Control device for a human-powered vehicle

Abstract

To provide a control device for a human-powered vehicle which can preferably control an electric adjustable seat post according to a travel path of a human-powered vehicle.SOLUTION: A control device is a control device for a human-powered vehicle and includes a control unit configured to control an electric adjustable seat post of the human-powered vehicle. The electric adjustable seat post is configured to control a height of a seat post of the human-powered vehicle. The control unit is configured to obtain front information of a travel path from a detection part, obtain an estimated travel path on which the human-powered vehicle travels in future according to the front information, and control the electric adjustable seat post according to the estimated travel path.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a control device for a human-powered vehicle.

Background Art

[0002] For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls an electric adjustable seat post.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The control device for a human-powered vehicle of Patent Document 1 controls the electric adjustable seat post in response to an input of an operation to the operation unit, but does not consider any conditions other than the input of the operation to the operation unit. An object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control an electric adjustable seat post according to the traveling road of the human-powered vehicle.

Means for Solving the Problems

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, including a control unit configured to control an electric adjustable seat post of the human-powered vehicle, the electric adjustable seat post being configured to be able to control the height of a seat post of the human-powered vehicle, the control unit acquiring forward information of a traveling road from a detection unit, acquiring an estimated traveling road on which the human-powered vehicle will travel in the future according to the forward information, and being configured to control the electric adjustable seat post according to the estimated traveling road. According to the control device of the first aspect, the electric adjustable seat post can be suitably controlled according to the estimated travel route on which the human-powered vehicle will travel in the future.

[0006] In the control device of the second aspect according to the first aspect of the present disclosure, the control unit includes a travel route estimation unit that acquires the estimated travel route based on the forward information. According to the control device of the second aspect, based on the forward image Estimated travel route can be suitably acquired.

[0007] In the control device of the third aspect according to the second aspect of the present disclosure, the travel route estimation unit includes an artificial intelligence processing unit. According to the control device of the third aspect, by the artificial intelligence processing unit Estimated travel route can be suitably acquired.

[0008] In the control device of the fourth aspect according to the third aspect of the present disclosure, the artificial intelligence processing unit is configured to identify an object on the travel route based on the forward information, and acquire the estimated travel route based on the object. According to the control device of the fourth aspect, the estimated travel route can be suitably acquired by identifying the characteristics of the travel route as an object based on the forward information.

[0009] In the control device of the fifth aspect according to the fourth aspect of the present disclosure, the artificial intelligence processing unit is configured to identify a boundary between a region that is the travel route and a region that is not the travel route in the forward information based on the object, and acquire the estimated travel route based on the boundary. According to the control device of the fifth aspect, the estimated travel route can be suitably acquired by the boundary between the region that is the travel route and the region that is not the travel route identified based on the forward information.

[0010] In the control device of the sixth aspect according to the fourth or fifth aspect of the present disclosure, the artificial intelligence processing unit is configured to estimate a distance between the object and the human-powered vehicle based on the forward information, and the control unit is configured to control the electric adjustable seat post according to the distance. According to the control device of the sixth side surface, the electric adjustable seat post can be suitably controlled according to the distance between the object and the human-powered vehicle.

[0011] The first to sixth aspects of the present disclosure any one of In the control device of the seventh aspect according to the present disclosure, the control unit is configured to control the electric adjustable seat post according to at least one of the inclination of the estimated travel route and the difficulty of passing the estimated travel route. According to the control device of the seventh side surface, the electric adjustable seat post can be suitably controlled according to at least one of the inclination of the estimated travel route and the difficulty of passing.

[0012] The first to seventh aspects of the present disclosure any one of In the control device of the eighth aspect according to the present disclosure, the control unit is configured to control the electric adjustable seat post to change the height according to the estimated travel route. According to the control device of the eighth side surface, the height of the seat post can be changed to a height suitable for the estimated travel route.

[0013] In the control device of the ninth aspect according to the eighth aspect of the present disclosure, the control unit is configured to control the electric adjustable seat post to change the height according to the estimated travel route when the rider is in a non-seated state on the seat post. According to the control device of the ninth side surface, when the rider is in a non-seated state, the height of the seat post can be changed to a height suitable for the estimated travel route.

[0014] In the control device of the tenth aspect according to the eighth or ninth aspect of the present disclosure, the control unit is configured to control the electric adjustable seat post to change the height when the rider is seated on the seat post and the amount of decrease in the height according to the estimated travel route is equal to or less than a predetermined amount of decrease. According to the control device of the tenth side surface, when the rider is seated on the seat post, the amount of decrease in the height of the seat post can be changed to be equal to or less than a predetermined amount of decrease.

[0015] Eighth to tenth aspects of the present disclosure any one of In the control device according to the eleventh aspect, when the rider is seated on the seat post and the amount of height decrease corresponding to the estimated travel route is greater than a predetermined amount of decrease, the control unit is configured to control the electric adjustable seat post so as to suppress the change in height. According to the control device of the eleventh aspect, when the rider is seated on the seat post and the amount of height decrease is greater than a predetermined amount of decrease, the change in the height of the seat post is suppressed, so that the rider is less likely to feel discomfort.

[0016] Eighth to eleventh aspects of the present disclosure any one of In the control device according to the twelfth aspect, when the control unit controls the electric adjustable seat post to change the height according to the estimated travel route, the control unit is configured to control the notification unit so that the notification unit notifies information regarding the height. According to the control device of the twelfth aspect, the rider can grasp the change in the height of the seat post.

[0017] Eighth to twelfth aspects of the present disclosure any one of In the control device according to the thirteenth aspect, when the control unit controls the electric adjustable seat post to change the height according to the estimated travel route, the control unit is configured to control the electric adjustable seat post so that the height becomes a first predetermined height. According to the control device of the thirteenth aspect, the height of the seat post can be set to the first predetermined height.

[0018] In the control device according to the fourteenth aspect in accordance with the thirteenth aspect of the present disclosure, the first predetermined height includes a second predetermined height, a third predetermined height lower than the second predetermined height, and a fourth predetermined height lower than the third predetermined height, and the control unit is configured to control the electric adjustable seat post so that the height becomes one of the second predetermined height, the third predetermined height, and the fourth predetermined height according to first travel information regarding at least one of a travel state of the human-powered vehicle and a travel environment of the human-powered vehicle. According to the control device of the 14th aspect, the height of the seat post can be suitably changed according to the first traveling information.

[0019] In the control device of the 15th aspect according to the 14th aspect of the present disclosure, the control device further includes a first storage unit that stores the third predetermined height, and the third predetermined height stored in the first storage unit is changeable. According to the control device of the 15th aspect, the third predetermined height can be changed to a height suitable for the lidar.

[0020] The 8th to 15th aspects of the present disclosure any one of In the control device of the 16th aspect according to the above aspects, when the operation unit is operated, the control unit is configured to control the electric adjustable seat post so as to change the height according to the estimated travel path. According to the control device of the 16th aspect, the height of the seat post can be changed at the timing desired by the rider.

[0021] In the control device of the 17th aspect according to the 16th aspect of the present disclosure, when the operation unit is operated, the control unit is configured to control the electric adjustable seat post so that the height becomes a height corresponding to the operation amount of the operation unit, and is configured to execute control of the electric adjustable seat post according to the estimated travel path. According to the control device of the 17th aspect, when the operation unit is operated, the height of the seat post can be changed to the height desired by the rider according to the estimated travel path.

[0022] In the control device of the 18th aspect according to the 16th or 17th aspect of the present disclosure, when the operation unit is operated, the control unit is configured to control the electric adjustable seat post so that the height becomes a height corresponding to the estimated travel path. According to the control device of the 18th aspect, the height of the seat post can be changed to a height corresponding to the estimated travel path at the timing desired by the rider.

[0023] In the control device of the nineteenth aspect according to the eighteenth aspect of the present disclosure, when the operation unit is operated, the control unit controls the electric adjustable seat post so that the height becomes a height corresponding to the estimated travel path regardless of the operation amount of the operation unit. According to the control device of the nineteenth aspect, the height of the seat post can be changed to a height corresponding to the estimated travel path regardless of the operation amount of the operation unit by the rider. Therefore, just by the rider operating the operation unit, the height of the seat post is changed to a height corresponding to the estimated travel path.

[0024] In the control device of the twentieth aspect according to the thirteenth aspect of the present disclosure, the control device further includes a second storage unit that stores history information regarding the change history of the height, and the control unit controls the electric adjustable seat post so that the height becomes the first predetermined height according to the estimated travel path and the history information. According to the control device of the twentieth aspect, the height of the seat post can be changed to the first predetermined height according to the estimated travel path and the change history.

[0025] In the control device of the twenty-first aspect according to the twentieth aspect of the present disclosure, the second storage unit is configured to store the history information in association with second travel information regarding at least one of the travel state of the human-powered vehicle and the travel environment of the human-powered vehicle, and the control unit is configured to be able to change the first predetermined height according to the estimated travel path, the history information, and the second travel information. According to the control device of the twenty-first aspect, the first predetermined height can be suitably changed according to the estimated travel path, the history information, and the second travel information.

[0026] The first to twenty-first aspects of the present disclosure any one of In the control device of the twenty-second aspect according to the first to twenty-first aspects of the present disclosure, the detection unit includes an imaging device, and the forward information includes a forward image acquired by the imaging device. According to the control device of the twenty-second aspect, the estimated travel path can be suitably acquired from the forward image.

[0027] The first to twenty-second aspects of the present disclosure any one ofIn the control device of the 23rd aspect according to the present disclosure, the detection unit includes a laser device, and the forward information includes obstacle information acquired by the laser device. According to the control device of the 23rd aspect, an estimated travel route can be suitably acquired from the obstacle information.

[0028] The 1st to 23rd aspects of the present disclosure any one of In the control device of the 24th aspect according to the present disclosure, the detection unit includes a position information detection unit, and the forward information includes map information of the travel route acquired by the position information detection unit. According to the control device of the 24th aspect, an estimated travel route can be suitably acquired from the map information.

Advantages of the Invention

[0029] According to the control device of the present disclosure, the electric adjustable seat post can be suitably controlled according to the travel route of the human-powered vehicle.

Brief Description of the Drawings

[0030]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0031] <First Embodiment> Referring to FIGS. 1 to 9, a control device 60 for a human-powered vehicle according to the first embodiment will be described. The human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human driving force. The human-powered vehicle includes various types of bicycles such as, for example, mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels of the human-powered vehicle is not limited. The human-powered vehicle also includes, for example, a vehicle having one wheel and a vehicle having three or more wheels. The human-powered vehicle is not limited to a vehicle that can be driven only by human driving force. The human-powered vehicle includes an e-bike (E-bike) that utilizes the driving force of an electric motor in addition to human driving force. The e-bike includes an electric assist bicycle whose propulsion is assisted by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle will be described as a mountain bike.

[0032] The human-powered vehicle 10 includes at least one wheel 14 and a vehicle body 16. The at least one wheel 14 includes a rear wheel 14A and a front wheel 14B. The vehicle body 16 includes a frame 18. An input rotation shaft 12A rotatable with respect to the frame 18 is provided on the vehicle body 16. In the present embodiment, the input rotation shaft 12A is a crankshaft included in the crank 12. The crank 12 includes the input rotation shaft 12A, a first crank arm 12B provided at one axial end of the input rotation shaft 12A, and a second crank arm 12C provided at the other axial end of the input rotation shaft 12A. A pedal 20 is connected to the crank 12. The pedal 20 includes a first pedal 20A and a second pedal 20B. The first pedal 20A is connected to the first crank arm 12B. The second pedal 20B is connected to the second crank arm 12C. 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 by a drive mechanism 22.

[0033] The drive mechanism 22 includes a first rotating body 24 connected to the input rotating shaft 12A. The input rotating shaft 12A may be connected so as to rotate integrally with the first rotating body 24, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a front sprocket. The first rotating body 24 may include a pulley or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain, a belt, or a shaft.

[0034] The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a rear sprocket. The second rotating body 26 may include a pulley or a bevel gear. Preferably, a second one-way clutch is provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward, and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward.

[0035] The front wheel 14B is attached to the frame 18 via a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In this embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 22, but at least one of the rear wheel 14A and the front wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0036] For example, the human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. The battery elements include rechargeable batteries. The battery 36 is configured to supply power to the control device 60. The battery 36 is preferably communicably connected to the control unit 62 of the control device 60 via an electrical cable or a wireless communication device. The battery 36 can communicate with the control unit 62, for example, by power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0037] The human-powered vehicle 10 includes an electric adjustable seat post 38. The electric adjustable seat post 38 is configured to be able to control the height of the seat post 40 of the human-powered vehicle 10.

[0038] As shown in FIG. 2, for example, the electric adjustable seat post 38 includes the seat post 40. The seat post 40 is attached to the frame 18. A saddle 42 is attached to the seat post 40. The electric adjustable seat post 38 raises and lowers the seat post 40 with respect to the frame 18.

[0039] For example, the seat post 40 includes a first portion 40A and a second portion 40B. For example, one of the first portion 40A and the second portion 40B is attached to the frame 18. A saddle 42 is attached to the other of the first portion 40A and the second portion 40B. The first portion 40A and the second portion 40B are each formed in a tubular shape. One of the first portion 40A and the second portion 40B is fitted into the other of the first portion 40A and the second portion 40B. The seat post 40 expands and contracts when one of the first portion 40A and the second portion 40B moves relative to the other of the first portion 40A and the second portion 40B. When the seat post 40 expands and contracts, the height of the seat post 40 is changed. The height of the seat post 40 corresponds, for example, to the length by which the seat post 40 extends from the state in which the seat post 40 is most contracted when one of the first portion 40A and the second portion 40B is fitted most into the other of the first portion 40A and the second portion 40B. The height of the seat post 40 may correspond, for example, to the length of the portion of the seat post 40 that is exposed from the frame 18.

[0040] For example, the electric adjustable seat post 38 includes an electric actuator or an electric motor. The electric adjustable seat post 38 includes an electric seat post that expands and contracts by the force of the electric motor, or a mechanical seat post. The mechanical seat post expands by the force of at least one of a spring and air. The mechanical seat post is configured to contract by applying a load to the saddle 42. The mechanical seat post includes a hydraulic seat post or a pneumatic seat post. When the electric adjustable seat post 38 is an electric seat post, when the control unit of the electric adjustable seat post 38 receives an operation command, it operates the electric actuator or the electric motor to expand and contract the seat post 40. When the electric adjustable seat post 38 is an electric seat post, the raising and lowering of the seat post 40 are performed by individual operation commands. When the electric adjustable seat post 38 is a mechanical seat post, the control unit of the electric adjustable seat post 38 controls a valve that opens and closes a flow path of oil or air. When the electric adjustable seat post 38 is a mechanical seat post, when the control unit of the electric adjustable seat post 38 receives an operation command, it operates the electric actuator or the electric motor to open the valve. When the valve is open, the electric adjustable seat post 38 attempts to expand by the force of at least one of a spring and air. When the valve is closed, the length of the electric adjustable seat post 38 does not change. When the electric adjustable seat post 38 is a mechanical seat post, the control unit of the electric adjustable seat post 38 may be configured to open the valve for a predetermined time when it receives an operation command. When the electric adjustable seat post 38 is a mechanical seat post, the control unit of the electric adjustable seat post 38 may be configured to open the valve until it receives the next operation command when it receives an operation command.

[0041] For example, the electric adjustable seat post 38 can be in either a state where the height of the seat post 40 can be changed or a state where it cannot be changed according to the load applied to the saddle 42. is configured toThe state in which a load is applied to the saddle 42 includes, for example, a state in which the rider is seated on the seat post 40. The state in which no load is applied to the saddle 42 includes, for example, a state in which the rider is not seated on the seat post 40.

[0042] For example, the electric adjustable seat post 38 is configured to lower the height of the seat post 40 when a load is applied to the saddle 42. For example, the electric adjustable seat post 38 is configured to lower the height of the seat post 40 when no load is applied to the saddle 42. not For example, the electric adjustable seat post 38 is configured to raise the height of the seat post 40 when the load applied to the saddle 42 is less than or equal to a predetermined load. For example, the electric adjustable seat post 38 is configured not to raise the height of the seat post 40 when the load applied to the saddle 42 is greater than the predetermined load. For example, when the electric adjustable seat post 38 is an electric seat post, a predetermined load is determined so that the height of the seat post 40 cannot be raised according to the maximum output of the electric motor.

[0043] When the electric adjustable seat post 38 is a hydraulic seat post or a pneumatic seat post, for example, the electric adjustable seat post 38 is configured to lower the height of the seat post 40 when a load is applied to the saddle 42. When the electric adjustable seat post 38 is a hydraulic seat post or a pneumatic seat post, for example, the electric adjustable seat post 38 is configured not to lower the height of the seat post 40 when no load is applied to the saddle 42. When the electric adjustable seat post 38 is a hydraulic seat post or a pneumatic seat post, for example, the electric adjustable seat post 38 is configured to raise the height of the seat post 40 when a load of less than a predetermined load is applied to the saddle 42. When the electric adjustable seat post 38 is a hydraulic seat post or a pneumatic seat post, for example, the electric adjustable seat post 38 is configured not to raise the height of the seat post 40 when a load of a predetermined load or more is applied to the saddle 42.

[0044] When the electric adjustable seat post 38 is an electric seat post, the height of the seat post 40 can be changed to any height by driving an electric actuator or an electric motor. In the present embodiment, the electric adjustable seat post 38 will be described as an electric seat post.

[0045] For example, the human-powered vehicle 10 includes a notification unit 44. The notification unit 44 is configured to be able to notify notification information regarding at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10. For example, the notification unit 44 outputs the notification information by using at least one of light, sound, and vibration. For example, the notification unit 44 includes at least one of a display unit, a sound-emitting unit, and a vibration unit. For example, the display unit included in the notification unit 44 includes a liquid crystal display panel or an organic EL (Electro-Luminescence) panel. For example, the display unit outputs various notification information by displaying characters, numbers, symbols, patterns, images, icons, etc. For example, the display unit may output various notification information by the lighting pattern of the light-emitting element. An example of the light-emitting element is an LED (Light Emitting Diode) lamp. For example, the sound-emitting unit included in the notification unit 44 includes a speaker or a buzzer. For example, the sound-emitting unit outputs various notification information by voice, melody, beep sound, etc. For example, the vibration unit included in the notification unit 44 outputs various notification information by, for example, a vibration pattern. The notification unit 44 may include, for example, at least one of a cycle computer and a smartphone. The notification unit 44 is provided on the handlebar 34 of the human-powered vehicle 10, the stem 32 of the human-powered vehicle 10, or the top tube of the frame 18 of the human-powered vehicle 10. The notification unit 44 may be provided on a helmet, a wristwatch, and a protector worn by the rider. The notification unit 44 is connected to the control unit 62 via a wireless communication device or an electric cable.

[0046] For example, the human-powered vehicle 10 is provided with a detection unit 46 capable of acquiring the front information F of the human-powered vehicle 10. When the detection unit 46 is provided in the human-powered vehicle 10, for example, the detection unit 46 is provided on the frame 18 or the handlebar 34. The detection unit 46 may be provided on the rider. When the detection unit 46 is provided on the rider, the detection unit 46 may be provided on the helmet worn by the rider. For example, the detection unit 46 is configured to be communicable with the control device 60 by at least one of wireless communication and wired communication. The detection unit 46 transmits the detected front information F to the control device 60. For example, the detection unit 46 includes at least one of an imaging device 46A, a laser device 46B, and a position information detection unit 46C.

[0047] When the detection unit 46 includes the imaging device 46A, the front information F includes the front image acquired by the imaging device 46A. The imaging device 46A includes, for example, a camera. The imaging device 46A may be capable of photographing only the front image of the human-powered vehicle 10, or may be capable of photographing the surrounding image other than the front of the human-powered vehicle 10. The imaging device 46A may be capable of photographing the entire circumference around the imaging device 46A.

[0048] When the detection unit 46 includes the laser device 46B, the front information F includes the obstacle information acquired by the laser device 46B. For example, the laser device 46B is configured to be able to acquire the obstacle information in front of the human-powered vehicle 10. For example, the laser device 46B transmits a laser in front of the human-powered vehicle 10. For example, the laser device 46B is configured to be able to acquire the obstacle information in front of the human-powered vehicle 10 by receiving the reflected wave of the laser. For example, the obstacle information includes information regarding the slope of the traveling road in front of the human-powered vehicle 10 and information regarding the obstacles on the traveling road.

[0049] When the detection unit 46 includes the position information detection unit 46C, the forward information F includes the map information of the travel route acquired by the position information detection unit 46C. For example, the position information detection unit 46C is configured to be able to record the map information of the travel route. The position information detection unit 46C may include a GPS (Global Positioning System) receiver and be configured to acquire the map information of the travel route corresponding to the current location acquired by the GPS receiver. For example, the map information of the travel route includes information about the travel route and information about the current location of the human-powered vehicle 10.

[0050] For example, the human-powered vehicle 10 further includes at least one of a human driving force detection unit 48, a crank rotation sensor 50, a vehicle speed sensor 52, and an inclination sensor 54.

[0051] The human driving force detection unit 48 is configured to detect information about the human driving force. The human driving force detection unit 48 is provided, for example, on the frame 18, the crank 12, or the pedals 20A, 20B of the human-powered vehicle 10. When a drive unit is provided in the human-powered vehicle 10, the human driving force detection unit 48 may be provided on the housing of the drive unit. The human driving force detection unit 48 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 12 by the human driving force. When a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor includes a strain sensor, a magnetostrictive sensor, or a pressure sensor, etc. The strain sensor includes a strain gauge.

[0052] The crank rotation sensor 50 is configured to detect information regarding the rotational speed of the input rotation shaft 12A. The crank rotation sensor 50 is provided, for example, on the frame 18 of the human-powered vehicle 10. When a drive unit is provided in the human-powered vehicle 10, the crank rotation sensor 50 may be provided in the drive unit. The crank rotation sensor 50 may be provided in the housing of the drive unit. The crank rotation sensor 50 includes a magnetic sensor that outputs a signal according to the intensity of a magnetic field. An annular magnet having S and N poles adjacent to each other in the circumferential direction is provided on the input rotation shaft 12A, a member that rotates in conjunction with the input rotation shaft 12A, or the power transmission path between the input rotation shaft 12A and the first rotating body 24. The member that rotates in conjunction with the input rotation shaft 12A may include the output shaft of the motor.

[0053] The vehicle speed sensor 52 is configured to detect information regarding the vehicle speed of the human-powered vehicle 10. In the present embodiment, the vehicle speed sensor 52 is configured to detect information regarding the rotational speed of at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 52 is configured to detect, for example, a magnet provided on at least one wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 52 is configured to output a detection signal a predetermined number of times, for example, once, while one wheel 14 out of at least one wheel 14 makes one rotation. The vehicle speed sensor 52 outputs a signal according to the rotational speed of the wheel 14. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal according to the rotational speed of the wheel 14 and information regarding the circumference of the wheel 14.

[0054] The vehicle speed sensor 52 includes, for example, a magnetic reed that constitutes a reed switch or a magnetic sensor such as a Hall element. The vehicle speed sensor 52 may be attached to the chain stay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or may be provided on the front fork 30 and configured to detect a magnet attached to the front wheel 14B.

[0055] The vehicle speed sensor 52 may have any configuration as long as it can acquire information regarding the vehicle speed of the human - powered vehicle 10. The vehicle speed sensor 52 may be configured to detect, for example, a slit provided in a disk brake. The vehicle speed sensor 52 may be configured to include, for example, an optical sensor or the like. The vehicle speed sensor 52 may be configured to include, for example, a GPS receiver. When the vehicle speed sensor 52 includes a GPS receiver, the control unit 62 can calculate the vehicle speed according to time and the moving distance. The vehicle speed sensor 52 is connected to the control unit 62 via a wireless communication device or an electric cable.

[0056] The inclination sensor 54 is configured to detect information regarding the inclination of the human - powered vehicle 10. The inclination sensor 54 includes, for example, a gyro sensor or an acceleration sensor. The inclination sensor 54 includes a GPS receiving unit. The control unit 62 may calculate the inclination angle of the road surface on which the human - powered vehicle 10 travels according to the GPS information acquired by the GPS receiving unit and the inclination included in the map information recorded in advance.

[0057] The control device 60 includes a control unit 62. The control unit 62 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device included in the control unit 62 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing devices included in the control unit 62 may be provided at a plurality of locations separated from each other. The control unit 62 may include one or more microcomputers.

[0058] For example, the control device 60 further includes a storage unit 64. The storage unit 64 stores a predetermined control program and information used for control processing. The storage unit 64 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0059] control unit 62 is configured to control the electric adjustable seat post 38 of the human-powered vehicle 10. For example, the control unit 62 includes a seat post control unit 68. The seat post control unit 68 controls the electric adjustable seat post 38. For example, the seat post control unit 68 controls the electric adjustable seat post 38 to change the height of the seat post 40. For example, the seat post control unit 68 transmits an operation command to the control unit of the electric adjustable seat post 38 to change the height of the seat post 40. The seat post control unit 68 may be provided in the electric adjustable seat post 38, or may be provided in a component for a human-powered vehicle other than the electric adjustable seat post 38.

[0060] For example, the control unit 62 controls the power-adjustable seat post 38 so as to change the height of the seat post 40 to a first predetermined height. The first predetermined height includes a second predetermined height, a third predetermined height lower than the second predetermined height, and a fourth predetermined height lower than the third predetermined height. For example, the second predetermined height is the highest height among the heights of the seat post 40 that can be changed by the power-adjustable seat post 38. For example, the third predetermined height is a height at which it is easy for the rider to operate the human-powered vehicle 10. For example, the third predetermined height is a height of the seat post 40 such that the center of gravity of the rider is lower than the second predetermined height. The center of gravity of the rider changes depending on the posture of the rider with respect to the human-powered vehicle 10. For example, the fourth predetermined height is the lowest height among the heights of the seat post 40 that can be changed by the power-adjustable seat post 38. The first predetermined height may be further configured to include a predetermined height different from any of the second predetermined height, the third predetermined height, and the fourth predetermined height.

[0061] For example, the control device 60 further includes a first storage unit 64A that stores the third predetermined height. The first storage unit 64A includes, for example, a non-volatile memory and a 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. For example, the first storage unit 64A is configured integrally with the storage unit 64.

[0062] For example, the third predetermined height stored in the first storage unit 64A is changeable. The change of the third predetermined height is performed, for example, by an external device 90. For example, the external device 90 includes at least one of a cycle computer, a smartphone, and a personal computer.

[0063] For example, when the operation unit 58 is operated, the control unit 62 controls the power-adjustable seat post 38 to change the height of the seat post 40. For example, the operation unit 58 is provided on the handlebar 34. For example, the operation unit 58 includes at least one of a button and a lever. For example, the change in the height of the seat post 40 is performed by either a method of changing to a first predetermined height when an operation is input to the operation unit 58 or a method of changing the height of the seat post 40 to a height corresponding to the operation amount of the operation unit 58.

[0064] When the operation unit 58 is configured to change to a first predetermined height when operated, for example, when the operation unit 58 is operated, the control unit 62 controls the power-adjustable seat post 38 to change the height of the seat post 40 to the first predetermined height. For example, when the operation unit 58 is operated, the control unit 62 controls the power-adjustable seat post 38 to change the height of the seat post 40 to any one of a second predetermined height, a third predetermined height, and a fourth predetermined height according to the operation method to the operation unit 58. The operation method to the operation unit 58 includes, for example, at least one of the operation time to the operation unit 58 and the number of times the operation unit 58 is operated within a predetermined time. When the operation unit 58 is configured to have a plurality of operation directions such as a lever, the operation method to the operation unit 58 may include the operation direction of the operation unit 58. When the operation unit 58 is configured to have a plurality of buttons, the operation method to the operation unit 58 may include which button among the plurality of buttons of the operation unit 58 is operated.

[0065] The control unit 62 may be configured to control the power-adjustable seat post 38 so that when the operation unit 58 is operated, the height of the seat post 40 is continuously changed to a height corresponding to the operation amount of the operation unit 58. For example, the amount of change in the height of the seat post 40 with respect to the operation amount of the operation unit 58 is predetermined. For example, the operation amount of the operation unit 58 includes at least one of the magnitude of the operation of the operation unit 58, the operation time when the operation unit 58 is continuously operated, and the number of times the operation unit 58 is operated within a predetermined time.

[0066] The control unit 62 acquires the forward information F of the traveling path from the detection unit 46, and acquires an estimated traveling path on which the human-powered vehicle 10 will travel in the future according to the forward information F. The control unit 62 is configured to control the electric adjustable seat post 38 according to the estimated traveling path. For example, the estimated traveling path acquired by the control unit 62 includes the area of the traveling path on which the human-powered vehicle 10 will travel in the future. For example, the estimated traveling path acquired by the control unit 62 includes information regarding the state of the traveling path in the area of the traveling path on which the human-powered vehicle 10 will travel in the future. For example, the estimated traveling path acquired by the control unit 62 includes information regarding obstacles in the area of the traveling path on which the human-powered vehicle 10 will travel in the future. For example, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the estimated traveling path. For example, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to at least one of the inclination of the estimated traveling path or the difficulty of passing through the estimated traveling path.

[0067] For example, the control unit 62 includes a traveling path estimation unit 70 that acquires an estimated traveling path based on the forward information F. When the forward information F includes a forward image, the traveling path estimation unit 70 estimates the estimated traveling path based on the forward image. When the forward information F includes obstacle information acquired by the laser device 46B, the traveling path estimation unit 70 acquires the estimated traveling path based on the obstacle information. For example, when the forward information F includes map information of the traveling path, the traveling path estimation unit 70 acquires the estimated traveling path based on the map information and information regarding the current location of the human-powered vehicle 10.

[0068] For example, the travel route estimation unit 70 includes an artificial intelligence processing unit 72. The artificial intelligence processing unit 72 includes, for example, a storage device 74 that stores software, and an arithmetic processing unit 76 that executes the software stored in the storage device 74. The arithmetic processing unit 76 includes, for example, a CPU or an MPU. Preferably, the arithmetic processing unit 76 includes a GPU (Graphics Processing Unit) in addition to the CPU or MPU. The arithmetic processing unit 76 may include an FPGA (Field-Programmable Gate Array). The artificial intelligence processing unit 72 may include one or more arithmetic processing units 76. The artificial intelligence processing unit 72 may include a plurality of arithmetic processing units 76 that are arranged separately at multiple locations. The storage device 74 includes, for example, a non-volatile memory and a volatile memory. The storage device 74 stores a control program 78, a learning program 80, and a learning model 82. The learning model 82 may be a learned model learned by a predetermined learning algorithm, or may be configured to be updated by a learning algorithm. The learning algorithm includes machine learning, deep learning, or deep reinforcement learning. The learning algorithm includes, for example, at least one of supervised learning, unsupervised learning, and reinforcement learning. As long as the learning algorithm is configured to update the learning model 82 using a method belonging to the field of artificial intelligence, a method other than the methods described in this specification may be used. The learning process for updating the learning model 82 is preferably performed by a GPU. The learning algorithm may use a neural network (NN). The learning algorithm may use a recurrent neural network (RNN).

[0069] Figure 4An example of the learning model 82 of the artificial intelligence processing unit 72 shown in [Fig. 0] includes an input layer 84, an intermediate layer 86, and an output layer 88. Forward information F is input to the input layer 84. The learning model 82 is pre-trained to output output information from the output layer 88 when information is input to the input layer 84. The intermediate layer 86 learns the relationship between the information input to the input layer 84 and the travel path output by the output layer 88 by using teacher data. The teacher data used by the intermediate layer 86 includes information regarding the image of the travel path and information regarding the boundary B between the area that is the travel path and the area that is not the travel path. The intermediate layer 86 includes a convolutional layer 86A, a pooling layer 86B, and a fully-connected layer 86C. A plurality of intermediate layers 86 may be provided. The output layer 88 outputs an estimated travel path.

[0070] For example, the learning model 82 is configured to be updatable by an external device 90. For example, the learning model 82 can be updated by the external device 90 with respect to the number of the convolutional layer 86A, the pooling layer 86B, and the fully-connected layer 86C of the intermediate layer 86. For example, the learning model 82 can be updated by the external device 90 with respect to the relationship between the forward information F input to the input layer 84 learned by the intermediate layer 86 and the estimated travel path output by the output layer 88.

[0071] For example, a front image is input to the artificial intelligence processing unit 72 as front information F. For example, the artificial intelligence processing unit 72 is configured to output an estimated travel route based on the front image. For example, the artificial intelligence processing unit 72 outputs an estimated travel route along which the human-powered vehicle 10 can travel, or an estimated travel route along which the rider is likely to travel, based on the front image. For example, the artificial intelligence processing unit 72 outputs the state of the estimated travel route based on the front image. The artificial intelligence processing unit 72 outputs a state indicating whether there is at least one of a curve, a step, an incline, and an obstacle in the estimated travel route based on the front image. When the front image transmitted from the imaging device 46A is input, the artificial intelligence processing unit 72 is configured to output an estimated travel route based on the feature amount of the front image. For example, the artificial intelligence processing unit 72 outputs an estimated travel route by performing image processing on the front image. For example, the artificial intelligence processing unit 72 outputs an estimated travel route by detecting edges in the front image.

[0072] For example, the artificial intelligence processing unit 72 identifies an object X on the travel route based on the front information F. The artificial intelligence processing unit 72 is configured to obtain an estimated travel route based on the object X. For example, the artificial intelligence processing unit 72 detects edges in the front image and identifies the detected edges as the object X. For example, the object X is a characteristic part in the front image. For example, the object X includes at least one contour of a characteristic ground surface different from the surrounding ground surface, a tree W, a rock, and an artificial object.

[0073] For example, the artificial intelligence processing unit 72 identifies a boundary B between a region that is a driving path and a region that is not a driving path in the forward information F based on the object X. The artificial intelligence processing unit 72 is configured to obtain an estimated driving path based on the boundary B. For example, the region that is a driving path in the forward image includes a region of the ground surface in the forward image that is suitable for driving. For example, the regions suitable for driving include a flat dirt road surface and a flat paved road. For example, the region that is not a driving path in the forward image includes a region that is not the ground surface in the forward image and a region of the ground surface in the forward image that is not suitable for driving. For example, the regions that are not the ground surface include water surface, air, and space. For example, the regions not suitable for driving include green spaces, impassable slopes, and cliffs. For example, the regions not suitable for driving include a non-flat dirt road surface and a non-flat paved road. For example, the estimated driving path obtained by the artificial intelligence processing unit 72 has a width in a horizontal direction orthogonal to the driving direction of the human-powered vehicle 10. For example, when there is an obstacle that cannot be passed by the human-powered vehicle 10, the artificial intelligence processing unit 72 does not identify that portion as the estimated driving path.

[0074] With reference to FIGS. 5 and 6, an example of the boundary B and the driving path of the forward image identified by the artificial intelligence processing unit 72 will be described. For example, FIG. 5 includes a region that is a driving path and a region that is not a driving path. The region that is a driving path in FIG. 5 is, for example, a region of the ground surface that is flat dirt. The region that is not a driving path in FIG. 5 is, for example, a region of the ground surface that is a green space. The artificial intelligence processing unit 72 determines, for example, by color, the region of the ground surface that is flat dirt and the region of the ground surface that is a green space. When the forward image of FIG. 5 is input, the artificial intelligence processing unit 72 identifies the portion where the region of the ground surface that is flat dirt and the region of the ground surface that is a green space are adjacent as the object X. The artificial intelligence processing unit 72 connects the identified objects X to identify the boundary B. For example, the artificial intelligence processing unit 72 identifies two boundaries B extending forward from the forward image and outputs the portion between the two boundaries B as the estimated driving path. For example, the artificial intelligence processing unit 72 estimates whether there is at least one of a curve, a step, an inclination, and an obstacle in the estimated driving path from the shapes of the two boundaries B.

[0075] For example, the artificial intelligence processing unit 72 estimates that there is a change in the estimated travel route based on the boundary B facing forward. For example, when the boundary B facing forward is curved, the artificial intelligence processing unit 72 determines that there is a curve in the estimated travel route. For example, when the boundary B facing forward is interrupted in the traveling direction of the human-powered vehicle 10, and when the boundary B extends horizontally forward and the two boundaries B overlap, the artificial intelligence processing unit 72 determines that there is a step in the estimated travel route. For example, when the boundary B is distorted, the artificial intelligence processing unit 72 determines that there is an inclination in the estimated travel route. For example, the artificial intelligence processing unit 72 estimates that there is an inclination in the estimated travel route based on the position on the front image of the boundary B in contact with the portion corresponding to the sky. For example, the artificial intelligence processing unit 72 estimates that there is a change in the inclination in the estimated travel route according to the distortion of the boundary B. For example, the artificial intelligence processing unit 72 estimates that there is a change in the inclination in the estimated travel route based on the position on the front image of the boundary B in contact with the portion corresponding to the sky. For example, when the boundary B surrounds a certain area, the artificial intelligence processing unit 72 determines that there is an obstacle in the estimated travel route.

[0076] For example, FIG. 6 shows an example of a front image when the tree W, which is an obstacle on the travel route, is included. The artificial intelligence processing unit 72 determines that there is an obstacle in the estimated travel route based on the boundary B surrounding the portion corresponding to the tree W in the front image of FIG. 6.

[0077] For example, FIG. 7 shows an example of a front image when there is an inclination in the travel route. For example, FIG. 7 shows a scene where the travel route slopes downward. For example, since the range sandwiched between the right boundary B and the left boundary B is distorted so as to rapidly narrow as it goes forward, the artificial intelligence processing unit 72 determines that there is an inclination in the estimated travel route. For example, when the range sandwiched between the right boundary B and the left boundary B is distorted so as to rapidly narrow as it goes forward and the boundary B is curved after narrowing, the artificial intelligence processing unit 72 determines that the estimated travel route is a downhill slope.

[0078] For example, the travel route estimation unit 70 determines whether the slope of the estimated travel route is uphill, flat, or downhill according to the slope of the estimated travel route. Whether the slope of the estimated travel route is uphill, flat, or downhill may be estimated by the artificial intelligence processing unit 72. The artificial intelligence processing unit 72 may be configured to output the slope angle of the estimated travel route. In this case, the travel route estimation unit 70 determines whether the slope of the estimated travel route is uphill, flat, or downhill according to the slope angle of the estimated travel route output by the artificial intelligence processing unit 72. For example, when the slope angle of the estimated travel route is greater than or equal to the first angle, the travel route estimation unit 70 determines that the slope of the estimated travel route is uphill. For example, when the slope angle of the estimated travel route is less than the first angle and small the second angle or more in the case of, the travel route estimation unit 70 determines that the slope of the estimated travel route is flat. For example, when the slope angle of the estimated travel route is less than the second angle, the travel route estimation unit 70 determines that the slope of the estimated travel route is downhill.

[0079] For example, the travel route estimation unit 70 determines whether the traversability of the estimated travel route is technical or not. For example, when the artificial intelligence processing unit 72 estimates that there are obstacles on the estimated travel route, the travel route estimation unit 70 determines that the traversability of the estimated travel route is technical. The travel route estimation unit 70 may determine that the traversability of the estimated travel route is technical according to the type of obstacle determined by the artificial intelligence processing unit 72 to be on the travel route. The traversability of the estimated travel route being technical means, for example, that it is difficult for the rider to operate the human-powered vehicle 10 when the human-powered vehicle 10 passes through the estimated travel route. For example, when the estimated travel route has unevenness due to rocks or tree roots being exposed on the estimated travel route, the traversability of the estimated travel route is technical. For example, the control unit 62 determines whether the traversability of the estimated travel route is technical based on the history of operations of the operation unit 58 by the rider.

[0080] For example, the artificial intelligence processing unit 72 is configured to estimate the distance between the object X and the human-powered vehicle 10 based on the forward information F. For example, the travel path estimation unit 70 detects the distance between the object X and the human-powered vehicle 10 from the forward image by means of color aperture imaging technology. The travel path estimation unit 70 estimates the distance between a specific position of the boundary B and the human-powered vehicle 10 based on the forward information F. For example, the travel path estimation unit 70 detects the distance between at least one of the curve, step, slope, and obstacle of the estimated travel path output from the artificial intelligence processing unit 72 and the human-powered vehicle 10. The travel path estimation unit 70 may estimate the distance between the object X and the human-powered vehicle 10 by means other than color aperture imaging technology.

[0081] With reference to the flowchart of FIG. 8, the process by which the control unit 62 estimates the estimated travel path will be described. When power is supplied to the control unit 62, for example, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in FIG. 8. When the flowchart of FIG. 8 ends, the control unit 62 repeats the process from step S11 at a predetermined cycle until, for example, the power supply is stopped.

[0082] In step S11, the control unit 62 determines whether the forward information F has been input. If the forward information F has been input, the control unit 62 proceeds to step S12. If the forward information F has not been input, the control unit 62 ends the process.

[0083] In step S12, the control unit 62 acquires the estimated travel path and ends the process. For example, the process of step S12 is executed by the travel path estimation unit 70.

[0084] For example, the control unit 62 is configured to control the electric adjustable seat post 38 according to at least one of the slope of the estimated travel route and the travel difficulty of the estimated travel route. For example, the control unit 62 is configured to control the electric adjustable seat post 38 to change its height according to the estimated travel route. For example, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height of the seat post 40 according to at least one of the slope and the travel difficulty of the estimated travel route.

[0085] For example, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the slope of the estimated travel route. For example, when the slope of the estimated travel route is uphill or flat, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a second predetermined height or a third predetermined height. For example, when the slope of the estimated travel route is downhill, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

[0086] For example, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the travel difficulty of the estimated travel route. For example, when it is estimated that the travel difficulty of the estimated travel route is technical, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 by a third predetermined height or a fourth predetermined height.

[0087] For example, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the slope and traversability of the estimated travel route. For example, when the control unit 62 estimates that the slope of the estimated travel route is uphill or flat and the traversability of the estimated travel route is technical, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a third predetermined height. For example, when the control unit 62 estimates that the slope of the estimated travel route is downhill and the traversability of the estimated travel route is technical, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

[0088] Table 1 shows an example of the relationship between the slope and traversability of the estimated travel route and the height of the seat post 40 when the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the slope and traversability of the estimated travel route. Technical in Table 1 indicates the case where the traversability of the estimated travel route is technical. Non-technical in Table 1 indicates the case where the traversability of the estimated travel route is not technical.

[0089]

Table 1

[0090] For example, when the control unit 62 controls the electric adjustable seat post 38 to change the height according to the estimated travel route, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes the first predetermined height. For example, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes one of a second predetermined height, a third predetermined height, and a fourth predetermined height according to first travel information regarding at least one of the travel state of the human-powered vehicle 10 and the travel environment of the human-powered vehicle 10. For example, the control unit 62 selects one of the second predetermined height, the third predetermined height, and the fourth predetermined height according to the estimated travel route and the first travel information. The control unit 62 controls the electric adjustable seat post 38 so that the height becomes the height of the selected seat post 40. The control unit 62 may be configured to control the electric adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route and the first travel information when the first travel information changes.

[0091] For example, the first travel information includes at least one of the current travel state of the human-powered vehicle 10 and the current travel environment of the human-powered vehicle 10. For example, the first travel information includes at least one of the current height of the seat post 40 and the seating state. The control unit 62 may acquire the current height of the seat post 40 from the history of operation commands to the electric adjustable seat post 38, or may acquire it from a height sensor provided on the electric adjustable seat post 38. The seating state indicates whether the rider is seated on the seat post 40. The control unit 62 may determine whether the rider is seated based on the output of a load sensor provided on the saddle 42. The control unit 62 may determine whether the rider is seated based on an image acquired from an imaging device that captures the rider. The imaging device that captures the rider may be integrated with the imaging device 46A. The travel environment of the human-powered vehicle 10 includes, for example, the slope of the current travel route.

[0092] The first travel information may include at least one of human driving force, the rotational speed of the input rotating shaft 12A, the vehicle speed of the human-powered vehicle 10, the inclination of the human-powered vehicle 10, and the inclination of the road on which the human-powered vehicle 10 is currently traveling. The first travel information may be detected by at least one of a human driving force detection unit 48, a crank rotation sensor 50, a vehicle speed sensor 52, and an inclination sensor 54. The control unit 62 may acquire the first travel information from the estimated travel route. For example, the control unit 62 may acquire the inclination of the human-powered vehicle 10 from the inclination of the estimated travel route.

[0093] For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route and the current height of the seat post 40. For example, when the current height of the seat post 40 is the same as the height of the seat post 40 according to the estimated travel route, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

[0094] For example, the control unit 62 is configured to control the electrically adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route and the inclination of the current travel route. For example, the control unit 62 determines whether the inclination of the current travel route is uphill, flat, or downhill according to the output of the inclination sensor 54. In this case, the control unit 62 determines whether the inclination of the current travel route is uphill, flat, or downhill according to the information about the inclination angle included in the output of the inclination sensor 54. For example, the control unit 62 determines that the inclination of the current travel route is uphill when the information about the inclination angle corresponds to the third angle or more. For example, the control unit 62 determines that the inclination of the current travel route is flat when the information about the inclination angle is less than the third angle and small the fourth angle or more in the case of. For example, the control unit 62 determines that the inclination of the current travel route is downhill when the information about the inclination angle is less than the fourth angle. For example, the control unit 62 determines that the inclination of the estimated travel route is the same as the inclination of the human-powered vehicle 10 the sameIn this case, the electric adjustable seat post 38 is not controlled to change the height of the seat post 40.

[0095] The control unit 62 is configured to control the electric adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route and the seating state. For example, when the rider is in a non-seated state on the seat post 40, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height according to the estimated travel route.

[0096] For example, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route, the seating state, and the slope of the current travel route. For example, when the rider is in a non-seated state on the seat post 40 and the estimated travel route is uphill, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a second predetermined height. For example, when the rider is in a non-seated state on the seat post 40 and the estimated travel route is downhill, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height.

[0097] Tables 2 to 4 are examples of the height of the seat post 40 when the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the first travel information and the estimated travel route. For example, when the combination of the first travel information and the estimated travel route is not described in any of Tables 2 to 4, the control unit 62 does not control the electric adjustable seat post 38 to change the height of the seat post 40.

[0098] Table 2 shows an example of the relationship between the difficulty of passage, the seating state, and the slope of the current travel route when the slope of the current travel route is uphill. Technical in Table 2 indicates the case where the difficulty of passage of the estimated travel route is technical. Non-technical in Table 2 indicates the case where the difficulty of passage of the estimated travel route is not technical.

[0099]

Table 2

[0100] Table 3 shows an example of the relationship between the passing difficulty, the seating state, and the slope of the current traveling road when the slope of the current traveling road is flat. The "Technical" in Table 3 indicates the case where the passing difficulty of the estimated traveling road is technical. The "Non-technical" in Table 3 indicates the case where the passing difficulty of the estimated traveling road is not technical.

[0101]

Table 3

[0102] Table 4 shows an example of the relationship between the passing difficulty, the seating state, and the slope of the current traveling road when the slope of the current traveling road is downhill. The "Technical" in Table 4 indicates the case where the passing difficulty of the estimated traveling road is technical. The "Non-technical" in Table 4 indicates the case where the passing difficulty of the estimated traveling road is not technical.

[0103]

Table 4

[0104] The control unit 62 may be configured to control the electric adjustable seat post 38 to change the height of the seat post 40 using only a part of Tables 2 to 4. For example, when the rider is in a seated state on the seat post 40, the control unit 62 may be configured not to increase the height of the seat post 40. In this case, for example, the control unit 62 controls the electric adjustable seat post 38 based on a table obtained by deleting the item of the seated state from Tables 2 to 4. , shi - The height of the seat post 40 may be configured not to be increased. In this case, for example, the control unit 62 controls the electric adjustable seat post 38 based on a table obtained by deleting the item of the seated state from Tables 2 to 4.

[0105] For example, even when the rider is seated on the seat post 40, if it is configured such that changing the height of the seat post 40 lower is allowed, for example, the control unit 62 may control the electrically adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height when the rider is seated on the seat post 40 and the slope of the estimated travel route is downward. For example, even when the rider is seated on the seat post 40, if it is configured such that changing the height of the seat post 40 lower is allowed, for example, the control unit 62 may control the electrically adjustable seat post 38 to change the height of the seat post 40 to a fourth predetermined height when the rider is seated on the seat post 40, the slope of the estimated travel route is upward or flat, and the difficulty of passing the estimated travel route is technical. For example, even when the rider is seated on the seat post 40, whether it is allowed for the rider to change the height of the seat post 40 lower may be configured to be determined by, for example, the control unit 62. Even when the rider is seated on the seat post 40, whether it is allowed for the rider to change the height of the seat post 40 lower may be changed by, for example, the external device 90.

[0106] For example, the control unit 62 is configured to control the notification unit 44 so that the notification unit 44 notifies information regarding the estimated travel route. For example, when the control unit 62 controls the electrically adjustable seat post 38 to change the height according to the estimated travel route, the control unit 62 is configured to control the notification unit 44 so that the notification unit 44 notifies information regarding the height. For example, the information regarding the height of the seat post 40 includes information that allows the rider to grasp that the height of the seat post 40 is changed. The notification unit 44 notifies that the height of the seat post 40 is changed by, for example, at least one of light, sound, an icon displayed on the display unit, and characters displayed on the display unit. The information regarding the height of the seat post 40 includes information that allows the rider to grasp the changed height of the seat post 40.

[0107] For example, the control unit 62 is configured to control the electric adjustable seat post 38 according to the distance. For example, the control unit 62 is configured to control the electric adjustable seat post 38 according to the distance between the object X estimated by the artificial intelligence processing unit 72 based on the forward information F and the human-powered vehicle 10. For example, the object X estimated by the artificial intelligence processing unit 72 based on the forward information F corresponds to the estimated travel route. For example, the control unit 62 controls the electric adjustable seat post 38 according to the distance from the human-powered vehicle 10 to the position where a change in the height of the seat post 40 is required on the estimated travel route. The position where a change in the height of the seat post 40 is required on the estimated travel route from the human-powered vehicle 10 is, for example, the position where the passing difficulty of the estimated travel route changes. The position where a change in the height of the seat post 40 is required on the estimated travel route from the human-powered vehicle 10 is, for example, the position where the slope of the estimated travel route changes. For example, when the distance from the human-powered vehicle 10 to the position where a change in the height of the seat post 40 is required on the estimated travel route is equal to or greater than a predetermined distance, the control unit 62 does not control the electric adjustable seat post 38 to control the height of the seat post 40. For example, when the distance from the human-powered vehicle 10 to the position where a change in the height of the seat post 40 is required on the estimated travel route is less than the predetermined distance, the control unit 62 controls the electric adjustable seat post 38 to control the height of the seat post 40.

[0108] For example, when the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is equal to or less than a predetermined decrease amount, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height. For example, when the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is greater than the predetermined decrease amount, the control unit 62 is configured to control the electric adjustable seat post 38 to suppress the change in height. For example, when the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is greater than the predetermined decrease amount, the control unit 62 does not change the height. The control unit 62 may be configured to control the electric adjustable seat post 38 to change the height only when a predetermined condition is satisfied when the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is greater than the predetermined decrease amount. When the amount of height decrease is greater than the predetermined decrease amount, for example, it includes the case where the height of the seat post 40 is changed from the second predetermined height to the fourth predetermined height. When the amount of height decrease is greater than the predetermined decrease amount, for example, it includes the case where the height of the seat post 40 is changed from the third predetermined height to the fourth predetermined height. When the electric adjustable seat post 38 can change the height stepwise, when the amount of height decrease is greater than the predetermined decrease amount, for example, it includes the case where the height is changed over a predetermined step or more. The control unit 62 may be configured to control the electric adjustable seat post 38 to suppress the change in height by slowing down the speed of changing the height. In this case, when the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is greater than the predetermined decrease amount, the control unit 62 slows down the speed of changing the height.

[0109] Referring to the flowchart of FIG. 9, the process of the control unit 62 controlling the electric adjustable seat post 38 to change the height of the seat post 40 will be described. When power is supplied to the control unit 62, for example, the control unit 62 starts the process and proceeds to step S21 of the flowchart shown in FIG. 9. When the flowchart of FIG. 9 ends, the control unit 62 repeats the process from step S21 at a predetermined cycle until, for example, the power supply is stopped.

[0110] In step S21, the control unit 62 acquires information regarding the estimated travel route and the first travel information, and proceeds to step S22. The control unit 62 acquires information regarding the estimated travel route from the travel route estimation unit 70, for example. The information regarding the estimated travel route includes the slope of the estimated travel route and the difficulty of passing through the estimated travel route.

[0111] In step S22, the control unit 62 determines whether to change the height of the seat post 40. For example, the control unit 62 selects the height of the seat post 40 after the change using Tables 2 to 4. When the selected height of the seat post 40 is different from the current height of the seat post 40, the control unit 62 determines to change the height of the seat post 40. When the control unit 62 changes the height of the seat post 40, it proceeds to step S23. When the control unit 62 does not change the height of the seat post 40, the process ends.

[0112] In step S23, the control unit 62 determines whether the distance to the position where the height of the seat post 40 is to be changed is less than a predetermined distance. For example, when the distance from the human-powered vehicle 10 to the position where the change in the height of the seat post 40 is required on the estimated travel route is less than the predetermined distance, the control unit 62 determines that the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance. When the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance, the control unit 62 proceeds to step S24. When the distance to the position where the height of the seat post 40 is to be changed is greater than or equal to the predetermined distance, the process ends.

[0113] In step S24, the control unit 62 determines whether the rider is seated on the seat post 40 and whether the amount of height decrease corresponding to the estimated travel route is equal to or less than a predetermined amount of decrease. When the rider is seated on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is equal to or less than the predetermined amount of decrease, the control unit 62 proceeds to step S25. When the rider is not seated on the seat post 40, the control unit 62 ends the process. When the amount of height decrease corresponding to the estimated travel route is greater than the predetermined amount of decrease, the control unit 62 ends the process.

[0114] In step S25, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 and proceeds to step S26. For example, the control unit 62 controls the electric adjustable seat post 38 so that the height of the seat post 40 is changed to the height of the seat post 40 selected in step S22.

[0115] In step S26, the control unit 62 controls the notification unit 44 so that the notification unit 44 notifies information regarding the height, and ends the process. The process of step S26 may be executed before step S25.

[0116] <Second Embodiment> With reference to FIGS. 10 and 11, the control device 60 of the second embodiment will be described. The control device 60 of the second embodiment is the same as the control device of the first embodiment except that the control unit 62 is configured to control the electric adjustable seat post 38 to change the height according to the estimated travel route and the history information. Therefore, for the components common to the first embodiment, the same reference numerals as those in the first embodiment are given, and duplicate descriptions are omitted.

[0117] For example, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes a first predetermined height according to the estimated travel route and the history information. For example, the control unit 62 determines the current height of the seat post 40 from the history information and controls the electric adjustable seat post 38 so that the height of the seat post 40 corresponds to the estimated travel route.

[0118] For example, the control device 60 further includes a second storage unit 64B that stores history information regarding the change history of the height of the seat post 40. The second storage unit 64B stores a predetermined control program and information used for control processing. The second storage unit 64B includes, for example, a non-volatile memory and a 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. For example, the second storage unit 64B is configured integrally with the storage unit 64.

[0119] For example, the second storage unit 64B is configured to store the history information in association with second travel information regarding at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10. For example, the change history is information related to the height of the seat post 40 when the rider has operated the operation unit 58 to change the height of the seat post 40 in the past. For example, the second storage unit 64B stores the past change history as the history information. For example, the second travel information includes the slope of the travel route, the difficulty of passing through the travel route, and the seating state when the rider has operated the operation unit 58 to change the height of the seat post 40 in the past. For example, the second storage unit 64B is configured to store information regarding at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 in association with the change history of the history information. For example, the second storage unit 64B stores the second travel information when the rider has operated the operation unit 58 to change the height of the seat post 40 in the past. For example, the second storage unit 64B stores how the rider controlled the power-adjustable seat post 38 to change the seat post 40 in the past second travel information.

[0120] For example, the control unit 62 is configured to be able to change the first predetermined height according to the estimated travel route, the history information, and the second travel information. For example, when the control unit 62 controls the power-adjustable seat post 38 so that the height of the seat post 40 becomes the first predetermined height according to the estimated travel route, the control unit 62 changes the first predetermined height according to the history information. For example, the control unit 62 specifies, from the estimated travel route and the second travel information, the height of the seat post 40 that the rider changed by operating the operation unit 58 on a past travel route where the slope of the travel route, the difficulty of passing through the travel route, and the seating state are similar to the estimated travel route. For example, the control unit 62 sets the specified height of the seat post 40 as the new first predetermined height. For example, the control unit 62 may store the new first predetermined height as the new predetermined height.

[0121] With reference to the flowchart of FIG. 11, the process of the control unit 62 controlling the power-adjustable seat post 38 to change the height of the seat post 40 will be described. When power is supplied to the control unit 62, for example, the control unit 62 starts the process and proceeds to step S31 of the flowchart shown in FIG. 11. When the flowchart of FIG. 11 ends, the control unit 62 repeats the process from step S31 at a predetermined cycle until, for example, the power supply is stopped.

[0122] In step S31, the control unit 62 acquires information regarding the estimated travel route and the history information, and proceeds to step S32. The control unit 62 acquires information regarding the estimated travel route from the travel route estimation unit 70, for example. The control unit 62 acquires the history information from the second storage unit 64B, for example.

[0123] In step S32, the control unit 62 determines whether to change the height of the seat post 40. For example, based on the difficulty level of passing the estimated travel route, the control unit 62 determines the height of the seat post 40 selected by the rider when traveling on a travel route with a similar difficulty level included in the history information. If the determined height of the seat post 40 is different from the current height of the seat post 40, the control unit 62 determines to change the height of the seat post 40. When the control unit 62 changes the height of the seat post 40, it proceeds to step S33. When the control unit 62 does not change the height of the seat post 40, the process ends.

[0124] In step S33, the control unit 62 determines whether the distance to the position where the height of the seat post 40 is to be changed is less than a predetermined distance. For example, when the distance from the human-powered vehicle 10 to the position where a change in the height of the seat post 40 is required on the estimated travel route is less than the predetermined distance, the control unit 62 determines that the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance. When the distance to the position where the height of the seat post 40 is to be changed is less than the predetermined distance, the control unit 62 proceeds to step S34. When the distance to the position where the height of the seat post 40 is to be changed is greater than or equal to the predetermined distance, the process ends.

[0125] In step S34, the control unit 62 determines whether the rider is in a seated state on the seat post 40 and whether the amount of height decrease corresponding to the estimated travel route is less than or equal to a predetermined amount of decrease. When the rider is in a seated state on the seat post 40 and the amount of height decrease corresponding to the estimated travel route is less than or equal to the predetermined amount of decrease, the control unit 62 proceeds to step S35. When the rider is not in a seated state on the seat post 40, the process ends. When the amount of height decrease corresponding to the estimated travel route is greater than the predetermined amount of decrease, the process ends.

[0126] In step S35, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40, and proceeds to step S36. For example, the control unit 62 controls the electric adjustable seat post 38 so that the height of the seat post 40 is changed to the height of the seat post 40 determined in step S32.

[0127] In step S36, the control unit 62 controls the notification unit 44 so that the notification unit 44 notifies information regarding the height, and ends the process. The process of step S36 may be executed before step S35.

[0128] <Third Embodiment> With reference to FIGS. 2 and 12, the control device 60 of the third embodiment will be described. The control device 60 of the third embodiment is the same as the control device of the first embodiment except that the control unit 62 is configured to control the electric adjustable seat post 38 to change the height according to the estimated travel route when the operation unit 58 is operated. Therefore, for the components common to the first embodiment, the same reference numerals as those in the first embodiment are given, and duplicate descriptions are omitted.

[0129] In the present embodiment, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height according to the estimated travel route when the operation unit 58 is operated. The control unit 62 is configured to control the electric adjustable seat post 38 to change the height according to the estimated travel route and the current height of the seat post 40 when the operation unit 58 is operated.

[0130] For example, when the operation unit 58 is operated, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes a height corresponding to the estimated travel path. When the electric adjustable seat post 38 is configured to be able to change the height of the seat post 40 according to the operation amount of the operation unit 58, for example, when the operation unit 58 is operated, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes a height corresponding to the estimated travel path regardless of the operation amount of the operation unit 58.

[0131] For example, when an operation is input to the operation unit 58, the control unit 62 is configured to control the electric adjustable seat post 38 to change the height of the seat post 40 according to at least one of the inclination of the estimated travel path and the difficulty of passing through the estimated travel path.

[0132] For example, when the inclination of the estimated travel path is uphill, the difficulty of passing through the estimated travel path is technical, and the current height of the seat post 40 is higher than the third predetermined height, when the rider operates the operation unit 58 to lower the height of the seat post 40, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height. For example, when the inclination of the estimated travel path is uphill, the difficulty of passing through the estimated travel path is technical, and the current height of the seat post 40 is lower than the third predetermined height, when the rider operates the operation unit 58 to raise the height of the seat post 40, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height.

[0133] For example, when the slope of the estimated travel route is uphill, when the difficulty of passing the estimated travel route is technical, and when the height of the current seat post 40 is higher than the second predetermined height, if the rider operates the operation unit 58 to lower the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height. For example, when the slope of the estimated travel route is uphill, when the difficulty of passing the estimated travel route is technical, and when the height of the current seat post 40 is lower than the fourth predetermined height, if the rider operates the operation unit 58 to raise the height of the seat post 40, the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 to the third predetermined height.

[0134] Table 5 shows an example of the relationship when the control unit 62 controls the electrically adjustable seat post 38 to change the height of the seat post 40 according to the height of the current seat post 40, the slope of the estimated travel route, the difficulty of passing the estimated travel route, and the operation of the operation unit 58. Table 5 shows an example of the relationship among the height of the current seat post 40, the slope of the estimated travel route, the difficulty of passing the estimated travel route, and the operation on the operation unit 58. In Table 5, "technical" indicates the case where the difficulty of passing the estimated travel route is technical. "Lowering" in the operation of the operation unit 58 in Table 5 indicates the case where an operation for lowering the height of the seat post 40 is performed on the operation unit 58. "Raising" in the operation of the operation unit 58 in Table 5 indicates the case where an operation for raising the height of the seat post 40 is performed on the operation unit 58. For example, when the combination of the height of the current seat post 40, the slope of the estimated travel route, the difficulty of passing the estimated travel route, and the operation of the operation unit 58 is not described in Table 5, the control unit 62 does not control the electrically adjustable seat post 38 to change the height of the seat post 40.

[0135]

Table 5

[0136] Referring to the flowchart of FIG. 12, when the operation unit 58 is operated, a process will be described in which the control unit 62 controls the electric adjustable seat post 38 so as to change the height of the seat post 40. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S41 of the flowchart shown in FIG. 12. When the flowchart of FIG. 12 ends, the control unit 62 repeats the process from step S41 at a predetermined cycle until, for example, the power supply is stopped.

[0137] In step S41, the control unit 62 determines whether the operation unit 58 has been operated. For example, when the rider operates the operation unit 58 to control the electric adjustable seat post 38 so as to change the height of the seat post 40, the control unit 62 determines that the operation unit 58 has been operated. If the operation unit 58 has been operated, the control unit 62 proceeds to step S42. If the operation unit 58 has not been operated, the control unit 62 ends the process.

[0138] In step S42, the control unit 62 controls the electric adjustable seat post 38 so as to change the height of the seat post 40, and ends the process. For example, using Table 5, when the current height of the seat post 40 is different from the changed height of the seat post 40, the control unit 62 controls the electric adjustable seat post 38 so as to change the height of the seat post 40. For example, when the current height of the seat post 40 is not different from the changed height of the seat post 40, the control unit 62 ends the process without changing the height of the seat post 40.

[0139] <Fourth Embodiment> Referring to FIGS. 2 and 13, the control device 60 of the fourth embodiment will be described. The control device 60 of the fourth embodiment is the same as the control device of the third embodiment except that when the operation unit 58 is operated, the control unit 62 controls the electric adjustable seat post 38 so that the height becomes a height corresponding to the operation amount of the operation unit 58 according to the estimated travel route. Therefore, for the components common to the third embodiment, the same reference numerals as those in the third embodiment are given, and redundant descriptions are omitted.

[0140] In this embodiment, when the operation unit 58 is operated, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height becomes a height corresponding to the operation amount of the operation unit 58. The control unit 62 is configured to execute control of the electric adjustable seat post 38 according to the estimated travel route. For example, when the operation unit 58 is operated, the control unit 62 determines whether the height of the seat post 40 can be changed according to the estimated travel route. For example, the control unit 62 determines whether the height of the seat post 40 can be changed according to at least one of the slope of the estimated travel route and the difficulty of passing through the estimated travel route.

[0141] For example, when the slope of the estimated travel route is flat or descending, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height of the seat post 40 becomes a height corresponding to the operation amount of the operation unit 58. For example, when the slope of the estimated travel route is ascending, the control unit 62 is configured not to change the height of the seat post 40.

[0142] For example, when the difficulty of passing through the estimated travel route is not technical, the control unit 62 is configured to control the electric adjustable seat post 38 so that the height of the seat post 40 becomes a height corresponding to the operation amount of the operation unit 58. For example, when the difficulty of passing through the estimated travel route is technical, the control unit 62 is configured not to change the height of the seat post 40.

[0143] With reference to the flowchart of FIG. 13, when the operation unit 58 is operated, the process of controlling the electric adjustable seat post 38 so that the control unit 62 changes the height of the seat post 40 according to the estimated travel route so that the height becomes a height corresponding to the operation amount of the operation unit 58 will be described. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S51 of the flowchart shown in FIG. 13. When the flowchart of FIG. 13 ends, the control unit 62 repeats the process from step S51 at a predetermined cycle until, for example, the power supply is stopped.

[0144] In step S51, the control unit 62 determines whether the operation unit 58 has been operated. For example, when the rider operates the operation unit 58 to control the electric adjustable seat post 38 so as to change the height of the seat post 40, the control unit 62 determines that the operation unit 58 has been operated. If the operation unit 58 has been operated, the control unit 62 proceeds to step S52. If the operation unit 58 has not been operated, the control unit 62 ends the process.

[0145] In step S52, the control unit 62 determines whether the height of the seat post 40 can be changed. In step S52, the control unit 62 determines whether the height of the seat post 40 can be changed according to the estimated travel route. If the height of the seat post 40 can be changed, the control unit 62 proceeds to step S53. If the height of the seat post 40 cannot be changed, the control unit 62 ends the process.

[0146] In step S53, the control unit 62 controls the electric adjustable seat post 38 so that the height becomes the height corresponding to the operation amount of the operation unit 58, and ends the process.

[0147] <Modification Example> The description of each embodiment is an exemplification of the forms that the control device for a human-powered vehicle according to the present disclosure can take, and is not intended to limit the form. The control device for a human-powered vehicle according to the present disclosure can take, for example, modification examples of each of the following embodiments, and forms in which at least two non-contradictory modification examples are combined. In the following modification examples, for parts common to the forms of the embodiments, the same reference numerals as those in the embodiments are given and the description thereof is omitted.

[0148] ·If the control unit 62 is configured to control the electric adjustable seat post 38 according to the estimated travel route, other configurations may be omitted. In this case, for example, the control unit 62 may be configured to execute the process of FIG. 14. For example, when power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S61 of the flowchart shown in FIG. 14. When the flowchart of FIG. 14 ends, the control unit 62 repeats the process from step S61 at a predetermined cycle until, for example, the power supply is stopped. In step S61, the control unit 62 acquires information regarding the estimated travel route and proceeds to step S62. For example, the information regarding the estimated travel route includes at least one of the slope of the estimated travel route and the difficulty of passing through the estimated travel route. In step S62, the control unit 62 controls the electric adjustable seat post 38 to change the height of the seat post 40 according to the estimated travel route and ends the process. For example, in step S62, the control unit 62 may determine the height of the seat post 40 to be changed using Table 1.

[0149] ·The first embodiment or the second embodiment may be combined with the third embodiment or the fourth embodiment. For example, the control device 60 is configured to be switchable to execute either the control of the flowchart of FIG. 9 or FIG. 11 and the control of the flowchart of FIG. 13 or 14. For example, when the operation of the human-powered vehicle 10 by the rider is complicated and the rider does not have time to operate the operation unit 58 to control the height of the seat post 40, the control unit 62 is configured to execute the control of the flowchart of FIG. 9 or FIG. 11. For example, when the operation of the human-powered vehicle 10 by the rider is not complicated and the rider has time to operate the operation unit 58 to control the height of the seat post 40, the control unit 62 is configured to execute the control of the flowchart of FIG. 13 or FIG. 14. The switching between the control of the flowchart of FIG. 9 or FIG. 11 and the control of the flowchart of FIG. 13 or 14 may be configured to be switchable by an operation input to the rider's operating device.

[0150] · The control unit 62 may be configured to control the transmission according to the estimated travel route. For example, the control unit 62 may be configured to control the transmission to change the gear ratio according to at least one of the slope and the traversability of the estimated travel route. For example, when the slope of the estimated travel route is uphill, the control unit 62 controls the transmission so that the gear ratio becomes lower. When the traversability of the estimated travel route is technical, the control unit 62 controls the transmission so as not to change the gear ratio.

[0151] · The control unit 62 may be configured to control the electric suspension according to the estimated travel route. For example, the control unit 62 may be configured to change the control state corresponding to the repulsive force of the suspension according to at least one of the slope and the traversability of the estimated travel route. When the slope of the estimated travel route is uphill, the control unit 62 controls the electric suspension so that the control state has a small repulsive force of the suspension. When the traversability of the estimated travel route is technical, the control unit 62 controls the electric suspension so that the control state has a small repulsive force of the suspension.

[0152] · The control unit 62 may be configured to control the electric brake according to the estimated travel route. For example, the control unit 62 may be configured to change the control state corresponding to the magnitude of the braking force according to at least one of the slope and the traversability of the estimated travel route. When the slope of the estimated travel route is downhill, the control unit 62 controls the electric brake so that the control state has a large braking force. When the traversability of the estimated travel route is technical, the control unit 62 controls the electric brake so that the control state has a large braking force.

[0153] · The control unit 62 may be configured to control the display device according to the estimated travel route. For example, the control unit 62 may be configured to change the display content according to at least one of the slope and the traversability of the estimated travel route. For example, the control unit 62 displays at least one of the slope and the traversability of the estimated travel route on the display device.

[0154] · In the third and fourth embodiments, the control unit 62 may be configured to control the electric adjustable seat post 38 to change the height of the seat post 40 when the rider is in a non-seated state on the saddle 42. For example, in the flowchart of FIG. 12, when the seated state becomes a non-seated state, the control unit 62 starts the process and proceeds to step S41 of the flowchart shown in FIG. 12. For example, in the flowchart of FIG. 13, when the seated state becomes a non-seated state, the control unit 62 starts the process and proceeds to step S51 of the flowchart shown in FIG. 13.

[0155] · The traveling route estimation unit 70 may be configured to estimate the inclination of the estimated traveling route according to the visual direction of the rider. For example, the control unit 62 acquires an image of the rider from an imaging device capable of photographing the rider's image. The traveling route estimation unit 70 estimates the posture of the rider from the image of the rider. The traveling route estimation unit 70 may include an artificial intelligence processing unit that estimates the joint information of the rider from the image of the rider. For example, the traveling route estimation unit 70 estimates the posture of the rider based on the joint information of the rider, and estimates the visual direction of the rider from the estimated posture of the rider. For example, when the rider's line of sight or head is directed upward, the traveling route estimation unit 70 determines that the visual direction of the rider is upward and determines that the inclination of the estimated traveling route is uphill. For example, when the rider's line of sight or head is directed downward, the traveling route estimation unit 70 determines that the visual direction of the rider is downward and determines that the inclination of the estimated traveling route is downhill.

[0156] As used herein, the expression "at least one" means "one or more" of the desired options. As an example, as used herein, the expression "at least one" means "only one option" or "both of the two options" if the number of options is two. As another example, as used herein, the expression "at least one" means "only one option" or "any combination of two or more options" if the number of options is three or more.

Description of Reference Numerals

[0157] 10…Human-powered vehicle, 38…Electric adjustable seat post, 40…Seat post, 44…Notification unit, 46…Detection unit, 46A…Imaging device, 46B…Laser device, 46C…Position information detection unit, 58…Operation unit, 60…Control device, 62…Control unit, 64A…First storage unit, 64B…Second storage unit, 70…Travel path estimation unit, 72…Artificial intelligence processing unit.

Claims

1. A control device for a human-powered vehicle, comprising: a control unit configured to control an electric adjustable seat post of the human-powered vehicle; the electric adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle; the control unit: acquires forward information of a travel route from a detection unit, obtains an estimated travel route on which the human-powered vehicle will travel in the future according to the forward information, and is configured to control the electric adjustable seat post according to the estimated travel route; includes a travel route estimation unit that obtains the estimated travel route based on the forward information; the travel route estimation unit includes an artificial intelligence processing unit; the control unit is configured to control the electric adjustable seat post to change the height according to the estimated travel route; the artificial intelligence processing unit: identifies an object on the travel route based on the forward information, and is configured to obtain the estimated travel route based on the object. A control device.

2. The artificial intelligence processing unit: identifies a boundary between a region that is the travel route and a region that is not the travel route in the forward information based on the object, and is configured to obtain the estimated travel route based on the boundary. The control device according to claim 1.

3. The artificial intelligence processing unit is configured to estimate a distance between the object and the human-powered vehicle based on the forward information, and the control unit is configured to control the electric adjustable seat post according to the distance. The control device according to claim 1 or 2.

4. The control unit is configured to control the electric adjustable seat post according to at least one of an inclination of the estimated travel route and a degree of difficulty of passing through the estimated travel route. The control device according to any one of claims 1 to 3.

5. The control unit is configured to control the electric adjustable seat post to change the height when a rider is in a seated state on the seat post and a decrease amount of the height according to the estimated travel route is equal to or less than a predetermined decrease amount. The control device according to any one of claims 1 to 4.

6. A control device for a human-powered vehicle, comprising: a control unit configured to control an electric adjustable seat post of the human-powered vehicle; the electric adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle; the control unit: The detection unit acquires the forward information of the traveling path, and according to the forward information, acquires the estimated traveling path on which the human-powered vehicle will travel in the future, and is configured to control the electric adjustable seat post according to the estimated traveling path. It is configured to control the electric adjustable seat post to change the height according to the estimated traveling path. A control device configured to control the electric adjustable seat post to change the height when the rider is seated on the seat post and when the amount of height decrease according to the estimated traveling path is equal to or less than a predetermined amount of decrease.

7. The control unit is configured to control the electric adjustable seat post to suppress the change in height when the rider is seated on the seat post and when the amount of height decrease according to the estimated traveling path is greater than a predetermined amount of decrease. The control device according to any one of claims 1 to 6.

8. A control device for a human-powered vehicle, Including a control unit configured to control the electric adjustable seat post of the human-powered vehicle. The electric adjustable seat post is configured to be able to control the height of the seat post of the human-powered vehicle. The control unit is The detection unit acquires the forward information of the traveling path, and according to the forward information, acquires the estimated traveling path on which the human-powered vehicle will travel in the future, and is configured to control the electric adjustable seat post according to the estimated traveling path. It is configured to control the electric adjustable seat post to change the height according to the estimated traveling path. A control device configured to control the electric adjustable seat post to suppress the change in height when the rider is seated on the seat post and when the amount of height decrease according to the estimated traveling path is greater than a predetermined amount of decrease.

9. The control unit is configured to control the electric adjustable seat post to change the height according to the estimated traveling path when the rider is not seated on the seat post. The control device according to any one of claims 1 to 8.

10. When the control unit controls the electric adjustable seat post to change the height according to the estimated travel route, the control unit is configured to control the notification unit so that the notification unit notifies information regarding the height. The control device according to any one of claims 1 to 9.

11. When the control unit controls the electric adjustable seat post to change the height according to the estimated travel route, the control unit is configured to control the electric adjustable seat post so that the height becomes a first predetermined height. The control device according to any one of claims 1 to 10.

12. The first predetermined height includes a second predetermined height, a third predetermined height lower than the second predetermined height, and a fourth predetermined height lower than the third predetermined height. When the height becomes one of the second predetermined height, the third predetermined height, and the fourth predetermined height according to first travel information regarding at least one of the travel state of the human-powered vehicle and the travel environment of the human-powered vehicle, the control unit is configured to control the electric adjustable seat post. The control device according to claim 11.

13. The control device further includes a first storage unit that stores the third predetermined height. The third predetermined height stored in the first storage unit is changeable. The control device according to claim 12.

14. When the operation unit is operated, the control unit is configured to control the electric adjustable seat post to change the height according to the estimated travel route. The control device according to any one of claims 1 to 13.

15. When the operation unit is operated, the control unit is configured to control the electric adjustable seat post so that the height becomes a height corresponding to the operation amount of the operation unit. According to the estimated travel route, the control unit is configured to execute control of the electric adjustable seat post. The control device according to claim 14.

16. When the operation unit is operated, the control unit is configured to control the electric adjustable seat post so that the height becomes a height according to the estimated travel route. The control device according to claim 14 or 15.

17. The control unit according to claim 16, wherein when the operation unit is operated, the control unit is configured to control the electric adjustable seat post so that the height becomes a height corresponding to the estimated travel path regardless of the operation amount of the operation unit.

18. The control device further includes a second storage unit that stores history information regarding the change history of the height. The control unit according to claim 11, wherein the control unit is configured to control the electric adjustable seat post so that the height becomes the first predetermined height according to the estimated travel path and the history information.

19. The second storage unit is configured to store the history information in association with second travel information regarding at least one of a travel state of the human-powered vehicle and a travel environment of the human-powered vehicle. The control device according to claim 18, wherein the control unit is configured to be able to change the first predetermined height according to the estimated travel path, the history information, and the second travel information.

20. The detection unit includes an imaging device. The control device according to any one of claims 1 to 19, wherein the forward information includes a forward image acquired by the imaging device.

21. The detection unit includes a laser device. The control device according to any one of claims 1 to 20, wherein the forward information includes obstacle information acquired by the laser device.

22. The detection unit includes a position information detection unit. The control device according to any one of claims 1 to 21, wherein the forward information includes map information of the travel path acquired by the position information detection unit.

Images