Control system and control device for human-powered vehicle

Abstract

To provide a control system capable of controlling an electric component of a man-power drive vehicle according to turning states of a riding part and a carriage.SOLUTION: A control system includes a riding part positioned between a carriage and a handle part, a sensor for outputting a signal according to a pivot angle of a pivot part provided between the carriage and the sensor, an electric component, and a control part for controlling the electric component according to the signal output from the sensor.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control system and a control device for a human-powered vehicle. [Background technology]

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 is configured so that a carrier can be towed by the carrier. The carrier is, for example, connected to the carrier of the human-powered vehicle so as to rotate relative to the carrier of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-69888 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for technology that can control the electrical components of a human-powered vehicle in accordance with the rotational state of the passenger section and the cargo bed.

[0005] An object of the present disclosure is to provide a control system and a control device for a human-powered vehicle that can control electrical components of a human-powered vehicle in accordance with the turning state of the loading section that tows the loading platform and the loading platform. [Means for solving the problem]

[0006] A control system according to a first aspect of the present disclosure includes: a boarding section positioned between a carrier and a handle section; is connected to the riding portion so as to be rotatable relative to the riding portion. The device includes a sensor that outputs a signal according to the pivot angle of the pivot portion, an electric component, and a control unit that controls the electric component according to the signal output from the sensor. The electrical component includes a drive unit having a motor that applies a propulsive force to the human-powered vehicle, and the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle, and sets a maximum output value of the motor to a first output value in the first control state, and sets a maximum output value of the motor to a second output value larger than the first output value in the second control state. . According to the control system of the first aspect, the steering of the human-powered vehicle is controlled in accordance with the rotation state of the boarding section and the loading platform. Drive unit It can be controlled according to the rotation state of the boarding section and the loading platform. , drive unit By controlling The propulsive force applied to the human-powered vehicle can be controlled according to the turning state, This makes it possible to provide a smooth and stable running of the human-powered vehicle. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Furthermore, the motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Furthermore, the motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small.

[0011] No. 1 Follow the side 2 In the control system of the aspect, the control unit sets the response speed of the motor when the output of the motor increases to a first response speed in the first control state. No. 2 The side control system allows the motor to be controlled appropriately when the platform and the passenger section are in a large rotational state.

[0012] No. 2 Follow the side 3 In the control system of the aspect, the control unit sets the response speed of the motor when the output of the motor increases in the second control state to a second response speed that is faster than the first response speed. No. 3 The side control system allows the motor to be controlled appropriately when the rotational state of the loading platform and the passenger section is small.

[0013] According to the fourth aspect of the present disclosure Control System is a control system for a human-powered vehicle, comprising: a riding section located between a bed and a handle section; a sensor that outputs a signal corresponding to a pivot angle of a pivot section that connects the bed to the riding section so that the bed can rotate relatively to the riding section; electrical components; and a control section that controls the electrical components according to the signal output from the sensor, wherein the electrical components include a drive unit having a motor that applies propulsive force to the human-powered vehicle, and the control section controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle that is smaller than the first pivot angle, and in the first control state, sets a maximum output ratio of the motor to a human-powered driving force input to the human-powered vehicle to a first maximum output ratio, and in the second control state, sets the maximum output ratio of the motor to a human-powered driving force input to the human-powered vehicle to a second maximum output ratio that is larger than the first maximum output ratio. . No. 4 According to the side control system, The drive unit of the human-powered vehicle can be controlled according to the turning state of the riding section and the cargo bed. By controlling the drive unit according to the turning state of the riding section and the cargo bed, the propulsive force imparted to the human-powered vehicle can be controlled according to the turning state, providing the human-powered vehicle with smooth and stable driving. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Also, The motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Furthermore, the motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small.

[0014] According to the fifth aspect of the present disclosure Control System is a control system for a human-powered vehicle, comprising: a riding section located between a bed and a handle section; a sensor that outputs a signal according to a pivot angle of a pivot section that connects the bed to the riding section so that the bed can rotate relatively to the riding section; electrical components; and a control section that controls the electrical components according to the signal output from the sensor, wherein the electrical components include a drive unit having a motor that applies propulsive force to the human-powered vehicle, and the control section controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle that is smaller than the first pivot angle, and in the first control state, stops the motor when the traveling speed of the human-powered vehicle exceeds a first traveling speed, and in the second control state, stops the motor when the traveling speed of the human-powered vehicle exceeds a second traveling speed, and the second traveling speed is larger than the first traveling speed. . No. 5 According to the side control system, The drive unit of the human-powered vehicle can be controlled according to the turning state of the riding section and the cargo bed. By controlling the drive unit according to the turning state of the riding section and the cargo bed, the propulsive force imparted to the human-powered vehicle can be controlled according to the turning state, providing the human-powered vehicle with smooth and stable driving. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Furthermore, the motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Furthermore, the motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small.

[0015] A control device for a human-powered vehicle according to a sixth aspect of the present disclosure includes a riding section located between a bed and a handle section, and a control section that controls electrical components of the human-powered vehicle in accordance with a pivot state detected by a sensor that outputs a signal in accordance with a pivot angle of a pivot section that connects the bed to the riding section so that the bed can rotate relatively to the riding section, the electrical components including a drive unit having a motor that applies propulsive force to the human-powered vehicle, the control section controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle that is smaller than the first pivot angle, and sets the maximum output value of the motor to a first output value in the first control state, and sets the maximum output value of the motor to a second output value that is larger than the first output value in the second control state. . According to the control device for a human-powered vehicle of the sixth aspect, the drive unit of the human-powered vehicle can be controlled in accordance with the turning state of the riding section and the loading platform. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Also, The motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Furthermore, the motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small.

[0016] A control device for a human-powered vehicle according to a seventh aspect of the present disclosure includes a riding section located between a bed and a handle section, and a control section that controls electrical components of the human-powered vehicle in accordance with a pivot state detected by a sensor that outputs a signal in accordance with a pivot angle of a pivot section that connects the bed to the riding section so that the bed can rotate relatively to the riding section, the electrical components including a drive unit having a motor that applies propulsive force to the human-powered vehicle, the control section controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle that is smaller than the first pivot angle, in the first control state, sets a maximum output ratio of the motor with respect to the human-powered driving force input to the human-powered vehicle to a first maximum output ratio, and in the second control state sets the maximum output ratio of the motor with respect to the human-powered driving force input to the human-powered vehicle to a second maximum output ratio that is larger than the first maximum output ratio. . According to the control device for a human-powered vehicle of the seventh aspect, the drive unit of the human-powered vehicle can be controlled in accordance with the turning state of the riding section and the loading platform. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Furthermore, the motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Also, The motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small.

[0017] A control device for a human-powered vehicle according to an eighth aspect of the present disclosure includes a riding section located between a bed and a handle section, and a control section that controls electrical components of the human-powered vehicle in accordance with a pivot state detected by a sensor that outputs a signal in accordance with a pivot angle of a pivot section that connects the bed to the riding section so that the bed can rotate relatively to the riding section, the electrical components including a drive unit having a motor that applies propulsive force to the human-powered vehicle, the control section controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle that is smaller than the first pivot angle, in the first control state, stops the motor when the traveling speed of the human-powered vehicle exceeds a first traveling speed, and in the second control state, stops the motor when the traveling speed of the human-powered vehicle exceeds a second traveling speed, the second traveling speed being larger than the first traveling speed. . According to the eighth aspect of the control device for a human-powered vehicle, Depending on the rotation state of the boarding section and the loading platform, Drive unit can be controlled. Furthermore, different controls can be performed on the motor of the drive unit based on the difference in the rotational state of the boarding section and the loading platform. Furthermore, the motor can be controlled appropriately when the platform and the riding section are in a large rotational state. Furthermore, the motor can be controlled appropriately when the rotational state of the loading platform and the riding section is small. [Effects of the Invention]

[0019] According to the control system and control device for a human-powered vehicle of the present disclosure, it is possible to control the electrical components of the human-powered vehicle in accordance with the rotational state of the riding section and the cargo bed. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a side view showing a human-powered vehicle including a control system according to a first embodiment. [Figure 2] FIG. 10 is a plan view showing an example of a pivot angle. [Figure 3] FIG. 1 is a block diagram showing a control system. [Figure 4] 4 is a flowchart showing a control flow in the first embodiment. [Figure 5] 10 is a graph showing an example of the relationship between manual driving force and motor output in the second embodiment. [Figure 6] 10 is a graph showing an example of a first output value and a second output value in the second embodiment. [Figure 7] 10 is a flowchart showing a control flow in the second embodiment. [Figure 8] 11 is a graph showing an example of the response speed of a motor in the third embodiment. [Figure 9] 10 is a flowchart showing a control flow in a third embodiment. [Figure 10] 10 is a flowchart showing a control flow in the fourth embodiment. [Figure 11] 13 is a flowchart showing a control flow in the fifth embodiment. [Figure 12] FIG. 10 is a side view showing a modified example of the human-powered vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0021] (First embodiment) A human-powered vehicle 1 including a control system 70 according to a first embodiment will be described with reference to FIGS. 1 to 3. The human-powered vehicle 1 is a vehicle that has at least one wheel and can be driven at least by human driving force. Examples of the human-powered vehicle 1 include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels that the human-powered vehicle 1 has is not limited. Examples of the human-powered vehicle 1 include unicycles and vehicles with two or more wheels. The human-powered vehicle 1 is not limited to vehicles that can be driven solely by human driving force. The human-powered vehicle 1 also includes E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle 1 will be described as a bicycle.

[0022] The human-powered vehicle 1 includes a crank 10, a rear wheel 20, a front wheel 30, a frame 40, a drive mechanism 50, a battery 60, and a control system 70.

[0023] 1 includes a crankshaft 11 that is rotatable relative to a frame 40, and a pair of crank arms 12 provided at both axial ends of the crankshaft 11. Pedals 13 are connected to the pair of crank arms 12, respectively.

[0024] The rear wheel 20 and the front wheel 30 are supported by a frame 40. The front wheel 30 is attached to a front fork 41 provided at the front of the frame 40. A handlebar section 42 is connected to the front fork 41. An operating device 43 for operating the electrical components 80 is provided on the handlebar section 42. In this embodiment, the operating device 43 includes a cycle computer. The operating device 43 outputs a signal to the control unit 101 in response to operation by the rider. The rear wheel 20 is attached to the rear of the frame 40. A riding section 44 is provided on the upper part of the frame 40. The riding section 44 includes a seat. The riding section 44 may further include a seat post.

[0025] The drive mechanism 50 connects the crank 10 to the rear wheel 20. The drive mechanism 50 includes a first rotating body 51 connected to the crankshaft 11, a second rotating body 52 connected to the rear wheel 20, and a chain 53 connecting the first rotating body 51 and the second rotating body 52.

[0026] The first rotating body 51 includes at least one front sprocket. In this embodiment, the first rotating body 51 includes two or more front sprockets. The first rotating body 51 may include one front sprocket. If the first rotating body 51 includes two or more front sprockets with different numbers of teeth, when the first rotating body 51 is attached to the human-powered vehicle 1, the front sprocket with the most teeth is positioned farther from the center plane of the bicycle frame 40 than the front sprocket with the least number of teeth.

[0027] The second rotating body 52 includes at least one rear sprocket. The second rotating body 52 includes two or more rear sprockets with different numbers of teeth. The second rotating body 52 may include twelve or more rear sprockets with different numbers of teeth. If the second rotating body 52 includes two or more rear sprockets, when the second rotating body 52 is attached to the human-powered vehicle 1, the rear sprocket with the largest number of teeth is positioned closer to the center plane of the bicycle frame 40 than the rear sprocket with the smallest number of teeth. A chain 53 connects the one front sprocket included in the first rotating body 51 and the one rear sprocket included in the second rotating body 52. ​​The rotational force of the first rotating body 51 is transmitted to the rear sprocket via the chain 53.

[0028] Although the drive mechanism 50 of this embodiment is configured to transmit rotational force using a front sprocket, a rear sprocket, and a chain 53, the configuration of the drive mechanism 50 is not particularly limited. For example, the first rotating body 51 and the second rotating body 52 may include pulleys, bevel gears, etc. instead of sprockets. The first rotating body 51 and the second rotating body 52 may be connected by a belt, a shaft, etc. instead of the chain 53.

[0029] A first one-way clutch may be provided between the crankshaft 11 and the first rotating body 51. The first one-way clutch is configured to rotate the first rotating body 51 forward when the crank 10 rotates forward, and to allow relative rotation between the crankshaft 11 and the first rotating body 51 when the crank 10 rotates backward. A second one-way clutch is provided between the second rotating body 52 and the rear wheel 20. The second one-way clutch is configured to rotate the rear wheel 20 forward when the second rotating body 52 rotates forward, and to allow relative rotation between the second rotating body 52 and the rear wheel 20 when the second rotating body 52 rotates backward.

[0030] The battery 60 supplies power to the electrical components 80 provided in the human-powered vehicle 1. The battery 60 is provided inside and / or outside the frame 40. The battery 60 is configured to be able to supply power to the electrical components 80 and the human-powered vehicle control device 100. The battery 60 may be configured to be able to supply power to the drive unit 81. The battery 60 may include multiple batteries and be configured to supply power to each of the multiple electrical components 80. A single battery 60 may be configured to supply power to the electrical components 80 and the drive unit 81. The battery 60 may be provided directly to the electrical components 80.

[0031] A carrier C is detachably attached to the human-powered vehicle 1 shown in Fig. 1. The carrier C is connected to the frame 40 so as to be pivotable relative to the riding section 44. When the human-powered vehicle 1 is traveling, the riding section 44 tows the carrier C via the frame 40. In this embodiment, the carrier C includes a towed vehicle C10.

[0032] The towed vehicle C10 includes a main body C11, wheels C12, and a coupling portion C14. The towed vehicle C10 further includes a connection portion C13. The main body C11 is configured to be able to carry at least one of a person and luggage. The main body C11 is disposed at the rear of the human-powered vehicle 1. The wheels C12 are provided on the main body C11. The connection portion C13 is configured to connect the main body C11 and the coupling portion C14 to each other. The connection portion C13 may be configured integrally with at least one of the main body C11 and the coupling portion C14. The connection portion C13 may be configured separately from the main body C11 and the coupling portion C14. The connection portion C13 may be configured to be able to carry luggage. The coupling portion C14 is configured to be able to be coupled to the human-powered vehicle 1. In this embodiment, the coupling portion C14 includes a pivot portion C14a configured to be able to be coupled to the frame 40. As shown in Figures 1 and 2, the pivot part C14a is connected to the frame 40 so as to rotate in the yaw direction relative to the riding part 44. The pivot part C14a is connected to a part of the frame 40 that supports the electric seat post 83. The towed vehicle C10 may be connected to the human-powered vehicle 1 so as to be positioned in front of or to the side of the human-powered vehicle 1. The towed vehicle C10 may be configured without the connection part C13.

[0033] The control system 70 is for a human-powered vehicle and includes: a riding section 44 located between the loading platform C and the handle section 42; a sensor 110 that outputs a signal corresponding to a pivot angle D of a pivot section C14a provided between the loading platform C; an electrical component 80; and a control section 101 that controls the electrical component 80 according to the signal output from the sensor 110. FIG. 3 shows an example of the control system 70. The control system 70 shown in FIG. 3 includes the electrical component 80, a human-powered vehicle control device 100, and the sensor 110. In this specification, the human-powered vehicle control device 100 may also be referred to as the control device 100.

[0034] 1 and 3 is configured to electrically operate in response to at least one of the operation of the operating device 43 and a condition different from the operation of the operating device 43. The electrical components 80 include at least one of a drive unit 81, an electric suspension 82, an electric seat post 83, an electric rear derailleur 84, an electric front derailleur 85, an electric clutch 86, an electronic terminal 87, a display 88, a vibration generator 89, a light generator 90, and a sound generator 91. The electrical components 80 include a drive unit 81 equipped with a motor 81a that applies propulsive force to the human-powered vehicle 1. In this embodiment, the electrical components 80 include the drive unit 81, the electric suspension 82, the electric seat post 83, the electric rear derailleur 84, the electric front derailleur 85, the electric clutch 86, the electronic terminal 87, a display 88, the vibration generator 89, the light generator 90, and the sound generator 91.

[0035] The drive unit 81 is configured to assist in the propulsion of the human-powered vehicle 1. The motor 81a of the drive unit 81 operates, for example, in response to the human-powered driving force input to the human-powered vehicle 1. More specifically, the control unit 101 controls the motor 81a of the drive unit 81 in response to the human-powered driving force input to a crank 10 provided on the human-powered vehicle 1. In addition to the motor 81a, the drive unit 81 may also include a reducer that connects the motor 81a and the crank 10.

[0036] The electric suspension 82 is configured to absorb shocks applied to the human-powered vehicle 1. The electric suspension 82 includes at least one of an electric rear suspension provided to correspond to the rear wheels 20, and an electric front suspension provided to correspond to the front wheels 30. In this embodiment, the electric suspension 82 includes an electric front suspension provided to correspond to the front wheels 30.

[0037] The electric seat post 83 is configured to change the height of the riding section 44. In this embodiment, as the electric seat post 83 is driven, the height of the riding section 44 relative to the frame 40 is changed.

[0038] The electric rear derailleur 84 changes the gear ratio, which is the ratio of the rotational speed of the rear wheel 20 to the rotational speed of the crankshaft 11. The gear ratio is calculated by dividing the number of teeth on the front sprocket with which the chain 53 engages by the number of teeth on the rear sprocket with which the chain 53 engages. The electric rear derailleur 84 can change the gear ratio of the human-powered vehicle 1 by shifting the chain 53 between multiple rear sprockets.

[0039] The electric front derailleur 85 changes the gear ratio. The electric front derailleur 85 can change the gear ratio of the human-powered vehicle 1 by shifting the chain 53 between a plurality of front sprockets.

[0040] The electric clutch 86 connects, for example, the second rotating body 52 and the rear wheel 20. The electric clutch 86 includes a first transmission state and a second transmission state. The first transmission state is a state in which rotational power in the direction in which the crank 10 of the second rotating body 52 rotates forward is transmitted to the rear wheel 20, but rotational power in the direction in which the crank 10 of the rear wheel 20 rotates forward is not transmitted to the second rotating body 52. ​​In the first state, rotational power in the direction in which the crank 10 of the rear wheel 20 rotates forward is not transmitted to the second rotating body 52, but rotational power in the direction in which the crank 10 of the rear wheel 20 rotates backward is transmitted to the second rotating body 52. ​​In the second state, at least rotational power in the direction in which the crank 10 of the rear wheel 20 rotates forward is transmitted to the second rotating body 52. ​​The electric clutch 86 may be provided between the first rotating body 51 and the motor 81a of the drive unit 81.

[0041] The electronic terminal 87 performs arithmetic processing and outputs the results of the arithmetic processing, etc. The electronic terminal 87 can output the results of the arithmetic processing, etc. by at least one of displaying a message on the display unit, generating vibrations using a vibration function, outputting light from a lamp, and outputting sound from a speaker. The electronic terminal 87 may be provided on the human-powered vehicle 1 or may be carried by a passenger of the human-powered vehicle 1. The electronic terminal 87 includes, for example, a cycle computer, a smartphone, a tablet terminal, etc. In this embodiment, the electronic terminal 87 includes the operating device 43.

[0042] The display 88 displays various types of information. The display 88 may be provided in the human-powered vehicle 1, or may be carried by a passenger of the human-powered vehicle 1. The display 88 includes, for example, a liquid crystal display, an organic EL display, etc.

[0043] The vibration generator 89 generates vibrations. The vibration generator 89 may be provided in the human-powered vehicle 1, or may be carried by a passenger of the human-powered vehicle 1. The vibration generator 89 includes, for example, an electric motor equipped with an eccentric weight.

[0044] The light-generating device 90 generates light. The light-generating device 90 may be provided in the human-powered vehicle 1, or may be carried by a passenger of the human-powered vehicle 1. The light-generating device 90 includes, for example, a display 88, a front lamp 90a, and a tail lamp.

[0045] The sound generating device 91 generates a sound. The sound generating device 91 may be provided in the human-powered vehicle 1, or may be carried by a passenger of the human-powered vehicle 1. The sound generating device 91 includes, for example, a buzzer and a speaker.

[0046] The control device 100 for a human-powered vehicle includes a control unit 101 that controls the electrical components 80 of the human-powered vehicle 1 in accordance with the pivot state detected by a sensor 110 that outputs a signal in accordance with the pivot angle D of a pivot unit C14a provided between the loading section 44, which is located between the loading platform C and the handle section 42, and the loading section 44. FIG. 3 shows an example of the control device 100. The control device 100 shown in FIG. 3 includes a control unit 101 and a memory unit 102.

[0047] The control unit 101 is configured to perform control related to the human-powered vehicle 1. The control unit 101 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 101 may include one or more microcomputers.

[0048] Various control programs and information used for various control processes are stored in the storage unit 102. The storage unit 102 includes, for example, a non-volatile memory and a volatile memory.

[0049] The control unit 101 is configured to be able to control the motor 81a of the drive unit 81 in a plurality of control states. The plurality of control states include a first control state and a second control state different from the first control state. In a first control mode, the control unit 101 controls the motor 81a in the first control state. In a second control mode different from the first control mode, the control unit 101 controls the motor 81a in the second control state.

[0050] The control unit 101 controls the motor 81a in accordance with predetermined conditions in the first control state and the second control state. For example, the control unit 101 controls the output of the motor 81a in accordance with a manual driving force or the like in the first control state and the second control state.

[0051] The sensor 110 is configured to detect a pivot state. The pivot state indicates the relative rotation state between the riding section 44 and the carrier C. In this embodiment, the sensor 110 detects a pivot angle D shown in FIG. 2. The pivot angle D indicates the relative rotation angle of the carrier C in the yaw direction with respect to the human-powered vehicle 1. The pivot angle D may also indicate the relative rotation angle of the human-powered vehicle 1 in the yaw direction with respect to the carrier C.

[0052] The sensor 110 includes a sensor provided in at least one of the human-powered vehicle 1 and the loading platform C. In this embodiment, the sensor 110 includes a sensor provided in the human-powered vehicle 1. The sensor 110 provided in the human-powered vehicle 1 includes a gyro sensor provided in the frame 40. When the sensor 110 is provided in the loading platform C, the sensor 110 may include a gyro sensor provided in the pivot portion C14a. When the sensor 110 is provided in the human-powered vehicle 1 and the loading platform C, the sensor 110 may include an acceleration sensor provided in the human-powered vehicle 1 and the loading platform C. The acceleration sensor provided in the human-powered vehicle 1 and the loading platform C may detect the pivot angle D based on the acceleration of the human-powered vehicle 1 and the acceleration of the loading platform C.

[0053] The sensor 110 outputs a signal corresponding to the pivot angle D to the control unit 101. The control unit 101 acquires information about the pivot state based on the detection value detected by the sensor 110. The control unit 101 estimates the pivot angle D based on the detection value detected by the sensor 110. The control unit 101 may calculate the pivot angle D based on the detection value or may estimate it based on a pre-stored table. Note that the sensor 110 may determine the pivot angle D based on the detection value. The control unit 101 controls the electric component 80 according to the pivot state. In this embodiment, the control unit 101 controls the drive unit 81 according to the pivot state. The control unit 101 controls the motor 81a in a first control state when the pivot angle D is a first pivot angle, and controls the motor 81a in a second control state different from the first control state when the pivot angle D is a second pivot angle smaller than the first pivot angle.

[0054] The first pivot angle includes at least one angle greater than 0°. In this embodiment, the first pivot angle includes a predetermined range of angles. The storage unit 102 stores the first pivot angle.

[0055] The second pivot angle includes at least one angle smaller than the first pivot angle. In this embodiment, the second pivot angle includes a predetermined range of angles smaller than the first pivot angle. The storage unit 102 stores the second pivot angle. The second pivot angle may include 0°.

[0056] An example of control executed by the control unit 101 will be described using FIG. 4. The control unit 101 starts a first control flow according to the flowchart shown in FIG. 4 when predetermined conditions are met. In this embodiment, the control unit 101 starts the first control flow when human-powered driving force is input to the human-powered vehicle 1. The control unit 101 may also be configured to start the first control flow when power supply from the battery 60 to the control unit 101 begins and a predetermined operation is performed on the operation device 43. After the first control flow ends, the control unit 101 repeatedly executes the first control flow at predetermined time intervals until predetermined conditions are met. In this embodiment, the control unit 101 repeatedly executes the first control flow at predetermined time intervals until a predetermined operation is performed on the operation device 43. The control unit 101 may also be configured to repeatedly execute the first control flow until human-powered driving force is no longer input to the human-powered vehicle 1.

[0057] In step S1, the control unit 101 acquires information about the pivot angle D based on a signal output from the sensor 110. The signal output from the sensor 110 may include information about the pivot angle D, or may include information used by the control unit 101 to determine and / or calculate the pivot angle D. The control unit 101 determines the pivot angle D based on the signal output from the sensor 110. If the pivot angle D is equal to or greater than a predetermined threshold, the control unit 101 determines that the pivot angle D is the first pivot angle. The predetermined threshold is stored in the storage unit 102. The predetermined threshold may be configured to be changeable by the user. If the first pivot angle includes a predetermined angle range, the control unit 101 may determine that the pivot angle D is the first pivot angle if the pivot angle D is within the first pivot angle range.

[0058] If the pivot angle D is the first pivot angle, the control unit 101 proceeds to step S2. If the pivot angle D is not the first pivot angle, the control unit 101 proceeds to step S3. In step S2, the control unit 101 controls the motor 81a in the first control state. After performing the process of step S2, the control unit 101 ends the first control flow.

[0059] In step S3, if the pivot angle D acquired in step S1 is less than a predetermined threshold, the control unit 101 determines that the pivot angle D is the second pivot angle. If the second pivot angle includes a predetermined angle range, the control unit 101 may determine that the pivot angle D is the second pivot angle if the pivot angle D is within the second pivot angle range.

[0060] If the control unit 101 determines that the pivot angle D is the second pivot angle, the control unit 101 proceeds to step S4. If the pivot angle D is not the second pivot angle, the control unit 101 ends the first control flow. In step S4, the control unit 101 controls the motor 81a in the second control state. After performing the process of step S4, the control unit 101 ends the first control flow. If the pivot angle D is not the first pivot angle or the second pivot angle in the first control flow, it is possible that the pivot angle D cannot be detected due to, for example, a malfunction of the sensor 110 or the mounting state of the sensor 110. If the pivot angle D is not the first pivot angle or the second pivot angle, the control unit 101 may perform assist control that is not based on the pivot angle D.

[0061] The control unit 101 executes the first control flow and changes the control state, thereby controlling the electrical components 80 of the human-powered vehicle 1 in accordance with the turning state of the loading section 44 towing the loading platform C and the loading platform C. In this embodiment, the control unit 101 can control the drive unit 81 in accordance with the turning state of the loading section 44 towing the loading platform C and the loading platform C. The control unit 101 can perform different controls on the motor 81a of the drive unit 81 based on the difference in the turning state of the loading section 44 towing the loading platform C and the loading platform C.

[0062] In this embodiment, the control unit 101 can control the motor 81a in the first control state when the pivot angle D is a first pivot angle that is larger than the second pivot angle. The control unit 101 can control the motor 81a in the second control state when the pivot angle D is a second pivot angle that is smaller than the first pivot angle.

[0063] (Second embodiment) A control system 70 of the second embodiment will be described with reference to Figures 5 to 7. Components common to the first embodiment are given the same reference numerals as in the first embodiment, and duplicated descriptions will be omitted.

[0064] The control unit 101 is configured to control the motor 81a of the drive unit 81 in accordance with the human-powered driving force input to the human-powered vehicle 1 in the first control state and the second control state. FIG. 5 shows an example of a graph used when controlling the motor 81a of the drive unit 81 in accordance with the human-powered driving force. In FIGS. 5 and 6, the output of the motor 81a is referred to as the motor output. In this specification, the output of the motor 81a may also be referred to as the motor output. If the drive unit 81 includes a reducer, the motor output is the output input to the human-powered vehicle 1 as auxiliary propulsion force via the reducer. The motor output is expressed, for example, in the same units as the human-powered driving force. For example, the motor output is expressed by at least one of the rotational torque and the rotational speed of the motor 81a. The motor output may also be expressed by the power of the motor 81a, which is the product of the rotational torque and the rotational speed of the motor 81a, or by the driving force.

[0065] The control unit 101 starts driving the motor 81a when the manual driving force becomes equal to or greater than a first threshold T1. After starting driving the motor 81a, the control unit 101 controls the motor 81a so that the motor output increases proportionally as the manual driving force increases. When the manual driving force becomes equal to or greater than a second threshold T2, the control unit 101 controls the motor 81a so that the motor output maintains the maximum output value PM of the motor 81a. When the manual driving force becomes equal to or greater than the second threshold T2, the control unit 101 controls the motor 81a so that the motor output does not exceed the maximum output value PM of the motor 81a.

[0066] The maximum output value PM of the motor 81a defines the upper limit of the output of the motor 81a when the control unit 101 controls the motor 81a. The maximum output value PM of the motor 81a is different from the maximum output value based on the performance of the motor 81a. The second threshold T2 is greater than the first threshold T1. The control unit 101 controls the motor 81a so that the ratio of the motor output to the manual driving force does not exceed a predetermined ratio. Even if the ratio of the motor output to the manual driving force is within the predetermined ratio range, the control unit 101 controls the motor 81a so that the motor output does not exceed the maximum output value PM. The relationship between the manual driving force and the motor output is defined according to the relationship between the traveling speed of the human-powered vehicle 1 and the Road Traffic Act, etc.

[0067] 6, the maximum output value PM of the motor 81a includes a first output value PM1 and a second output value PM2. The second output value PM2 is different from the first output value PM1. In this embodiment, the second output value PM2 is greater than the first output value PM1. The first output value PM1 and the second output value PM2 may be stored in the storage unit 102.

[0068] The control unit 101 is configured to set the maximum output value PM of the motor 81a to a first output value PM1 or a second output value PM2. When the maximum output value PM of the motor 81a is set to the first output value PM1, the control unit 101 controls the motor 81a so that the motor output does not exceed the first output value PM1 even if the manual driving force becomes equal to or greater than a second threshold value T2. When the maximum output value PM of the motor 81a is set to the second output value PM2, the control unit 101 controls the motor 81a so that the motor output does not exceed the second output value PM2 even if the manual driving force becomes equal to or greater than a third threshold value T3. The third threshold value T3 is greater than the second threshold value T2.

[0069] The control unit 101 sets the maximum output value PM of the motor 81a so that the maximum output value PM of the motor 81a is different from the maximum output value PM of the motor 81a in the first control state and the second control state. An example of control executed by the control unit 101 will be described with reference to FIG. 7.

[0070] The control unit 101 starts the second control flow according to the flowchart shown in Fig. 7 when a predetermined condition is satisfied. When the second control flow ends, the control unit 101 repeatedly executes the second control flow at predetermined time intervals until the predetermined condition is satisfied. The conditions for starting the second control flow and the conditions for repeating the execution of the second control flow are the same as those for the first control flow in the first embodiment.

[0071] In step S11, the control unit 101 determines whether the pivot angle D is the first pivot angle. If the control unit 101 determines that the pivot angle D is the first pivot angle, the process proceeds to step S12. If the control unit 101 determines that the pivot angle D is not the first pivot angle, the process proceeds to step S13.

[0072] In step S12, the control unit 101 controls the motor 81a in a first control state. In the first control state, the control unit 101 sets the maximum output value PM of the motor 81a to a first output value PM1. After performing the process of step S12, the control unit 101 ends the second control flow.

[0073] In step S13, the control unit 101 determines whether the pivot angle D is the second pivot angle. If the control unit 101 determines that the pivot angle D is the second pivot angle, the control unit 101 proceeds to step S14. If the control unit 101 determines that the pivot angle D is not the second pivot angle, the second control flow ends.

[0074] In step S14, the control unit 101 controls the motor 81a in a second control state. In the second control state, the control unit 101 sets the maximum output value PM of the motor 81a to a second output value PM2 that is greater than the first output value PM1. After performing the process of step S14, the control unit 101 ends the second control flow. In the second control flow, if the pivot angle D is not the first pivot angle or the second pivot angle, it is possible that the pivot angle D cannot be detected due to, for example, a malfunction of the sensor 110 or the mounting state of the sensor 110. After determining in step S11 that the pivot angle D is not the first pivot angle, if the control unit 101 determines in step S13 that the pivot angle D is not the second pivot angle, the control unit 101 may perform assist control that is not based on the pivot angle D.

[0075] The control unit 101 executes the second control flow to set the maximum output value PM of the motor 81a, thereby controlling the motor 81a in a manner appropriate for the turning state between the loading platform C and the riding section 44. The control unit 101 executes the second control flow to set the maximum output value PM of the motor 81a, thereby controlling the motor 81a in a manner appropriate for a large turning state between the loading platform C and the riding section 44. In this embodiment, in the first control state, the control unit 101 sets the maximum output value PM of the motor 81a to a first output value PM1 that is smaller than the second output value PM2, thereby reducing the assist force of the human-powered vehicle 1. By reducing the assist force of the human-powered vehicle 1, for example, when the turning state between the loading platform C and the riding section 44 is large, an increase in the traveling speed of the human-powered vehicle 1 can be suppressed, and the human-powered vehicle 1 can be made to turn more easily. This improves the comfort and stability of the human-powered vehicle 1 when traveling.

[0076] When the pivot angle D is a second pivot angle that is smaller than the first pivot angle, the control unit 101 controls the motor 81a in the second control state, thereby controlling the motor 81a in a manner suitable for when the turning state between the loading platform C and the riding section 44 is small. In this embodiment, the control unit 101 sets the maximum output value PM of the motor 81a in the second control state to a second output value PM2 that is larger than the first output value PM1. This makes it possible to increase the assist force of the human-powered vehicle 1 when the turning state between the loading platform C and the riding section 44 is small, improving the comfort and stability of the human-powered vehicle 1 when it travels.

[0077] In the second control flow, the control unit 101 may reverse the setting of the maximum output value PM of the motor 81a between the first control state and the second control state. By reversing the setting of the maximum output value PM of the motor 81a between the first control state and the second control state, the control unit 101 sets the maximum output value PM of the motor 81a to a second output value PM2 that is greater than the first output value PM1 in the first control state. By setting the maximum output value PM of the motor 81a to the second output value PM2 in the first control state, the control unit 101 can increase the assist force of the human-powered vehicle 1 when the platform C and the riding section 44 are turning significantly. By increasing the assist force of the human-powered vehicle 1, the control unit 101 can increase the force with which the human-powered vehicle 1 tries to stand up. By increasing the force with which the human-powered vehicle 1 tries to stand up, the human-powered vehicle 1 can easily return from a state in which the platform C and the riding section 44 are in a large rotation state to a non-rotation state in which the platform C and the riding section 44 are facing in the same direction.

[0078] (Third embodiment) A control system 70 of the third embodiment will be described with reference to Figures 5, 8, and 9. Configurations common to the first and second embodiments are given the same reference numerals as in the first and second embodiments, and redundant explanations will be omitted.

[0079] Fig. 8 shows an example of a graph showing the relationship between time and motor output when a manual driving force equal to or greater than the second threshold value T2 shown in Fig. 5 is input to the pedal 13. The slope of the graph shown in Fig. 8 indicates the response speed of the motor 81a when the output of the motor 81a increases. In this specification, the response speed of the motor 81a when the output of the motor 81a increases may be referred to as the response speed of the motor 81a.

[0080] The response speed of the motor 81a includes a first response speed and a second response speed. The second response speed is different from the first response speed. In this embodiment, the second response speed is faster than the first response speed. The slope of the graph shown by the solid line in FIG. 8 indicates an example of the first response speed. The slope of the graph shown by the two-dot chain line in FIG. 8 indicates an example of the second response speed. When a manual driving force is input in the first control state or the second control state, the control unit 101 controls the motor 81a according to the first response speed or the second response speed.

[0081] In this embodiment, when the control unit 101 controls the motor 81a at the first response speed, if a manual driving force equal to or greater than the second threshold T2 is input to the pedal 13, the control unit 101 controls the motor 81a so that the ratio of the output of the motor 81a to the manual driving force becomes a first predetermined ratio after time t2 has elapsed. Note that even when the output of the motor 81a is controlled at the first predetermined ratio after time t2 has elapsed, the control unit 101 controls the motor 81a so that the output of the motor 81a does not exceed the maximum output value PM. When the control unit 101 controls the motor 81a at the second response speed, if a manual driving force equal to or greater than the second threshold T2 is input to the pedal 13, the control unit 101 controls the motor 81a so that the ratio of the output of the motor 81a to the manual driving force becomes the first predetermined ratio after time t1 has elapsed. The time required to reach time t1 is shorter than the time required to reach time t2. Even when the output of the motor 81a is controlled at the first predetermined ratio after the time t1 has elapsed, the control unit 101 controls the motor 81a so that the output of the motor 81a does not exceed the maximum output value PM.

[0082] The control unit 101 sets the response speed of the motor 81a so that the response speeds of the motor 81a are different from each other in the first control state and the second control state. An example of control executed by the control unit 101 will be described with reference to FIG. 9.

[0083] The control unit 101 starts the third control flow according to the flowchart shown in Fig. 9 when a predetermined condition is satisfied. When the third control flow ends, the control unit 101 repeatedly executes the third control flow at predetermined time intervals until the predetermined condition is satisfied. The conditions for starting the third control flow and the conditions for repeating the execution of the third control flow are the same as those for the first control flow in the first embodiment.

[0084] In step S21, the control unit 101 determines whether the pivot angle D is the first pivot angle. If the control unit 101 determines that the pivot angle D is the first pivot angle, the process proceeds to step S22. If the control unit 101 determines that the pivot angle D is not the first pivot angle, the process proceeds to step S23.

[0085] In step S22, the control unit 101 controls the motor 81a in a first control state. In the first control state, the control unit 101 sets the response speed of the motor 81a when the output of the motor 81a increases to a first response speed. After performing the process of step S22, the control unit 101 ends the third control flow.

[0086] In step S23, the control unit 101 determines whether the pivot angle D is the second pivot angle. If the control unit 101 determines that the pivot angle D is the second pivot angle, the control unit 101 proceeds to step S24. If the control unit 101 determines that the pivot angle D is not the second pivot angle, the control unit 101 ends the third control flow.

[0087] In step S24, the control unit 101 controls the motor 81a in a second control state. In the second control state, the control unit 101 sets the response speed of the motor 81a when the output of the motor 81a increases to a second response speed that is faster than the first response speed. After performing the process of step S24, the control unit 101 ends the third control flow. In the third control flow, if the pivot angle D is neither the first pivot angle nor the second pivot angle, it is possible that the pivot angle D cannot be detected due to, for example, a malfunction of the sensor 110 or the mounting state of the sensor 110. After determining in step S21 that the pivot angle D is not the first pivot angle, if the control unit 101 determines in step S23 that the pivot angle D is not the second pivot angle, the control unit 101 may perform assist control that is not based on the pivot angle D.

[0088] The control unit 101 controls the motor 81a in the first control state when the pivot angle D is a first pivot angle greater than the second pivot angle. When the pivot angle D is the first pivot angle, the control unit 101 controls the motor 81a in the first control state, thereby providing control suitable for a large turning state between the platform C and the riding section 44. In this embodiment, the control unit 101 sets the response speed of the motor 81a to a first response speed slower than the second response speed in the first control state, thereby gradually increasing the ratio of the output of the motor 81a to the human-powered driving force input to the human-powered vehicle 1. By gradually increasing the ratio of the output of the motor 81a to the human-powered driving force input to the human-powered vehicle 1, for example, a sudden increase in the traveling speed of the human-powered vehicle 1 can be suppressed when a large turning state between the platform C and the riding section 44 occurs, improving the maneuverability of the human-powered vehicle 1. This improves the comfort and stability of the human-powered vehicle 1 when traveling.

[0089] The control unit 101 controls the motor 81a in the second control state when the pivot angle D is a second pivot angle that is smaller than the first pivot angle. When the pivot angle D is the second pivot angle, the control unit 101 controls the motor 81a in the second control state, thereby performing control that is appropriate for when the turning state between the bed C and the riding section 44 is small. In this embodiment, the control unit 101 sets the response speed of the motor 81a to a second response speed that is faster than the first response speed in the second control state, thereby quickly increasing the ratio of the output of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 when the turning state between the bed C and the riding section 44 is small. By quickly increasing the ratio of the output of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 when the turning state between the bed C and the riding section 44 is small, the driving comfort and stability of the human-powered vehicle 1 are improved.

[0090] In the third control flow, the control unit 101 may reverse the setting of the response speed of the motor 81a between the first control state and the second control state. By reversing the setting of the response speed of the motor 81a between the first control state and the second control state, the control unit 101 sets the response speed of the motor 81a to a second response speed that is faster than the first response speed in the first control state. By setting the response speed of the motor 81a to the second response speed in the first control state, the control unit 101 can quickly increase the assist force of the human-powered vehicle 1 when the platform C and the riding section 44 are turning significantly. By being able to quickly increase the assist force of the human-powered vehicle 1, the control unit 101 can quickly increase the force with which the human-powered vehicle 1 tries to rise. By being able to quickly increase the force with which the human-powered vehicle 1 tries to rise, the human-powered vehicle 1 can more easily return to a non-turning state from a state in which the platform C and the riding section 44 are turning significantly.

[0091] (Fourth embodiment) A control system 70 of the fourth embodiment will be described with reference to Fig. 10. Components common to the first to third embodiments are given the same reference numerals as those in the first to third embodiments, and redundant description will be omitted.

[0092] The control unit 101 controls the output of the motor 81a in accordance with predetermined parameters in the first control state and the second control state. In the first control state and the second control state, the output ratio of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 varies in accordance with the predetermined parameters. The output ratio of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 indicates the ratio between the human-powered driving force and the assist force of the human-powered vehicle 1. In this specification, the output ratio of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 may be referred to as the output ratio of the motor 81a.

[0093] For example, in the first control state and the second control state, the output ratio of the motor 81a varies depending on the traveling speed of the human-powered vehicle 1. When the traveling speed of the human-powered vehicle 1 is within a predetermined range, the output ratio of the motor 81a can be set to a preset maximum ratio. In this specification, the maximum value of the output ratio of the motor 81a is referred to as the maximum output ratio of the motor 81a. When the traveling speed of the human-powered vehicle 1 exceeds the predetermined range, the control unit 101 stops the output of the motor 81a.

[0094] The control unit 101 sets the maximum output ratio of the motor 81a so that the maximum output ratios of the motor 81a are different in the first control state and the second control state. An example of control executed by the control unit 101 will be described with reference to FIG. 10.

[0095] The control unit 101 starts a fourth control flow according to the flowchart shown in Fig. 10 when a predetermined condition is satisfied. When the fourth control flow ends, the control unit 101 repeatedly executes the fourth control flow at predetermined time intervals until the predetermined condition is satisfied. The conditions for starting the fourth control flow and the conditions for repeating the execution of the fourth control flow are the same as those for the first control flow in the first embodiment.

[0096] In step S31, the control unit 101 determines whether the pivot angle D is the first pivot angle. If the control unit 101 determines that the pivot angle D is the first pivot angle, the process proceeds to step S32. If the control unit 101 determines that the pivot angle D is not the first pivot angle, the process proceeds to step S33.

[0097] In step S32, the control unit 101 controls the motor 81a in a first control state. In the first control state, the control unit 101 sets the maximum output ratio of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 to a first maximum output ratio. The storage unit 102 stores the first maximum output ratio. After performing the process of step S32, the control unit 101 ends the fourth control flow.

[0098] In step S33, the control unit 101 determines whether the pivot angle D is the second pivot angle. If the control unit 101 determines that the pivot angle D is the second pivot angle, the control unit 101 proceeds to step S34. If the control unit 101 determines that the pivot angle D is not the second pivot angle, the control unit 101 ends the fourth control flow.

[0099] In step S34, the control unit 101 controls the motor 81a in a second control state. In the second control state, the control unit 101 sets the maximum output ratio of the motor 81a to the human-powered driving force input to the human-powered vehicle 1 to a second maximum output ratio that is greater than the first maximum output ratio. The storage unit 102 stores the second maximum output ratio. After performing the process of step S34, the control unit 101 ends the fourth control flow. In the fourth control flow, if the pivot angle D is not the first pivot angle or the second pivot angle, it is possible that the pivot angle D cannot be detected due to, for example, a malfunction of the sensor 110 or the mounting state of the sensor 110. If the control unit 101 determines in step S31 that the pivot angle D is not the first pivot angle and then determines in step S33 that the pivot angle D is not the second pivot angle, the control unit 101 may perform assist control that is not based on the pivot angle D.

[0100] The control unit 101 controls the motor 81a in the first control state when the pivot angle D is a first pivot angle that is larger than the second pivot angle. When the pivot angle D is the first pivot angle, the control unit 101 controls the motor 81a in the first control state, thereby performing control that is appropriate for when the platform C and the riding section 44 are turning widely. In this embodiment, the control unit 101 sets the maximum output ratio of the motor 81a to a first maximum output ratio that is smaller than the second maximum output ratio in the first control state, thereby suppressing an increase in the traveling speed of the human-powered vehicle 1 when the platform C and the riding section 44 are turning widely. By suppressing an increase in the traveling speed of the human-powered vehicle 1 when the platform C and the riding section 44 are turning widely, the human-powered vehicle 1 becomes more maneuverable, thereby improving the comfort and stability of the human-powered vehicle 1 when traveling.

[0101] The control unit 101 controls the motor 81a in the second control state when the pivot angle D is a second pivot angle that is smaller than the first pivot angle. When the pivot angle D is the second pivot angle, the control unit 101 controls the motor 81a in the second control state, thereby enabling control that is appropriate for when the turning state between the loading platform C and the riding section 44 is small. In this embodiment, the control unit 101 sets the maximum output ratio of the motor 81a to a second maximum output ratio that is larger than the first maximum output ratio in the second control state, thereby increasing the assist force of the human-powered vehicle 1 when the turning state between the loading platform C and the riding section 44 is small, and improving the comfort and stability of the human-powered vehicle 1 when it travels.

[0102] (Fifth embodiment) A control system 70 of the fifth embodiment will be described with reference to Fig. 11. Components common to the first to fourth embodiments are given the same reference numerals as the first to fourth embodiments, and redundant description will be omitted.

[0103] The control unit 101 is configured to be able to stop the motor 81a. For example, the control unit 101 outputs a stop signal to the motor 81a to stop the motor 81a. The motor 81a stops based on the stop signal output from the control unit 101.

[0104] The control unit 101 is configured to be able to acquire the traveling speed of the human-powered vehicle 1. The traveling speed of the human-powered vehicle 1 is detected by various sensors mounted on the human-powered vehicle 1. The control unit 101 can acquire the traveling speed of the human-powered vehicle 1 based on signals output from the various sensors.

[0105] The storage unit 102 stores information about the control state of the motor 81a. The information about the control state of the motor 81a includes information indicating whether the current control state of the motor 81a is the first control state or the second control state. The control unit 101 can obtain the current control state of the motor 81a by reading the information about the control state of the motor 81a from the storage unit 102.

[0106] In the first control state and the second control state, the control unit 101 stops the motor 81a in accordance with the traveling speed of the human-powered vehicle 1. In this embodiment, in the first control state, the control unit 101 stops the motor 81a when the traveling speed of the human-powered vehicle 1 exceeds a first traveling speed.

[0107] In this embodiment, in the second control state, the control unit 101 stops the motor 81a when the traveling speed of the human-powered vehicle 1 exceeds a second traveling speed, and the second traveling speed is greater than the first traveling speed.

[0108] An example of control executed by the control unit 101 will be described with reference to Fig. 11. The control unit 101 starts a fifth control flow according to the flowchart shown in Fig. 11 when a predetermined condition is met. When the fifth control flow ends, the control unit 101 repeatedly executes the fifth control flow at predetermined time intervals until the predetermined condition is met. The conditions for starting the fifth control flow and the conditions for repeating the execution of the fifth control flow are the same as those for the first control flow in the first embodiment.

[0109] In step S41, the control unit 101 acquires the traveling speed of the human-powered vehicle 1 based on signals output from various sensors. The control unit 101 compares the traveling speed of the human-powered vehicle 1 with information stored in the memory unit 102 and controls the motor 81a. The memory unit 102 stores information related to a first traveling speed and a second traveling speed, which are related to the traveling speed of the human-powered vehicle 1. The control unit 101 determines whether the traveling speed of the human-powered vehicle 1 exceeds the first traveling speed while controlling the motor 81a in the first control state. If the traveling speed of the human-powered vehicle 1 exceeds the first traveling speed, the control unit 101 controls the motor 81a to stop outputting the motor 81a. If the control unit 101 determines that the traveling speed of the human-powered vehicle 1 exceeds the first traveling speed in the first control state, the control unit 101 proceeds to step S42. If the control unit 101 determines that the traveling speed of the human-powered vehicle 1 does not exceed the first traveling speed in the first control state, the process proceeds to step S43.

[0110] In step S42, the control unit 101 outputs a stop signal to the motor 81a to stop the motor 81a. After performing the process of step S42, the control unit 101 ends the fifth control flow.

[0111] In step S43, the control unit 101 determines whether the traveling speed of the human-powered vehicle 1 exceeds the second traveling speed while the motor 81a is being controlled in the second control state. If the traveling speed of the human-powered vehicle 1 exceeds the second traveling speed, the control unit 101 controls the motor 81a to stop the output of the motor 81a. If the control unit 101 determines that the traveling speed of the human-powered vehicle 1 exceeds the second traveling speed in the second control state, the control unit 101 proceeds to step S44. If the control unit 101 determines that the traveling speed of the human-powered vehicle 1 does not exceed the second traveling speed in the second control state, the control unit 101 ends the fifth control flow.

[0112] In step S44, the control unit 101 outputs a stop signal to the motor 81a to stop the motor 81a. After performing the process of step S44, the control unit 101 ends the fifth control flow.

[0113] By executing the process of step S42 of the fifth control flow, the control unit 101 can control the motor 81a appropriately when the platform C and the riding section 44 are turning sharply. In this embodiment, the control unit 101 controls the motor 81a in the first control state when the pivot angle D is a first pivot angle that is smaller than the second pivot angle. In the first control state, the control unit 101 stops the motor 81a when the traveling speed of the human-powered vehicle 1 exceeds a first traveling speed. Because the first traveling speed is smaller than the second traveling speed, the control unit 101 can, for example, advance the timing at which the assist of the human-powered vehicle 1 is stopped as the traveling speed of the human-powered vehicle 1 increases when the platform C and the riding section 44 are turning sharply. By advancing the timing at which the assist of the human-powered vehicle 1 is stopped when the platform C and the riding section 44 are turning sharply, the human-powered vehicle 1 can turn more easily, thereby improving the comfort and stability of the human-powered vehicle 1 when traveling.

[0114] By executing the process of step S44 of the fifth control flow, the control unit 101 can control the motor 81a appropriately when the turning state between the loading platform C and the riding section 44 is small. In this embodiment, the control unit 101 controls the motor 81a in the second control state when the pivot angle D is a second pivot angle that is smaller than the first pivot angle. In the second control state, the control unit 101 stops the motor 81a when the traveling speed of the human-powered vehicle 1 exceeds a second traveling speed. Because the second traveling speed is higher than the first traveling speed, the control unit 101 can easily continue to provide assistance by the human-powered vehicle 1 when the turning state between the loading platform C and the riding section 44 is small, improving the comfort and stability of the human-powered vehicle 1 when traveling.

[0115] (Variation) The explanations regarding each embodiment are merely examples of possible forms of the control system 70 and the control device 100 according to the present invention, and are not intended to limit the present invention. The control system 70 and the control device 100 according to the present invention may take the form of, for example, a modified example of each embodiment shown below, or a combination of at least two mutually consistent modified examples.

[0116] For example, the configuration of the human-powered vehicle 1 in each embodiment is an example, and the human-powered vehicle 1 may include various devices not shown in each embodiment, or may be configured not to include some of the various devices shown in each embodiment.

[0117] Figure 12 shows a modified example of the human-powered vehicle 1. In Figure 12, the human-powered vehicle 1 is depicted in schematic form, and some of the devices and mechanisms of the human-powered vehicle 1 are omitted. In Figure 12, for example, the braking device and drive mechanism 50 are omitted.

[0118] The cargo bed C shown in FIG. 12 is supported by a support portion 146. The rear wheels 20, the support portion 146, and the cargo bed C are connected to the frame 40 via a pivot portion C14a, and are configured to rotate relative to the frame 40 in the roll direction. The pivot angle D in the modified example is the relative rotation angle of the cargo bed C with respect to the boarding portion 44 in the roll direction. The pivot angle D in the modified example may also be the relative rotation angle of the boarding portion 44 with respect to the cargo bed C in the roll direction. The control unit 101 can control the drive unit 81 based on the pivot angle D in the modified example by executing the control flow in each embodiment and changing the control state of the motor 81a, etc.

[0119] The configurations illustrated in each embodiment may be combined with each other to the extent that they are not mutually contradictory. The process contents and process order of the flowcharts illustrated in each embodiment are examples, and the process contents and process order can be changed as appropriate within the scope of the present invention.

[0120] The various threshold values ​​used in the control illustrated in each embodiment are not limited and may be set arbitrarily. The various threshold values ​​may be changed arbitrarily by operating the operation device 43, etc.

[0121] In each embodiment, the electrical component 80 controlled by the control unit 101 is not limited to the drive unit 81. In each embodiment, the control unit 101 may control an electrical component 80 other than the drive unit 81. In each embodiment, the control unit 101 may control, for example, at least one of an electric suspension 82, an electric seat post 83, an electric rear derailleur 84, an electric front derailleur 85, an electric clutch 86, an electronic terminal 87, a display 88, a vibration generator 89, a light generator 90, and a sound generator 91.

[0122] For example, when controlling the electric suspension 82 in each embodiment, the control unit 101 changes various parameters of the electric suspension 82 according to the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The various parameters of the electric suspension 82 include, for example, at least one of the lockout state, the travel amount, the damping force, and the repulsive force.

[0123] For example, when controlling the electric seat post 83 in each embodiment, the control unit 101 changes various parameters of the electric seat post 83 according to the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The various parameters of the electric seat post 83 include, for example, the height of the riding section 44.

[0124] For example, when controlling the electric rear derailleur 84 in each embodiment, the control unit 101 changes various parameters of the electric rear derailleur 84 in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The various parameters of the electric rear derailleur 84 include, for example, the shift stage.

[0125] For example, when controlling the electric front derailleur 85 in each embodiment, the control unit 101 changes various parameters of the electric front derailleur 85 in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The various parameters of the electric front derailleur 85 include, for example, the shifting stage.

[0126] For example, when the control unit 101 controls the electric clutch 86 in each embodiment, it switches the transmission state of the electric clutch 86 from one of the first transmission state and the second transmission state to the other of the first transmission state and the second transmission state depending on the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1.

[0127] For example, when controlling the electronic terminal 87 in each embodiment, the control unit 101 causes the electronic terminal 87 to perform a predetermined notification operation according to the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The predetermined notification operation that the electronic terminal 87 performs includes at least one of an operation to display a predetermined message, an operation to generate a predetermined vibration, an operation to output a predetermined light, and an operation to output a predetermined sound.

[0128] For example, when controlling the display 88 in each embodiment, the control unit 101 causes the display 88 to perform a predetermined notification operation in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The predetermined notification operation that the control unit 101 causes the display 88 to perform includes the operation of displaying a predetermined message.

[0129] For example, when controlling the vibration generator 89 in each embodiment, the control unit 101 causes the vibration generator 89 to perform a predetermined notification operation in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The predetermined notification operation that the vibration generator 89 causes to be performed includes an operation of generating a predetermined vibration.

[0130] For example, when controlling the light generating device 90 in each embodiment, the control unit 101 causes the light generating device 90 to perform a predetermined notification operation in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The predetermined notification operation that the light generating device 90 causes to be performed includes an operation of emitting a predetermined light.

[0131] For example, when controlling the sound generating device 91 in each embodiment, the control unit 101 causes the sound generating device 91 to perform a predetermined notification operation in accordance with the pivot angle D, the control state of the motor 81a, and the traveling speed of the human-powered vehicle 1. The predetermined notification operation that the sound generating device 91 causes to perform includes an operation of generating a predetermined sound.

[0132] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0133] 1...human-powered vehicle, 42...handle section, 44...riding section, 70...control system, 80...electrical components, 81...drive unit, 81a...motor, 82...electric suspension, 83...electric seat post, 84...electric rear derailleur, 85...electric front derailleur, 86...electric clutch, 87...electronic terminal, 88...display, 89...vibration generator, 90...light generator, 91...sound generator, 100...control device, 101...control section, 110...sensor, C...cargo bed, C14a...pivot section, D...pivot angle, PM...maximum output value, PM1...first output value, PM2...second output value

Claims

1. 1. A control system for a human-powered vehicle, comprising: a boarding section located between the carrier and the handle section; and a sensor that outputs a signal corresponding to a pivot angle of a pivot section that connects the carrier to the carrier so as to be rotatable relative to the carrier; Electrical components, A control unit that controls the electrical components in response to a signal output from the sensor, the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; In the first control state, a maximum output value of the motor is set to a first output value; A control system that, in the second control state, sets a maximum output value of the motor to a second output value that is greater than the first output value.

2. The control system described in claim 1, wherein the control unit sets the response speed of the motor when the output of the motor increases in the first control state to a first response speed.

3. The control system of claim 2, wherein the control unit sets the response speed of the motor when the output of the motor increases in the second control state to a second response speed faster than the first response speed.

4. A control system for a human-powered vehicle, comprising: a boarding section located between the carrier and the handle section; and a sensor that outputs a signal corresponding to a pivot angle of a pivot section that connects the carrier to the carrier so as to be rotatable relative to the carrier; Electrical components, A control unit that controls the electrical components in response to a signal output from the sensor, the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; In the first control state, a maximum output ratio of the motor with respect to a human-powered driving force input to the human-powered vehicle is set to a first maximum output ratio; a control system that, in the second control state, sets the maximum output ratio of the motor with respect to a human-powered driving force input to the human-powered vehicle to a second maximum output ratio that is greater than the first maximum output ratio.

5. A control system for a human-powered vehicle, comprising: a boarding section located between the carrier and the handle section; and a sensor that outputs a signal corresponding to a pivot angle of a pivot section that connects the carrier to the carrier so as to be rotatable relative to the carrier; Electrical components, A control unit that controls the electrical components in response to a signal output from the sensor, the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; in the first control state, when the traveling speed of the human-powered vehicle exceeds a first traveling speed, the motor is stopped; a control system for stopping the motor when the traveling speed of the human-powered vehicle exceeds a second traveling speed in the second control state, the second traveling speed being greater than the first traveling speed.

6. A control unit is provided which controls electrical components of a human-powered vehicle in accordance with a pivot state detected by a sensor which outputs a signal corresponding to a pivot angle of a pivot part which connects the loading platform to the loading platform so as to be rotatable relative to the loading platform, and the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; In the first control state, a maximum output value of the motor is set to a first output value; a control device for a human-powered vehicle that, in the second control state, sets a maximum output value of the motor to a second output value that is greater than the first output value.

7. A control unit is provided which controls electrical components of a human-powered vehicle in accordance with a pivot state detected by a sensor which outputs a signal corresponding to a pivot angle of a pivot part which connects the loading platform to the loading platform so as to be rotatable relative to the loading platform, and the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; In the first control state, a maximum output ratio of the motor with respect to a human-powered driving force input to the human-powered vehicle is set to a first maximum output ratio; a control device for a human-powered vehicle that, in the second control state, sets the maximum output ratio of the motor with respect to the human-powered driving force input to the human-powered vehicle to a second maximum output ratio that is greater than the first maximum output ratio.

8. A control unit is provided which controls electrical components of a human-powered vehicle in accordance with a pivot state detected by a sensor which outputs a signal corresponding to a pivot angle of a pivot part which connects the loading platform to the loading platform so as to be rotatable relative to the loading platform, and the electrical components include a drive unit having a motor that provides a propulsive force to the human-powered vehicle; the control unit controls the motor in a first control state when the pivot angle is a first pivot angle, and controls the motor in a second control state different from the first control state when the pivot angle is a second pivot angle smaller than the first pivot angle; in the first control state, when the traveling speed of the human-powered vehicle exceeds a first traveling speed, the motor is stopped; A control device for a human-powered vehicle, wherein in the second control state, when the traveling speed of the human-powered vehicle exceeds a second traveling speed, the motor is stopped, and the second traveling speed is greater than the first traveling speed.

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