Control device for a human-powered vehicle and assembly for a human-powered vehicle

Abstract

The present application provides a control device for a human-powered vehicle and an assembly for a human-powered vehicle, which can appropriately control a plurality of assemblies. The control device for a human-powered vehicle includes a main control unit configured to control a first assembly and a second assembly, the first assembly being configured to be controlled by at least one of the main control unit and a first sub-control unit, the main control unit being configured to, in a case where the first assembly is controlled by the first sub-control unit, restrict an operation of at least one of the first assembly and the second assembly based on a first operation signal transmitted from the first sub-control unit.

Description

Technical Field

[0001] This disclosure relates to control devices and components for human-powered vehicles. Background Technology

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 has multiple components.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5211102 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] One of the purposes of this disclosure is to provide a control device and components for a human-powered vehicle that can properly control multiple components.

[0008] Technical solutions for solving the problem

[0009] The control device according to a first aspect of the present disclosure is a control device for a manually driven vehicle. The control device includes a main control unit configured to control a first component and a second component. The first component is configured to be controlled by at least one of the main control unit and a first sub-control unit. The main control unit is configured to restrict the operation of at least one of the first component and the second component based on a first action signal sent from the first sub-control unit when the first component is controlled by the first sub-control unit.

[0010] According to the control device of the first aspect, when the first component is controlled by the first sub-control unit, the main control unit can restrict the operation of at least one of the first component and the second component based on the first action signal sent from the first sub-control unit, and thus can appropriately control multiple components.

[0011] In the control device according to the first aspect of the present disclosure, the main control unit is configured to allow the operation of the second component when the first component completes its operation, or when the first component begins its operation and a first period has elapsed, when the first component is operated by the first sub-control unit.

[0012] According to the control device of the second aspect, when the first component completes its operation, or when the first component starts to operate and a first period has elapsed after the first component is operated by the first sub-control unit, the main control unit allows the operation of the second component, thereby enabling the second component to operate appropriately.

[0013] In a control device according to the first or second aspect of the present disclosure, when the operation of the first component is completed, the first sub-control unit sends a first completion signal to the main control unit, and the main control unit is configured to allow the operation of the second component based on the first completion signal.

[0014] According to the control device of the third aspect, when the operation of the first component is completed, the first sub-control unit sends a first completion signal to the main control unit, so that the main control unit can appropriately control the second component based on the first completion signal.

[0015] In the control device of the fourth aspect according to any one of the first to third aspects of the present disclosure, the second component is configured to be controlled by at least one of the main control unit and the second sub-control unit, wherein the main control unit is configured to restrict the operation of at least one of the first component and the second component based on a second action signal sent from the second sub-control unit when the second component is controlled by the second sub-control unit.

[0016] According to the control device of the fourth aspect, when the main control unit controls the second component by the second sub-control unit, it can limit the operation of at least one of the first component and the second component based on the second action signal sent from the second sub-control unit, and thus can appropriately control multiple components.

[0017] In the control device according to the fourth aspect of the present disclosure, the main control unit is configured to allow the operation of the first component when the second component completes its operation, or when the second component begins its operation and a second period has elapsed, in the case where the second component is operated by the second sub-control unit.

[0018] According to the control device of the fifth aspect, when the second component completes its operation, or when the second component is operated by the second sub-control unit and a second period has elapsed since the second component begins to operate, the main control unit allows the operation of the first component to be performed, thereby appropriately enabling the first component to operate.

[0019] In the control device according to the fourth or fifth aspect of the present disclosure, when the second component completes its operation, the second sub-control unit sends a second completion signal to the main control unit, the main control unit being configured to allow the operation of the first component based on the second completion signal.

[0020] According to the control device of the sixth aspect, when the operation of the second component is completed, the second sub-control unit sends a second completion signal to the main control unit, so that the main control unit can appropriately control the first component based on the second completion signal.

[0021] In the control device according to the fifth or sixth aspect of the present disclosure, the main control unit is configured to send a second component restriction signal to the second sub-control unit to start restricting the operation of the second component when restricting the operation of the second component.

[0022] According to the control device of the seventh aspect, the second sub-control unit is able to appropriately restrict the operation of the second component based on the second component restriction signal sent from the main control unit.

[0023] In the control device according to the seventh aspect of the present disclosure, there is also a second sub-control unit, which is configured to control the second component to start operating when a second component operation condition for starting the operation of the second component is met and no second component restriction signal is received from the main control unit.

[0024] According to the control device of the eighth aspect, the second sub-control unit can immediately start the operation of the second component when the operating conditions of the second component are met and no restriction signal of the second component is received.

[0025] In the control device according to the eighth aspect of the present disclosure, the second sub-control unit is configured to control the second component in such a way that the second component does not start operating when the second component operation condition is met and a second component restriction signal is received from the main control unit.

[0026] According to the control device of the ninth aspect, when the operating conditions of the second component are met and a limiting signal for the second component is received, the second sub-control unit can limit the operation of the second component.

[0027] In the control device of the tenth aspect according to any one of the first to ninth aspects of the present disclosure, the main control unit is configured to send a first component restriction signal to the first sub-control unit to start restricting the operation of the first component when restricting the operation of the first component.

[0028] According to the control device of the tenth aspect, the first sub-control unit is able to appropriately limit the operation of the first component based on the first component limit signal sent from the main control unit.

[0029] In the control device according to the eleventh aspect of the tenth aspect of the present disclosure, the first sub-control unit is further provided, the first sub-control unit being configured to control the first component to start operation in such a manner as to start the first component operation when a first component operation condition for starting the operation of the first component is met and no first component restriction signal is received from the main control unit.

[0030] According to the control device of the eleventh aspect, the first sub-control unit can immediately start the operation of the first component when the operation conditions of the first component are met and no restriction signal of the first component is received.

[0031] In the control device according to the eleventh aspect of the present disclosure, the first sub-control unit is configured to control the first component in such a way that the first component does not start operating when the first component operation condition is met and a first component restriction signal is received from the main control unit.

[0032] According to the control device of the twelfth aspect, when the operating conditions of the first component are met and a first component restriction signal is received, the first sub-control unit can restrict the operation of the first component.

[0033] In the control device according to the eleventh or twelfth aspect of this disclosure, the first sub-control unit is configured to switch between a first control state and a second control state, and when the control state is the first control state, when the operation condition of the first component is met, to send the first action signal to the main control unit, and when the control state is the second control state, when the operation condition of the first component is met, not to send the first action signal to the main control unit, but to control the first component in a manner that causes the first component to start operating.

[0034] According to the control device of the thirteenth aspect, when the control state is a first control state, the main control unit can restrict the operation of at least one of the first component and the second component. According to the control device of the thirteenth aspect, when the control state is a second control state, when the operation condition of the first component is met, the first operation signal is not sent to the main control unit, but the first component can be started to operate, thereby reducing the communication load in the main control unit and the first sub-control unit.

[0035] In the control device according to the thirteenth and fourteenth aspects of the present disclosure, the main control unit sends a switching signal for switching the control state of the first sub-control unit between the first control state and the second control state to the first sub-control unit, and the first sub-control unit is configured to switch the control state between the first control state and the second control state based on the switching signal.

[0036] According to the control device of the fourteenth aspect, the control state can be appropriately switched between the first control state and the second control state based on the switching signal.

[0037] In the control device of the fifteenth aspect according to any one of the first to fourteenth aspects of the present disclosure, the first sub-control unit is disposed on the first component.

[0038] According to the control device of the fifteenth aspect, the first sub-control unit is provided in the first component, thereby simplifying the electrical wiring.

[0039] In the control device of the sixteenth aspect according to any one of the first to fifteenth aspects of the present disclosure, at least one of the first component and the second component includes a speed change device.

[0040] According to the control device in the sixteenth aspect, the main control unit can appropriately control the transmission device.

[0041] In the control device of the seventeenth aspect according to any one of the first to fifteenth aspects of this disclosure, at least one of the first component and the second component includes a motor that imparts propulsion to a human-powered vehicle.

[0042] According to the control device in the seventeenth aspect, the main control unit can appropriately control the motor.

[0043] In the control device of the eighteenth aspect according to any one of the first to fifteenth aspects of this disclosure, the first component and the second component are configured to be supplied with power from a battery via a drive unit including an electric motor that imparts propulsion to a human-powered vehicle.

[0044] According to the control device of the eighteenth aspect, power from the battery can be supplied to the first component and the second component via the drive unit, so that the first component and the second component can be operated by the power of a single battery with a large capacity.

[0045] In the control device according to the eighteenth and nineteenth aspects of this disclosure, the main control is provided in a component for a manually driven vehicle, the component for a manually driven vehicle being communicatively connected to the drive unit and the first component and the second component.

[0046] According to the control device of the nineteenth aspect, the main control unit is able to communicate with both the drive unit and the first and second components, so that the main control unit can appropriately control the first and second components.

[0047] The component according to the twentieth aspect of this disclosure is a component for a human-powered vehicle, having a control device according to any one of the first to sixteenth aspects.

[0048] Based on the components in aspect 20, multiple components can be appropriately controlled.

[0049] In the components of the twentieth aspect and the twenty-first aspect of the present disclosure, the first component and the second component are configured to be supplied with power from a battery via a drive unit including an electric motor that imparts propulsion to a human-powered vehicle, and have a connection portion that can communicatively connect the drive unit to the first component and the second component.

[0050] According to the component in aspect 21, by having a component having a connection part that can communicate with both the drive unit and the first component and the second component, multiple components can be appropriately controlled.

[0051] Invention Effects

[0052] The control device and components for a human-powered vehicle disclosed herein can appropriately control multiple components. Attached Figure Description

[0053] Figure 1 This is a side view of a human-powered vehicle, including the control device and components for the human-powered vehicle according to the embodiments.

[0054] Figure 2 It means Figure 1 A block diagram of the electrical structure of a human-powered vehicle.

[0055] Figure 3 It is by Figure 2 The flowchart shows the process executed by the main control unit to switch control states between the first control state and the second control state.

[0056] Figure 4 It is by Figure 2 The flowchart shows the process executed by the first sub-control unit to switch control states between the first control state and the second control state.

[0057] Figure 5 It is by Figure 2 The first part of the flowchart of the process executed by the main control unit to control the first and second components.

[0058] Figure 6 It is by Figure 2 The second part of the flowchart describes the process executed by the main control unit to control the first and second components.

[0059] Figure 7 It is by Figure 2 The flowchart shows the control process of the first component executed by the first sub-control unit.

[0060] Figure 8 It is by Figure 2 The flowchart shows the control process of the second component executed by the second sub-control unit.

[0061] Figure 9 It is by Figure 2 The flowchart shows the process executed by the main control unit to control the first and second components in response to the occurrence of an anomaly.

[0062] Figure 10 It is by Figure 2 The flowchart shows the process executed by the first sub-control unit to control the first and second components in response to the occurrence of an anomaly.

[0063] Figure 11 It is by Figure 2 The flowchart shows the process of updating identification information executed by the main control unit.

[0064] Explanation of reference numerals in the attached figures

[0065] 10…human-powered vehicle, 34…drive unit, 34A…motor, 36…battery, 40…component, 42…connector, 44…first component, 46…second component, 50…speed changer, 60…control device, 62…main control unit, 70…first sub-control unit, 76…second sub-control unit. Detailed Implementation

[0066] <Implementation Method>

[0067] Reference Figures 1 to 11 The control device 60 and the components 40 for a human-powered vehicle disclosed herein will be described.

[0068] A human-powered vehicle has at least one wheel and is a means of transportation capable of being propelled by at least human power. Human-powered vehicles include, for example, various types of bicycles such as mountain bikes, road bikes, city bikes, freight bikes, hand-cranked bicycles, and recumbent bicycles. The number of wheels a human-powered vehicle has is not limited. Human-powered vehicles also include, for example, one-wheeled vehicles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human power. Human-powered vehicles include not only those propelled by human power but also electric bicycles (E-bikes) that use the power of an electric motor for propulsion. Electric bicycles include electric-assisted bicycles that are propelled with the assistance of an electric motor. Hereinafter, in the embodiments, human-powered vehicles will be described as electric-assisted bicycles.

[0069] like Figure 1As shown, the human-powered vehicle 10 has a crank 12 that is driven by human power. The human-powered vehicle 10 also has wheels 14 and a chassis 16. The wheels 14 include a rear wheel 14A and a front wheel 14B. The chassis 16 includes a frame 18, a front fork 20, handlebars 22, and axle 24. The chassis 16 may also include at least one of a suspension and a cargo box. The frame 18 includes, for example, at least one of a top tube, down tube, seat post, seatpost, and chainstay. The chassis 16 also includes a seatpost mounted on the seat post.

[0070] The crank 12 includes an input shaft 12A rotatable relative to the frame 18, and crank arms 12B and 12C respectively disposed at the axial ends of the input shaft 12A. The input shaft 12A is a crankshaft. Pedals 26A and 26B are respectively connected to the crank arms 12B and 12C.

[0071] The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 is connected to the rear wheel 14A via a drive mechanism 28. The drive mechanism 28 includes a first rotating body 30 connected to an input shaft 12A. The input shaft 12A can be rotatably connected to the first rotating body 30, or it can be connected via a first one-way clutch. The first one-way clutch is configured to cause the first rotating body 30 to rotate forward when the crank 12 has rotated forward, and to allow relative rotation between the crank 12 and the first rotating body 30 when the crank 12 has rotated backward. The first rotating body 30 includes a sprocket, pulley, or bevel gear. The drive mechanism 28 also includes a second rotating body 32 and a connecting member 28A. The connecting member 28A transmits the rotational force of the first rotating body 30 to the second rotating body 32. The connecting member 28A includes, for example, a chain, belt, or shaft.

[0072] The second rotating body 32 is connected to the rear wheel 14A. The second rotating body 32 includes a sprocket, pulley, or bevel gear. Preferably, a second one-way clutch is provided between the second rotating body 32 and the rear wheel 14A. The second one-way clutch is configured such that when the second rotating body 32 rotates forward, it causes the rear wheel 14A to rotate forward, and when the second rotating body 32 rotates backward, it allows relative rotation between the second rotating body 32 and the rear wheel 14A.

[0073] The front wheel 14B is mounted to the frame 18 via the front fork 20. The handlebars 22 are connected to the front fork 20 via axle 24. In this embodiment, the rear wheel 14A is connected to the crank 12 via a drive mechanism 28. At least one of the rear wheel 14A and the front wheel 14B can be connected to the crank 12 via the drive mechanism 28.

[0074] like Figure 1 and Figure 2As shown, for example, the manually driven vehicle 10 includes a drive unit 34. The drive unit 34 includes a motor 34A that imparts propulsion to the manually driven vehicle 10. The motor 34A is, for example, a brushless motor. The motor 34A is configured to transmit rotational force to at least one of the power transmission path of the manually driven force from the pedals 26A, 26B to the rear wheel 14A and the front wheel 14B. The power transmission path of the manually driven force from the pedals 26A, 26B to the rear wheel 14A also includes the rear wheel 14A. In this embodiment, the motor 34A is disposed on the frame 18 of the manually driven vehicle 10 and configured to transmit rotational force to the first rotating body 30.

[0075] The drive unit 34 also includes a housing 34B. The motor 34A is disposed within the housing 34B of the drive unit 34. The housing 34B is disposed on the frame 18. The housing 34B is, for example, detachably mounted on the frame 18. A reducer connected to the output shaft of the motor 34A may also be disposed on the drive unit 34. In this embodiment, the housing 34B supports the input shaft 12A for rotatability. In this embodiment, a third one-way clutch is preferably provided in the power transmission path between the motor 34A and the input shaft 12A, which suppresses the transmission of rotational force of the crank 12 to the motor 34A when the input shaft 12A is rotated in the direction of forward movement of the manually driven vehicle 10. If the motor 34A is disposed in at least one of the rear wheel 14A and the front wheel 14B, the motor 34A may also be disposed on the wheel hub, thus forming a hub motor together with the wheel hub.

[0076] For example, the drive unit 34 includes a control unit. The control unit includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device included in the control unit may include, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing device included in the control unit may also be located in multiple separate locations. The control unit may also include one or more microcomputers.

[0077] For example, the control unit also includes a storage unit. The storage unit stores a pre-determined control program and information used for control processing. The storage unit includes, for example, non-volatile memory and volatile memory. Non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory includes, for example, RAM (Random Access Memory).

[0078] For example, the human-powered vehicle 10 also includes a battery 36. For example, battery 36 is a battery. Battery 36 includes one or more battery elements. Battery elements include rechargeable batteries. For example, battery 36 is configured to supply power to the control unit of drive unit 34. For example, battery 36 can communicate with the control unit of drive unit 34 via wired or wireless means, such as power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0079] For example, the human-powered vehicle 10 has a control system for a human-powered vehicle. The control system for the human-powered vehicle includes a component 40, a first component 44, and a second component 46 for the human-powered vehicle. For example, the component 40 for the human-powered vehicle includes a control device 60. For example, the component 40 for the human-powered vehicle includes at least a portion of the control device 60. For example, the first component 44 and the second component 46 are configured to be supplied with power from the battery 36 via a drive unit 34. For example, the component 40 for the human-powered vehicle communicatively connects the drive unit 34 to the first component 44 and the second component 46. For example, the component 40 includes a connection portion 42 that communicatively connects the drive unit 34 to the first component 44 and the second component 46. For example, the first component 44 and the second component 46 are configured to be supplied with power from the battery 36 via the drive unit 34, which includes a motor 34A that provides propulsion to the human-powered vehicle 10.

[0080] For example, the connector 42 is configured to be connected to the drive unit 34 via a first cable. For example, the first cable is detachably mounted to the connector 42. For example, the connector 42 is configured to be connected to the first component 44 and the second component 46 via a second cable. For example, the second cable is detachably mounted to the connector 42.

[0081] For example, at least one of the first component 44 and the second component 46 includes a transmission device 50. In this embodiment, the first component 44 includes a transmission device 50, and the second component 46 includes a transmission device 50.

[0082] For example, the transmission device 50 is provided in the transmission path of the human-powered drive in the manual drive vehicle 10, and is configured to change the gear ratio. The transmission device 50 has multiple gears. The gear ratio corresponding to each gear is different. The number of gears is, for example, in the range of 3 to 30. The gear ratio is the ratio of the rotational speed of the drive wheel to the rotational speed of the input shaft 12A. In this embodiment, the drive wheel is the rear wheel 14A.

[0083] For example, the transmission 50 includes at least one of a first transmission 50A and a second transmission 50B. For example, the second transmission 50B is located closer to the drive wheel than the first transmission 50A in the transmission path of human-powered drive. For example, the first transmission 50A is located near the crank 12, and the second transmission 50B is located near the drive wheel.

[0084] The transmission 50 includes at least one of, for example, a gearbox and an internal transmission. When the transmission 50 includes an internal transmission, the internal transmission is, for example, located at the wheel hub of the rear wheel 14A. The internal transmission may also include a CVT (Continuously Variable Transmission).

[0085] When the first transmission 50A includes a gearbox, for example, the first transmission 50A includes a front gearbox. When the second transmission 50B includes a gearbox, for example, the second transmission 50B includes a rear gearbox.

[0086] When the first transmission 50A includes a front gearbox, the first transmission 50A includes a first rotating body 30, which includes a plurality of front sprockets. When the second transmission 50B includes a rear gearbox, the second transmission 50B includes a second rotating body 32, which includes a plurality of rear sprockets. The transmission 50 includes an electric gearbox configured to operate via an actuator. The actuator includes an electric actuator. The actuator includes, for example, an electric motor. The relationship between the gear ratio, the rotational speed of the drive wheel, and the rotational speed of the input shaft 12A is expressed by equation (1).

[0087] Equation (1): Gear ratio = Speed ​​of drive wheel / Speed ​​of input shaft

[0088] The rotational speed of the drive wheel and the rotational speed of the input shaft 12A can also be expressed as revolutions per unit time. Alternatively, the rotational speed of the drive wheel can be replaced by the number of teeth on the front sprocket, and the rotational speed of the input shaft 12A can be replaced by the number of teeth on the rear sprocket.

[0089] For example, one of the first component 44 and the second component 46 includes a first transmission 50A, and the other of the first component 44 and the second component 46 includes a second transmission 50B. For example, one of the first component 44 and the second component 46 includes a front transmission, and the other of the first component 44 and the second component 46 includes a rear transmission. One of the first component 44 and the second component 46 may also include a transmission, and the other of the first component 44 and the second component 46 may include an internal transmission. In this embodiment, the first component 44 includes the first transmission 50A, and the second component 46 includes the second transmission 50B. In this embodiment, the first component 44 includes a front transmission, and the second component 46 includes a rear transmission.

[0090] Component 40 is configured separately from drive unit 34. For example, component 40 is provided independently of drive unit 34. For example, component 40 is configured to perform power line communication (PLC) with first component 44 and second component 46. Component 40 may also be configured to perform CAN communication with first component 44 and second component 46.

[0091] For example, component 40 is configured to supply power to first component 44 and second component 46. First component 44 and second component 46 may also be connected in parallel with component 40. For example, component 40 is configured to receive power from battery 36. For example, component 40 is configured to receive power from battery 36 via drive unit 34.

[0092] For example, component 40 communicates with first component 44 and second component 46 via a first communication standard. For example, component 40 and drive unit 34 communicate via a second communication standard. The first communication standard may be different from or the same as the second communication standard. For example, the first communication standard is one of Power Line Communication (PLC), CAN, and UART. For example, the second communication standard is one of Power Line Communication (PLC), CAN, and UART.

[0093] The control device 60 includes a main control unit 62. For example, the main control unit 62 is located in the component 40 of a manually driven vehicle. For example, the main control unit 62 is located within the housing of the component 40. The main control unit 62 includes a processing unit that executes a predetermined control program. The processing unit included in the main control unit 62 may include, for example, a CPU or an MPU. The processing unit included in the main control unit 62 may also be located in multiple mutually separate locations. The main control unit 62 may also include one or more microcomputers.

[0094] For example, the control device 60 also includes a main storage unit 64. For example, the main storage unit 64 is disposed in the component 40 of the manually driven vehicle. For example, the main storage unit 64 is disposed in the housing of the component 40. The main storage unit 64 stores a predetermined control program and information used in the control processing. The main storage unit 64 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM.

[0095] For example, the control device 60 also includes a first main communication unit 66. For example, the first main communication unit 66 is disposed in the component 40 for a manually driven vehicle. For example, the first main communication unit 66 is disposed in the housing of the component 40. The first main communication unit 66 transmits and receives signals corresponding to a first communication standard.

[0096] For example, the control device 60 also includes a second main communication unit 68. For example, the second main communication unit 68 is provided in the component 40 for a manually driven vehicle. For example, the second main communication unit 68 is provided in the housing of the component 40. The second main communication unit 68 transmits and receives signals corresponding to a second communication standard.

[0097] For example, the control device 60 further includes a first sub-control unit 70. For example, the first sub-control unit 70 is disposed within the first component 44. For example, the first sub-control unit 70 is disposed within the housing of the first component 44. The first sub-control unit 70 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the first sub-control unit 70 may include, for example, a CPU or an MPU. The arithmetic processing unit included in the first sub-control unit 70 may also be disposed in multiple mutually separate locations. The first sub-control unit 70 may also include one or more microcomputers.

[0098] For example, the control device 60 further includes a first sub-storage unit 72. For example, the first sub-storage unit 72 is disposed in the first component 44. For example, the first sub-storage unit 72 is disposed in the housing of the first component 44. The first sub-storage unit 72 stores a predetermined control program and information used in the control processing. The first sub-storage unit 72 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM.

[0099] For example, the control device 60 also includes a first sub-communication unit 74. For example, the first sub-communication unit 74 is disposed in the first component 44. For example, the first sub-communication unit 74 is disposed in the housing of the first component 44. The first sub-communication unit 74 transmits and receives signals corresponding to the second communication standard with the second main communication unit 68.

[0100] For example, the control device 60 further includes a second sub-control unit 76. For example, the second sub-control unit 76 is disposed within the second component 46. For example, the second sub-control unit 76 is disposed within the housing of the second component 46. The second sub-control unit 76 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the second sub-control unit 76 may include, for example, a CPU or an MPU. The arithmetic processing unit included in the second sub-control unit 76 may also be disposed in multiple mutually separate locations. The second sub-control unit 76 may also include one or more microcomputers.

[0101] For example, the control device 60 further includes a second sub-storage unit 78. For example, the second sub-storage unit 78 is disposed in the second component 46. For example, the second sub-storage unit 78 is disposed in the housing of the second component 46. The second sub-storage unit 78 stores a predetermined control program and information used in the control processing. The second sub-storage unit 78 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM, EPROM, EEPROM, and flash memory. The volatile memory includes, for example, RAM.

[0102] For example, the control device 60 also includes a second sub-communication unit 80. For example, the second sub-communication unit 80 is disposed in the second component 46. For example, the second sub-communication unit 80 is disposed in the housing of the second component 46. The second sub-communication unit 80 transmits and receives signals corresponding to a second communication standard with the second main communication unit 68.

[0103] The main control unit 62 is configured to control the first component 44 and the second component 46. The first component 44 is configured to be controlled by at least one of the main control unit 62 and the first sub-control unit 70. The main control unit 62 is configured to, when the first component 44 is controlled by the first sub-control unit 70, restrict the operation of at least one of the first component 44 and the second component 46 based on a first action signal sent from the first sub-control unit 70.

[0104] The case where the first component 44 is controlled by the first sub-control unit 70 is, for example, when the first sub-control unit 70 determines that the operating conditions of the first component are met. For example, the main control unit 62 is configured such that, when the first component 44 is controlled by the first sub-control unit 70, it can determine whether to restrict the operation of the first component 44 before the operation of the first component 44 begins.

[0105] For example, the first sub-control unit 70 is configured to be capable of autonomous control. For example, the second sub-control unit 76 is configured to be capable of autonomous control. Autonomous control is control based on the determination of the fulfillment of the operating conditions of the first component, independent of control commands from the main control unit 62 and operating devices. For example, the autonomous control of the first sub-control unit 70 includes control for adjusting the first component 44. For example, the autonomous control of the second sub-control unit 76 includes control for adjusting the second component 46.

[0106] For example, the restriction on the operation of the first component 44 and the second component 46 includes at least one of delaying the start of the operation and prohibiting it. For example, the main control unit 62 is configured to control the first component 44 and the second component 46 in a manner that prevents them from operating simultaneously. For example, the main control unit 62 is configured to control the operation of the first component 44 and the second component 46 in a manner that the sum of the power consumed by the operation of the first component 44 and the power consumed by the operation of the second component 46 is less than or equal to a predetermined power.

[0107] For example, the operation of the first component 44 corresponds to the driving of the electric actuator included in the first component 44. For example, the operation of the second component 46 corresponds to the driving of the electric actuator included in the second component 46. For example, if the first component 44 includes a transmission, the operation of the first component 44 includes an operation for adjusting the position of the transmission. For example, if the second component 46 includes a transmission, the operation of the second component 46 includes an operation for adjusting the position of the transmission.

[0108] For example, the main control unit 62 is configured to allow the operation of the second component 46 when the first component 44 is operated by the first sub-control unit 70, after the first component 44 has completed its operation, or when the first component 44 has started operating and a first period has elapsed, after the first component 44 has been operated by the first sub-control unit 70. For example, the first period is set based on the period until the operation of the first component 44 is completed.

[0109] For example, when the operation of the first component 44 is completed, the first sub-control unit 70 sends a first completion signal to the main control unit 62. The main control unit 62 is configured to allow the operation of the second component 46 based on the first completion signal.

[0110] For example, the second component 46 is configured to be controlled by at least one of the main control unit 62 and the second sub-control unit 76. The main control unit 62 is configured to restrict the operation of at least one of the first component 44 and the second component 46 based on a second action signal sent from the second sub-control unit 76 when the second component 46 is controlled by the second sub-control unit 76.

[0111] The second component 46 is controlled by the second sub-control unit 76, for example, when the second sub-control unit 76 determines that the operating conditions of the second component are met. For example, the main control unit 62 is configured such that, when the second component 46 is controlled by the second sub-control unit 76, it can determine whether to restrict the operation of the second component 46 before the operation of the second component 46 begins.

[0112] For example, the main control unit 62 is configured such that when the second component 46 is operated by the second sub-control unit 76, the operation of the first component 44 is permitted when the second component 46 has completed its operation, or when the second component 46 is operated by the second sub-control unit 76, and a second period has elapsed since the second component 46 began its operation. For example, the second period is set based on the period until the operation of the second component 46 is completed.

[0113] For example, when the second component 46 completes its operation, the second sub-control unit 76 sends a second completion signal to the main control unit 62. The main control unit 62 is configured to allow the operation of the first component 44 based on the second completion signal.

[0114] For example, the main control unit 62 is configured to send a second component 46 restriction signal to the second sub-control unit 76 when restricting the operation of the second component 46.

[0115] For example, the second sub-control unit 76 is configured to control the second component 46 to start operating when the second component operation condition for starting the operation of the second component 46 is met and no second component restriction signal is received from the main control unit 62.

[0116] For example, the second sub-control unit 76 is configured to control the second component 46 so that it does not start operating when the second component operation condition is met and a second component restriction signal is received from the main control unit 62.

[0117] For example, the main control unit 62 is configured to send a first component restriction signal to the first sub-control unit 70 to start restricting the operation of the first component 44 when restricting the operation of the first component 44.

[0118] For example, the first sub-control unit 70 is configured to control the first component 44 to start operating when the first component operation condition for starting the operation of the first component 44 is met and no first component restriction signal is received from the main control unit 62.

[0119] For example, the first sub-control unit 70 is configured to control the first component 44 in a manner that prevents the first component 44 from starting to operate when the first component operation condition is met and a first component restriction signal is received from the main control unit 62.

[0120] For example, the first sub-control unit 70 is configured to switch between a first control state and a second control state. When the control state is the first control state, the first sub-control unit 70 sends a first action signal to the main control unit 62 when the operation condition of the first component is met. When the control state is the second control state, the first sub-control unit 70 controls the first component 44 to start operating without sending the first action signal to the main control unit 62 when the operation condition of the first component is met.

[0121] For example, the main control unit 62 sends a switching signal to the first sub-control unit 70 to switch the control state of the first sub-control unit 70 between the first control state and the second control state. The first sub-control unit 70 is configured to switch the control state between the first control state and the second control state based on the switching signal.

[0122] Reference Figure 3 The process of switching control states between the first control state and the second control state by the main control unit 62 will be explained. For example, when power is supplied to the main control unit 62, the main control unit 62 starts processing and switches to... Figure 3 Step S11 of the flowchart shown. When Figure 3At the end of the flowchart, the main control unit 62 repeats the process after a predetermined period, for example, until the power supply stops. Figure 3 The processing begins with step S11.

[0123] In step S11, the main control unit 62 determines whether control corresponding to the first control state is being executed. For example, if the first component 44 and the second component 46 are in the first control state, the main control unit 62 determines that control corresponding to the first control state is being executed. For example, if the main control unit 62 controls in a manner that causes the first component 44 and the second component 46 to be in the first control state, it determines that control corresponding to the first control state is being executed. If the main control unit 62 is not executing control corresponding to the first control state, it proceeds to step S12.

[0124] In step S12, the main control unit 62 determines whether a switch from the second control state to the first control state is required. For example, the main control unit 62 determines that a switch from the second control state to the first control state is required based on at least one of an operation signal from the operating device provided on the manual drive vehicle 10 and a signal from an external device. For example, the main control unit 62 determines that a switch from the second control state to the first control state is required based on the remaining battery level of the battery 36. If a switch from the second control state to the first control state is required, the main control unit 62 proceeds to step S13.

[0125] In step S13, the main control unit 62 sends a switching signal from the second control state to the first control state, and then proceeds to step S14. For example, the main control unit 62 sends a switching signal from the second control state to the first control state to the first sub-control unit 70 and the second sub-control unit 76.

[0126] In step S14, the main control unit 62 executes control corresponding to the first control state and ends the process. The main control unit 62 is configured to control the first component 44 and the second component 46 in a manner that restricts the simultaneous operation of the first component 44 and the second component 46 after step S14.

[0127] If the main control unit 62 does not need to switch from the second control state to the first control state in step S12, it proceeds to step S15. In step S15, the main control unit 62 continues the control corresponding to the second control state and ends the processing. The main control unit 62 is configured to control the first component 44 and the second component 46 in a manner that does not restrict the simultaneous operation of the first component 44 and the second component 46 after step S15.

[0128] If the main control unit 62 is executing control corresponding to the first control state in step S11, it proceeds to step S16. In step S16, the main control unit 62 determines whether a switch from the first control state to the second control state is required. For example, the main control unit 62 determines that a switch from the first control state to the second control state is required based on at least one of an operation signal from the operating device provided on the manual drive vehicle 10 and a signal from an external device. For example, the main control unit 62 determines that a switch from the first control state to the second control state is required based on the remaining battery level of the battery 36. If a switch from the first control state to the second control state is required, the main control unit 62 proceeds to step S17.

[0129] In step S17, the main control unit 62 sends a switching signal from the first control state to the second control state and then proceeds to step S18. For example, the main control unit 62 sends the switching signal from the first control state to the second control state to the first sub-control unit 70 and the second sub-control unit 76.

[0130] In step S18, the main control unit 62 performs control corresponding to the second control state and ends the process. The main control unit 62 is configured to control the first component 44 and the second component 46 in a manner that does not restrict the simultaneous operation of the first component 44 and the second component 46 after step S18.

[0131] If the main control unit 62 does not need to switch from the first control state to the second control state in step S16, it proceeds to step S19. In step S19, the main control unit 62 continues the control corresponding to the first control state and ends the processing. The main control unit 62 is configured to control the first component 44 and the second component 46 in a manner that restricts the simultaneous operation of the first component 44 and the second component 46 after step S19.

[0132] Reference Figure 4 The process of switching control states between the first sub-control unit 70 and the second control state will be explained. For example, when power is supplied to the first sub-control unit 70, the first sub-control unit 70 starts processing and switches to the second control state. Figure 4 Step S21 of the flowchart shown. When Figure 4 At the end of the flowchart, the first sub-control unit 70, for example, repeats the process after a predetermined cycle until the power supply stops. Figure 4 The processing begins with step S21.

[0133] In step S21, the first sub-control unit 70 determines whether it is in the first control state. If it is not in the first control state, the first sub-control unit 70 proceeds to step S22.

[0134] In step S22, the first sub-control unit 70 determines whether it has received a switching signal from the second control state to the first control state. For example, the first sub-control unit 70 in Figure 3 If a switching signal is received from the main control unit 62 in step S13, it is determined that a switching signal from the second control state to the first control state has been received. If the first sub-control unit 70 does not receive a switching signal from the second control state to the first control state, the process ends. If the first sub-control unit 70 receives a switching signal from the second control state to the first control state, it proceeds to step S23.

[0135] In step S23, the first sub-control unit 70 switches from the second control state to the first control state and ends the process. After step S23, the first sub-control unit 70 can operate the first component 44 without communicating with the main control unit 62.

[0136] If the first sub-control unit 70 is in the first control state in step S21, it will proceed to step S24.

[0137] In step S24, the first sub-control unit 70 determines whether it has received a switching signal from the first control state to the second control state. For example, the first sub-control unit 70 receives a switching signal from the first control state to the second control state. Figure 3 If a switching signal is sent from the main control unit 62 in step S17, it is determined that a switching signal from the first control state to the second control state has been received. If the first sub-control unit 70 does not receive a switching signal from the first control state to the second control state, the process ends. If the first sub-control unit 70 receives a switching signal from the first control state to the second control state, it proceeds to step S25.

[0138] In step S25, the first sub-control unit 70 switches from the first control state to the second control state and ends the process. After step S25, if the first component 44 is activated, the first sub-control unit 70 activates the first component 44 based on communication with the main control unit 62.

[0139] The second sub-control unit 76 handles the switching of control states between the first control state and the second control state. Figure 4 The flowchart shown is executed similarly. The second sub-control unit 76 processes the change between the first control state and the second control state by... Figure 4 In the flowchart shown, the first sub-control unit 70 is replaced with the second sub-control unit 76, and the first component 44 is replaced with the second component 46.

[0140] Reference Figure 5 and Figure 6The processing of the main control unit 62 controlling the first component 44 and the second component 46 in the first control state will be described. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and transfers to... Figure 5 Step S31 of the flowchart shown. When Figure 5 and Figure 6 At the end of the flowchart, the main control unit 62 repeats the process after a predetermined period, for example, until the power supply stops. Figure 5 The processing begins with step S31.

[0141] In step S31, the main control unit 62 determines whether control corresponding to the first control state is being executed. If the main control unit 62 is not executing control corresponding to the first control state, the processing ends. If the main control unit 62 is executing control corresponding to the first control state, the process proceeds to step S32.

[0142] In step S32, the main control unit 62 determines whether a first action signal has been received. If the first action signal has been received, the main control unit 62 proceeds to step S33. In step S33, the main control unit 62 determines whether it is under a first component action restriction. For example, if the main control unit 62 receives a second action signal from the second component 46 but does not receive a second completion signal from the second component 46, and no second period has elapsed since receiving the second action signal, it determines that it is under a first component action restriction. If it is not under a first component action restriction, the main control unit 62 proceeds to step S34. In step S34, the main control unit 62 sends a first component permission signal and ends the process.

[0143] If the first component's operation is restricted in step S33, the main control unit 62 proceeds to step S35. In step S35, the main control unit 62 sends a first component restriction signal and proceeds to step S36.

[0144] In step S36, the main control unit 62 determines whether a second completion signal has been received. If the second completion signal has been received, the main control unit 62 proceeds to step S38. If the second completion signal has not been received, the main control unit 62 proceeds to step S37. In step S37, the main control unit 62 determines whether a second period has elapsed. If the second period has not elapsed, the main control unit 62 proceeds to step S36. If the second period has elapsed, the main control unit 62 proceeds to step S38.

[0145] The order of steps S36 and S37 can be interchanged. Alternatively, one of steps S36 or S37 can be omitted. If one of steps S36 or S37 is omitted, and the other of the steps S36 or S37 is "yes", the main control unit 62 proceeds to step S38. If one of steps S36 or S37 is omitted, and the other of the steps S36 or S37 is "no", the main control unit 62 repeats the steps S36 and S37.

[0146] In step S38, the main control unit 62 sends a first component permission signal and ends the process.

[0147] If the main control unit 62 does not receive the first action signal in step S32, it proceeds to step S39. In step S39, the main control unit 62 determines whether a second action signal has been received. If the main control unit 62 receives the second action signal, it proceeds to step S40. In step S40, the main control unit 62 determines whether it is under a second component action restriction. For example, if the main control unit 62 receives the first action signal from the first component 44 but does not receive the first completion signal from the first component 44, and no first period has elapsed since receiving the first action signal, it determines that it is under a second component action restriction. If it is not under a second component action restriction, the main control unit 62 proceeds to step S41. In step S41, the main control unit 62 sends a second component permission signal and ends the process.

[0148] If the second component's operation is restricted in step S40, the main control unit 62 proceeds to step S42. In step S42, the main control unit 62 sends a second component restriction signal and proceeds to step S43.

[0149] In step S43, the main control unit 62 determines whether a first completion signal has been received. If the first completion signal has been received, the main control unit 62 proceeds to step S45. If the first completion signal has not been received, the main control unit 62 proceeds to step S44. In step S44, the main control unit 62 determines whether a first period has elapsed. If the first period has not elapsed, the main control unit 62 proceeds to step S43. If the first period has elapsed, the main control unit 62 proceeds to step S45.

[0150] The order of steps S43 and S44 can be interchanged. One of steps S43 or S44 can be omitted. If one of steps S43 or S44 is omitted, and the other of steps S36 and S37 is "yes", the main control unit 62 proceeds to step S45. If one of steps S43 or S44 is omitted, and the other of steps S43 or S44 is "no", the main control unit 62 repeats the other of steps S43 and S44.

[0151] In step S45, the main control unit 62 sends a second component permission signal and ends the process.

[0152] Reference Figure 7 The processing of the first sub-control unit 70 controlling the first component 44 will be described. For example, when power is supplied to the first sub-control unit 70, the first sub-control unit 70 begins processing and transfers to... Figure 7 Step S51 of the flowchart shown. When Figure 7 At the end of the flowchart, the first sub-control unit 70, for example, repeats the process after a predetermined cycle until the power supply stops. Figure 7 The processing begins with step S51.

[0153] In step S51, the first sub-control unit 70 determines whether the operating condition of the first component is met. If the operating condition of the first component is not met, the first sub-control unit 70 terminates the process. If the operating condition of the first component is met, the first sub-control unit 70 proceeds to step S52.

[0154] In step S52, the first sub-control unit 70 determines whether it is in the first control state. If it is in the first control state, the first sub-control unit 70 proceeds to step S53. In step S53, the first sub-control unit 70 sends a first action signal to the main control unit 62 and proceeds to step S54.

[0155] In step S54, the first sub-control unit 70 determines whether it has received a first component restriction signal from the main control unit 62. If the first sub-control unit 70 does not receive the first component restriction signal from the main control unit 62, it proceeds to step S56. If the first sub-control unit 70 receives the first component restriction signal from the main control unit 62, it proceeds to step S55.

[0156] In step S55, the first sub-control unit 70 determines whether it has received a first component permission signal from the main control unit 62. If the first sub-control unit 70 receives a first component permission signal from the main control unit 62, it proceeds to step S56.

[0157] In step S56, the first sub-control unit 70 starts the operation of the first component 44 and proceeds to step S57. In step S57, the first sub-control unit 70 determines whether the operation of the first component 44 has been completed. If the operation of the first component 44 has not been completed, the first sub-control unit 70 executes step S57 again. If the operation of the first component 44 has been completed, the first sub-control unit 70 proceeds to step S58.

[0158] In step S58, the first sub-control unit 70 sends a first completion signal to the main control unit 62, thus ending the processing.

[0159] If the first sub-control unit 70 does not receive a first component permission signal from the main control unit 62 in step S55, it proceeds to step S59. In step S59, the first sub-control unit 70 determines whether the operation stop condition is met. The operation stop condition is met, for example, if a first predetermined time has elapsed since the first component operation condition was met. If the operation stop condition is not met, the first sub-control unit 70 proceeds to step S55. If the operation stop condition is met, the first sub-control unit 70 terminates the process.

[0160] If the first sub-control unit 70 is not in the first control state in step S52, it transfers to step S60. In step S60, the first sub-control unit 70 starts the operation of the first component 44 and ends the process.

[0161] Reference Figure 8 The processing of the second sub-control unit 76 controlling the second component 46 will be described. For example, when power is supplied to the second sub-control unit 76, the second sub-control unit 76 begins processing and transfers to... Figure 8 Step S71 of the flowchart shown. When Figure 8 At the end of the flowchart, the second sub-control unit 76, for example, repeats the process after a predetermined cycle until the power supply stops. Figure 8 The processing begins with step S71.

[0162] In step S71, the second sub-control unit 76 determines whether the operating conditions of the second component are met. If the operating conditions of the second component are not met, the second sub-control unit 76 terminates the process. If the operating conditions of the second component are met, the second sub-control unit 76 proceeds to step S72.

[0163] In step S72, the second sub-control unit 76 determines whether it is in the first control state. If it is in the first control state, the second sub-control unit 76 proceeds to step S73. In step S73, the second sub-control unit 76 sends a second action signal to the main control unit 62 and proceeds to step S74.

[0164] In step S74, the second sub-control unit 76 determines whether it has received a second component restriction signal from the main control unit 62. If the second sub-control unit 76 has not received a second component restriction signal from the main control unit 62, it proceeds to step S76. If the second sub-control unit 76 has received a second component restriction signal from the main control unit 62, it proceeds to step S75.

[0165] In step S75, the second sub-control unit 76 determines whether it has received a second component permission signal from the main control unit 62. If the second sub-control unit 76 receives a second component permission signal from the main control unit 62, it proceeds to step S76.

[0166] In step S76, the second sub-control unit 76 begins the operation of the second component 46 and proceeds to step S77. In step S77, the second sub-control unit 76 determines whether the operation of the second component 46 has been completed. If the operation of the second component 46 has not been completed, the second sub-control unit 76 executes step S77 again. If the operation of the second component 46 has been completed, the second sub-control unit 76 proceeds to step S78.

[0167] In step S78, the second sub-control unit 76 sends a second completion signal to the main control unit 62 to end the process.

[0168] If the second sub-control unit 76 does not receive a second component permission signal from the main control unit 62 in step S75, it proceeds to step S79. In step S79, the second sub-control unit 76 determines whether the operation stop condition is met. The operation stop condition is met, for example, if a second predetermined time has elapsed after the second component operation condition is met. If the operation stop condition is not met, the second sub-control unit 76 proceeds to step S75. If the operation stop condition is met, the second sub-control unit 76 terminates the process.

[0169] If the second sub-control unit 76 is not in the first control state in step S72, it proceeds to step S80. In step S80, the second sub-control unit 76 starts the operation of the second component 46 and ends the process.

[0170] Control device 60 via Figures 3 to 8 In the first control state, the control device 60 can limit the simultaneous operation of the first component 44 and the second component 46. Therefore, the control device 60 can control the first component 44 and the second component 46 in such a way that the sum of the power consumed by the operation of the first component 44 and the power consumed by the operation of the second component 46 is below a predetermined power.

[0171] For example, the main control unit 62 is configured to control the first component 44 and the second component 46 based on the occurrence of an anomaly. For example, if the temperature of the drive unit 34 reaches a predetermined temperature, the main control unit 62 determines that an anomaly has occurred. For example, if the remaining charge of the battery 36 falls below a predetermined level, the main control unit 62 determines that an anomaly has occurred.

[0172] For example, the main control unit 62 is configured to control the first component 44 and the second component 46 to malfunction in the event of an abnormality. For example, the main control unit 62 is configured to send an operation stop signal to the first sub-control unit 70 and the second sub-control unit 76 to malfunction in the event of an abnormality.

[0173] Reference Figure 9 The process by which the main control unit 62 controls the first component 44 and the second component 46 based on the occurrence of an anomaly will be described. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and transfers to... Figure 9 Step S91 of the flowchart shown. When Figure 9 At the end of the flowchart, the main control unit 62 repeats the process after a predetermined period, for example, until the power supply stops. Figure 9 The processing begins with step S91.

[0174] In step S91, the main control unit 62 determines whether an abnormality has occurred. If no abnormality has occurred, the main control unit 62 terminates the process. If an abnormality has occurred, the main control unit 62 proceeds to step S92. In step S92, the main control unit 62 sends an operation stop signal and proceeds to step S93.

[0175] In step S93, the main control unit 62 determines whether a cognitive signal has been received. If a cognitive signal has been received, the main control unit 62 terminates the process. If no cognitive signal has been received, the main control unit 62 proceeds to step S94. In step S94, the main control unit 62 determines whether a third period has elapsed. For example, if the period after the anomaly occurred in step S91 is a third period or longer, the main control unit 62 determines that a third period has elapsed. If the third period has not elapsed, the main control unit 62 proceeds to step S92. If the third period has elapsed, the main control unit 62 proceeds to step S95.

[0176] In step S95, the main control unit 62 performs an error-causing control and terminates the process. During the error-causing control, the main control unit 62, for example, shuts down the first sub-control unit 70 and the second sub-control unit 76. During the error-causing control, the main control unit 62, for example, stops the power supply to the first sub-control unit 70 and the second sub-control unit 76.

[0177] Reference Figure 10 The process by which the first sub-control unit 70 controls the first component 44 based on the occurrence of an anomaly will be described. For example, when power is supplied to the first sub-control unit 70, the first sub-control unit 70 begins processing and transfers to... Figure 10 Step S101 of the flowchart shown. When Figure 10 At the end of the flowchart, the first sub-control unit 70, for example, repeats the process after a predetermined cycle until the power supply stops. Figure 10 The processing begins with step S101.

[0178] In step S101, the first sub-control unit 70 determines whether an operation stop signal has been received. If no operation stop signal is received, the first sub-control unit 70 terminates the process. If an operation stop signal is received, the first sub-control unit 70 proceeds to step S102.

[0179] In step S102, the first sub-control unit 70 determines whether the first component 44 is in operation. If the first component 44 is in operation, the first sub-control unit 70 proceeds to step S103.

[0180] In step S103, the first sub-control unit 70 terminates the operation of the first component 44 and proceeds to step S104. In step S104, the first sub-control unit 70 sends the mid-operation signal and the recognition signal to the main control unit 62 and terminates the process.

[0181] If the first component 44 is not operating in step S102, the first sub-control unit 70 proceeds to step S105. In step S105, the first sub-control unit 70 disables the operation of the first component 44, sends a recognition signal to the main control unit 62, and ends the process.

[0182] The second sub-control unit 76 controls the processing of the second component 46 based on the occurrence of an anomaly. Figure 10 The flowchart shown is executed similarly. The second sub-control unit 76 processes the change between the first control state and the second control state by... Figure 10 In the flowchart shown, the first sub-control unit 70 is replaced with the second sub-control unit 76, and the first component 44 is replaced with the second component 46.

[0183] Control device 60 via Figure 9 and Figure 10 In handling abnormalities, the main control unit 62 can restrict the operation of the first sub-control unit 70 and the second sub-control unit 76 when an abnormality occurs.

[0184] For example, identification information for communication and control is set in the main control unit 62, the first sub-control unit 70, and the second sub-control unit 76, respectively. For example, the main control unit 62 is configured to update the identification information of at least one of the main control unit 62, the first sub-control unit 70, and the second sub-control unit 76 based on signals from external devices.

[0185] Identification information, for example, is the ID automatically assigned to each sub-control unit according to the communication standard. For instance, in cases like CAN where the maximum number of IDs is small, ID duplication can be suppressed by manually updating the identification information.

[0186] Reference Figure 11 The process of updating identification information in the main control unit 62 will be explained. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and transfers to... Figure 11 Step S111 of the flowchart shown. When Figure 11 At the end of the flowchart, the main control unit 62 repeats the process after a predetermined period, for example, until the power supply stops. Figure 11 The processing begins with step S111.

[0187] In step S111, the main control unit 62 determines whether there is a request to update the identification information. If there is no request to update the identification information, the main control unit 62 terminates the process. If there is a request to update the identification information, the main control unit 62 proceeds to step S112. In step S112, the main control unit 62 updates the identification information and terminates the process.

[0188] <Example of Change>

[0189] The description of the embodiments is an example of the control device and components for a manually operated vehicle disclosed herein, and is not intended to limit the scope of the embodiments. The control device and components for a manually operated vehicle disclosed herein can be used to obtain, for example, variations of the embodiments shown below, and combinations of at least two non-contradictory variations. In the following variations, parts common to the embodiments are marked with the same symbols as in the embodiments, and their descriptions are omitted.

[0190] • At least one of the first component 44 and the second component 46 may also include a motor 34A that provides propulsion to the human-powered vehicle 10.

[0191] • At least one of the first component 44 and the second component 46 may also include at least one of an electrically adjustable seat post, an electric brake, an electric suspension and a lighting device.

[0192] • The control device 60 may also have three or more sub-control units. When the control device 60 includes three or more sub-control units, the main control unit 62 may also be configured to restrict the operation of three or more sub-control units. When the control device 60 includes three or more sub-control units, the main control unit 62 may also be configured to restrict two or more sub-control units from operating simultaneously, or it may be configured to restrict three or more sub-control units from operating simultaneously.

[0193] Component 40 may also be configured to communicate wirelessly with the first component 44 and the second component 46. When component 40 is configured to communicate wirelessly with the first component 44 and the second component 46, for example, the second main communication unit 68, the first sub-communication unit 74 and the second sub-communication unit 80 may each include a wireless communication unit.

[0194] • Component 40 may also be configured to communicate wirelessly with drive unit 34. When component 40 is configured to communicate wirelessly with drive unit 34, for example, the first main communication unit 66 may also include a wireless communication unit.

[0195] As used in this specification, the term "at least one" means "more than one" of the desired options. For example, if the number of options is two, the term "at least one" as used in this specification means "only one option" or "both of the two options". As another example, if the number of options is three or more, the term "at least one" as used in this specification means "only one option" or "any combination of two or more options".

Claims

1. A control device for a manually operated vehicle, wherein, The control device includes a main control unit configured to control the first component and the second component. The first component is configured to be controlled by at least one of the main control unit and the first sub-control unit. The main control unit is configured to restrict the operation of the second component based on a first action signal sent from the first sub-control unit when the first sub-control unit performs autonomous control. The autonomous control of the first sub-control unit includes control for adjusting the first component.

2. The control device according to claim 1, wherein, The main control unit is configured to allow the operation of the second component when the first component completes its operation, or when the first component begins its operation and a first period has elapsed, in the case where the first component is operated by the first sub-control unit.

3. The control device according to claim 1 or 2, wherein, Upon completion of the operation of the first component, the first sub-control unit sends a first completion signal to the main control unit. The main control unit is configured to allow the operation of the second component based on the first completion signal.

4. The control device according to claim 1, wherein, The second component is configured to be controlled by at least one of the main control unit and the second sub-control unit. The main control unit is configured to restrict the operation of at least one of the first component and the second component based on a second action signal sent from the second sub-control unit when the second component is controlled by the second sub-control unit.

5. The control device according to claim 4, wherein, The main control unit is configured to allow the operation of the first component when the second component completes its operation, or when the second component begins its operation and a second period has elapsed, in the case where the second component is operated by the second sub-control unit.

6. The control device according to claim 4 or 5, wherein, Upon completion of the action by the second component, the second sub-control unit sends a second completion signal to the main control unit. The main control unit is configured to allow the operation of the first component based on the second completion signal.

7. The control device according to claim 5, wherein, The main control unit is configured to send a second component restriction signal to the second sub-control unit, indicating the start of restricting the operation of the second component, when restricting the operation of the second component.

8. The control device according to claim 7, wherein, The control device further includes a second sub-control unit. The second sub-control unit is configured to control the second component to start operating when the second component operation condition for starting the operation of the second component is met and no second component restriction signal is received from the main control unit.

9. The control device according to claim 8, wherein, The second sub-control unit is configured to control the second component in a manner that prevents the second component from starting to operate when the operating conditions of the second component are met and a limiting signal for the second component is received from the main control unit.

10. The control device according to claim 1 or 2, wherein, The main control unit is configured to send a first component restriction signal to the first sub-control unit, indicating the start of restricting the operation of the first component, when restricting the operation of the first component.

11. The control device according to claim 10, wherein, The control device further includes the first sub-control unit. The first sub-control unit is configured to control the first component to start operating when a first component operation condition for initiating the operation of the first component is met and no first component restriction signal is received from the main control unit.

12. The control device according to claim 11, wherein, The first sub-control unit is configured to control the first component in such a way that the first component does not start operating when the first component operation condition is met and a first component restriction signal is received from the main control unit.

13. The control device according to claim 11 or 12, wherein, The first sub-control unit is configured as follows. It can switch between the first control state and the second control state. And when the control state is the first control state, and the action condition of the first component is met, the first action signal is sent to the main control unit. Furthermore, when the control state is the second control state, when the operation condition of the first component is met, the first operation signal is not sent to the main control unit, but the first component is controlled in a manner that causes the first component to start operating.

14. The control device according to claim 13, wherein, The main control unit will send the control state switching signal of the first sub-control unit to the first sub-control unit, switching between the first control state and the second control state. The first sub-control unit is configured to switch the control state between the first control state and the second control state based on the switching signal.

15. The control device according to claim 1 or 2, wherein, The first sub-control unit is disposed on the first component.

16. The control device according to claim 1 or 2, wherein, At least one of the first component and the second component includes a speed change device.

17. The control device according to claim 1 or 2, wherein, At least one of the first component and the second component includes a motor that provides propulsion to a human-powered vehicle.

18. The control device according to claim 1 or 2, wherein, The first component and the second component are configured to be supplied with power from the battery via a drive unit including an electric motor that provides propulsion to the human-powered vehicle.

19. The control device according to claim 18, wherein, The main control unit is located in the component for a human-powered vehicle, and the component for a human-powered vehicle is communicatively connected to the drive unit and the first component and the second component.

20. A component for a human-powered vehicle, comprising the control device according to any one of claims 1 to 16.

21. The component for a manually operated vehicle according to claim 20, wherein, The first and second components are configured to be supplied with power from a battery via a drive unit that includes an electric motor that provides propulsion to a human-powered vehicle. The component has a connection portion that enables communication between the drive unit and the first component and the second component.

Images