State estimating system and state estimating method

Abstract

A state estimating system (1) comprises an acquiring unit (41) and an estimating unit (42). The acquiring unit (41) acquires electric power information relating to electric power consumed by an electric bicycle (2). The estimating unit (42) estimates the state of the electric bicycle (2) on the basis of the electric power information acquired by the acquiring unit (41). If it is estimated that the electric bicycle (2) is in an abnormal state, the estimating unit (42) outputs abnormal state information indicating that there is an abnormality in the electric bicycle (2), and if it is estimated that the electric bicycle (2) is in a normal state, the estimating unit (42) outputs normal state information indicating that the electric bicycle (2) is normal.

Description

State estimation system and state estimation method

[0001] The present disclosure relates to a state estimation system and a state estimation method for estimating the state of an electric bicycle.

[0002] Patent Document 1 discloses an electrically assisted bicycle. This electrically assisted bicycle is equipped with a front wheel air pressure sensor and a rear wheel air pressure sensor. The front wheel air pressure sensor detects the air pressure of the front wheel and outputs an air pressure signal indicating the detected air pressure to a control unit. The rear wheel air pressure sensor detects the air pressure of the rear wheel and outputs an air pressure signal indicating the detected air pressure to the control unit. The control unit generates tire condition information indicating the conditions of the front and rear wheels based on the air pressure signals output from the front and rear wheel air pressure sensors.

[0003] JP 2018-083529 A

[0004] The present disclosure aims to provide a state estimation system and a state estimation method that can easily eliminate the need for sensors that directly detect the state of an electric bicycle.

[0005] To achieve the above object, a state estimation system according to one aspect of the present disclosure includes an acquisition unit and an estimation unit. The acquisition unit acquires power information related to the power consumed by an electric bicycle. The estimation unit estimates the state of the electric bicycle based on the power information acquired by the acquisition unit. If the estimation unit estimates that the electric bicycle is in an abnormal state, it outputs abnormal state information indicating that the electric bicycle is in an abnormal state, and if the estimation unit estimates that the electric bicycle is in a normal state, it outputs normal state information indicating that the electric bicycle is normal.

[0006] A state estimation method according to one aspect of the present disclosure includes acquiring power information related to the power consumed by an electric bicycle, and estimating the state of the electric bicycle based on the acquired power information. If the state estimation method estimates that the electric bicycle is in an abnormal state, it outputs abnormal state information indicating that the electric bicycle is in an abnormal state, and if it estimates that the electric bicycle is in a normal state, it outputs normal state information indicating that the electric bicycle is normal.

[0007] The state estimation system and the like according to the present disclosure has the advantage that it is easy to eliminate the need for sensors that directly detect the state of the electric bicycle.

[0008] Fig. 1 is a schematic diagram illustrating a vehicle sharing system according to an embodiment. Fig. 2 is a side view illustrating an electric bicycle according to an embodiment. Fig. 3 is a block diagram illustrating an electric bicycle according to an embodiment. Fig. 4 is a flowchart illustrating an operation example of a state estimation system according to an embodiment.

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, component arrangements and connection forms, steps, step order, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0010] Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. Therefore, for example, the scales and the like do not necessarily match in each figure. Furthermore, in each figure, substantially the same configurations are assigned the same reference numerals, and duplicate explanations are omitted or simplified.

[0011] A state estimation system and a state estimation method according to an embodiment will be described below.

[0012] (Embodiment) <Configuration> First, the configuration of a vehicle sharing system 100 will be described with reference to Fig. 1. Fig. 1 is a schematic diagram illustrating a vehicle sharing system 100 according to an embodiment.

[0013] As shown in Figure 1, in vehicle sharing system 100, a servicer that rents out vehicles can rent out vehicles to users who wish to use them. Vehicle sharing system 100 manages the vehicle's condition, specifications, model, and product number. When renting out a vehicle to a user, vehicle sharing system 100 also manages the start time of use, end time of use, start location of use, and user identification information. In this embodiment, vehicle sharing system 100 rents out electric bicycles 2.

[0014] The electric bicycle 2 is a vehicle that can travel on a road surface using electrical power, such as an electrically assisted bicycle or a specific small motorized bicycle such as an electric kick scooter. The electric bicycle 2 may be a vehicle for which the user does not require a driver's license. In the embodiment, the electric bicycle 2 is a two-wheeled bicycle consisting of two wheels, a front wheel and a rear wheel, but is not limited to this. For example, the electric bicycle 2 may be a three-wheeled bicycle consisting of one wheel at the front or rear and two wheels at the other.

[0015] The vehicle sharing system 100 includes an electric bicycle 2 and an external device 3. Below, the electric bicycle 2 in which the state estimation system 1 is used will be described, and then the external device 3 will be described.

[0016] [Electric Bicycle] Fig. 2 is a side view illustrating an electric bicycle 2 according to an embodiment. Fig. 3 is a block diagram illustrating an electric bicycle 2 according to an embodiment. As shown in Figs. 2 and 3, the electric bicycle 2 is a vehicle that can travel on a riding surface by rotating its wheels. In this embodiment, the electric bicycle 2 is an electrically assisted bicycle that supplements the user's pedaling force with auxiliary driving force from an electric motor 43. Note that the electric bicycle 2 may have separate manual driving force that powers the wheels using pedaling force and auxiliary driving force that powers the wheels using the electric motor 43, or may be a bicycle that can travel (self-propelled) using only the electric motor 43.

[0017] For example, the electric bicycle 2 has an assist mode, a push-walking mode, and a self-propelled mode. The assist mode is a mode that assists the forward movement of the electric bicycle 2 based on the user's pedaling force on the pedals 16. The push-walking mode is a mode that assists the forward movement of the electric bicycle 2 based on the force applied by the user to push the body 10 forward when the user walks while pushing the electric bicycle 2. The self-propelled mode is a mode that assists the forward movement of the electric bicycle 2 when the user walks while supporting the electric bicycle 2.

[0018] The electric bicycle 2 is composed of a vehicle body 10 on which the state estimation system 1 is mounted.

[0019] The vehicle body 10 has a frame 11, a front wheel 12, a rear wheel 13, a saddle 14, handlebars 15, pedals 16, a crank 17, a chain 18, a transmission, a sensor, a control device 40, an electric motor 43, a notification unit 50, an operating unit 61, a manual switch 62, and a battery 63.

[0020] The frame 11 is equipped with a front wheel 12, a rear wheel 13, a saddle 14, handlebars 15, pedals 16, cranks 17, a chain 18, a transmission, sensors, an electric motor 43, a control device 40, a notification unit 50, an operation unit 61, a manual switch 62, a battery 63, etc. The frame 11 is the framework of the electric bicycle 2. The frame 11 is made of metal such as aluminum alloy, iron, chromium molybdenum steel, steel, or titanium. The frame 11 may also be made of carbon, synthetic resin, etc.

[0021] The frame 11 has a front frame 11a and a rear frame 11b.

[0022] The front frame 11a forms the front portion of the frame 11. The front frame 11a has a head tube 11a1, a down tube 11a2, and a seat tube 11a3. The frame 11 may have a suspension.

[0023] The head tube 11a1 is connected to the front end of the front frame 11a. A front fork 11a4 and a handlebar 15 are attached to the head tube 11a1 so as to be rotatable around an axis along the longitudinal direction of the head tube 11a1. A front wheel 12 is rotatably attached to the front fork 11a4. By turning the handlebar 15 left and right, the orientation of the front wheel 12 supported by the front fork 11a4 can be rotated left and right. A headlight is also attached to the front fork 11a4. The front fork 11a4 may be configured to have a suspension.

[0024] The down tube 11a2 connects the head tube 11a1 and the seat tube 11a3.

[0025] The seat tube 11a3 holds the saddle 14. The saddle 14 is attached to the seat tube 11a3 so as to be movable along the longitudinal direction of the seat tube 11a3. The lower end of the seat tube 11a3 is connected to the rear end of the down tube 11a2. The seat tube 11a3 is located between the front wheel 12 and the rear wheel 13 in the front-to-rear direction. A battery 63 is detachably attached to the seat tube 11a3.

[0026] The rear frame 11b is disposed rearward of the front frame 11a and constitutes the rear portion of the frame 11. The rear wheel 13, a rear sprocket 71 linked to the axle of the rear wheel 13, and a rear seat 80 are attached to the rear frame 11b. A chain 18 is stretched between the rear sprocket 71 and the front sprocket 72. As a result, the rotational force of the front sprocket 72, which is rotated when the pedal 16 is depressed, is transmitted to the rear wheel 13 via the chain 18 and the rear sprocket 71. In this embodiment, the pedal 16, the front sprocket 72, the rear sprocket 71, and the chain 18 form a rear wheel drive mechanism that relies on human power.

[0027] The front wheel 12 has a tire 12a on which the vehicle body 10 travels. The front wheel 12 is the front wheel of two wheels aligned in the front-to-rear direction. The front wheel 12 is supported by a front fork 11a4 so that it can rotate around an axis along the left-to-right direction. The front wheel 12 may receive power from an electric motor 43, and for example, a motor may be provided that applies driving force to rotate the front wheel 12. The front wheel 12 is an example of a wheel.

[0028] The rear wheel 13 has a tire 13a on which the vehicle body 10 travels. The rear wheel 13 is the rear wheel of two wheels aligned in the front-to-rear direction. The rear wheel 13 is supported by a rear fork so that it can rotate around an axis along the left-to-right direction. The rear wheel 13 may receive power from an electric motor 43, and for example, may be provided with a motor that applies driving force to rotate the rear wheel 13. The rear wheel 13 is one example of a wheel. The front wheel 12 and the rear wheel 13 may sometimes be collectively referred to as wheels.

[0029] The rear wheel 13 has a rear sprocket 71. The rear sprocket 71 is connected to a front sprocket 72 via a chain 18. In this embodiment, power output from an electric motor 43 is transmitted to the rear wheel 13.

[0030] The saddle 14 is a portion on which a user sits and is movably attached to the seat tube 11a3.

[0031] The handlebars 15 change the steering angle of the electric bicycle 2, for example, when the user steers the electric bicycle 2. A pair of grips and a pair of brake levers 81 are provided on both ends of the handlebars 15. The pair of grips are held by the user's hands when riding in an appropriate posture. The pair of grips are also held by the hands when pushing or supporting the electric bicycle 2, and receive a forward pushing force. One brake lever 81 applies a mechanical braking force to the front wheel 12 by actuating a front brake device (not shown). The other brake lever 81 applies a mechanical braking force to the rear wheel 13 by actuating a rear brake device (not shown).

[0032] At least one of the pair of grips may be provided with a grip sensor that detects the gripping force or pushing force. A steering angle sensor that measures the steering angle of the handlebars 15 may be provided on a rotation axis provided at the center of the handlebars 15, and this steering angle sensor may detect the steering angle of the handlebars 15. A brake sensor may be provided on the brake lever 81, and this brake sensor may detect the operation of the brake lever 81.

[0033] For example, when the user rides the electric bicycle 2, the user applies pedal force to the pedals 16. The pedals 16 are attached to the longitudinal ends of each crank arm 17a on the opposite side from the crank shaft 17b. The pedals 16 are rotatably attached to the crank arms 17a. The rotation axis of the pedals 16 is approximately parallel to the rotation axis of the crank shaft 17b of the crank 17.

[0034] The crank 17 has a crankshaft 17 b , a pair of crank arms 17 a , and a front sprocket 72 .

[0035] The crank arms 17a are provided on both sides of the front frame 11a and are fixed to both ends of a crankshaft 17b extending in the left-right direction. One end of the crank arm 17a is rotatably fixed to the crankshaft 17b, and the pedal 16 is rotatably fixed to the other end of the crank arm 17a. The front sprocket 72 is attached to the crankshaft 17b of the crank arm 17a and rotates with the rotation of the crankshaft 17b. When a user applies a pedaling force to the pedal 16, the crank arm 17a rotates about the crankshaft 17b, causing the front sprocket 72 to also rotate about the crankshaft 17b. As the front sprocket 72 rotates, human-powered driving force based on the pedaling force is transmitted via the chain 18 to the rear sprocket 71 of the rear wheel 13, causing the rear sprocket 71 to rotate, thereby causing the rear wheel 13 to rotate. For example, when the electric bicycle 2 operates in assist mode, a manual driving force based on pedaling force and an auxiliary driving force from the electric motor 43 added to the manual driving force are transmitted to the rear wheel 13 .

[0036] The chain 18 transmits the rotational force of the front sprocket 72, which is rotated when the pedal 16 is depressed, and the auxiliary driving force output from the electric motor 43, to the rear sprocket 71. The chain 18 is a power transmission member such as a belt, a shaft, a wire, or a gear.

[0037] The transmission is configured with a well-known transmission mechanism such as a planetary gear or multi-speed gear having a plurality of driving force transmission paths with different gear ratios. The transmission can change the speed, for example, to a low gear, a medium gear, a high gear, etc., by switching the driving force transmission path. The transmission may be configured to switch the driving force transmission path manually or electrically.

[0038] The sensors acquire vehicle information related to the electric bicycle 2. The vehicle information is, for example, information indicating the speed of the electric bicycle 2 or information indicating the acceleration of the electric bicycle 2. The vehicle information may also include information indicating the number of rotations of the crank 17, information indicating the human driving force, or information indicating the angular velocity of the electric bicycle 2. In this embodiment, multiple sensors are mounted on the electric bicycle 2. The multiple sensors are, for example, a speed sensor 30, an acceleration sensor 31, a crank rotation sensor 32, a gyro sensor 33, a torque sensor 34, or a battery sensor 35.

[0039] The speed sensor 30 detects the speed at which the electric bicycle 2 is traveling when the assist mode, the pushing mode, or the self-propelled mode is in operation. The speed sensor 30 detects the speed of the electric bicycle 2 from the rotation speed of at least one of the front wheel 12 and the rear wheel 13, and outputs information indicating the detected speed of the electric bicycle 2 to the control device 40.

[0040] The speed sensor 30 is, for example, a wheel sensor or a magnet sensor, but may also be a cycle computer that calculates the speed based on ground speed, or may have any configuration that can detect the speed of the electric bicycle 2. The speed sensor 30 may also be, for example, a sensor that uses a GPS (Global Positioning System).

[0041] The speed sensor 30 may be provided, for example, at the lower end of the front fork 11a4, in a position where it is easy to measure the speed. When the speed sensor 30 is provided on the front fork 11a4 of the front frame 11a, it can suitably detect the speed of the front wheel 12. When the speed sensor 30 is attached to the rear frame 11b, it can suitably detect the speed of the rear wheel 13. The speed sensor 30 detects at least one of the front wheel 12 and the rear wheel 13.

[0042] The acceleration sensor 31 detects the acceleration of the electric bicycle 2 while it is moving. The acceleration sensor 31 detects the acceleration based on, for example, vibrations transmitted to the electric bicycle 2 as it is moving. The greater the vibrations generated in the electric bicycle 2, the greater the acceleration of the electric bicycle 2. Furthermore, because the vibrations of the electric bicycle 2 change depending on the condition of the riding surface, the acceleration sensor 31 may detect the acceleration using a vibration table corresponding to the riding surface. The acceleration sensor 31 outputs information indicating the acceleration of the electric bicycle 2 to the control device 40.

[0043] The crank rotation sensor 32 detects the number of rotations of the crank 17 per unit time when the assist mode, the pushing mode, or the self-propelled mode is being executed. For example, the crank rotation sensor 32 is composed of a gear-shaped rotating body and a photodetector having a light emitting portion and a light receiving portion that are arranged so as to sandwich the teeth of the rotating body. The crank rotation sensor 32 outputs information indicating the detected number of rotations of the crank 17 to the control device 40.

[0044] Furthermore, the crank rotation sensor 32 may have any configuration as long as it can detect the rotation speed of the crank 17. Furthermore, the crank rotation sensor 32 is disposed near the crankshaft 17b. Furthermore, a crank angle sensor that detects the rotation angle of the crank 17 may be used instead of the crank rotation sensor 32. Furthermore, in the embodiment, a plurality of crank rotation sensors 32 may be provided, and a phase difference may be provided between the detection signals of each crank rotation sensor 32. In this case, the phase difference between the detection signals of each crank rotation sensor 32 makes it possible to detect the rotation direction of the crank 17.

[0045] The gyro sensor 33 is a six-axis sensor that detects the tilt speed (angular velocity) of the body 10 of the electric bicycle 2. The gyro sensor 33 detects acceleration in each of three axes perpendicular to the center of the electric bicycle 2 and angular velocity around the three axes. The gyro sensor 33 detects acceleration in each of the three axes and angular velocities (roll, yaw, and pitch) around the three axes. The gyro sensor 33 outputs information indicating the detected angular velocity and acceleration to the control device 40. The gyro sensor 33 is attached to, for example, the down tube 11a2. The three orthogonal axes may be represented, for example, by the X-axis, Y-axis, and Z-axis directions, with the X-axis representing the front-to-rear direction, the Y-axis representing the left-to-right direction, and the Z-axis representing the up-to-down direction.

[0046] The torque sensor 34 detects the manual driving force based on the pedal force on the pedal 16. That is, the torque sensor 34 detects the manual driving force generated by the rotation of the crankshaft 17b based on the pedal force on the pedal 16. The torque sensor 34 is a magnetostrictive sensor having a coil and a magnetostrictive generating portion. For example, when a manual driving force is generated by applying a pedal force to the pedal 16, distortion occurs in the magnetostrictive generating portion. The magnetostrictive generating portion has portions where the magnetic permeability increases and portions where it decreases. The torque sensor 34 detects the manual driving force by detecting the inductance difference of this coil. The torque sensor 34 outputs information indicating the detected manual driving force to the control device 40. The configuration of the torque sensor 34 is not particularly limited, and any configuration may be used as long as it can detect the manual driving force on the pedal 16. The torque sensor 34 is disposed, for example, near the crankshaft 17b.

[0047] The battery sensor 35 is a sensor that detects the state of the battery 63, such as the charge rate, discharge performance, or remaining capacity of the battery 63. The battery sensor 35 detects the state of the battery 63, for example, by detecting at least one of the voltage applied to the battery 63 and the current flowing through the battery 63. The battery sensor 35 outputs information indicating the detected state of the battery 63 to the control device 40. The battery sensor 35 is disposed, for example, near the battery 63.

[0048] In the embodiment, examples of sensors that the electric bicycle 2 has are given as an acceleration sensor 31, a crank rotation sensor 32, a speed sensor 30, a gyro sensor 33, a torque sensor 34, and a battery sensor 35, but are not limited to these.

[0049] For example, the electric bicycle 2 may further include an inclination sensor that detects the inclination of the electric bicycle 2 relative to a horizontal plane. The inclination sensor may output information indicating the detected inclination angle to the control device 40.

[0050] Furthermore, for example, the electric bicycle 2 may have a vibration sensor that detects vibrations of a target part of the body 10. The vibrations of the target part of the body 10 are detected. Here, the vibrations of the target part detected by the vibration sensor are different from the sound emitted by the target part. The vibration sensor may output information indicating the magnitude (frequency) of the vibrations of the target part to the control device 40.

[0051] Furthermore, for example, the electric bicycle 2 may have a sound sensor that detects sound generated from a target part of the body 10. The sound may be sound emitted from, for example, the front sprocket 72, the rear sprocket 71, the chain 18, the brake device, the tires 12a, 13a, or the transmission. If an abnormality occurs in the front sprocket 72, the rear sprocket 71, the chain 18, the brake device, the tires 12a, 13a, or the transmission, an abnormal sound different from that generated in a normal state will be generated. The sound sensor may output information indicating the sound quality, volume, etc. to the control device 40.

[0052] Furthermore, for example, the electric bicycle 2 may have a motor rotation sensor that detects the number of rotations per unit time of the electric motor 43. The motor rotation sensor may be a Hall IC sensor or the like, and may output information indicating the number of rotations per unit time of the electric motor 43 to the control device 40. The speed of the electric bicycle 2 or the auxiliary driving force of the electric motor 43 may be calculated based on the information indicating the number of rotations per unit time of the electric motor 43.

[0053] The electric bicycle 2 may not have all of the above sensors except for the battery sensor 35, or may have all of the sensors. Furthermore, the electric bicycle 2 may have one or more of the above sensors in addition to the battery sensor 35.

[0054] The electric motor 43 applies an auxiliary driving force to assist the traveling of the vehicle body 10. The electric motor 43 receives power from the battery 63 and is driven under the control of the control device 40. The electric motor 43 transmits rotational torque as the auxiliary driving force to the rear sprocket 71 via the chain 18, thereby rotating the rear wheel 13. The rotational torque is the auxiliary driving force, which is a driving force by the electric motor 43 to be added to the human-powered driving force, and the auxiliary driving force, which is an auxiliary force imparted to the force of pushing or walking while supporting the electric bicycle 2. The electric motor 43 adds the auxiliary driving force to the human-powered driving force based on the force applied to the pedals 16 during the assist mode. Furthermore, the electric motor 43 adds the auxiliary driving force to the force of pushing the electric bicycle 2 during the push-walk mode. Furthermore, the electric motor 43 adds the auxiliary driving force to the force of pushing the electric bicycle 2 during the self-propelled mode, allowing the electric bicycle 2 to self-propel while being supported by the user.

[0055] In this embodiment, the electric motor 43 is housed in a resin or metal housing together with the control device 40 and other components to form a unit. The crank rotation sensor 32, the torque sensor 34, and other components are provided inside the housing.

[0056] The control device 40 is realized by, for example, a microcomputer (microcontroller) or the like, and is composed of a non-volatile memory in which a program is stored, a volatile memory (storage unit) that is a temporary storage area for executing the program, an input / output port, a processor that executes the program, etc. Note that the control device 40 may also be realized by a dedicated electronic circuit.

[0057] The speed sensor 30, acceleration sensor 31, crank rotation sensor 32, gyro sensor 33, torque sensor 34, battery sensor 35, electric motor 43, operation unit 61, manual switch 62, battery 63, headlights, etc. are electrically connected to the control device 40. Operation signals from the operation unit 61 and manual switch 62, as well as information indicating the detection results from each sensor, are input to the control device 40.

[0058] The control device 40 drives the electric motor 43 according to the operation mode of the electric bicycle 2. Specifically, the control device 40 switches between assist mode, pushing mode, and self-propelled mode, and executes each mode. Assist mode is executed when the user is riding the electric bicycle 2 after the manual switch 62 is pressed to turn on the power. When executing assist mode, the control device 40 determines the magnitude of the auxiliary driving force generated by the electric motor 43 based on factors such as the force applied to the pedals 16 and the speed of the electric bicycle 2. Pushing mode is executed when the user is not riding the electric bicycle 2, the manual switch 62 is pressed to turn on the power, and the user is pushing the body 10 of the electric bicycle 2. Self-propelled mode, like the pushing mode, is executed when the user is not riding the electric bicycle 2 and is walking while supporting the body 10 of the electric bicycle 2. In self-propelled mode, the user is not exerting any force pushing the body 10 forward. Furthermore, when the pushing mode is executed, the control device 40 determines the magnitude of the auxiliary driving force to be generated by the electric motor 43 based on the pushing force applied to the electric bicycle 2 and the speed of the electric bicycle 2. Furthermore, when the self-propelling mode is executed, the control device 40 determines the magnitude of the predetermined auxiliary driving force to be generated by the electric motor 43.

[0059] The control device 40 also supplies power from the battery 63 to the electric motor 43, various sensors, headlights, and the like.

[0060] In the embodiment, the control device 40 is housed inside the housing that houses the electric motor 43, but this is not limiting. The control device 40 may be provided separately from the electric motor 43.

[0061] The notification unit 50 is a communication module capable of wireless or wired communication with the external device 3. The notification unit 50 can notify the external device 3 of at least one of abnormal state information and normal state information output by the estimation unit 42, which will be described later. The notification unit 50 may also be capable of directly communicating with a terminal device owned by a user riding the electric bicycle 2. The terminal device may be, for example, a smartphone, a tablet terminal, a personal computer, or a cycle computer. In this case, the terminal device corresponds to the external device 3.

[0062] The operation unit 61 is provided, for example, near one of the pair of brake levers 81. The operation unit 61 is an operation terminal such as a cycle computer that is equipped with a light switch (not shown) for turning on the headlights, etc. The operation unit 61 has buttons and the like for accepting operations by the user. The buttons may be a touch panel display, mechanical buttons, etc.

[0063] The operation unit 61 has a display unit that displays the status information (abnormal status information or normal status information) output by the estimation unit 42 (described later). The display unit is, for example, a liquid crystal display or an organic EL display. The operation unit 61 may also have an acoustic unit such as an electronic bell that notifies the surroundings of the vehicle body 10 of the status information by sound. The acoustic unit may be a speaker that outputs sound. The operation unit 61 may also be a vibration unit that notifies the user of the status information by vibration. The vibration unit may be a vibration generator having a vibration generating function (vibration function) that transmits vibration to the user by vibrating the operation unit 61. The vibration generator may be a vibration motor that generates vibration. The operation unit 61 may also be a light source unit that notifies the user of the status information by light. The light source unit may be an LED module that emits light of a single color or multiple colors.

[0064] The manual switch 62 is a mechanical switch that accepts a push-walking operation or a self-propelled operation to execute the push-walking mode or the self-propelled mode. While the manual switch 62 is pressed by the user, the operation unit 61 continues to output a mode-on signal to the control device 40 to execute the push-walking mode or the self-propelled mode. On the other hand, while the manual switch 62 is not pressed, the operation unit 61 does not output a mode-on signal to the control device 40.

[0065] Note that when the manual switch 62 is pressed once, the pushed walking mode or the self-propelled mode may be executed without continuing to press the manual switch 62. When the manual switch 62 is pressed again while the pushed walking mode or the self-propelled mode is being executed, the pushed walking mode or the self-propelled mode may be stopped.

[0066] The battery 63 is a storage battery that stores power for driving the electric motor 43 and the like. The battery 63 is, for example, a secondary battery, but may also be a capacitor or the like. The battery 63 is electrically connected to the electric motor 43. Specifically, the battery 63 supplies power to the electric motor 43 and the like.

[0067] [State Estimation System] Next, a description will be given of the state estimation system 1. The state estimation system 1 includes an acquisition unit 41, an estimation unit 42, and a notification unit 50. In the embodiment, the acquisition unit 41 and the estimation unit 42 are both realized as functions of the control device 40. Note that the state estimation system 1 only needs to include at least the acquisition unit 41 and the estimation unit 42, and the notification unit 50 does not necessarily have to be included as a component of the state estimation system 1.

[0068] The acquisition unit 41 acquires power information related to the power consumed by the electric bicycle 2. The power information may include, for example, information indicating the power consumed by the battery 63, the voltage applied to the battery 63, or the current flowing through the battery 63. The power information may also include, for example, information indicating the power consumed by components provided in the electric bicycle 2, such as the electric motor 43, the voltage applied to those components, or the current flowing through those components.

[0069] As one example, the acquisition unit 41 may acquire the power information by detecting at least one of the voltage applied to the battery 63 provided in the electric bicycle 2 and the current flowing through the battery 63. In this case, the acquisition unit 41 can acquire the power information by, for example, acquiring the detection results of the battery sensor 35. Also, as another example, the acquisition unit 41 can acquire the power information by detecting at least one of the voltage applied to the electric motor 43 provided in the electric bicycle 2, the current flowing through the electric motor 43, the voltage applied to a circuit board on which a circuit for driving the electric motor 43 is mounted, and the current flowing through the circuit board. In this case, the acquisition unit 41 can acquire the power information by, for example, acquiring the detection results of a voltage sensor provided on the electric motor 43 or the circuit board, or the detection results of a current sensor provided on the electric motor 43 or the circuit board.

[0070] The acquisition unit 41 may also acquire drive information related to at least one of the speed, acceleration, and angular velocity of the electric bicycle 2, the gradient of the road surface on which the electric bicycle 2 is traveling, the torque applied to the pedals 16 of the electric bicycle 2, the cadence of the pedals 16, the torque of the electric motor 43 provided in the electric bicycle 2, and the rotation speed of the electric motor 43. For example, the acquisition unit 41 can acquire the speed of the electric bicycle 2 as drive information by acquiring the detection results of the speed sensor 30. For example, the acquisition unit 41 can acquire the acceleration of the electric bicycle 2 as drive information by acquiring the detection results of the acceleration sensor 31. For example, the acquisition unit 41 can acquire the angular velocity of the electric bicycle 2 as drive information by acquiring the detection results of the gyro sensor 33. For example, the acquisition unit 41 can acquire the gradient of the road surface as drive information by acquiring the detection results of the inclination sensor. For example, the acquisition unit 41 can acquire the torque applied to the pedals 16 as drive information by acquiring the detection results of the torque sensor 34. Furthermore, for example, the acquisition unit 41 can acquire the cadence of the pedals 16 as drive information by acquiring the detection results of the crank rotation sensor 32. Furthermore, for example, the acquisition unit 41 can acquire the rotation speed of the electric motor 43 as drive information by acquiring the detection results of a motor rotation sensor. Furthermore, for example, the acquisition unit 41 can acquire the torque of the electric motor 43 as drive information by acquiring the detection results of a current sensor provided in the electric motor 43.

[0071] The estimation unit 42 estimates the state of the electric bicycle 2 based on the power information acquired by the acquisition unit 41. For example, the estimation unit 42 estimates the air pressure of the tires 12a, 13a as the state of the electric bicycle 2. Here, the estimation unit 42 estimates the air pressure of the tires 12a, 13a without distinguishing between the tire 12a of the front wheel 12 and the tire 13a of the rear wheel 13, using the detection results as representative values ​​of the air pressure of the tires 12a, 13a. Note that the estimation unit 42 may estimate the air pressure of each of the tire 12a of the front wheel 12 and the tire 13a of the rear wheel 13 individually, or may estimate the air pressure of only one of them.

[0072] For example, it is known that the voltage applied to the battery 63 has a correlation with the air pressures of the tires 12a, 13a. Therefore, the estimation unit 42 can estimate the air pressures of the tires 12a, 13a based on the voltage applied to the battery 63. Furthermore, since the voltage applied to the battery 63 has a correlation with the current flowing through the battery 63 and the power consumed by the battery 63, the estimation unit 42 can estimate the air pressures of the tires 12a, 13a based on either the current flowing through the battery 63 or the power consumed by the battery 63.

[0073] It is also known that the current flowing through the electric motor 43 is correlated with the air pressure of the tires 12a, 13a, for example. Therefore, the estimation unit 42 can estimate the air pressure of the tires 12a, 13a based on the current flowing through the electric motor 43. Furthermore, the current flowing through the electric motor 43 is correlated with the voltage applied to the electric motor 43, the voltage applied to the circuit board, and the current flowing through the circuit board, so the estimation unit 42 can estimate the air pressure of the tires 12a, 13a based on any of the voltage applied to the electric motor 43, the voltage applied to the circuit board, and the current flowing through the circuit board.

[0074] Furthermore, for example, the estimation unit 42 may estimate the state of the components of the drive mechanism that drives the wheels (front wheel 12 or rear wheel 13) of the electric bicycle 2 as the state of the electric bicycle 2. Here, the components of the drive mechanism include, for example, at least one of the frame 11, chain 18, gears, spokes, electric motor 43, and sprocket (rear sprocket 71 or front sprocket 72) of the electric bicycle 2.

[0075] Here, the components of the drive mechanism are components that will lose energy if an abnormality occurs. For example, if the frame 11 is distorted, the electric motor 43 will need more driving force than usual, even if the electric bicycle 2 is traveling at the same speed as when the frame 11 is not distorted, and the battery 63 may consume more power than usual. Also, if the chain 18, gears, or sprockets rust, the electric motor 43 will need more driving force than usual, even if the electric bicycle 2 is traveling at the same speed as when the rust is not present, and the battery 63 may consume more power than usual. Also, if a spoke is broken or bent, the electric motor 43 will need more driving force than usual, even if the electric bicycle 2 is traveling at the same speed as when the bending or bending does not occur, and the battery 63 may consume more power than usual. Also, if an abnormality occurs in the electric motor 43, such as an abnormal noise, the electric motor 43 may generate more heat than usual compared to when no abnormality occurs, and the battery 63 may consume more power than usual.

[0076] Therefore, the estimation unit 42 compares the normal power information with the power information acquired by the acquisition unit 41, and if the acquired power information is within the range of the normal power information, it can estimate that the components of the drive mechanism are normal. On the other hand, if the acquired power information is outside the range of the normal power information, the estimation unit 42 can estimate that there is an abnormality in the components of the drive mechanism.

[0077] Furthermore, for example, the estimation unit 42 may estimate the state of the electric bicycle 2 further based on the driving information acquired by the acquisition unit 41. For example, data indicating the range of power information under normal conditions is stored in advance in a memory unit or the like mounted on the control device 40 for each type of driving information. As an example, if the driving information is the gradient of the road surface on which the electric bicycle 2 is traveling, the memory unit stores data indicating the range of power information under normal conditions, which differs depending on the magnitude of the gradient. The estimation unit 42 can then read from the memory unit data indicating the range of power information under normal conditions corresponding to the acquired driving information (here, the gradient of the road surface), and estimate the state of the electric bicycle 2 by comparing the read range of power information under normal conditions with the acquired power information. In this case, the state of the electric bicycle 2 is estimated by further referring to the driving information in addition to the power information, which is expected to improve the accuracy of estimating the state of the electric bicycle 2.

[0078] Furthermore, for example, the estimation unit 42 may estimate the state of the electric bicycle 2 by comparing multiple types of information contained in the power information acquired in real time by the acquisition unit 41. For example, if the power information acquired in real time by the acquisition unit 41 includes the current flowing through the circuit board and the current flowing through the electric motor 43, and the correlation between these deviates from the normal correlation, the estimation unit 42 can estimate that there is an abnormality in at least one of the circuit board or the electric motor 43. Furthermore, for example, the estimation unit 42 can estimate that there is an abnormality in some location of the electric bicycle 2 based on the balance between the power consumed by the battery 63, the power consumed by the circuit board, and the power consumed by the electric motor 43.

[0079] Furthermore, for example, the estimation unit 42 may use at least one of a rule base and machine learning to estimate the state of the electric bicycle 2. For example, the estimation unit 42 may estimate the state of the electric bicycle 2 from the power information using a rule base constructed in advance. In other words, if a rule base capable of estimating an abnormal state of the electric bicycle 2 based on the power information and a rule base capable of estimating a normal state of the electric bicycle 2 based on the power information are constructed in advance, the estimation unit 42 can estimate whether the state of the electric bicycle 2 is abnormal or normal based on the power information.

[0080] Furthermore, for example, the estimation unit 42 may estimate the state of the electric bicycle 2 from the power information using a learning model that has been constructed in advance through machine learning using teacher data. In other words, by constructing in advance a learning model that has been machine-learned to take power information as input and output either a state in which the electric bicycle 2 is abnormal or a state in which the electric bicycle 2 is normal, the estimation unit 42 can estimate whether the state of the electric bicycle 2 is abnormal or normal.

[0081] In this way, by using at least one of a rule base and a learning model, the estimation unit 42 can estimate the air pressure of the tires 12a, 13a, for example, without having to install a sensor that measures air pressure on the electric bicycle 2. The rule base or the learning model constructed by machine learning is stored in a memory unit or the like installed in the control device 40.

[0082] In addition, the rule-based and machine learning-constructed learning models may be updated as appropriate by re-learning or the like even after they have been stored in a memory unit or the like of the control device 40.

[0083] The estimation unit 42 outputs abnormal state information or normal state information based on the estimated state of the electric bicycle 2. For example, if the estimation unit 42 estimates that the air pressure in the tires 12a, 13a is low as the state of the electric bicycle 2, it estimates that there is an abnormal state in the electric bicycle 2. On the other hand, if the estimation unit 42 estimates that the air pressure in the tires 12a, 13a is standard as the state of the electric bicycle 2, it estimates that the electric bicycle 2 is normal.

[0084] If the estimated state of the electric bicycle 2 is an abnormal state of the electric bicycle 2, the estimation unit 42 outputs abnormal state information, which is information indicating that there is an abnormality in the electric bicycle 2. An abnormal state of the electric bicycle 2 is a state in which some kind of malfunction exists in the electric bicycle 2. An abnormal state of the electric bicycle 2 is, for example, a state in which the air pressure of the tires 12a, 13a is below a specified value (abnormal air pressure of the tires 12a, 13a). Furthermore, an abnormal state of the electric bicycle 2 may also include, for example, an abnormality in the tires 12a, 13a, such as wear of the tires 12a, 13a, or an abnormal noise being generated in the tires 12a, 13a.

[0085] Other abnormal conditions in the electric bicycle 2 may include, for example, a condition in which the frame 11 is distorted, a condition in which the gears, chain, or sprockets are rusted, a condition in which the spokes are broken or bent, or a condition in which the electric motor 43 is making an abnormal noise. The estimation unit 42 outputs abnormal condition information, which is the result of the estimation, to the external device 3 via the notification unit 50, or outputs it to the operation unit 61 to notify those around the electric bicycle 2.

[0086] Furthermore, if the estimated state of the electric bicycle 2 is that the electric bicycle 2 is in a normal state, the estimation unit 42 outputs normal state information, which is information indicating that the electric bicycle 2 is normal. A normal state of the electric bicycle 2 is a state in which there are no malfunctions in the electric bicycle 2. A normal state of the electric bicycle 2 is, for example, a state in which the air pressures of the tires 12a, 13a are within a predetermined range. Furthermore, a normal state of the electric bicycle 2 may also include states in which there are no abnormalities in the tires 12a, 13a, no abnormal noises are generated in the tires 12a, 13a, etc.

[0087] Other examples of the normal state of the electric bicycle 2 include a state in which there is no distortion in the frame 11, a state in which there is no rust in the gears, chain, or sprockets, a state in which there are no broken or bent spokes, or a state in which there is no abnormal noise in the electric motor 43. The estimation unit 42 outputs normal state information, which is the result of the estimation, to the external device 3 via the notification unit 50, or outputs it to the operation unit 61 to notify those around the electric bicycle 2.

[0088] [External Device] The external device 3 is a device that exists outside the state estimation system, and is, for example, a cloud server managed by a servicer that owns multiple electric bicycles 2. The external device 3 manages the state of each electric bicycle 2 by collecting state information (abnormal state information or normal state information) output from the state estimation system 1. The external device 3 outputs the state of each electric bicycle 2 to a notification device such as a monitor for the servicer. This allows the servicer to know the timing for performing maintenance such as repairs or adjustments on the electric bicycle 2 depending on the state of the electric bicycle 2.

[0089] <Operation> An example of the operation of the state estimation system 1 according to the embodiment (i.e., a state estimation method) will be described below. FIG. 4 is a flowchart showing an example of the operation of the state estimation system 1 according to the embodiment. Below, an example will be described in which the state estimation system 1 estimates the air pressure of the tires 12a, 13a as a state of the electric bicycle 2. Of course, the state estimation system 1 may also estimate a state of the electric bicycle 2 other than the air pressure of the tires 12a, 13a according to the flow shown below.

[0090] First, the acquisition unit 41 of the state estimation system 1 acquires power information (S11). Here, the acquisition unit 41 periodically acquires the detection result of the battery sensor 35, thereby periodically acquiring the power information.

[0091] Next, the estimation unit 42 of the state estimation system 1 estimates the state of the electric bicycle 2 based on the power information acquired by the acquisition unit 41 (S12). Here, the estimation unit 42 estimates the air pressure of the tires 12a, 13a based on the detection results of the battery sensor 35.

[0092] Next, the estimation unit 42 estimates whether or not there is an abnormality in the electric bicycle 2 based on the estimated state of the electric bicycle 2 (S13). Here, the estimation unit 42 estimates whether or not there is an abnormality in the tires 12a, 13a based on the estimated air pressures of the tires 12a, 13a (i.e., whether or not the air pressures of the tires 12a, 13a are equal to or lower than a specified value).

[0093] If the estimation unit 42 estimates that the electric bicycle 2 is in an abnormal state (S13: Yes), it outputs abnormal state information indicating that the electric bicycle 2 is in an abnormal state (S14). Then, the state estimation system 1 ends its operation.

[0094] In this way, the estimation unit 42 outputs the abnormal state information, which is the result of the estimation, to the external device 3 via the notification unit 50 and to the display unit of the operation unit 61. By collecting the abnormal state information, the external device 3 can determine what abnormality has occurred in the electric bicycle 2. As a result, the servicer can optimize the condition of the electric bicycle 2 (return it to a normal condition) by repairing or adjusting the electric bicycle 2. This allows the servicer to provide the user with an optimal electric bicycle 2. Furthermore, the operation unit 61 displays on the display unit of the operation unit 61 that the electric bicycle 2 is in an abnormal state, so the user who uses the electric bicycle 2 can recognize that the electric bicycle 2 is in an abnormal state. As a result, the user can stop using the electric bicycle 2 and correct the abnormal state by, for example, inflating the tires 12a, 13a, or request the servicer to replace the electric bicycle 2.

[0095] Furthermore, if the estimation unit 42 estimates that the electric bicycle 2 is in a normal state based on the estimated state of the electric bicycle 2 (S13: No), it outputs normal state information indicating that the electric bicycle 2 is normal (S15).Then, the state estimation system 1 ends its operation.

[0096] In this way, the estimation unit 42 outputs normal state information, which is the result of the estimation, to the external device 3 via the notification unit 50, and to the display unit of the operation unit 61. As a result, the external device 3 can grasp that the electric bicycle 2 is in a normal state by collecting the normal state information. Furthermore, the display unit of the operation unit 61 displays that the electric bicycle 2 is in a normal state, so the user can recognize that the electric bicycle 2 is in a normal state. This allows the user to use the electric bicycle 2 with peace of mind.

[0097] [Operational Effects] The operational effects of the state estimation system 1 and the state estimation method according to the embodiment will be described below.

[0098] As described above, the state estimation system 1 according to the first aspect of the present disclosure includes an acquisition unit 41 and an estimation unit 42. The acquisition unit 41 acquires power information related to the power consumed by the electric bicycle 2. The estimation unit 42 estimates the state of the electric bicycle 2 based on the power information acquired by the acquisition unit 41. If the estimation unit 42 estimates that the electric bicycle 2 is in an abnormal state, it outputs abnormal state information indicating that the electric bicycle 2 is abnormal, and if the estimation unit 42 estimates that the electric bicycle 2 is in a normal state, it outputs normal state information indicating that the electric bicycle 2 is normal.

[0099] This has the advantage that the state of the electric bicycle 2 can be estimated using the power information without the need to install a new sensor for directly detecting the state of the electric bicycle 2, making it easier to eliminate the need for a sensor for directly detecting the state of the electric bicycle 2. This also has the advantage of making it easier to prevent manufacturing costs from rising.

[0100] In the state estimation system 1 according to the second aspect of the present disclosure, in the first aspect, the electric bicycle 2 is equipped with wheels (front wheel 12 or rear wheel 13) having tires 12a, 13a for traveling the electric bicycle 2. The estimation unit 42 estimates the air pressures of the tires 12a, 13a as the state of the electric bicycle 2.

[0101] This has the advantage that the air pressure of the tires 12a, 13a can be estimated using the power information without having to mount a sensor for directly detecting the air pressure of the tires 12a, 13a.

[0102] In addition, in the state estimation system 1 relating to the third aspect of the present disclosure, in the first or second aspect, the acquisition unit 41 acquires power information by detecting at least one of the voltage applied to the battery 63 provided in the electric bicycle 2 and the current flowing through the battery 63.

[0103] This has the advantage that if the electric bicycle 2 is equipped with a battery sensor 35, the state of the electric bicycle 2 can be estimated, making it easier to eliminate the need for additional sensors.

[0104] Furthermore, in the state estimation system 1 according to the fourth aspect of the present disclosure, in any one of the first to third aspects, the acquisition unit 41 acquires power information by detecting at least one of the voltage applied to the electric motor 43 provided on the electric bicycle 2, the current flowing through the electric motor 43, the voltage applied to the circuit board on which the circuit for driving the electric motor 43 is mounted, and the current flowing through the circuit board.

[0105] This has the advantage that the state of the electric bicycle 2 can be estimated if the electric bicycle 2 is equipped with a voltage sensor or current sensor, making it easier to eliminate the need for additional sensors.

[0106] Furthermore, in the condition estimation system 1 according to the fifth aspect of the present disclosure, in any one of the first to fourth aspects, the estimation unit 42 estimates the condition of the electric bicycle 2 as the condition of the components of the drive mechanism that drives the wheels of the electric bicycle 2.

[0107] This has the advantage that the state of the components of the drive mechanism can be estimated using power information without having to install a sensor to directly detect the state of the components of the drive mechanism.

[0108] In addition, in the state estimation system 1 according to the sixth aspect of the present disclosure, in the fifth aspect, the parts of the drive mechanism include at least one of the frame 11, chain 18, gears, spokes, electric motor 43, and sprocket (rear sprocket 71 or front sprocket 72) of the electric bicycle 2.

[0109] This has the advantage that the state of the above-listed components can be estimated using power information without having to install a sensor to directly detect the state of the above-listed components.

[0110] Furthermore, in the state estimation system 1 according to a seventh aspect of the present disclosure, in any one of the first to sixth aspects, the acquisition unit 41 further acquires driving information related to at least one of the speed, acceleration, and angular velocity of the electric bicycle 2, the gradient of the road surface on which the electric bicycle 2 is traveling, the torque applied to the pedals 16 of the electric bicycle 2, the cadence of the pedals 16, the torque of the electric motor 43 provided in the electric bicycle 2, and the rotation speed of the electric motor 43. The estimation unit 42 estimates the state of the electric bicycle 2 further based on the driving information acquired by the acquisition unit 41.

[0111] This has the advantage that the state of the electric bicycle 2 is estimated by referring not only to the power information but also to the driving information, which is expected to improve the accuracy of estimating the state of the electric bicycle 2.

[0112] In addition, the condition estimation system 1 according to the eighth aspect of the present disclosure, in any one of the first to seventh aspects, further includes a notification unit 50 that notifies the external device 3 of at least one of the abnormal condition information and the normal condition information output by the estimation unit 42.

[0113] This has the advantage that the external device 3 can acquire at least one of abnormal state information and normal state information, allowing a servicer using the external device 3 to understand the state of the electric bicycle 2.

[0114] Furthermore, a state estimation method according to a ninth aspect of the present disclosure includes acquiring power information relating to the power consumed by the electric bicycle 2 (S11), and estimating the state of the electric bicycle 2 based on the acquired power information (S12). Furthermore, if the state estimation method estimates that the electric bicycle 2 is in an abnormal state (S13: Yes), it outputs abnormal state information indicating that the electric bicycle 2 is in an abnormal state (S14), and if it estimates that the electric bicycle 2 is in a normal state (S13: No), it outputs normal state information indicating that the electric bicycle 2 is normal (S15).

[0115] This provides the same advantages as the state estimation system 1 described above.

[0116] (Other Modifications, etc.) The present disclosure has been described above based on the embodiments, but the present disclosure is not limited to these embodiments, etc.

[0117] For example, in the above embodiment, the acquisition unit 41 and the estimation unit 42 of the state estimation system 1 are mounted on the control device 40 of the electric bicycle 2, but this is not limited to this. For example, the acquisition unit 41 and the estimation unit 42 may be mounted on a location on the electric bicycle 2 other than the control device 40. Also, for example, the acquisition unit 41 and the estimation unit 42 may be mounted on the external device 3. In this case, the estimation unit 42 can also function as the notification unit 50, and the notification unit 50 is not necessary on the electric bicycle 2. In this case, the external device 3 can send and receive information to and from the electric bicycle 2 by wirelessly communicating with the electric bicycle 2.

[0118] Furthermore, the state estimation system 1 according to each of the above-described embodiments and the processing units used in the electric bicycle 2 are typically realized as an LSI, which is an integrated circuit. These may be implemented individually on a single chip, or some or all of them may be integrated on a single chip.

[0119] Furthermore, the integrated circuit is not limited to an LSI, but may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells within the LSI may also be used.

[0120] In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0121] Furthermore, all of the numbers used above are examples for specifically explaining the present disclosure, and the embodiments of the present disclosure are not limited to the numbers shown as examples.

[0122] The division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to another functional block.Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or in time-sharing by a single piece of hardware or software.

[0123] The order in which the steps in the flowchart are executed is merely an example for specifically explaining the present disclosure, and other orders may be used. Also, some of the steps may be executed simultaneously (in parallel) with other steps.

[0124] In addition, this disclosure also includes forms obtained by making various modifications to the embodiments that a person skilled in the art would think of, and forms realized by arbitrarily combining the components and functions of the embodiments within the scope that does not deviate from the intent of this disclosure.

[0125] REFERENCE SIGNS LIST 1 State estimation system 2 Electric bicycle 3 External device 11 Frame 12 Front wheel (wheel) 12a, 13a Tire 13 Rear wheel (wheel) 16 Pedal 18 Chain 71 Rear sprocket (sprocket) 72 Front sprocket (sprocket) 41 Acquisition unit 42 Estimation unit 43 Electric motor 50 Notification unit 63 Battery

Claims

1. an acquisition unit that acquires power information related to power consumed by the electric bicycle; an estimation unit, the acquisition unit further acquires driving information related to at least one of the speed, acceleration, and angular velocity of the electric bicycle, the gradient of the road surface on which the electric bicycle is traveling, the torque applied to the pedals of the electric bicycle, the cadence of the pedals, the torque of an electric motor provided in the electric bicycle, and the rotation speed of the electric motor; The estimation unit estimating a state of the electric bicycle based on the power information acquired by the acquisition unit and the driving information acquired by the acquisition unit; If it is determined that the electric bicycle is in an abnormal state, abnormal state information indicating that the electric bicycle is in an abnormal state is output; If it is estimated that the electric bicycle is in a normal state, normal state information indicating that the electric bicycle is in a normal state is output. State estimation system.

2. The electric bicycle includes a wheel having a tire for traveling the electric bicycle, the estimation unit estimates the air pressure of the tires as the state of the electric bicycle; The state estimation system according to claim 1 .

3. the acquisition unit acquires the power information by detecting at least one of a voltage applied to a battery included in the electric bicycle and a current flowing through the battery. The state estimation system according to claim 1 or 2.

4. the acquisition unit acquires the power information by detecting at least one of a voltage applied to an electric motor provided in the electric bicycle, a current flowing through the electric motor, a voltage applied to a circuit board on which a circuit for driving the electric motor is mounted, and a current flowing through the circuit board. The state estimation system according to claim 1 or 2.

5. the estimation unit estimates, as the state of the electric bicycle, the state of a component of a drive mechanism that drives a wheel of the electric bicycle; The state estimation system according to claim 1 or 2.

6. The components of the drive mechanism include at least one of a frame, a chain, a gear, a spoke, an electric motor, and a sprocket of the electric bicycle. The state estimation system according to claim 5 .

7. (delete)

8. a notification unit that notifies an external device of at least one of the abnormal state information and the normal state information output by the estimation unit, The state estimation system according to claim 1 or 2.

9. An acquisition unit acquires power information related to power consumed by the electric bicycle, the acquisition unit further acquires driving information related to at least one of the speed, acceleration, and angular velocity of the electric bicycle, the gradient of the road surface on which the electric bicycle is traveling, the torque applied to the pedals of the electric bicycle, the cadence of the pedals, the torque of an electric motor provided in the electric bicycle, and the rotation speed of the electric motor; an estimation unit estimates a state of the electric bicycle based on the power information acquired by the acquisition unit and the driving information acquired by the acquisition unit; When the estimation unit estimates that the electric bicycle is in an abnormal state, the estimation unit outputs abnormal state information indicating that the electric bicycle is in an abnormal state; When the estimation unit estimates that the electric bicycle is in a normal state, the estimation unit outputs normal state information indicating that the electric bicycle is in a normal state. State estimation methods.