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 vibration information relating to vibrations of a vehicle, which is either a human-powered vehicle or an electric bicycle (2). The estimating unit (42) estimates the state of the vehicle on the basis of the vibration information acquired by the acquiring unit (41). If it is estimated that the vehicle is in an abnormal state, the estimating unit (42) outputs abnormal state information indicating that there is an abnormality in the vehicle, and if it is estimated that the vehicle is in a normal state, the estimating unit (42) outputs normal state information indicating that the vehicle 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 a vehicle that is either a human-powered vehicle or an electric bicycle.

[0002] Patent Literature 1 discloses a vehicle body condition detection system. This vehicle body condition detection system includes a sensor and an analysis unit. The sensor acquires vehicle body travel information, which is information related to the travel of the vehicle body. The analysis unit acquires the vehicle body travel information from the sensor and, based on the acquired vehicle body travel information, estimates the state of the vehicle that is indirectly related to the vehicle body travel information.

[0003] International Publication No. 2022 / 071228

[0004] An object of the present disclosure is 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 a vehicle.

[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 vibration information related to vibrations of a vehicle, which is either a human-powered vehicle or an electric bicycle. The estimation unit estimates the state of the vehicle based on the vibration information acquired by the acquisition unit. If the estimation unit estimates that the vehicle is in an abnormal state, it outputs abnormal state information indicating that the vehicle is abnormal, and if the estimation unit estimates that the vehicle is in a normal state, it outputs normal state information indicating that the vehicle is normal.

[0006] A state estimation method according to one aspect of the present disclosure includes acquiring vibration information related to vibrations of a vehicle, which is either a human-powered vehicle or an electric bicycle, and estimating a state of the vehicle based on the acquired vibration information. If the state estimation method estimates that the vehicle is in an abnormal state, it outputs abnormal state information indicating that the vehicle is abnormal, and if it estimates that the vehicle is in a normal state, it outputs normal state information indicating that the vehicle is normal.

[0007] The state estimation system and the like according to the present disclosure have the advantage that sensors that directly detect the state of the vehicle are likely to be unnecessary.

[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, product number, etc. Furthermore, when renting out a vehicle to a user, vehicle sharing system 100 manages the start time of use, end time of use, start location of use, user identification information, etc. In this embodiment, vehicle sharing system 100 rents out electric bicycles 2 as vehicles.

[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] Here, the vehicle is not limited to the electric bicycle 2, but may also be a human-powered vehicle in which the wheels are powered by pedaling force. Human-powered vehicles may include, for example, bicycles. As mentioned above, electrically assisted bicycles are classified as electric bicycles 2, but they may also be classified as human-powered vehicles. Thus, in the embodiment, the vehicle is either a human-powered vehicle or an electric bicycle 2. In the following, as an example, the electric bicycle 2 will be described as the vehicle.

[0016] 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.

[0017] [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.

[0018] 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.

[0019] The electric bicycle 2 is composed of a vehicle body 10 on which the state estimation system 1 is mounted.

[0020] 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.

[0021] 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.

[0022] The frame 11 has a front frame 11a and a rear frame 11b.

[0023] 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.

[0024] 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.

[0025] The down tube 11a2 connects the head tube 11a1 and the seat tube 11a3.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] The saddle 14 is a portion on which a user sits and is movably attached to the seat tube 11a3.

[0032] 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).

[0033] 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.

[0034] 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.

[0035] The crank 17 has a crankshaft 17 b , a pair of crank arms 17 a , and a front sprocket 72 .

[0036] 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 .

[0037] 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.

[0038] 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.

[0039] 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, a vibration sensor 35, or a sound sensor 36.

[0040] 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.

[0041] 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).

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The vibration sensor 35 detects vibrations of a target portion of the vehicle body 10. The vibrations of the target portion detected by the vibration sensor 35 are different from the sound emitted by the target portion. The vibration sensor 35 outputs information indicating the magnitude (frequency) of the vibrations of the target portion to the control device 40.

[0049] The sound sensor 36 detects sound generated from a target portion of the vehicle 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, the transmission, etc. If an abnormality occurs in the front sprocket 72, the rear sprocket 71, the chain 18, the brake device, the tires 12a, 13a, the transmission, etc., an abnormal sound different from that generated in a normal state will be generated. The sound sensor 36 outputs information indicating the sound quality, volume, etc. to the control device 40.

[0050] In the embodiment, examples of sensors that the electric bicycle 2 has are given as examples of an acceleration sensor 31, a crank rotation sensor 32, a speed sensor 30, a gyro sensor 33, a torque sensor 34, a vibration sensor 35, and a sound sensor 36, but are not limited to these.

[0051] 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.

[0052] Furthermore, for example, the electric bicycle 2 may have a battery 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 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 may output information indicating the detected state of the battery 63 to the control device 40. The battery sensor is, for example, disposed near the battery 63.

[0053] 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.

[0054] The electric bicycle 2 may not have all of the above sensors except for the vibration sensor 35 and the sound sensor 36, or may have all of the sensors. The electric bicycle 2 may also have one or more of the above sensors in addition to the vibration sensor 35 and the sound sensor 36. The electric bicycle 2 may also have only one of the vibration sensor 35 and the sound sensor 36.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] The speed sensor 30, acceleration sensor 31, crank rotation sensor 32, gyro sensor 33, torque sensor 34, vibration sensor 35, sound sensor 36, 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.

[0059] 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.

[0060] The control device 40 also supplies power from the battery 63 to the electric motor 43, various sensors, headlights, and the like.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] [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.

[0069] The acquisition unit 41 acquires vibration information related to vibrations of the vehicle (electric bicycle 2). The vibration information may include, for example, information indicating mechanical vibrations occurring in a portion of the vehicle body 10 or information indicating sounds occurring in a portion of the vehicle body 10. The vibration information may also include, for example, information indicating changes (vibrations) in the acceleration, angular velocity, speed, rotational speed of the vehicle's wheels (front wheel 12 or rear wheel 13), torque of the electric motor 43 equipped in the vehicle, power consumed by the battery 63 equipped in the vehicle, distortion, pressure, heat, or electromagnetic waves occurring in the vehicle. In other words, the acquisition unit 41 may acquire vibration information by detecting at least one of the acceleration, angular velocity, speed, rotational speed of the vehicle's wheels (front wheel 12 or rear wheel 13), torque of the electric motor 43 equipped in the vehicle, power consumed by the battery 63 equipped in the vehicle, distortion, pressure, heat, sounds, and electromagnetic waves occurring in the vehicle.

[0070] In the embodiment, the acquisition unit 41 acquires vibration information from a sensor provided in a target part of the vehicle (electric bicycle 2) for which the state of the vehicle is to be estimated. Here, the target part may include at least one of a drive mechanism that drives the vehicle's wheels (front wheel 12 or rear wheel 13), electrical components (such as the operation unit 61 or lights) provided in the vehicle, and the frame 11. For example, if the target part is the frame 11, the acquisition unit 41 acquires vibration information from a vibration sensor 35 or a sound sensor 36 provided in the frame 11.

[0071] The acquisition unit 41 may acquire vibration information not from a sensor provided in the target portion but from a sensor provided in the vicinity of the target portion. For example, if the target portion is the electric motor 43, the acquisition unit 41 may acquire vibration information not from the electric motor 43 but from the vibration sensor 35 or sound sensor 36 provided in the vicinity of the electric motor 43. In this case, the vibration information only needs to include information that indirectly indicates at least the vibration of the electric motor 43.

[0072] The estimation unit 42 estimates the state of the vehicle (electric bicycle 2) based on the vibration information acquired by the acquisition unit 41. For example, the estimation unit 42 estimates the state of a part of the vehicle as the state of the vehicle. In other words, the estimation unit 42 estimates the state of a target part as the state of the vehicle. Note that the estimation unit 42 may estimate the state of the entire vehicle by treating the entire vehicle as the target part.

[0073] Here, the parts are, for example, parts belonging to a rotating mechanism that rotates as the vehicle travels, and include, for example, at least one of the chain 18, gears, the electric motor 43, a transmission, a sprocket (the rear sprocket 71 or the front sprocket 72), the pedals 16, the crank 17, the tires 12 a, 13 a, a wheel, a rim, and a hub.

[0074] The parts are not part of a rotating mechanism that rotates as the vehicle travels, and include at least one of the frame 11, brakes (rim brakes or disc brakes), lights (headlights, etc.), the battery 63, a bolt lock, a suspension, and a stand.

[0075] Here, the above-mentioned component (target part) is a component that, when some abnormality occurs, generates vibrations or sounds that are different from those generated in normal times when no abnormality occurs. For example, when distortion occurs in the frame 11, the vibrations generated in the frame 11 may be different from the vibrations generated in the frame 11 under normal circumstances. In this case, the sound generated from the frame 11 may also be different from the sound generated from the frame 11 under normal circumstances. When some abnormality occurs in a component other than the frame 11, it may also generate vibrations or sounds that are different from those under normal circumstances.

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

[0077] For example, the estimation unit 42 may use the frequency of vibration or sound of the target area as vibration information and estimate whether the target area is abnormal based on whether the acquired frequency falls within a normal frequency range. Furthermore, for example, the estimation unit 42 may estimate that the target area is abnormal if the acquired frequency contains a specific frequency component that is not included in normal frequencies. Conversely, the estimation unit 42 may estimate that the target area is abnormal if the acquired frequency does not contain a specific frequency component that is included in normal frequencies. Furthermore, for example, the estimation unit 42 may use waveform data of the vibration or sound of the target area as vibration information and estimate whether the target area is abnormal or normal based on whether the acquired waveform data generally matches the normal waveform data.

[0078] Furthermore, for example, the estimation unit 42 may estimate the state of the target part using at least one of a rule base and machine learning. For example, the estimation unit 42 may estimate the state of the target part from the vibration information using a rule base constructed in advance. In other words, if a rule base capable of estimating an abnormal state of the target part based on the vibration information and a rule base capable of estimating a normal state of the target part based on the vibration information are constructed in advance, the estimation unit 42 can estimate whether the state of the target part is abnormal or normal based on the vibration information.

[0079] Furthermore, for example, the estimation unit 42 may estimate the state of the target part from the vibration information using a learning model that has been constructed in advance by machine learning using teacher data. That is, by constructing in advance a learning model that has been machine-learned to receive vibration information as input and output either a state in which the target part is abnormal or a state in which the target part is normal, the estimation unit 42 can estimate whether the state of the target part is abnormal or normal.

[0080] In this way, by using at least one of a rule base and a learning model, the estimation unit 42 can estimate whether or not there is an abnormality in the chain 18, such as whether the chain 18 is loose, without, for example, visually checking the chain 18. Furthermore, 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 installing 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.

[0081] 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.

[0082] The estimation unit 42 outputs abnormal state information or normal state information based on the estimated state of the vehicle (electric bicycle 2). For example, if the estimation unit 42 estimates that the air pressures of the tires 12 a, 13 a are low, it estimates that the vehicle is in an abnormal state. On the other hand, if the estimation unit 42 estimates that the air pressures of the tires 12 a, 13 a are standard, it estimates that the vehicle is in a normal state.

[0083] If the estimated vehicle state is an abnormal state of the vehicle, the estimation unit 42 outputs abnormal state information, which is information indicating that the vehicle is abnormal. The abnormal state of the vehicle is a state in which some kind of malfunction exists in the vehicle. The abnormal state of the vehicle 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). In addition, the abnormal state of the vehicle may include, for example, an abnormality of the tires 12a, 13a, such as wear of the tires 12a, 13a, or an abnormal noise generated in the tires 12a, 13a.

[0084] Other abnormal vehicle conditions 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 an abnormal noise is generated in the electric motor 43. 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 people around the vehicle.

[0085] Furthermore, if the estimated vehicle state is a normal state, the estimation unit 42 outputs normal state information, which is information indicating that the vehicle is normal. A normal vehicle state is a state in which there is no malfunction in the vehicle. A normal vehicle state is, for example, a state in which the air pressures of the tires 12a, 13a are within a predetermined range. Furthermore, the normal vehicle state 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.

[0086] In addition, the normal state of the vehicle may include, for example, 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 people around the vehicle.

[0087] [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 vehicles (electric bicycles 2). The external device 3 manages the state of each vehicle by collecting state information (abnormal state information or normal state information) output from the state estimation system 1. The external device 3 outputs the vehicle state for each vehicle to a notification device such as a monitor for the servicer. This allows the servicer to know the timing for performing maintenance such as vehicle repairs or adjustments depending on the vehicle state.

[0088] <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 pressures of the tires 12a, 13a as the state of the vehicle (electric bicycle 2). Of course, the state estimation system 1 may also estimate a state of the vehicle other than the air pressures of the tires 12a, 13a according to the flow shown below.

[0089] First, the acquisition unit 41 of the state estimation system 1 acquires vibration information (S11). Here, the acquisition unit 41 periodically acquires the vibration information by periodically acquiring the detection results of the vibration sensor 35. Note that the acquisition unit 41 may also periodically acquire the vibration information by periodically acquiring the detection results of the sound sensor 36.

[0090] Next, the estimation unit 42 of the state estimation system 1 estimates the state of the vehicle based on the vibration information acquired by the acquisition unit 41 (S12). Here, the estimation unit 42 estimates the air pressures of the tires 12a, 13a based on the detection results of the vibration sensor 35. Note that the estimation unit 42 may also estimate the air pressures of the tires 12a, 13a based on the detection results of the sound sensor 36.

[0091] Next, the estimation unit 42 estimates whether or not the vehicle is in an abnormal state based on the estimated vehicle state (S13). Here, the estimation unit 42 estimates whether or not the tires 12 a, 13 a are in an abnormal state based on the estimated air pressures of the tires 12 a, 13 a (i.e., whether or not the air pressures of the tires 12 a, 13 a are equal to or lower than a specified value).

[0092] If the estimation unit 42 estimates that the vehicle is in an abnormal state (S13: Yes), it outputs abnormal state information that indicates that the vehicle is in an abnormal state (S14).Then, the state estimation system 1 ends its operation.

[0093] In this way, the estimation unit 42 outputs the abnormal condition information, which is the result of the estimation, to the external device 3 via the notification unit 50 or to the display unit of the operation unit 61. By collecting the abnormal condition information, the external device 3 can understand what abnormality has occurred in the vehicle. Therefore, the servicer can optimize the vehicle condition (return it to a normal state) by repairing or adjusting the vehicle. This allows the servicer to provide the optimal vehicle to the user. Furthermore, the operation unit 61 displays on the display unit of the operation unit 61 that the vehicle is in an abnormal state, so the user who uses the vehicle can recognize that the vehicle is in an abnormal state. Therefore, the user can stop using the vehicle and recover from the abnormal state by, for example, inflating the tires 12a, 13a, or request the servicer to replace the vehicle.

[0094] Furthermore, if the estimation unit 42 estimates that the vehicle is in a normal state based on the estimated vehicle state (S13: No), it outputs normal state information indicating that the vehicle is in a normal state (S15).Then, the state estimation system 1 ends its operation.

[0095] 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 vehicle is in a normal state by collecting the normal state information. Furthermore, the display unit of the operation unit 61 displays that the vehicle is in a normal state, so the user can recognize that the vehicle is in a normal state. This allows the user to use the vehicle with peace of mind.

[0096] [Operational Effects] The operational effects of the state estimation system 1 and the state estimation method according to the embodiment will be described below.

[0097] 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 vibration information related to vibrations of a vehicle, which is either a human-powered vehicle or an electric bicycle 2. The estimation unit 42 estimates the state of the vehicle based on the vibration information acquired by the acquisition unit 41. If the estimation unit 42 estimates that the vehicle is in an abnormal state, it outputs abnormal state information indicating that the vehicle is abnormal, and if the estimation unit 42 estimates that the vehicle is in a normal state, it outputs normal state information indicating that the vehicle is normal.

[0098] This has the advantage that the vehicle state can be estimated using vibration information without the need to install a new sensor for directly detecting the vehicle state, which makes it possible to easily eliminate the need for a sensor for directly detecting the vehicle state, and therefore makes it easier to suppress rising manufacturing costs.

[0099] In the state estimation system 1 according to the second aspect of the present disclosure, in the first aspect, the estimation unit 42 estimates the state of a part provided in the vehicle as the state of the vehicle.

[0100] This has the advantage that the state of the part can be estimated using vibration information without having to mount a sensor for directly detecting the part.

[0101] In the state estimation system 1 according to the third aspect of the present disclosure, in the second aspect, the component is a component belonging to a rotation mechanism that rotates as the vehicle travels.

[0102] This has the advantage that the state of the parts belonging to the rotating mechanism can be estimated using vibration information even if a sensor for directly detecting the state of the parts belonging to the rotating mechanism is not installed.

[0103] In the state estimation system 1 according to the fourth aspect of the present disclosure, in the second aspect, the component is a component that does not belong to a rotation mechanism that rotates as the vehicle travels.

[0104] This has the advantage that the state of parts that do not belong to the rotating mechanism can be estimated using vibration information even if a sensor for directly detecting the state of parts that do not belong to the rotating mechanism is not installed.

[0105] Furthermore, in the state estimation system 1 according to the fifth aspect of the present disclosure, in any one of the first to fourth aspects, the acquisition unit 41 acquires vibration information by detecting at least one of the acceleration, angular velocity, and velocity occurring in the vehicle, the rotational speed of the vehicle's wheels (front wheels 12 or rear wheels 13), the torque of the electric motor 43 provided in the vehicle, the power consumed by the battery 63 provided in the vehicle, and the distortion, pressure, heat, sound, and electromagnetic waves occurring in the vehicle.

[0106] This has the advantage that the state of the vehicle can be estimated based on various vibrations that may occur in the vehicle.

[0107] Furthermore, the condition estimation system 1 according to a sixth aspect of the present disclosure, in any one of the first to fifth aspects, further includes one or more sensors (vibration sensor 35 or sound sensor 36) provided on at least one of a drive mechanism that drives the wheels (front wheels 12 or rear wheels 13) of the vehicle, electrical components (operation unit 61, lights, etc.) included in the vehicle, and the frame 11. The acquisition unit 41 acquires vibration information from the one or more sensors.

[0108] This has the advantage that the state of the target part can be estimated using vibration information related to vibrations generated in the target part, which is expected to improve the accuracy of estimating the state of the target part.

[0109] Furthermore, the condition estimation system 1 according to the seventh aspect of the present disclosure, in any one of the first to sixth aspects, further includes a notification unit 50 that notifies the external device 3 of at least one of the abnormal state information and the normal state information output by the estimation unit 42.

[0110] 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 vehicle.

[0111] Furthermore, a state estimation method according to an eighth aspect of the present disclosure includes acquiring vibration information relating to vibrations of a vehicle, which is either a human-powered vehicle or an electric bicycle 2 (S11), and estimating the state of the vehicle based on the acquired vibration information (S12). Furthermore, in the state estimation method, if it is estimated that the vehicle is in an abnormal state (S13: Yes), abnormal state information indicating that the vehicle is abnormal is output (S14), and if it is estimated that the vehicle is in a normal state (S13: No), normal state information indicating that the vehicle is normal is output (S15).

[0112] This provides the same advantages as the state estimation system 1 described above.

[0113] (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.

[0114] 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.

[0115] Furthermore, the processing units used in the state estimation system 1 and the electric bicycle 2 (vehicle) according to each of the above-described embodiments are typically realized as an LSI, which is an integrated circuit. These units may be individually implemented as single chips, or some or all of them may be integrated into a single chip.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] REFERENCE SIGNS LIST 1 State estimation system 2 Electric bicycle (vehicle) 3 External device 12 Front wheel (wheel) 13 Rear wheel (wheel) 35 Vibration sensor (sensor) 36 Sound sensor (sensor) 41 Acquisition unit 42 Estimation unit 43 Electric motor 50 Notification unit 63 Battery

Claims

1. an acquisition unit that acquires vibration information related to vibrations of a vehicle that is either a human-powered vehicle or an electric bicycle; an estimation unit that estimates a state of the vehicle based on the vibration information acquired by the acquisition unit, the acquisition unit detects at least one of an angular velocity and a speed occurring in the vehicle, a rotational speed of a wheel of the vehicle, a torque of an electric motor provided in the vehicle, power consumed by a battery provided in the vehicle, a distortion, a pressure, a heat, a sound, and an electromagnetic wave occurring in the vehicle, and thereby indirectly acquires the vibration information from the at least one of the detected contents; The estimation unit If it is estimated that the vehicle is in an abnormal state, outputting abnormal state information indicating that the vehicle is in an abnormal state; When it is estimated that the vehicle is in a normal state, outputting normal state information indicating that the vehicle is in a normal state. State estimation system.

2. The estimation unit estimates a state of a part included in the vehicle as the state of the vehicle. The state estimation system according to claim 1 .

3. The component is a component belonging to a rotation mechanism that rotates as the vehicle travels. The state estimation system according to claim 2 .

4. The component is a component that does not belong to a rotation mechanism that rotates as the vehicle travels. The state estimation system according to claim 2 .

5. (delete)

6. The vehicle further includes one or more sensors provided on at least one of a drive mechanism that drives wheels of the vehicle, an electrical component provided on the vehicle, and a frame, the acquisition unit acquires the vibration information from the one or more sensors. The state estimation system according to any one of claims 1 to 4.

7. 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 any one of claims 1 to 4.

8. an acquisition unit acquires vibration information related to vibrations of a vehicle that is either a human-powered vehicle or an electric bicycle; an estimation unit estimating a state of the vehicle based on the acquired vibration information; by detecting at least one of the following: angular velocity, speed, rotational speed of wheels of the vehicle, torque of an electric motor provided in the vehicle, power consumed by a battery provided in the vehicle, distortion, pressure, heat, sound, and electromagnetic waves generated in the vehicle, the acquisition unit indirectly acquires the vibration information from the at least one of the detected contents; When the estimation unit estimates that the vehicle is in an abnormal state, the estimation unit outputs abnormal state information indicating that the vehicle is in an abnormal state; When the estimation unit estimates that the vehicle is in a normal state, the estimation unit outputs normal state information indicating that the vehicle is in a normal state. State estimation methods.