit 37 is an output terminal for lighting the backward display lamp 54 and displaying it in the backward state.

 Next, the electronic control unit 37 will be described.

The electronic control unit 37 is a terminal 37 of the electronic control unit 37.
-Constant voltage power supply circuit 55 connected to -1 to supply constant voltage power of 5V to CPU 59, and terminals 37-2, 37- of electronic control unit 37
Digital input circuit 56 connected to 3,37-7 and adding digital input to the input port of CPU 59, and electronic control unit
Analog input circuit 57 connected to terminals 37-4, 37-5, 37-6 of 37 to add analog input to the input port of CPU 59, and terminals 37-8, 37-9, 37-10 of electronic control unit 37 , 37-11,37-12,37
Output circuit 58 for giving an output to -13, ROM 60 having a built-in sequence program necessary for executing the flowcharts shown in FIGS. 8 and 9, input data of digital input circuit 56 and analog input circuit 57, RA that can read and write the data obtained by the operation of CPU59 and other data
According to the input signals of the M61, the digital input circuit 56, and the analog input circuit 57, the sequence programs and instructions stored in the ROM 60 are executed, and the electric control device 20 is executed via the output circuit 58.
It is composed of a CPU 59 which outputs a control signal to each part of.

The operation of the control system of this embodiment will be described below with reference to the flowcharts shown in FIGS. 8 and 9.

This control routine has an interrupt routine shown in FIG. 9 in addition to the main routine shown in FIG. 8. The interrupt routine is executed every 1 msec, and the power of the electronic control unit 37 is turned on. Once done, it becomes feasible.

First, the interrupt routine will be described. The interrupt routine is a timekeeping routine mainly for operating a function that requires the time of the vehicle. In step 50, the interrupt count is performed to measure p milliseconds, and The carry stands every second, and the presence or absence of the carry is judged in the next step 51. If the carry is not standing, the process jumps to step 59, and if the carry is standing, the process proceeds to step 52.

Therefore steps 52 to 58 are performed every p milliseconds.

When the process proceeds to step 52 every p milliseconds, it is determined whether or not the start flag is set, and the starter switch 27
Since the starter flag is set when the contact a 27b is turned on, the state of the next q-millimeter elapsed flag is checked (step 53).

This q millisecond elapsed flag is set for q millisecond (q> q) after the contact a 27b of the starter switch 27 is turned on in the next step 54.
p) is timed and is set when q milliseconds have elapsed.

The q millisecond elapsed flag is always reset when the contact a 27b of the starter switch 27 is turned off.

Therefore, the same flag is initially in the reset state in step
Then, the time of q milliseconds is measured, and the process proceeds to the next step 55.

 At step 55, the state of the ON-Lock flag is judged.

The ON-Lock flag is set when an overload is applied to the cell starter motor, for example, when the movement of the vehicle body is obstructed by an obstacle behind, etc., and the condition is that the voltage across the cell starter motor is 3 below 3V
The ON-Lock flag is set when the voltage is equal to or lower than the voltage, and it is turned ON in the next step 56.
-Lock flag Time is kept.

Then, in the next step 57, it is determined whether or not the power transistor short flag (P.Tr.short flag) is set, and the power transistor unit 23 fails and the conduction state continues for r milliseconds (q> r) or more. The P.Tr.short flag is set in the conductive state, and the P.Tr.short time is measured in the next step 58.

The above steps 52 to 54 are executed every p milliseconds to measure various times.

Then, in step 59, each voltage is digitally converted to calculate the average terminal voltage of the cell starter motor, which will be described later, and an average flag (Ave. flag) is set at the end of conversion.
Is set.

Next, on / off control of the power transistor unit 23 is performed in step 60 to cancel the interrupt (step 61), and the process returns to the main routine.

In the main routine, first, various flags, conditions, etc. are initialized (step), and Ave.
Whether or not the flag is set is determined, and when the digital conversion of each voltage of the starter motor terminal voltage is not completed,
Since the Ave. flag is in the reset state, the process jumps to the step, and if completed, the process proceeds to the step and the average value of the terminal voltage of the cell starter motor is calculated.

The voltage average value yn is obtained by adding the previously detected average voltage value yn-1 and the voltage xn detected and digitally converted this time under a constant proportional distribution as shown in the following equation.

yn = α · yn-1 + (1-α) · xn, that is, yn is obtained by multiplying yn-1 and xn by α and (1-α), respectively, and averages the variations in the detected voltage. .

Based on the motor terminal voltage Vm obtained in this way,
The vehicle speed is determined in the next step.

In this step, the setting and resetting of three flags, which will be determined later on the basis of the voltage Vm, are set.

That is, as shown in Fig. 10, the power transistor off flag (P.Tr.OFF flag) is reset when Vm is less than bV and set when bm or more, and the starter magnetic switch off flag (SMOFF flag) is Vm when reset. Is set when the voltage exceeds cV, it is reset when the voltage falls below bV in the set state, and the limiter flag is set to Vm.
Reset below dV and set above dV.

Since the motor terminal voltage Vm substantially corresponds to the vehicle speed, the above three flags are set according to the vehicle speed state.

When the vehicle speed is determined in this manner, the Ave. flag is reset (step), and it is first determined whether or not the limiter flag is set (step).

As described above, when Vm ≧ dV, the limiter flag is set. At this time, it is assumed that the vehicle is moving backward on the slope at a speed equal to or higher than the second backward vehicle speed. In this case, the step is skipped. .

In the step, a current is applied to the speed limiter relay 32 from the brake relay output terminal 37-10 of the electronic control unit 37 to turn on the contact a 32a of the relay 32.

Therefore, cell starter motor 8, resistor 26, fuse
44, the closed loop circuit of the speed limiter relay 32 is formed, and the cell starter motor 8 is dynamically braked.

When Vm ≧ dV, as is clear from Fig. 10, SM
The OFF flag is in the set state, the reverse control is stopped along the route from step to step to be described later, and the first starter magnetic relay 21 is in the off state.

Then proceed to the step further and the backward display lamp 54
Is turned off, the reverse control is stopped (step), and the control by this routine is finished.

If the vehicle speed is less than the predetermined limit speed of the second backward vehicle speed (Vm <dV) in the step, the state of the SMOFF flag is determined in the next step.

Control of the reverse vehicle speed is controlled by the power transistor unit 23.
Although it is done by changing the ON / OFF duty ratio,
FIG. 11 shows the control relationship of the motor terminal voltage Vm based on this duty ratio.

Duty control is performed in the range of Vm <bV,
When Vm ≧ aV, the duty (STDT) at that time is the maximum (point A), and when Vm = bV, the control is stopped, and the duty (EDDT) at that time is the minimum (point B).

Therefore, when the SMOFF flag is set in step, the motor terminal voltage Vm exceeds cV and the vehicle speed becomes equal to or higher than the first reverse vehicle speed. At this time, the step jumps to the starter magnetic relay 21 The a-contact is turned off to stop the reverse control, and this time, unlike the reverse control at the time of braking in the above step, the step returns to the step again and the reverse control is still possible.

Once the SMOFF flag is set as described above, it is not reset unless the motor terminal voltage Vm becomes less than bV, and stable control is performed.

That is, the vehicle speed control between AB shown in FIG. 11 is performed when the SMOFF flag is in the reset state.

Therefore, if the SMOFF flag is in the reset state in step, the process proceeds to step and it is determined whether or not the P.Tr.OFF flag is set.

If the motor terminal voltage Vm is bV or more, the P.Tr.OFF flag is set and duty control is not performed and the process jumps to the step.If Vm ≦ bV, the process advances to the step and the vehicle speed / duty table is searched. That is, the energization time of the power transistor unit 23, that is, the duty is determined.

Then, in the next step, the state of the q millisecond elapsed flag is determined.

As described later in the startup control, the vehicle speed is not controlled for q milliseconds after the starter switch 27 is turned on,
Since the ON-Lock detection in the next step is not performed, the flag is reset and jumps to the starter flag before q milliseconds.

When q milliseconds have elapsed, go to step ON-Lock
Detection is done.

That is, in the step, as described above, it is detected whether the overload is applied to the cell motor and the motor terminal voltage Vm is 3 V or less for 3 to 5 seconds (time counting is performed in step 56 of the interrupt routine). If the condition is satisfied and it is judged as ON-Lock, (step),
The user jumps to the step, turns off the reverse display lamp 54, and stops the reverse control (step).

If it is determined that the lock is not ON-Lock in the step, proceed to the step and detect P.Tr.short.

When the motor terminal voltage is 1.5V or higher for more than r milliseconds (time counting is performed in step 58 of the interrupt routine), it is determined that the power transistor 23 is short-circuited (step), and jump to step. Then, the reverse display lamp 54 is turned off and the reverse control is stopped (step).

If the power transistor 23 is not short-circuited, proceed to the next step.

In the same step, the state of the side stand switch 35 and the oil pressure switch 36 are input to the CPU 59, and in the next step, the side stand comes out and the side stand switch 35 is off, or the engine 1 stops and the oil is turned off. If the pressure switch 36 is on, go to step
Is turned off, the reverse control is stopped (step), and the process returns to the step.

That is, when the side stand is out and the engine is rotating, and the reverse lever is operated to the reverse position to turn on the contact a 28b of the reverse lever switch 28, the contact a 27b of the starter switch 27 is turned on. , Retreat is prohibited.

Therefore, seat switch 14, step switch 18l, 18r
When the side stand switch 35 is turned on and the handlebar switches 16l, 16r and the oil pressure switch 36 are turned off, the step moves to the step,
Since it is possible to move backward, the backward display lamp 54 is turned on, the state of the starter switch 27 is then input to the CPU 59 (step), the state is judged (step), and the contact a 27b of the starter switch 27 is turned off. If so, jump to the step, stop the reverse control, and make contact a of contact 27 of starter switch 27.
If b is on, it is determined whether or not the next q millisecond elapsed flag is set (step).

After the contact a 27b of the starter switch 27 is turned on, q
If milliseconds have not elapsed, go to step q
Wait for milliseconds.

When it is determined that q milliseconds have elapsed in step, the process proceeds to step and the reverse relay 30 is turned off.

When operating the first starter magnetic relay 21, this is done through the reverse relay 30 for q milliseconds, and then the starter magnetic controller 31 supplies the current necessary to hold the first starter magnetic relay 21 by itself. This is because the supply of power to the coil 21b is controlled to maintain the ON state of the first starter magnetic relay 21 and suppress power consumption.

Then, in the next step, it is judged whether or not the start control flag is set.This start control flag is set when the vehicle speed control at the time of start executed in the next step is completed. Fly to the step.

Therefore, at the time of start-up, the flag is in the reset state and the process proceeds to step to perform start-up control.

At the time of reverse starting, the control shown in FIG. 12 is performed to reduce the starting shock.

That is, for q milliseconds after the starter switch 27 is turned on, the power transistor unit 23 is brought into a non-conducting state and the voltage applied to the cell starter motor 8 is reduced to start at a low rotation speed. The start control is performed by adjusting the time and the duty ratio of the power transistor unit 23.

Here, the solid line B shows the maximum value of the duty ratio allowed with the elapse of time at the time of start-up, and the duty ratio is determined with time based on the solid line B in the initial stage.

Therefore, in step, the duty ratio with respect to the elapsed time of the solid line B is searched, the startup control time Td is monitored, and when the same time has elapsed, the startup control flag is set.

Then, in the next step, the duty ratio with respect to the vehicle speed indicated by the broken line C is searched and compared with the solid line B, and the one with the smaller duty ratio is selected.

Then, the process proceeds to the next step, the power transistor output flag (P.Tr.OUT flag) is set, and the process returns to the step again.

Since the embodiment shown in FIGS. 1 to 12 is configured as described above, when the reverse lever 19 is tilted downward and the starter switch 27 is turned on, the reverse switch 29 is turned on, so that the reverse The coil 30b of the relay 30 is energized to operate the reverse relay 30. This time,
The clutch 3 is set to neutral, or the multi-stage gear transmission 4
Is set to neutral, the clutch switch 33 or the neutral switch 34 is turned on, so the a contact 30a of the reverse relay 30 is turned on, the first starter magnetic relay 21 is turned on, and the second starter magnetic relay 22 is turned on. Is turned on, so the battery + terminal
38 Battery start terminal via engine start wiring 40
A current flows through 39, the cell starter motor 8 rotates, the rotation of the cell starter motor 8 cranks the crankshaft 2 in the same direction A, and the multi-cylinder engine 1 is started.

Further, after the multi-cylinder engine 1 is started, the multi-stage gear transmission 4 is set to the neutral state while the multi-cylinder engine 1 is in operation, and the reverse lever 19 pulls the seat 13 upward.
Sit on, grasp the handle grip 15, release the foot from the step 17 and lower it to the ground and kick up the side stand, the seat switch 14, the handle switch 16l, 16r, the step switch 18l, 18r and the side stand switch 35 are turned on, Also, the oil pressure switch 36 is turned off, and a signal indicating the backward movement is sent from the terminals 37-2 and 37-3 of the electronic control unit 37 to the CPU 59 via the digital input circuit 56.
Terminal 37-1 of electronic control unit 37 even when 29 is off
The output from 1 turns on the reverse relay 30,
The first starter magnetic relay 21 is turned on, which causes the cell starter motor 8 to rotate, and the rotation of the cell starter motor 8 causes the multi-cylinder engine 1 to rotate in a direction opposite to the direction of rotation of the output shaft 5 during normal forward traveling. In addition, the output shaft 7 is rotationally driven, and the large motorcycle can move backward.

However, when the multi-cylinder engine 1 is not in operation, the reverse pressure 21 is turned off and the cell starter motor 8 cannot rotate because the oil pressure switch 36 is turned on.

If either or both of the handle switches 16l and 16r are turned off without grasping one or both of the left and right handles 15l and 15r, the reverse relay 30 is not turned on and the first starter magnetic relay 21 is turned off. The cell starter motor 8 cannot rotate,
Can't move backward

In addition, the driver does not sit on the seat 13 or steps
If the foot is not placed on 17l, 17r or the side stand 35 is kicked up, the reverse relay 30 is not turned on as described above, the first starter magnetic relay 21 is turned off, the cell starter motor 8 cannot rotate, and moves backward. I can't.

Then, the operating state after the starter switch 27 is turned on is observed with time.

When moving backward, move the reverse lever 19 to the reverse position and turn on the contact a 28b of the reverse lever switch 28.
Next, the starter switch 27 is turned on, and it is retracted while being turned on, and when the starter switch 27 is turned off, it is stopped.

First, the control of the electronic control unit 37 is started by turning on the contact a 27b of the starter switch 27 by turning on the starter switch 27, first the initial setting is made (step), and then until the digital conversion of the motor terminal voltage is made ( Step), jump to step, seat switch 14, handle switch 16, step switch 18, side stand switch 35, oil pressure switch 36
If it is in a reversible state, the reversing display lamp 54 is turned on (step), and it is determined whether the starter switch 27 is still turned on (step). If so, it waits for the same q ms before the q ms have elapsed (step).

When the terminal voltage of the starter motor is digitally converted while repeating the above steps, the Ave. flag is set (step), the average voltage value is calculated (step), and the vehicle speed is determined. (Step), various flags are set and reset, Ave.
The flag is reset again (step).

Then, the vehicle speed is a predetermined limit speed (Vm =
dV) is not exceeded (step) and is lower than the vehicle speed control upper limit speed (Vm = cV) which is the first reverse vehicle speed (Vm = cV) (step), the state of the P.Tr.OFF flag is judged (step). ), The vehicle speed is low at the beginning until the start control ends,
Jumping from the step, the state of the next q millisecond elapsed flag is judged, and when q milliseconds have not elapsed, ON-Lock detection is not performed and P.Tr.short is detected (step).

If the power transistor unit 23 is normal and not shorted (step), the seat switch 14 again,
Check the states of the handle switch 16, step switch 18, side stand switch 35, and oil pressure switch 36 (step), and if the backward movement is possible, check the starter switch 27 on state (step), and then set the q millisecond elapsed flag. Check the status (step).

If q milliseconds have elapsed, the reverse relay 30 is turned off (step), and the start control is performed in step.

This start control is executed for the winning Td seconds after q milliseconds have passed since the starter switch 27 was turned on, and thereafter, the start control is skipped and the start control is not performed.

At the end of the startup control, the duty ratio is determined based on the duty ratio for the normal vehicle speed (see FIG. 12), so that the steps are executed thereafter, and the vehicle speed control is performed by the duty ratio search for the vehicle speed. .

In this way, when the vehicle moves backward while controlling the vehicle speed, when the vehicle speed control upper limit speed (Vm = cV), which is the first backward vehicle speed, is exceeded (step), the reverse control is stopped (step), and the vehicle speed is further increased. When the vehicle speed exceeds a predetermined limit speed (Vm = dV), which is the second reverse vehicle speed, the speed limiter relay 32 is turned on (step), dynamic braking is applied, and the reverse control is stopped (step), then the electronic control is performed. unit
The control by 37 ends.

Next, another embodiment of the present invention shown in FIG. 13 will be described.

One end of the coil 30b of the reverse relay 30 is connected to the battery + terminal 38 via the starter switch 27, and the other end of the coil 30b is connected to the negative output terminal 71a of the OR circuit 71 via the driver 70 which is a knot circuit. The input terminal 71b of the OR circuit 71 is connected to the battery ground terminal 39 via the step switches 18l, 18r and the side stand switch 35, and the negative input terminal 71c of the OR circuit 71 is connected to the battery ground terminal 39 via the oil pressure switch 36. Has been done.

Further, a starter switch 27, a coil 21b of the first starter magnetic relay 21, and an a-contact a of the reverse relay 30 are connected in series to the battery + terminal 38 and the battery ground terminal 39, and in parallel to this, The a-contact 21a of the 1-starter magnetic relay 21, the starter motor 8 and the power control unit 74 are interposed.

Since the embodiment shown in FIG. 13 is configured as described above, the engine 1 is rotated to turn off the oil pressure switch 36, and the step switches 18l and 18r are set without putting feet on the steps 17l and 17r. When the starter switch 27 is turned on while the side stand 35 is turned on with the side stand jumped up, the OR circuit 71
The input terminal 71b becomes L, the negative input terminal 71c becomes H, the negative output terminal 71a becomes H, and the output terminal of the driver 70 becomes L, so that the coil 30b of the reverse relay 30 is energized. The a contact 30a is turned on, the coil 21b of the first starter magnetic relay 21 is also energized, the a contact 21a of the first starter magnetic relay 21 is turned on, a battery current flows through the cell starter motor 8, and the motor 8 rotates. , It will be possible to retreat.

However, the engine 1 is stopped and the oil pressure switch 36 is turned on, or steps 17l, 17r
If you put your foot on the step switches 18l, 18r and turn off the side stand 35 without jumping up the side stand, even if you turn on the starter switch 27, the negative output terminal 71a of the OR circuit 71 will remain at H level. However, the reverse relay 30 does not operate, and as a result, the first starter magnetic relay 21 does not operate, the motor 8 remains stopped, and the reverse movement is suppressed.

In the backward movement suppressing circuit shown in FIG. 13, as shown in FIG. 14, an OR circuit 72 is used instead of the OR circuit 71, and the output terminal of the AND circuit 73 is connected to the negative input terminal 72b. Connect the operational amplifiers 75l and 75r to the input terminals respectively, connect the handle piezoelectric elements 76l and 76r to the input terminals of the operational amplifiers 75l and 75r respectively, and connect the input terminal 72c of the OR circuit 72 to the battery ground terminal via the side switch 35. Alternatively, the battery ground terminal 39 may be connected to the negative input terminal 72d of the OR circuit 72 via the oil pressure switch 36.

In the embodiment shown in FIG. 14, handle grips 15l, 15
Hold r together to output H of the piezoelectric elements 76l and 76r.
Then, the side stand 35 is flipped up to turn on the side stand 35 and set its output to L, and the engine 1 is rotated to turn off the oil pressure switch 36 to set its output to H.
Only in this state, by turning on the starter switch 27, the motor 8 can be rotated and moved backward, but in other states, the backward movement is suppressed.

As yet another embodiment, the embodiment shown in FIG. 15 will be described.

In the embodiment shown in FIG. 13, the step switch 18
Instead of l, 18r, it detects the left and right inclination angle of the motorcycle,
A tilt angle switch 77 that turns off when tilted by a predetermined angle or more may be provided. In such an embodiment, the engine 1 rotates, the side stand kicks up, and the vehicle body falls within a predetermined allowable tilt angle. Only when it is upright, the backward movement is possible, and in other cases, the backward movement is suppressed.

In addition, a back sensor that detects obstacles behind the vehicle body, a brake switch that detects the operating state of the brake, etc. are provided in the suppression circuit, and when there are obstacles behind the vehicle body or when the brakes are operating, The backward movement may be suppressed.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view showing an embodiment of a vehicle reverse control device according to the present invention, FIG. 2 is a side view of a motorcycle equipped with the embodiment, and FIG. 3 is used in the embodiment. 4 is a vertical sectional side view of the seat switch to be used, FIG. 4 is an enlarged inclined view of steps, FIG. 5 is a longitudinal sectional view thereof, FIG. 6 is a circuit diagram of an embodiment thereof, and FIG. 7 is an electronic control unit in FIG. A circuit diagram showing the details, FIG. 8 is a flowchart showing a main routine of the present embodiment, FIG. 9 is a flowchart showing an interrupt routine of the present embodiment, and FIG. 10 is a flag setting method for vehicle speed determination. Explanatory diagram showing, FIG. 11 is a diagram showing the relationship between the motor terminal voltage and the duty for explaining the vehicle speed control method, FIG. 12 is a diagram showing the relationship of the duty ratio with respect to time for explaining the control at startup , Figures 13 to 15 are respectively FIG. 6 is a circuit diagram of another experimental example of the present invention. DESCRIPTION OF SYMBOLS 1 ... Engine, 2 ... Crankshaft, 3 ... Clutch, 4 ... Multistage gear transmission, 5 ... Output shaft, 6 ... Power transmission system, 7 ... Rear wheel, 8 ... Cell starter motor, 9 ... Output shaft, 10 ... One way Clutch, 11 ... Reverse gear reducer, 12 ... Reverse clutch, 13 ... Seat, 14 ... Seat switch, 15 ... Handle grip, 16 ... Handle switch, 17 ... Step, 18 ... Step switch, 19 ... Reverse lever, 20 ... Electric Control device,
21 ... First starter magnetic relay, 22 ... Second starter magnetic relay, 23 ... Power transistor unit, 24 ... Supply current suppressing circuit, 25,26 ... Resistance, 27 ...
Starter switch, 28 ... Reverse lever switch, 29 ...
Reverse switch, 30 ... Reverse relay, 31 ... Starter magnetic controller, 32 ... Speed limiter relay, 33 ... Clutch switch, 34 ... Neutral switch, 35 ... Side stand switch, 36 ... Oil pressure switch, 37 ... Electronic control unit, 38 ... Battery +
Terminal, 39 ... Battery ground terminal, 40 ... Engine starting wiring, 41 ... Retracting wiring, 42 ... Leak wiring, 43 ... Braking wiring, 44
… Fuse, 45,46… Diode, 47… Neutral indicator lamp, 48… Oil pressure indicator lamp, 49… Dimmer switch, 50… High beam relay, 51… Low beam relay, 52… High beam light, 53… Low beam light, 54… Backward indicator lamp, 55 ... Constant voltage power supply circuit, 56 ... Digital input circuit, 57 ... Analog input circuit, 58 ... Output circuit, 59 ... CPU, 60 ... ROM, 61 ... RAM, 70 ... Driver, 71,
72 ... OR circuit, 73 ... AND circuit, 74 ... Power control unit, 75 ... Operation amplifier, 76 ... Handle piezoelectric element,
77… Tilt angle switch.

Claims (1)

[Claims] 1. A motorcycle, in which a rear wheel of the motorcycle is driven to rotate in a backward direction by a driving force of a motor regardless of a driving force of a running drive engine, the motor, a first switch and a second switch being connected in series. Is connected to a power source and the second
The control means is connected in parallel to the switch, and the first
The switch is a switch that is turned on by turning on the first switch or the starter switch, and the second switch is a switch that is always on and that is turned off only when the reversing operation member for reversing the motorcycle is operated. The motorcycle is characterized in that the control means is turned on by a retreating operation of the retreat operation member, is startup-controlled within a predetermined time, and after the lapse of the predetermined time, the vehicle speed is controlled by a duty ratio search for the vehicle speed. Reverse control device.