JP2019151255A - Control device - Google Patents

Abstract

To provide a control device capable of stabilizing the behavior of a man power driving vehicle.SOLUTION: A man power driving vehicle includes a rotor driven by man power drive force, and a first sensor 80 for detecting a rotational state of the rotor. A control device 70 used by the man power driving vehicle includes a control part 72 for outputting a signal for causing a notification device 60 to output prescribed notification information in the case of detecting a defect of specification information on the basis of the specification information relating to the specification of the rotor, the rotational state of the rotor acquired by using the first sensor 80, and travel information of the man power driving vehicle acquired by using a second sensor 86 different from the first sensor 80.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device used for a human-powered vehicle.

  Patent Document 1 discloses a control device that calculates the traveling speed of an electrically assisted bicycle, which is one of human-powered vehicles, using the output of a vehicle speed sensor that detects the rotational state of a wheel. In order to calculate the traveling speed, specification information including information on the circumference of the wheel is used in addition to the output of the speed sensor.

JP 2007-230411 A

  Specification information is input by, for example, users, dealers, manufacturers, etc., but if the specification information is incomplete, the information calculated according to the specification information will be inaccurate or the specification information Control may become inappropriate.

  An object of the present invention is to provide a control device for use in a human-powered vehicle that can cope with deficiencies in specification information.

  A control device according to a first aspect of the present invention is a control device used for a human-powered vehicle including a rotating body driven by a human-powered driving force and a first sensor for detecting a rotation state of the rotating body. It is acquired by using a second sensor different from the first sensor, the specification information regarding the specification of the rotating body, the rotation state of the rotating body acquired using the first sensor, and the target. And a control unit that outputs a signal for causing the notification device to output predetermined notification information when the deficiency of the specification information is detected based on the traveling information of the human-powered vehicle.

  According to the control device of the first aspect, it is possible to output predetermined notification information from the notification device in response to incomplete specification information. Thereby, the passenger of the human-powered vehicle can know the deficiencies in the specification information.

  The control device according to a second aspect of the present invention is the control device according to the first aspect, wherein the travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle, and the control unit includes the specification information and the rotation state. The difference between the first value relating to the traveling speed of the human-powered vehicle calculated based on the second value and the second value relating to the traveling speed of the human-powered vehicle obtained using the second sensor is within a predetermined range. If it is outside, the specification information deficiency is detected.

  According to the control device of the second aspect, when the difference between the first value and the second value is out of the predetermined range, the first sensor and the second sensor are configured to detect deficiencies in the specification information. The detection accuracy of the sensor can be relaxed.

  The control device according to a third aspect of the present invention is the control device according to the first or second aspect, wherein the rotating body includes a wheel of the human-powered vehicle, and the first sensor detects rotation of the wheel. The specification information includes information related to the circumference of the drive wheel, and the control unit is based on the rotation state of the wheel and information related to the circumference of the drive wheel. To calculate the first value.

  According to the control device of the third aspect, the traveling speed of the human-powered vehicle can be calculated based on the rotational state of the wheel and information on the circumference of the wheel.

  The control device according to a fourth aspect of the present invention is the control device according to the second aspect or the third aspect, wherein the rotating body is a driving wheel of the human-powered vehicle, a first sprocket to which the human-power driving force is input, A second sprocket coupled to the drive wheel and rotated by rotation of the first sprocket, wherein the first sensor detects a rotation state of the first sprocket. The human-powered vehicle further includes a speed change sensor for detecting a speed change ratio defined by the first sprocket and the second sprocket, and the specification information includes information on a circumference of the drive wheel, Information regarding the number of teeth of the first sprocket and the second sprocket, and the control unit includes information regarding the circumference of the drive wheel and the first sprocket. A rotation state of Tsu bets, and by gear ratio detected by the shift sensor, to calculate a first value based on.

  According to the control device of the fourth aspect, the travel speed of the human-powered vehicle is calculated based on the information about the circumference of the drive wheel, the rotation state of the first sprocket, and the speed ratio detected by the speed sensor. Can do.

  A control device according to a fifth aspect of the present invention is the control device according to the fourth aspect, wherein at least one of the first sprocket and the second sprocket includes a plurality of sprockets, and the human-powered vehicle includes a plurality of sprockets. Including a transmission configured to switch chains between, wherein the transmission sensor is configured to detect a state of the transmission.

  According to the control device of the fifth aspect, the transmission ratio can be defined from the state of the transmission detected by the transmission sensor.

  The control device according to a sixth aspect of the present invention is the control device according to any one of the first to fifth aspects, wherein the notification device includes at least one of a display device and a sounding device.

  According to the control device of the sixth aspect, it is possible to cause the notification device to notify the notification information that can be visually recognized and the notification information that can be recognized by hearing.

  A control device according to a seventh aspect of the present invention is used in a human-powered vehicle including a rotating body driven by a human-powered driving force, a first sensor for detecting a rotation state of the rotating body, and an electrical component. Using the second sensor different from the first sensor, the specification information related to the specification of the rotating body, the rotation state of the rotating body acquired using the first sensor, and the control device. If the deficiency in the specification information is not detected based on the travel information of the human-powered vehicle acquired in this way, the deficiency in the specification information is detected while the electrical component is controlled in the first control state. In this case, a control unit that controls the electrical component in a second control state different from the first control state is included.

  According to the control device of the seventh aspect, it is possible to change the control state of the electrical component in response to the lack of specification information.

  The control device according to an eighth aspect of the present invention is the control device according to the seventh aspect, wherein the travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle, and the control unit includes the specification information and the rotation state. The difference between the first value relating to the traveling speed of the human-powered vehicle calculated based on the second value and the second value relating to the traveling speed of the human-powered vehicle obtained using the second sensor is within a predetermined range. If it is outside, the specification information deficiency is detected.

  According to the control device of the eighth aspect, when the difference between the first value and the second value is outside the predetermined range, the first sensor and the second sensor are configured to detect deficiencies in the specification information. The detection accuracy of the sensor can be relaxed.

  A control device according to a ninth aspect of the present invention is the control device according to the eighth aspect, wherein the electrical component includes a motor configured to assist propulsion of the human-powered vehicle, and the control unit includes the first control unit. The motor is controlled according to the value of.

  According to the control device of the ninth aspect, the assist force by the motor can be controlled in accordance with the traveling speed of the human-powered vehicle.

  A control device according to a tenth aspect of the present invention is the control device according to the seventh aspect, wherein the electrical component includes a motor configured to assist the propulsion of the human-powered vehicle, and the control unit includes the specification information. The motor is controlled in accordance with a first value relating to the traveling speed of the human-powered vehicle calculated based on the rotation state.

  According to the control device of the tenth aspect, the assist force by the motor can be controlled in accordance with the traveling speed of the human-powered vehicle.

  The control device according to an eleventh aspect of the present invention is the control device according to the ninth aspect or the tenth aspect, wherein the control unit is configured such that, in the first control state, the first value is greater than or equal to a first predetermined value. Then, the assist by the motor is stopped, and in the second control state, the assist by the motor is stopped when the first value is equal to or greater than a second predetermined value that is smaller than the first predetermined value. .

  According to the control device of the eleventh aspect, when the specification information is incomplete, the traveling speed at which the assist by the motor stops can be reduced as compared with the case where the specification information is incomplete.

  The control device according to a twelfth aspect of the present invention is the control device according to any one of the eighth to eleventh aspects, wherein the rotating body includes a wheel of the human-powered vehicle, and the first sensor is the wheel of the wheel. A first rotation sensor for detecting rotation; the specification information includes information related to a circumference of the drive wheel; and the control unit includes information about a rotation state of the wheel and a circumference of the drive wheel; , The first value is calculated.

  According to the control device of the twelfth aspect, it is possible to calculate the traveling speed of the human-powered vehicle based on the rotation state of the wheel and information on the circumference of the wheel.

  The control device according to the thirteenth aspect of the present invention is the control device according to any one of the eighth to twelfth aspects, wherein the rotating body is a drive wheel of the human-powered vehicle and a first input of the human-power driving force. A sprocket, and a second sprocket coupled to the drive wheel and rotating as the first sprocket rotates, wherein the first sensor detects a second rotation state of the first sprocket. The human-powered vehicle further includes a speed change sensor for detecting a speed change ratio defined by the first sprocket and the second sprocket, and the specification information relates to a circumference of the drive wheel. Information and information on the number of teeth of the first sprocket and the second sprocket, and the control unit includes information on the circumference of the drive wheel, A rotating state of the first sprocket, and the detected transmission ratio by the shift sensor, to calculate a first value based on.

  According to the control device of the thirteenth aspect, the traveling speed of the human-powered vehicle is calculated based on the information related to the circumference of the drive wheel, the rotation state of the first sprocket, and the speed ratio detected by the speed sensor. Can do.

  A control device according to a fourteenth aspect of the present invention is the control device according to the thirteenth aspect, wherein at least one of the first sprocket and the second sprocket includes a plurality of sprockets, and the human-powered vehicle includes the plurality of sprockets. Including a transmission configured to switch chains between, wherein the transmission sensor is configured to detect a state of the transmission.

  According to the control device of the fourteenth aspect, the transmission ratio can be defined from the state of the transmission detected by the transmission sensor.

  The control device according to the fifteenth aspect of the present invention further includes a storage unit that stores the specification information in a changeable manner in the control device according to any one of the first to fourteenth aspects.

  According to the control device of the fifteenth aspect, when there is an error in the specification information, the specification information stored in the storage unit can be changed.

  The control device according to the sixteenth aspect of the present invention is directed to a control device used for a human-powered vehicle including a rotating body driven by a human-powered driving force and a first sensor for detecting a rotation state of the rotating body. The storage unit that stores changeable specification information related to the specification of the rotating body, the specification information, the rotation state of the rotating body acquired using the first sensor, and the first When the deficiency of the specification information is detected based on the travel information of the human-powered vehicle acquired using a second sensor different from the sensor, the specification information is corrected and stored in the storage unit Includes a control unit.

  According to the control device of the sixteenth aspect, the specification information can be corrected in response to the lack of specification information.

  The control device according to a seventeenth aspect of the present invention is the control device according to the sixteenth aspect, wherein the travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle, and the control unit includes the specification information and the rotation state. The difference between the first value relating to the traveling speed of the human-powered vehicle calculated based on the second value and the second value relating to the traveling speed of the human-powered vehicle obtained using the second sensor is within a predetermined range. If it is outside, the specification information deficiency is detected.

  According to the control device of the seventeenth aspect, when the difference between the first value and the second value is outside the predetermined range, the first sensor and the second sensor are configured to detect deficiencies in the specification information. The detection accuracy of the sensor can be relaxed.

  The control device according to an eighteenth aspect of the present invention is the control device according to the seventeenth aspect, wherein the control unit is configured so that a difference between the first value and the second value is within the predetermined range. Correct the specification information.

  According to the control device of the eighteenth aspect, even if the specification information is incomplete, the traveling speed of the human-powered vehicle calculated using the detection result of the first sensor can be brought close to the actual traveling speed.

  The control device according to a nineteenth aspect of the present invention is the control device according to the seventeenth or eighteenth aspect, wherein the rotating body includes a wheel of the human-powered vehicle, and the specification information includes information related to a circumference of the wheel, The first sensor includes a first rotation sensor for detecting the rotation of the wheel, and the control unit is configured to perform the first operation based on the rotation state of the wheel and information on the circumference of the wheel. A value of 1 is calculated.

  According to the control device of the nineteenth aspect, the traveling speed of the human-powered vehicle can be calculated based on the rotational state of the wheel and information on the circumference of the wheel.

  The control device according to a twentieth aspect of the present invention is the control device according to any one of the seventeenth to nineteenth aspects, wherein the rotating body is a driving wheel of the human-powered vehicle and a first sprocket to which the human-power driving force is input. And a second sprocket coupled to the drive wheel and rotating as the first sprocket rotates, wherein the first sensor detects a rotation state of the first sprocket. A rotation sensor; and the human-powered vehicle further includes a transmission sensor for detecting a transmission gear ratio defined by the first sprocket and the second sprocket, and the specification information includes a circumference of the driving wheel. Information on the number of teeth of the first sprocket and the second sprocket, and the control unit is information on the circumference of the drive wheel, Serial and rotation state of the second said first sprocket detected by the rotation sensor, based on the detected speed ratio by the shift sensor, to calculate the first value may be configured to.

  According to the control device of the twentieth aspect, the traveling speed of the human-powered vehicle is calculated based on the information related to the circumference of the drive wheel, the rotation state of the first sprocket, and the speed ratio detected by the speed sensor. Can do.

  A control device according to a twenty-first aspect of the present invention is the control device according to the twentieth aspect, wherein at least one of the first sprocket and the second sprocket includes a plurality of sprockets, and the human-powered vehicle includes a plurality of sprockets. Including a transmission configured to switch chains between, wherein the transmission sensor is configured to detect a state of the transmission.

  According to the control device of the twenty-first aspect, the transmission ratio can be defined from the state of the transmission detected by the transmission sensor.

  A control device according to a twenty-second aspect of the present invention is used in a human-powered vehicle including a rotating body driven by a human-powered driving force, a first sensor for detecting a rotation state of the rotating body, and an electrical component. For the control device, the rotational state of the rotating body acquired using the first sensor and the speed of the human-powered vehicle acquired using a second sensor different from the first sensor And a control unit that acquires specification information related to the specification of the rotating body and controls the electrical component based on the specification information.

  According to the control device of the twenty-second aspect, actual specification information is acquired based on the detection results of the first sensor and the second sensor, and the electrical component is controlled based on the acquired specification information. Thereby, it is possible to control the human-powered vehicle based on the actual specification of the rotating body.

  A control device according to a twenty-third aspect of the present invention is the control device according to the twenty-second aspect, wherein the rotating body includes a wheel of the human-powered vehicle, and the first sensor detects a rotation state of the wheel. Including rotation sensors.

  According to the control device of the twenty-third aspect, the rotation state of the wheel can be detected by the first rotation sensor.

  The control device according to a twenty-fourth aspect of the present invention is the control device according to the twenty-second or twenty-third aspect, wherein the electrical component includes a motor capable of assisting the propulsion of the human-powered vehicle.

  According to the control device of the twenty-fourth aspect, propulsion of the human-powered vehicle can be assisted by the motor.

  The control device according to a twenty-fifth aspect of the present invention is the control device according to any one of the first to twenty-fourth aspects, wherein the second sensor is a position sensor for detecting the position of the human-powered vehicle, and the human power It includes at least one of acceleration sensors for detecting the acceleration of the driving vehicle.

  According to the control device of the twenty-fifth aspect, by using the second sensor, it is possible to acquire the travel information of the human-powered vehicle regardless of the specification information.

  A control device according to a twenty-sixth aspect of the present invention includes a first sprocket to which a human driving force is input, a second sprocket that rotates as the first sprocket rotates, and a drive wheel that is coupled to the second sprocket. A control device for use in a human-powered vehicle including a first rotation sensor for detecting a rotation state of the drive wheel and a second rotation sensor for detecting a rotation state of the first sprocket. Thus, based on the third value regarding the gear ratio calculated based on the outputs of the first rotation sensor and the second rotation sensor, the number of teeth of the first sprocket, and the number of teeth of the second sprocket. And a control unit that outputs a signal for causing the notification device to output predetermined notification information when the difference from the fourth value relating to the transmission ratio calculated is outside the predetermined range.

  According to the control device of the twenty-sixth aspect, an occupant of a human-powered vehicle is informed by the notification device if the information on the number of teeth of the first sprocket and the information on the number of teeth of the second sprocket is insufficient. Broadcast information can be output. According to the control device of the twenty-sixth aspect, it is possible to output predetermined notification information from the notification device in response to a lack of specification information. Thereby, the passenger of the human-powered vehicle can know the deficiencies in the specification information.

  According to the control device of the present invention, it is possible to cope with deficiencies in specification information.

It is a side view of the bicycle containing the control apparatus of 1st Embodiment. It is a block diagram which shows the electric constitution of the bicycle containing the control apparatus of 1st Embodiment. It is a flowchart of the alerting | reporting process performed by the control part of the control apparatus of 1st Embodiment. It is a block diagram which shows the electric constitution of the bicycle containing the control apparatus of 2nd Embodiment. It is a graph which shows an example of the relationship between the 1st value and assist power in the drive processing of the motor performed by the control part of the control device of a 2nd embodiment. It is a flowchart of the drive process of the motor performed by the control part of the control apparatus of 2nd Embodiment. It is a flowchart of the information correction process performed by the control part of the control apparatus of 3rd Embodiment. It is a block diagram which shows the electric constitution of the bicycle containing the control apparatus of 4th Embodiment. It is a flowchart of the drive process of the motor performed by the control part of the control apparatus of 4th Embodiment. It is a block diagram which shows the electric constitution of the bicycle containing the control apparatus of 5th Embodiment. It is a flowchart of the alerting | reporting process performed by the control part of the control apparatus of 5th Embodiment. It is a block diagram which shows the electric constitution of the bicycle containing the control apparatus which concerns on the modification of 1st Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
With reference to FIGS. 1-3, the control apparatus 70 of 1st Embodiment is demonstrated. The bicycle 10 is an example of a human-powered vehicle in the present invention. A human-powered vehicle is a vehicle that can be driven by at least human-powered driving force. Human-powered vehicles include, for example, bicycles. Human-powered vehicles are not limited in the number of wheels, and include, for example, one-wheel vehicles and vehicles having three or more wheels. Human powered vehicles include, for example, mountain bikes, road bikes, city bikes, cargo bikes, and recumbents. The bicycle 10 in this embodiment is an electrically assisted bicycle. The bicycle 10 includes a vehicle body 12, a battery 14, wheels 15, a drive mechanism 20, an electrical component 40, a transmission 50, and a notification device 60. The wheel 15 includes a front wheel 16 and a rear wheel 18.

  The drive mechanism 20 includes a crank 22, a first sprocket 24, a second sprocket 26, a chain 28, and a pedal 30. In the present embodiment, the first sprocket 24 is a front sprocket. In the present embodiment, the second sprocket 26 is a rear sprocket.

  The crank 22 includes a crankshaft 32 and left and right crank arms 34 that are rotatably supported by the vehicle body 12. The left and right crank arms 34 are attached to the crankshaft 32. The main body of the pedal 30 is attached to the crank arm 34 so as to be rotatable around a pedal shaft 36.

  The first sprocket 24 is connected to the crankshaft 32. The first sprocket 24 is provided coaxially with the crankshaft 32. The first sprocket 24 may be coupled so as not to rotate relative to the crankshaft 32. When the crankshaft 32 rotates forward, a first-way clutch (not shown) is used so that the first sprocket 24 also rotates forward. May be connected. In the present embodiment, the case where the first sprocket 24 includes only one sprocket will be described, but the first sprocket 24 may include a plurality of sprockets.

  The second sprocket 26 is attached to be rotatable around the axle of the rear wheel 18. The second sprocket 26 is connected to the rear wheel 18 via a one-way clutch (not shown). In the present embodiment, the case where the second sprocket 26 includes a plurality of sprockets will be described, but the second sprocket 26 may include only one sprocket.

  The chain 28 is wound around the first sprocket 24 and the second sprocket 26. When the crank 22 is rotated by the human driving force applied to the pedal 30, the rear wheel 18 is rotated by the first sprocket 24, the chain 28, and the second sprocket 26. When the rear wheel 18 rotates and the bicycle 10 moves forward, the front wheel 16 is driven and rotated. In the present embodiment, the rear wheel 18 is the drive wheel 17. Human power driving force is input to the first sprocket 24. The second sprocket 26 is connected to the drive wheel 17 and rotates when the first sprocket 24 rotates. In the present embodiment, the front wheel 16, the rear wheel 18, the first sprocket 24, and the second sprocket 26 are an example of a rotating body that is driven by a manual driving force.

  The electrical component 40 includes a motor 42 configured to assist in propulsion of the bicycle 10 and a drive circuit 44 for controlling the motor 42.

  The transmission 50 is configured to switch the chain 28 between a plurality of sprockets constituting the second sprocket 26. In the present embodiment, the transmission 50 includes a derailleur. The transmission 50 includes a drive circuit 54 and an actuator 52. The derailleur is driven by the operation of the actuator 52. Actuator 52 includes, for example, an electric motor. The actuator 52 may include a speed reducer. The transmission 50 is operated based on the operation of the speed change operation unit 90 by the rider of the bicycle 10. The speed change operation unit 90 is provided, for example, on the handle bar of the vehicle body 12. The transmission ratio can be changed by the transmission 50. The transmission ratio is defined by the first sprocket 24 and the second sprocket 26. Specifically, the gear ratio is defined by the number of teeth of the second sprocket 26 with respect to the number of teeth of the first sprocket 24. In the present embodiment, since the first sprocket 24 includes only one sprocket, the current gear ratio corresponds to the position of the second sprocket 26 on which the chain 28 is hung.

  The notification device 60 includes at least one of the display device 62 and the sound generation device 64. The display device 62 includes, for example, a liquid crystal display device and an organic EL display device. The display device 62 may be attached in advance to the vehicle body 12 or may be carried by a passenger of the bicycle 10. The display device 62 may be included in a portable electronic device. The sound generation device 64 includes, for example, a buzzer and a speaker. The sounding device 64 may be attached to the vehicle body 12 in advance, or may be carried by a passenger of the bicycle 10. The sound generation device 64 may be included in a portable electronic terminal. Speaker. Portable electronic devices include, for example, cycle computers, smartphones, and tablet computers. In the present embodiment, the notification device 60 includes both the display device 62 and the sounding device 64, but may be configured to include only one of the display device 62 or the sounding device 64.

  As shown in FIG. 2, the bicycle 10 includes a control device 70, a first sensor 80 for detecting the rotation state of the rotating body, and a second sensor 86 different from the first sensor 80. . Bicycle 10 further includes a shift sensor 88 for detecting a gear ratio.

  The first sensor 80 includes a first rotation sensor 82 for detecting the rotation of the wheel 15. The first sensor 80 further includes a second rotation sensor 84 for detecting the rotation state of the first sprocket 24. In the present embodiment, the first rotation sensor 82 detects the rotation of the rear wheel 18. In the present embodiment, the first sensor 80 includes both the first rotation sensor 82 and the second rotation sensor 84, but only one of the first rotation sensor 82 or the second rotation sensor 84 is used. A configuration including

  The first rotation sensor 82 is attached to the vehicle body 12 shown in FIG. 1 by fasteners such as bolts and nuts or bands. The first rotation sensor 82 includes, for example, an element 82B that detects a magnetic field. When the magnet is attached to the spoke 18A or the hub of the rear wheel 18 and the element 82B is attached to the chain stay 12A of the vehicle body 12, the rotation of the rear wheel 18 can be detected by the first rotation sensor 82. The first rotation sensor 82 is electrically connected to the control unit 72 of the control device 70 by wire or wireless. As shown in FIG. 2, the first rotation sensor 82 outputs information related to the rotation state of the rear wheel 18 to the control unit 72. The rotation state includes a rotation speed and a rotation speed. In the present embodiment, the case where the first rotation sensor 82 detects the rotation state of the rear wheel 18 will be described. However, the first rotation sensor 82 may detect the rotation state of the front wheel 16, Each rotation state with the rear wheel 18 may be detected. When the rotation state of the front wheel 16 is detected by the first rotation sensor 82, the magnet of the first rotation sensor 82 may be attached to the spoke 16A or the hub of the front wheel 16, and the element 82B may be attached to the front fork 12B of the vehicle body 12. When detecting the rotational states of the front wheel 16 and the rear wheel 18, the first rotation sensor 82 is provided in the vicinity of the front wheel 16 and the vicinity of the rear wheel 18 in the vehicle body 12. The first rotation sensor 82 may include an optical sensor.

  The second rotation sensor 84 detects the rotation state of the first sprocket 24 by detecting the rotation state of the crankshaft 32. Second rotation sensor 84 includes an element 84B that detects a magnetic field. The second rotation sensor 84 detects the magnetic field of the magnet attached to the crankshaft 32 or the connecting member that connects the crank 32 and the first sprocket 24. The second rotation sensor 84 is electrically connected to the control unit 72 by wire or wireless. As shown in FIG. 2, the second rotation sensor 84 outputs information related to the rotation state of the first sprocket 24 to the control unit 72. The second rotation sensor 84 may be an optical sensor.

  The second sensor 86 includes at least one of a position sensor 86 </ b> A for detecting the position of the bicycle 10 and an acceleration sensor 86 </ b> B for detecting the acceleration of the bicycle 10. The position sensor 86A is a sensor that uses a global positioning system (GPS). In the present embodiment, the second sensor 86 includes both a position sensor 86A and an acceleration sensor 86B. The second sensor 86 may include only one of the position sensor 86A and the acceleration sensor 86B.

  The second sensor 86 is electrically connected to the control unit 72 of the control device 70 by wire or wireless. In the present embodiment, the second sensor 86 outputs travel information of the bicycle 10 to the control unit 72. The travel information of the bicycle 10 includes the travel speed of the bicycle 10. The travel information of the bicycle 10 may include the travel distance of the bicycle 10. The second sensor 86 may further include an arithmetic processing unit. When the second sensor 86 includes the position sensor 86 </ b> A, the arithmetic processing unit of the second sensor 86 calculates the travel information of the bicycle 10 from the temporal change in the position of the bicycle 10. The arithmetic processing unit of the second sensor 86 includes, for example, a microcomputer. When the second sensor 86 includes the acceleration sensor 86B, the arithmetic processing unit of the second sensor 86 integrates the acceleration of the bicycle 10 with respect to time to calculate the travel information of the bicycle 10. The second sensor 86 may be attached to the vehicle body 12 of the bicycle 10 or may be provided in a portable electronic device possessed by a passenger of the bicycle 10. The second sensor 86 may be configured to output to the control unit 72 at least one of information related to the position of the bicycle 10 detected by the position sensor 86A and information related to the acceleration of the bicycle 10 detected by the acceleration sensor 86B. In this case, the control unit 72 may calculate the travel information of the bicycle 10 from the time change of the position of the bicycle 10 based on the information output from the second sensor 86, and integrates the acceleration of the bicycle 10 over time. Thus, the travel information of the bicycle 10 may be calculated.

  The shift sensor 88 is configured to detect the state of the transmission 50. The current speed ratio can be detected by the speed change sensor 88. The shift sensor 88 is preferably provided in the transmission 50. The state of the transmission 50 includes the position of the chain guide, the state of the actuator 52, the amount of displacement of the actuator 52, or the amount of displacement of the transmission 50. The state of the actuator 52 includes the rotational position of the rotating shaft or rotor of the electric motor included in the actuator 52, or the rotational position of the rotating member included in the speed reducer. The shift sensor 88 includes, for example, a magnetic sensor or a potentiometer. When the shift sensor 88 includes a magnetic sensor, a magnet to be detected by the magnetic sensor, for example, a rotating body of a speed reducer or a magnet in the transmission 50 is provided. The arithmetic processing unit of the shift sensor 88 detects the state of the transmission 50 using a magnetic sensor, thereby determining the sprocket on which the chain 28 is currently hung from the second sprocket 26. The shift sensor 88 outputs to the control unit 72 information related to the sprocket on which the chain 28 is currently hooked in the second sprocket 26. The control unit 72 defines the current gear ratio based on the information output from the speed change sensor 88. The shift sensor 88 may output information on the state of the transmission 50 to the control unit 72. In this case, the control unit 72 determines the sprocket on which the chain 28 is currently engaged among the second sprockets 26 based on the information regarding the state of the transmission 50 output from the transmission sensor 88 and determines the current gear ratio. Define. A table in which each sprocket of the second sprocket 26 is associated with a gear ratio may be stored in the storage unit 74. In this case, the control unit 72 defines the current gear ratio with reference to a table in which each sprocket of the second sprocket 26 is associated with the gear ratio. When the first sprocket 24 includes a plurality of sprockets and the second sprocket 26 includes a plurality of sprockets, for example, the storage unit 74 includes each sprocket of the first sprocket 24 and each sprocket of the second sprocket 26; A table in which the gear ratio is associated may be stored.

  The control device 70 includes a control unit 72. Control device 70 further includes a storage unit 74. The control device 70 is incorporated in the bicycle 10.

  Control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 72 may include one or more microcomputers. When the control unit 72 includes a plurality of microcomputers, the plurality of microcomputers may be arranged in different components.

  The storage unit 74 stores information used for each control program and each control process. The storage unit 74 includes a volatile storage medium such as a RAM (Random Access Memory) and a non-volatile storage medium such as a ROM (Read Only memory), a flash memory, and a hard disk. In the control unit 72, the storage unit 74 stores specification information related to the specifications of the rotating body. The specification information includes information related to the circumference of the wheel 15 and information related to the number of teeth of each of the first sprocket 24 and the second sprocket 26. In the present embodiment, the specification information includes information related to the circumference of the drive wheel 17 and information related to the number of teeth of each of the first sprocket 24 and the second sprocket 26. The specification information stored in the storage unit 74 can be rewritten. The storage unit 74 stores specification information in a changeable manner. In the present embodiment, the specification information stored in the storage unit 74 is input in advance by the user of the bicycle 10. The information regarding the circumference of the wheel 15 may include any information of the circumference of the wheel 15, the radius of the wheel 15, and the diameter of the wheel 15. The information regarding the circumference of the drive wheel 17 may include any information of the circumference of the drive wheel 17, the radius of the drive wheel 17, and the diameter of the drive wheel 17. The specification information stored in the storage unit 74 can be changed, for example, by at least one of the operation unit 92 provided in the bicycle 10 and an external device. The operation unit 92 is provided on the handlebar of the bicycle 10, for example. When inputting specification information by an external device, the control device 70 includes an interface unit. The interface unit includes at least one of a wired communication unit and a wireless communication unit. The external device is configured to communicate with the control device 80 by wire or wireless via the interface unit. The external device includes, for example, a smartphone, a tablet computer, and a personal computer. When the specification information is stored in the storage unit 74, the control unit 72 is shifted to the setting mode by the operation unit 92 or an external device. When the control unit 72 shifts to the setting mode, the control unit 72 controls the storage unit 74 to store the specification information input from the operation unit 92 or the external device in the storage unit 74.

  The control unit 72 controls the motor 42. The controller 72 preferably controls the motor 42 in accordance with the human power driving force and the vehicle speed input to the bicycle 10. In the present embodiment, the bicycle 10 is provided with a driving force sensor 89 for detecting a human driving force. The control unit 72 controls the motor 42 so that the assist force by the motor 42 with respect to the human driving force becomes a predetermined ratio. The ratio of the assist force by the motor 42 to the manpower driving force is described as an assist ratio. The control unit 72 stops assisting by the motor 42 when the vehicle speed is equal to or higher than a predetermined speed. Information relating to the predetermined ratio and information relating to the predetermined speed are stored in the storage unit 74. The control unit 72 controls the motor 42 according to the first value calculated based on the specification information and the rotation state of the rotating body obtained using the first sensor 80. The control unit 72 stops the supply of power to the motor 42 by controlling, for example, the drive circuit 44 according to the first value. In the present embodiment, when the first value exceeds a predetermined speed, the control unit 72 controls the drive circuit 44 to stop the supply of power to the motor 42. The predetermined speed is not particularly limited, but is, for example, 24 km / h or 45 km / h. Drive circuit 44 includes an inverter. The first value is a first speed or a third speed described later.

  The control unit 72 controls the transmission 50 based on the shift signal from the shift operation unit 90. The control unit 72 and the speed change operation unit 90 are connected so as to be communicable by wire or wirelessly. The speed change operation unit 90 preferably includes a first operation switch operated to shift up and a second operation switch operated to shift down. When the upshift signal is input from the speed change operation unit 90, the control unit 72 operates the actuator 52 of the transmission 50 so as to increase the speed ratio. When the shift down signal is input from the speed change operation unit 90, the control unit 72 operates the actuator 52 of the transmission 50 so that the speed ratio is reduced.

The control unit 72 is based on the specification information, the rotation state of the rotating body acquired using the first sensor 60, and the traveling information of the bicycle 10 acquired using the second sensor 86. Detect deficiencies in specification information. The deficiency in the specification information includes, for example, at least one of the following conditions (1) to (4).
(1) The information about the circumference of the wheel 15 is different from the actual circumference of the wheel 15.
(2) Information about the circumference of the drive wheel 17 is different from the actual circumference of the drive wheel 17.
(3) Information on the number of teeth of the first sprocket 24 is different from the actual number of teeth of the first sprocket 24.
(4) The information regarding the number of teeth of each second sprocket 26 is different from the actual number of teeth of the second sprocket 26.

  When the control unit 72 detects a deficiency in the specification information, the control unit 72 outputs a signal for causing the notification device 60 to output predetermined notification information. The control unit 72 is connected to the notification device 60 so as to be communicable by wire or wireless. The predetermined notification information is information for transmitting incomplete specification information to the passenger of the bicycle 10. When the notification device 60 includes the display device 62, the display device 62 displays predetermined notification information by an output signal from the control unit 72. The display device 62 may display predetermined notification information as characters, may be displayed as a graphic, or may be displayed by lighting or blinking a lamp. When the notification device 60 includes the sound generation device 64, the sound generation device 64 displays predetermined notification information with sound in accordance with an output signal from the control unit 72.

  With reference to FIG. 3, the alerting | reporting process performed by the control part 72 is demonstrated. This process is repeatedly executed at predetermined intervals while power is supplied to the control device 70.

  In step S11, the control unit 72 receives information from each of the sensors 80, 86, and 88 by receiving an output signal from each of the sensors 80, 86, and 88. In step S <b> 11, the control unit 72 acquires the second speed from the travel information of the bicycle 10 acquired using the second sensor 86. The second speed is the traveling speed of the bicycle 10 acquired using the second sensor 86. The second speed is an example of a second value relating to the traveling speed of the human-powered vehicle.

  Based on the rotation state of the drive wheel 17 and the information about the circumference of the drive wheel 17 acquired using the first rotation sensor 82 of the first sensor 80 in step S12, the control unit 72 Calculate the speed. The first speed is an example of a first value related to the traveling speed of the human-powered vehicle. For example, the control unit 72 calculates the first speed by multiplying the rotation speed of the drive wheel 17 by the circumference of the drive wheel 17. Further, in step 12, the control unit 72 includes information on the circumference of the drive wheel 17, the rotation state of the first sprocket 24 acquired using the second rotation sensor 84, and the speed change detected by the speed change sensor 88. The third speed is calculated based on the ratio. The third speed is an example of a first value related to the traveling speed of the human-powered vehicle. For example, the control unit 72 calculates the rotation speed of the drive wheel 17 by multiplying the rotation speed of the first sprocket 24 by the gear ratio, and calculates the third speed by multiplying the rotation speed of the drive wheel 17 by this. After completing Step S12, the control unit 72 proceeds to Step S13.

  In step S <b> 13, the control unit 72 calculates the difference between the first speed calculated in the previous step and the second speed acquired using the second sensor 86. After completing Step S13, the control unit 72 proceeds to Step S14.

  In step S14, the controller 72 determines whether or not the difference between the first speed and the second speed is outside the first range. The first range is an example of a predetermined range. When it is determined that the difference between the first speed and the second speed is within the first range, the control unit 72 proceeds to step S15. When the difference between the first speed and the second speed is within the first range, the control unit 72 can determine that there is no deficiency in the information related to the circumference of the drive wheel 17 in the specification information. When the controller 72 determines that the difference between the first speed and the second speed is outside the first range, the controller 72 proceeds to step S17. When the difference between the first speed and the second speed is outside the first range, the control unit 72 can determine that there is a deficiency in information regarding the circumference of the drive wheel 17 in the specification information. The first speed is a traveling speed calculated based on information about the circumference of the drive wheel 17 stored in advance in the storage unit 72, but the second speed is independent of information about the circumference of the drive wheel 17. This is the calculated traveling speed. If there is a deficiency in the information regarding the circumference of the drive wheel 17, a relatively large difference occurs between the first speed and the second speed. For this reason, when the difference between the first speed and the second speed is out of the first range, it can be determined that the information regarding the circumference of the drive wheel 17 is incomplete. The first range includes, for example, zero (0), a positive value, and a negative value. The difference between the first speed and the second speed may be an absolute value of the difference between the first speed and the second speed, in which case the first range includes zero (0) and a positive value. The first range is preferably set so as not to include errors caused by the detection accuracy of the first rotation sensor 82 and the second sensor 86. The first range may include only zero (0). In the present embodiment, the outside of the first range includes the upper limit value and the lower limit value of the first range, and the inside of the first range does not include the upper limit value and the lower limit value of the first range. Outside the first range does not include the upper limit and lower limit of the first range, and within the first range may include the upper limit and lower limit of the first range.

  In step S <b> 15, the control unit 72 calculates the difference between the third speed calculated in the previous step and the second speed acquired using the second sensor 86. After completing Step S15, the controller 72 proceeds to Step S16.

  In step S16, the controller 72 determines whether or not the difference between the third speed and the second speed is outside the second range. The second range is an example of a predetermined range. When the controller 72 determines that the difference between the third speed and the second speed is outside the second range, the controller 72 proceeds to step S17. When the difference between the third speed and the second speed is outside the predetermined range, the control unit 72 at least one of information on the number of teeth of the first sprocket 24 and information on the number of teeth of the second sprocket 26 in the specification information. Can be determined to be deficient. When the difference between the third speed and the second speed is within the second range, the control unit 72 ends the notification process. When the difference between the third speed and the second speed is within the second range, the control unit 72 includes information on the number of teeth of the first sprocket 24 and information on the number of teeth of the second sprocket 26 in the specification information. It can be determined that there is no deficiency in both. The speed ratio used for calculating the third speed is defined by the number of teeth of the first sprocket 24 and the number of teeth of the second sprocket 26 stored in advance in the storage unit 72. If at least one of the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 is incomplete in the specification information, a relatively large difference occurs between the third speed and the second speed. . Since step S16 is executed after step S14, when there is a relatively large difference between the third speed and the second speed, information on the number of teeth of the first sprocket 24 and the number of teeth of the second sprocket 26 are obtained. It can be determined that at least one of the information related to is incomplete. The second range includes, for example, zero (0), a positive value, and a negative value. The difference between the third speed and the second speed may be an absolute value of the difference between the third speed and the second speed, in which case the second range includes zero (0) and a positive value. The second range is preferably set so as not to include an error caused by detection accuracy of the second rotation sensor 84 and the second sensor 86. The second range may be the same as or different from the first range. In the present embodiment, the outside of the second range includes the upper limit value and the lower limit value of the second range, and the inside of the second range does not include the upper limit value and the lower limit value of the second range. Outside of the second range does not include the upper limit value and lower limit value of the second range, and within the second range may include the upper limit value and lower limit value of the second range.

  In step S17, the control unit 72 outputs a signal for causing the notification device 60 to output predetermined notification information. The notification information can include information having different contents when the process proceeds from step S13 to step S17 and when the process proceeds from step S16 to step S17. For example, when the process proceeds from step S13 to step S17, the notification information includes information indicating that there is a defect in information regarding the circumference of the drive wheel 17. For example, when the process proceeds from step S16 to step S17, the notification information includes information indicating that at least one of information regarding the number of teeth of the first sprocket 24 and information regarding the number of teeth of the second sprocket 26 is deficient. After executing the process of step S17, the notification process is terminated.

  According to the control device 70 of the present embodiment, the control unit 72 detects deficiencies in specification information based on the first speed, and then detects deficiencies in specification information based on the third speed. Thereby, it is determined whether there is a deficiency in information regarding the circumference of the drive wheel 17 or deficiency in at least one of the information regarding the number of teeth of the first sprocket 24 and the information regarding the number of teeth of the second sprocket 26. be able to. When the control device 70 informs the notification device 60 of the incomplete content, the passenger of the bicycle 10 can recognize the specification information to be corrected.

(Second Embodiment)
A control device 70 according to the second embodiment will be described with reference to FIGS. In the second embodiment, detailed description of the configuration common to the first embodiment is omitted. In the second embodiment, the same reference numerals as those in the first embodiment are assigned to configurations common to the first embodiment.

  The second embodiment is different from the first embodiment in that the bicycle 10 does not include the notification device 60. Further, the second embodiment differs from the first embodiment in that the control state of the electrical component 40, particularly the motor 42, is changed when a deficiency in specification information is detected by the control unit 72.

  With reference to FIG. 5, the control of the motor 42 by the controller 72 will be described. As in the first embodiment, the control unit 72 responds to the first value related to the traveling speed of the bicycle 10 calculated based on the specification information and the rotation state of the rotating body acquired using the first sensor 80. Then, the motor 42 is controlled. The first value is the first speed or the third speed described in the first embodiment. In the present embodiment, as shown in FIG. 5, the controller 72 controls the motor so that the assist force by the motor 42 with respect to the human driving force is constant until the first value reaches the third predetermined value. 42 is controlled. After the first value reaches the third predetermined value, the controller 72 gradually assists the motor 42 until the first value reaches the first predetermined value, as indicated by a dotted line in FIG. When the ratio is reduced and the first value is equal to or greater than the first predetermined value, the assist by the motor 42 is stopped. In the first control state, the control unit 72 stops assisting by the motor 42 when the first value is equal to or greater than the first predetermined value.

  If the specification information is incomplete, the first value cannot be calculated accurately. If the specification information is incomplete and the first value is calculated to be smaller than the actual speed of the bicycle 10, the assist force is generated even if the first value is greater than or equal to the first predetermined value. There is a possibility. In the second embodiment, when a deficiency in specification information is detected, the motor 42 is controlled in a second control state that is different from the first control state.

  In the second control state, the control unit 72 stops assist by the motor 42 when the first value is equal to or greater than a second predetermined value that is smaller than the first predetermined value. In the present embodiment, as shown in FIG. 5, the controller 72 controls the motor so that the assist force by the motor 42 with respect to the human driving force is constant until the first value reaches the third predetermined value. 42 is controlled. After the first value reaches the third predetermined value, the controller 72 gradually assists the motor 42 until the first value reaches the second predetermined value, as shown by the solid line in FIG. Reduce the ratio. When the first value is equal to or greater than a second predetermined value that is smaller than the first predetermined value, the controller 72 stops assist by the motor 42.

  With reference to the flowchart of FIG. 6, the control state change process executed by the control unit 72 will be described. This process is repeatedly executed at predetermined intervals while power is supplied to the control device 70.

  In step S21, the control unit 72 receives information from each of the sensors 80, 86, and 88 by receiving an output signal from each of the sensors 80, 86, and 88. In step S <b> 21, the control unit 72 acquires a second value from the travel information of the bicycle 10 acquired using the second sensor 86. The second value is the traveling speed of the bicycle 10 acquired using the second sensor 86. After completing Step S21, the controller 72 proceeds to Step S22.

  In step S <b> 22, the control unit 72 calculates a first value related to the traveling speed of the bicycle 10 that is calculated based on the specification information and the rotation state acquired by using the first sensor 80. The first value is the first speed or the third speed described in the first embodiment. In the present embodiment, since it is only necessary to detect that the specification information is incomplete, it is not necessary to calculate the first speed and the third speed, respectively. When the first speed is adopted as the first value, the control unit 72 determines the rotation state of the driving wheel 17 acquired by using the first rotation sensor 82 of the first sensor 80 and the driving wheel 17. The first speed is calculated on the basis of the information related to the perimeter. When the third speed is adopted as the first value, the control unit 72 uses the information about the circumference of the drive wheel 17 and the rotation state of the first sprocket 24 acquired using the second rotation sensor 84. And the third speed is calculated based on the speed ratio detected by the speed change sensor 88. After completing Step S22, the control unit 72 proceeds to Step S23.

  In step S <b> 23, the control unit 72 calculates the difference between the first value calculated in the previous step and the second value acquired using the second sensor 86.

    In step S24, the controller 72 determines whether or not the difference between the first value and the second value is outside a predetermined range. When the difference between the first value and the second value is within the predetermined range, the control unit 72 proceeds to step S25. When the difference between the first value and the second value is outside the predetermined range, the control unit 72 proceeds to step S26.

  In step S25, the control unit 72 sets the control state to the first control state. The control of the motor 42 in the first control state is performed by a process different from the flowchart of FIG. After executing the process of step S25, the control state changing process is terminated.

  In step S26, the control unit 72 sets the control state to the second control state. The control of the motor 42 in the second control state is performed by a process different from the flowchart of FIG. After executing the process of step S26, the control state changing process is terminated.

(Third embodiment)
With reference to FIG. 7, the control apparatus 70 of 3rd Embodiment is demonstrated. In the description of the present embodiment, detailed description of configurations common to the first embodiment is omitted. In the third embodiment, components common to the first embodiment are denoted by the same reference numerals as in the first embodiment.

  This embodiment is different from the first embodiment in that the bicycle 10 does not include the notification device 60. The present embodiment is different from the first and second embodiments in that when the deficiency in the specification information is detected by the control unit 72, the specification information in which the deficiency is detected is corrected.

  With reference to the flowchart of FIG. 7, the information correction process performed by the control part 72 is demonstrated. This process is repeatedly executed at predetermined intervals while power is supplied to the control device 70.

  The process of step S31 is the same as the process of step S11. When step S31 ends, the controller 72 proceeds to step S32.

  In step S <b> 32, the control unit 72 determines the first speed based on the rotation state of the rear wheel 18 acquired using the first rotation sensor 82 of the first sensor 80 and information on the circumference of the rear wheel 18. Is calculated. The first speed is an example of a first value related to the traveling speed of the human-powered vehicle. After completing Step S32, the controller 72 proceeds to Step S33. The process of step S33 is the same as the process of step S13. After completing Step S33, the control unit 72 proceeds to Step S34.

  The process of step S34 is the same as the process of step S14.

  If the controller 72 determines in step S34 that the difference between the first speed and the second speed is outside the first range, the controller 72 proceeds to step S35. If the controller 72 determines that the difference between the first speed and the second speed is within the predetermined range, the controller 72 proceeds to step S36.

  In step S <b> 35, the control unit 72 corrects information related to the circumference of the drive wheel 17 among the specification information stored in the storage unit 74. The control unit 72 corrects the specification information so that the difference between the first speed and the second speed is within the first range. For example, the control unit 72 calculates the circumference of the drive wheel 17 by dividing the second speed by the rotation speed of the drive wheel 17 acquired using the first rotation sensor 82. The control unit 72 corrects the information about the circumference of the drive wheel 17 stored in the storage unit 74 to the circumference of the drive wheel 17 calculated based on the second speed, and causes the storage unit 74 to store the information.

  In step S <b> 36, the control unit 72 includes information on the circumference of the drive wheel 17, the rotation state of the first sprocket 24 acquired using the second rotation sensor 84, and the speed ratio detected by the speed sensor 88. Based on the above, the third speed is calculated. When the process proceeds from step S35 to step S36, in step S36, information on the circumference of the drive wheel 17 corrected in step S35 is used. The third speed is an example of a first value related to the traveling speed of the human-powered vehicle. After completing Step S36, the control unit 72 proceeds to Step S37.

  The process of step S37 is the same as the process of step S15. After completing Step S37, the control unit 72 proceeds to Step S38.

  The process of step S38 is the same as the process of step S16. If the controller 72 determines in step S38 that the difference between the third speed and the second speed is outside the predetermined range, the controller 72 proceeds to step S39. When it is determined that the difference between the third speed and the second speed is within the predetermined range, the control unit 72 ends the information correction process.

  In step S39, the control unit 72 corrects at least one of the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 among the specification information stored in the storage unit 74. The control unit 72 corrects the specification information so that the difference between the third speed and the second speed is within the second range. For example, the control unit 72 calculates a gear ratio such that the difference between the third speed and the second speed is within the second range. Thereafter, the control unit 72 corrects at least one of the information related to the number of teeth of the first sprocket 24 and the information related to the number of teeth of the second sprocket 26 stored in the storage unit 74 so that the calculated gear ratio is obtained. And stored in the storage unit 74. After executing the process of step S39, the information correction process is terminated.

(Fourth embodiment)
With reference to FIG. 8 and FIG. 9, the control apparatus 70 of 4th Embodiment is demonstrated. In the description of the present embodiment, detailed description of configurations common to the first embodiment is omitted. In the fourth embodiment, components common to the first embodiment are denoted by the same reference numerals as in the first embodiment.

  As shown in FIG. 8, the present embodiment is different from the first to third embodiments in that the bicycle 10 does not include the speed change sensor 88 and the notification device 60. The present embodiment is different from the first to third embodiments in that the control unit 72 does not detect deficiencies in specification information.

  In the present embodiment, the control unit 72 includes the rotation state of the rotating body acquired using the first sensor 80 and the bicycle 10 acquired using the second sensor 86 different from the first sensor 80. Based on the speed, the specification information on the specification of the rotating body is acquired. In the present embodiment, the rotating body is the drive wheel 17, and the specification information regarding the specification of the rotating body includes the circumference of the drive wheel 17. The controller 72 acquires the specification information by calculating the circumference of the drive wheel 17. Specifically, the control unit 72 divides the second speed acquired using the second sensor 86 by the number of rotations of the driving wheel 17 acquired using the first rotation sensor 82, thereby driving the driving wheel 17. The perimeter of is calculated. The control unit 72 stores the acquired specification information in the storage unit 74.

  In the present embodiment, the control unit 72 controls the electrical component 40 based on the acquired specification information. For example, the control unit 72 calculates the fourth speed of the bicycle 10 by multiplying the calculated circumference of the drive wheel 17 by the rotation speed of the drive wheel 17. For example, the control unit 72 controls the motor 42 of the electrical component 40 based on the fourth speed. Similar to the control unit 72 of the first embodiment, the control unit 72 controls the motor 42 so that the assist force by the motor 42 with respect to the human driving force becomes a predetermined ratio. For example, the fourth speed is higher than the predetermined speed. Then, the assist by the motor 42 is stopped.

  The flowchart of FIG. 9 shows the specification information setting process of the motor 42 executed by the control unit 72 of the fourth embodiment. This process is executed when power is supplied to the control device 70, for example.

  In step S41, the control unit 72 determines whether or not the specification information is stored in the storage unit 74. In step S41, if the control unit 72 determines that the specification information is not stored in the storage unit 74, the control unit 72 proceeds to step S42. If the control unit 72 determines that the specification information is not stored in the storage unit 74, the control unit 72 proceeds to step S44. The process of step S42 is the same as the process of step S11. When step S42 ends, the control unit 72 proceeds to step S43.

  Based on the rotation state of the drive wheel 17 acquired using the first rotation sensor 82 and the second speed acquired using the second rotation sensor 84 in step S43, the control unit 72 The specification information regarding the circumference of the drive wheel 17 is acquired. When step S43 ends, the control unit 72 proceeds to step S44.

  In step S44, the control unit 72 stores the specification information in the storage unit 74 and ends the specification information setting process.

  When the specification information is not stored in the storage unit 74, the control unit 72 maintains the motor 42 in a stopped state. When the specification information is stored in the storage unit 74, the control unit 72 controls the motor 42 to be drivable.

(Fifth embodiment)
With reference to FIG. 10 and FIG. 11, the control apparatus 70 of 5th Embodiment is demonstrated. In the description of the fifth embodiment, the detailed description of the configuration common to the first embodiment is omitted. In the fifth embodiment, components common to the first embodiment are denoted by the same reference numerals as in the first embodiment.

  As shown in FIG. 10, the present embodiment is different from the first to fourth embodiments in that the bicycle 10 does not include the second sensor 86.

  In the present embodiment, the storage unit 74 stores information related to the number of teeth of the first sprocket 24 and information related to the number of teeth of the second sprocket 26 in advance.

  In the present embodiment, the control unit 72 calculates a third value related to the gear ratio based on the outputs of the first rotation sensor 82 and the second rotation sensor 84. Specifically, the control unit 72 is based on the rotation speed of the driving wheel 17 acquired using the first rotation sensor 82 and the rotation speed of the first sprocket 24 acquired using the second rotation sensor 84. Then, the third value is calculated. Since the second sprocket 26 is connected to the driving wheel 17, the rotational speed of the driving wheel 17 is equal to the rotational speed of the second sprocket 26. The control unit 72 calculates the ratio of the rotational speed of the rear wheel 18 to the rotational speed of the first sprocket 24 as a third value related to the gear ratio.

  In the present embodiment, the control unit 72 determines the third value relating to the transmission ratio calculated based on the outputs of the first rotation sensor 82 and the second rotation sensor 84, the number of teeth of the first sprocket 24, and the second number. When the difference from the fourth value relating to the gear ratio calculated based on the number of teeth of the sprocket 26 is outside the predetermined range, a signal for causing the notification device 60 to output predetermined notification information is output. The controller 72 calculates a fourth value related to the gear ratio based on the output based on the number of teeth of the first sprocket 24 and the number of teeth of the second sprocket 26. The number of teeth of the first sprocket 24 and the number of teeth of the second sprocket 26 are obtained based on the output of the speed change sensor 88, for example. The control unit 72 acquires the fourth value by defining the current gear ratio as in the first embodiment. The predetermined notification information includes information for transmitting to the passenger of the bicycle 10 that at least one of the information regarding the number of teeth of the first sprocket 24 and the information regarding the number of teeth of the second sprocket 26 is incomplete. If at least one of the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 is deficient, a relatively large difference occurs between the third value and the fourth value. For this reason, when the difference between the third value and the fourth value is outside the predetermined range, at least one of the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 is incomplete. Can be determined. The predetermined range includes, for example, zero (0), a positive value, and a negative value. The difference between the third value and the fourth value may be an absolute value of the difference between the third value and the fourth value. In this case, the predetermined range includes zero (0) and a positive value. Including. The predetermined range is preferably set so as not to include an error caused by the detection accuracy of the first rotation sensor 82 and the second rotation sensor 84. In the present embodiment, the outside of the predetermined range includes the upper limit value and the lower limit value of the predetermined range, and the predetermined range does not include the upper limit value and the lower limit value of the predetermined range. Outside the predetermined range, the upper limit value and lower limit value of the predetermined range are not included, and within the predetermined range, the upper limit value and lower limit value of the predetermined range may be included.

  The flowchart of FIG. 11 shows the notification process executed by the control unit 72 of the fourth embodiment. This process is repeatedly executed at predetermined intervals while the control device 70 is powered on.

  In step S51, the control unit 72 receives information from the sensors 80, 86, and 88 by receiving output signals from the sensors 80, 86, and 88. In step S <b> 51, the control unit 72 acquires a fourth value based on the output of the shift sensor 88.

  In step S52, the control unit 72 determines the rotation speed of the rear wheel 18 acquired using the first rotation sensor 82, the rotation state of the first sprocket 24 acquired using the second rotation sensor 84, and Based on the above, a third value related to the gear ratio is calculated.

  In step S <b> 53, the controller 72 calculates the difference between the calculated third value and the fourth value acquired using the shift sensor 88.

  In step S54, the controller 72 determines whether or not the difference between the third value and the fourth value is outside a predetermined range. When the difference between the third value and the fourth value is outside the predetermined range, the control unit 72 proceeds to step S55. When the difference between the third value and the fourth value is outside the predetermined range, it is determined that at least one of the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 is deficient. be able to. When the difference between the third value and the fourth value is within a predetermined range, the control unit 72 ends the notification process. When the difference between the third value and the fourth value is within a predetermined range, it is determined that both the information on the number of teeth of the first sprocket 24 and the information on the number of teeth of the second sprocket 26 are complete. Can do.

  In step S55, the control unit 72 outputs a signal for causing the notification device 60 to output predetermined notification information. After performing the process of step S55, the notification process is terminated.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and can be substituted without departing from the scope of the claims.

  For example, in each embodiment, the control device 70 includes the storage unit 74, but the control device 70 may not include the storage unit 74. In this case, a device other than the control device 70, for example, the first sensor 80 may have a storage unit, and the storage unit may be configured to store the specification information of the rotating body.

  In the first embodiment, the control unit 72 calculates the first speed and the third speed as the first values. However, as shown in FIG. 12, the first sensor 180 includes the calculation unit 182. Thus, the calculation unit 182 may calculate at least one of the first speed and the third speed as the first value. The first sensor 180 includes a calculation unit 182 in addition to the configuration of the first sensor 80. In this case, step S12 is omitted in the flowchart shown in FIG. Also in the second and third embodiments, the first sensor can be configured to calculate the first speed and the third speed as the first value. In this case, for the second embodiment, step S22 can be omitted in the flowchart shown in FIG. 6, and for the third embodiment, step S32 and step S36 can be omitted in the flowchart shown in FIG. it can.

  In the first to third embodiments described above, the speeds calculated from the detection results of the sensors 80, 86, and 88 are compared to detect deficiencies in the specification information. , 86, 88 may be calculated, and the calculated specification information may be compared with the specification information stored in the storage unit 74 or the first sensor 180.

  In the first to third embodiments, only deficiencies in the specification information regarding the driving wheel 17 out of the two wheels are detected. However, the present invention is not limited to this, and the rotation state of the front wheel 16 is detected by the first rotation sensor 82. Then, a deficiency in the specification information regarding the front wheel 16 may be detected. In the first to third embodiments, the rotation state of the driving wheel 17 is detected by the second rotation sensor 84, but the rotation state of the front wheel 16 may be detected by the second rotation sensor 84. In the fourth embodiment, the specification information about the drive wheels 17 is calculated. However, the specification information is not limited to this, and the specification information about the front wheels 16 may be calculated. In the fourth embodiment, the specification information related to the drive wheel 17 is calculated, but the specification information related to the front wheel 16 may be calculated instead of calculating the specification information related to the drive wheel 17.

  In each embodiment, the transmission 50 is operated by operation of an operation switch. However, the transmission 50 is not limited to this, and the transmission 50 is based on at least one of the acceleration of the bicycle 10, the vehicle speed, and the rotation speed of the crank. It may be configured to operate automatically. In this case, the control unit 72 controls the transmission 50 according to the output signal of the first sensor 80. The transmission 50 is included in the electrical component 40 if the transmission 50 operates automatically. The acceleration of the bicycle 10 includes acceleration in the traveling direction of the bicycle 10. The acceleration of the bicycle 10 can be detected by the acceleration sensor 86A of the second sensor 86. The vehicle speed can be calculated based on the specification information related to the specification of the rotating body and the rotational speed of the rotating body acquired using the first sensor 80. The storage unit 74 stores a shift threshold value related to at least one of the acceleration of the bicycle 10, the vehicle speed, and the rotation speed of the crank. The control unit 74 shifts when at least one of the acceleration of the bicycle 10, the vehicle speed, and the rotation speed of the crank exceeds a corresponding shift threshold value. The speed change threshold includes a first speed change threshold used when the speed change ratio is increased and a second speed change threshold used when the speed change ratio is reduced. For example, when at least one of the acceleration of the bicycle 10, the vehicle speed, and the rotation speed of the crank increases and exceeds the first shift threshold, the control unit 72 controls the transmission 50 so that the gear ratio increases. For example, when at least one of the acceleration of the bicycle 10, the vehicle speed, and the rotation speed of the crank decreases and exceeds the second shift threshold value, the control unit 72 controls the transmission 50 so that the speed ratio is decreased.

  When the transmission 50 is automatically operated, in the second embodiment, the control state of the shift control of the transmission 50 may be changed based on whether or not the specification information is deficient. For example, the shift threshold when the specification information is incomplete is set to be smaller than the shift threshold when the specification information is incomplete. The shift threshold when there is no deficiency in the specification information and the shift threshold when there is deficiency in the specification information may be stored in the storage unit 74 in advance. In the storage unit 74, only the shift threshold value when there is no deficiency in the specification information is stored in advance. When the specification information is deficient, the control unit 72 determines a predetermined value from the shift threshold value stored in the storage unit 74. The shift threshold value when the specification information is incomplete may be generated by subtracting.

  When the transmission 50 is automatically operated, in the fourth embodiment, the rotation state of the rotating body acquired using the first sensor 80 and the speed of the bicycle 10 acquired using the second sensor 86 are described. Based on the above, the specification information regarding the specification of the rotating body may be acquired, and the transmission 50 may be controlled based on the acquired specification information.

  In the first to fifth embodiments, the control device 70 is incorporated in the bicycle 10. However, the present invention is not limited thereto, and at least a part of the control unit 72 of the control device 70 is a portable type possessed by a passenger of the bicycle 10. The electronic device may be provided. In this case, each sensor 80, 86, 88, 180 and at least a part of the control unit 72 of the control device 70 are electrically connected wirelessly.

  In the first embodiment, the second rotation sensor 84 and the shift sensor 88 may be omitted. In this case, in the flowchart of FIG. 3, the process related to the third speed can be omitted, and for example, step S12, step S15, and step S16 can be omitted.

  In the first embodiment, the first rotation sensor 84 may be omitted. In this case, in the flowchart of FIG. 3, the process related to the first speed can be omitted, and for example, step S12, step S13, and step S14 can be omitted.

  In the second embodiment, the second rotation sensor 84 and the shift sensor 88 may be omitted. In this case, in the flowchart of FIG. 3, the process related to the third speed can be omitted, and for example, step S12, step S15, and step S16 can be omitted.

  In the third embodiment, the second rotation sensor 84 and the speed change sensor 88 may be omitted. In this case, in the flowchart of FIG. 7, the process related to the third speed can be omitted, and for example, step S36, step S37, step S38, and step S39 can be omitted.

  In the third embodiment, the first rotation sensor 84 may be omitted. In this case, in the flowchart of FIG. 7, processing related to the first speed can be omitted, and for example, step S32, step S33, step S34, and step S35 can be omitted.

  In 2nd Embodiment, the alerting | reporting apparatus 60 is provided and the control part 72 may make the alerting | reporting apparatus 60 alert | report the information which shows having corrected the specification information, when specification information is corrected.

  The processing of each flowchart is not repeatedly executed every predetermined period while power is supplied to the control device 70, but is supplied from the power supply to the control unit 72 until the control unit 72 is supplied with power. It may be executed only once, or may be executed when a predetermined operation is performed on the operation unit 92.

  In each embodiment, at least one of the drive circuit 44 and the drive circuit 54 may be included in the control unit 72.

  The above-described embodiments are merely examples, and the scope of the present invention should not be construed in a limited manner. The scope of the present invention is defined by the scope of the claims, and variations and modifications belonging to the equivalent scope of the claims are within the scope of the present invention.

10: Bicycle (human-powered vehicle), 16: Front wheel (rotating body, wheel), 18: Rear wheel (rotating body, wheel, driving wheel), 24: First sprocket (rotating body), 26: Second sprocket (rotating) Body), 28: chain, 40: electrical component, 42: motor, 50: transmission, 60: notification device, 62: display device, 64: sounding device, 70: control device, 72: control unit, 74: storage unit 80, 180: first sensor, 82: first rotation sensor, 84: second rotation sensor, 86: second sensor, 86A: position sensor, 86B: acceleration sensor, 88: shift sensor

Claims (26)

A control device used for a human-powered vehicle including a rotating body driven by a human-powered driving force and a first sensor for detecting a rotation state of the rotating body,
Specification information relating to the specification of the rotating body, the rotation state of the rotating body acquired using the first sensor, and the human-powered driving acquired using a second sensor different from the first sensor A control device including a control unit that outputs a signal for causing the notification device to output predetermined notification information when an inadequacy of the specification information is detected based on vehicle travel information. The travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle,
The control unit is configured to calculate a first value related to a traveling speed of the human-powered vehicle calculated based on the specification information and the rotation state, and a traveling speed of the human-powered vehicle acquired using the second sensor. 2. The control device according to claim 1, wherein when the difference between the second value and the second value is outside a predetermined range, a deficiency in the specification information is detected. The rotating body includes wheels of the human-powered vehicle,
The first sensor includes a first rotation sensor for detecting rotation of the wheel,
The specification information includes information related to the circumference of the drive wheel,
The control device according to claim 2, wherein the control unit calculates the first value based on a rotation state of the wheel and information on a circumference of the drive wheel. The rotating body includes a driving wheel of the human-powered vehicle, a first sprocket to which the human-powered driving force is input, a second sprocket that is connected to the driving wheel and rotates when the first sprocket rotates, Including
The first sensor includes a second rotation sensor for detecting a rotation state of the first sprocket,
The human-powered vehicle further includes a speed change sensor for detecting a speed change ratio defined by the first sprocket and the second sprocket,
The specification information includes information on the circumference of the drive wheel and information on the number of teeth of the first sprocket and the second sprocket,
The control unit calculates the first value based on information on a circumference of the drive wheel, a rotation state of the first sprocket, and a speed ratio detected by the speed sensor. Or the control apparatus of 3. At least one of the first sprocket and the second sprocket includes a plurality of sprockets,
The human powered vehicle includes a transmission configured to switch chains between the plurality of sprockets,
The control device according to claim 4, wherein the shift sensor is configured to detect a state of the transmission.   The control device according to claim 1, wherein the notification device includes at least one of a display device and a sound generation device. A control device used for a human-powered vehicle including a rotating body driven by a human driving force, a first sensor for detecting a rotation state of the rotating body, and an electrical component,
Specification information relating to the specification of the rotating body, the rotation state of the rotating body acquired using the first sensor, and the human-powered driving acquired using a second sensor different from the first sensor If the deficiency in the specification information is not detected based on the vehicle travel information, the electric component is controlled in the first control state. If the deficiency in the specification information is detected, the electric component A control device including a control unit that controls the second control state different from the first control state. The travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle,
The control unit is configured to calculate a first value related to a traveling speed of the human-powered vehicle calculated based on the specification information and the rotation state, and a traveling speed of the human-powered vehicle acquired using the second sensor. The control device according to claim 7, wherein a deficiency in the specification information is detected when a difference between the second value and the second value is outside a predetermined range. The electrical component includes a motor configured to assist in propulsion of the human powered vehicle;
The control device according to claim 8, wherein the control unit controls the motor according to the first value. The electrical component includes a motor configured to assist in propulsion of the human powered vehicle;
The control device according to claim 7, wherein the control unit controls the motor according to a first value related to a traveling speed of the human-powered vehicle calculated based on the specification information and the rotation state.   The controller stops the assist by the motor when the first value is equal to or greater than a first predetermined value in the first control state, and the first value in the second control state. The control device according to claim 9 or 10, wherein when the value becomes equal to or greater than a second predetermined value smaller than the first predetermined value, the assist by the motor is stopped. The rotating body includes wheels of the human-powered vehicle,
The first sensor includes a first rotation sensor for detecting rotation of the wheel,
The specification information includes information related to the circumference of the drive wheel,
The said control part is a control apparatus as described in any one of Claims 8-11 which calculates a said 1st value based on the rotation state of the said wheel, and the information regarding the circumference of the said driving wheel. The rotating body includes a driving wheel of the human-powered vehicle, a first sprocket to which the human-powered driving force is input, a second sprocket that is connected to the driving wheel and rotates when the first sprocket rotates, Including
The first sensor includes a second rotation sensor for detecting a rotation state of the first sprocket,
The human-powered vehicle further includes a speed change sensor for detecting a speed change ratio defined by the first sprocket and the second sprocket,
The specification information includes information on the circumference of the drive wheel and information on the number of teeth of the first sprocket and the second sprocket,
The said control part calculates the said 1st value based on the information regarding the circumference of the said driving wheel, the rotation state of a said 1st sprocket, and the transmission gear ratio detected by the said transmission sensor. The control apparatus as described in any one of -12. At least one of the first sprocket and the second sprocket includes a plurality of sprockets,
The human powered vehicle includes a transmission configured to switch chains between the plurality of sprockets,
The control device of claim 13, wherein the shift sensor is configured to detect a state of the transmission.   The control device according to claim 1, further comprising a storage unit that stores the specification information in a changeable manner. A control device used for a human-powered vehicle including a rotating body driven by a human driving force and a first sensor for detecting a rotation state of the rotating body,
A storage unit for storing specification information relating to the specification of the rotating body in a changeable manner;
The specification information, the rotation state of the rotating body acquired using the first sensor, and the travel information of the human-powered vehicle acquired using a second sensor different from the first sensor And a control unit including a control unit that corrects the specification information and stores the specification information in the storage unit when a deficiency in the specification information is detected. The travel information of the human-powered vehicle includes a travel speed of the human-powered vehicle,
The control unit is configured to calculate a first value related to a traveling speed of the human-powered vehicle calculated based on the specification information and the rotation state, and a traveling speed of the human-powered vehicle acquired using the second sensor. The control device according to claim 16, wherein a deficiency in the specification information is detected when a difference between the second value and the second value is outside a predetermined range.   The control device according to claim 17, wherein the control unit corrects the specification information so that a difference between the first value and the second value falls within the predetermined range. The rotating body includes wheels of the human-powered vehicle,
The specification information includes information on the circumference of the wheel,
The first sensor includes a first rotation sensor for detecting rotation of the wheel,
The said control part is a control apparatus as described in any one of Claim 17 or 18 which calculates a said 1st value based on the rotation state of the said wheel, and the information regarding the circumference of the said wheel. The rotating body includes a driving wheel of the human-powered vehicle, a first sprocket to which the human-powered driving force is input, a second sprocket that is connected to the driving wheel and rotates when the first sprocket rotates, Including
The first sensor includes a second rotation sensor for detecting a rotation state of the first sprocket,
The human-powered vehicle further includes a speed change sensor for detecting a speed change ratio defined by the first sprocket and the second sprocket,
The specification information includes information on the circumference of the drive wheel and information on the number of teeth of the first sprocket and the second sprocket,
The control unit is configured to control the first sprocket based on information about a circumference of the drive wheel, a rotation state of the first sprocket detected by the second rotation sensor, and a gear ratio detected by the transmission sensor. The control device according to claim 17, wherein a value of 1 is calculated. At least one of the first sprocket and the second sprocket includes a plurality of sprockets,
The human powered vehicle includes a transmission configured to switch chains between the plurality of sprockets,
The control device of claim 20, wherein the shift sensor is configured to detect a state of the transmission. A control device used for a human-powered vehicle including a rotating body driven by a human driving force, a first sensor for detecting a rotation state of the rotating body, and an electrical component,
The rotation based on the rotation state of the rotating body acquired using the first sensor and the speed of the human-powered vehicle acquired using a second sensor different from the first sensor. A control device including a control unit that acquires specification information related to a body specification and controls the electrical component based on the specification information. The rotating body includes wheels of the human-powered vehicle,
The control device according to claim 22, wherein the first sensor includes a first rotation sensor that detects a rotation state of the wheel.   The control device according to claim 22 or 23, wherein the electric component includes a motor capable of assisting propulsion of the human-powered vehicle.   The second sensor includes at least one of a position sensor for detecting a position of the human-powered vehicle and an acceleration sensor for detecting an acceleration of the human-powered vehicle. The control device according to item. To detect a rotation state of the first sprocket to which a manual driving force is input, a second sprocket that rotates when the first sprocket rotates, a drive wheel that is connected to the second sprocket, and the drive wheel. And a second rotation sensor for detecting a rotation state of the first sprocket.
Calculated based on the third value regarding the gear ratio calculated based on the outputs of the first rotation sensor and the second rotation sensor, the number of teeth of the first sprocket, and the number of teeth of the second sprocket. A control device including a control unit that outputs a signal for causing the notification device to output predetermined notification information when the difference from the fourth value relating to the transmission ratio is outside the predetermined range.

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