Human-powered vehicle control device and human-powered vehicle components

Abstract

[Problem] To provide a human-powered vehicle control device and a human-powered vehicle component capable of appropriately controlling a plurality of components. [Solution] The human-powered vehicle control device includes a main control unit for controlling a first component and a second component; the first component is controlled by at least one of the main control unit and a first subordinate control unit; when the first component is controlled by the first subordinate control unit, the main control unit restricts the operation of at least one of the first component and the second component based on a first action signal sent from the first subordinate control unit.

Description

Technical Field

[0001] This invention relates to a control device and components for a human-powered vehicle. Prior Technology

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 has a plurality of components. [Previous Technical Documents] [Patent Literature]

[0003] [Patent Document 1] Japanese Patent No. 5211102 Summary of the Invention

[0004] [The problem the invention aims to solve]

[0005] One object of the present invention is to provide a human-powered vehicle control device and a human-powered vehicle component that can appropriately control a plurality of components. [Methods used to solve problems]

[0006] The control device of the first aspect of the present invention is a human-powered vehicle control device, which includes a main control unit for controlling a first component and a second component. The first component is controlled by at least one of the main control unit and a first subordinate control unit. When the first component is controlled by the first subordinate control unit, the main control unit restricts the operation of at least one of the first component and the second component based on a first action signal sent from the first subordinate control unit. With the control device of the first type, the main control unit can restrict the operation of at least one of the first component and the second component based on the first action signal sent from the first subordinate control unit when the first component is controlled by the first subordinate control unit, so that multiple components can be appropriately controlled.

[0007] According to the control device of the first and second aspects of the present invention, the main control unit allows the second component to operate when the first component completes its operation, in the case where the first component is operated by the first subordinate control unit; or, in the case where the first component is operated by the first subordinate control unit, the second component is allowed to operate after a first period has elapsed since the first component started operating. With the control device of the second type, the main control unit allows the second component to operate when the first component completes its operation; or when the first component is operated by the first subordinate control unit, the second component is allowed to operate when the first period has elapsed since the first component started operating, so that the second component can operate appropriately.

[0008] According to the control device of the first or second type of the present invention, when the operation of the first component is completed, the first subordinate control unit sends a first completion signal to the main control unit, and the main control unit allows the second component to operate based on the first completion signal. With the control device of the third type, when the operation of the first component is completed, the first subordinate control unit sends the first completion signal to the main control unit, and the main control unit can appropriately control the second component based on the first completion signal.

[0009] According to the control device of the fourth type of any of the first to third types of the present invention, the second component is controlled by at least one of the main control unit and the second subordinate control unit. When the main control unit controls the second component by the second subordinate control unit, it restricts the operation of at least one of the first component and the second component according to a second action signal sent from the second subordinate control unit. With the control device of the fourth type, the main control unit, when controlling the second component by the second subordinate control unit, can restrict the operation of at least one of the first and second components according to the second action signal sent from the second subordinate control unit, so that multiple components can be appropriately controlled.

[0010] According to the control device of the fourth and fifth embodiments of the present invention, the main control unit allows the first component to operate when the second component completes its operation, in the case where the second component is operated by the second subordinate control unit; or, in the case where the second component is operated by the second subordinate control unit, the first component is allowed to operate after a second period has elapsed since the second component started operating. With the control device of the fifth type, the main control unit allows the first component to operate when the second component completes its operation; or when the second component is operated by the second subordinate control unit, the first component is allowed to operate when the second period has elapsed since the second component started operating, so that the second component can operate appropriately.

[0011] According to the control device of the fourth or fifth type of the present invention, when the operation of the second component is completed, the second subordinate control unit sends a second completion signal to the main control unit, and the main control unit allows the first component to operate based on the second completion signal. With the control device of the sixth type, when the operation of the second component is completed, the second subordinate control unit sends the second completion signal to the main control unit, and the main control unit can appropriately control the first component based on the second completion signal.

[0012] According to the control device of the fifth or sixth type or the seventh type of the present invention, the main control unit sends a second component restriction signal to the second subordinate control unit when restricting the operation of the second component. The second component restriction signal is used to restrict the start operation of the second component. With the control device of the seventh type, the second subordinate control unit can appropriately restrict the operation of the second component in response to the second component restriction signal sent from the main control unit.

[0013] The control device according to the seventh and eighth embodiments of the present invention further includes the aforementioned second subordinate control unit; the aforementioned second subordinate control unit controls the second component to start operating when the second component operation condition for starting the operation of the second component is met and no restriction signal for the second component is received from the aforementioned main control unit. With the control device of the eighth type, the second subordinate control unit can immediately start the operation of the second component when the operation conditions of the second component are met and no restriction signal of the second component is received.

[0014] According to the control device of the eighth and ninth embodiments of the present invention, the second subordinate control unit controls the second component to prevent it from starting to operate when the operating conditions of the second component are met and the second component restriction signal is received from the main control unit. With the control device of type 9, when the operating conditions of the second component are met and a restriction signal of the second component is received, the second subordinate control unit can restrict the operation of the second component.

[0015] According to the control device of the tenth type of any of the first to ninth types of the present invention, the main control unit sends a first component restriction signal to the first subordinate control unit when restricting the operation of the first component. The first component restriction signal is used to restrict the start operation of the first component. With the control device of the 10th type, the first subordinate control unit can appropriately restrict the operation of the first component in response to the first component restriction signal sent from the main control unit.

[0016] The control device according to the 10th and 11th embodiments of the present invention further includes the first subordinate control unit; the first subordinate control unit controls the first component to start operating when the first component operation condition for starting the operation of the first component is met and no restriction signal for the first component is received from the main control unit. With the control device of the 11th type, the first subordinate control unit can immediately start the operation of the first component when the operation conditions of the first component are met and no restriction signal of the first component is received.

[0017] According to the control device of the 11th and 12th embodiments of the present invention, the first subordinate control unit controls the first component to prevent it from starting to operate when the operating conditions of the first component are met and the first component restriction signal is received from the main control unit. With the control device of type 12, when the operating conditions of the first component are met and a restriction signal of the first component is received, the first subordinate control unit can restrict the operation of the first component.

[0018] According to the control device of the 11th or 12th type of the present invention, the first subordinate control unit can switch the control state between the first control state and the second control state; when the control state is the first control state, when the operation condition of the first component is met, the first operation signal is sent to the main control unit; when the control state is the second control state, when the operation condition of the first component is met, the first operation signal is not sent to the main control unit, and the first component is controlled to start operating. With the control device of type 13, in the first control state, the main control unit can restrict the operation of at least one of the first component and the second component. With the control device of type 13, in the second control state, when the operation condition of the first component is met, the first component can start to operate without sending the first operation signal to the main control unit, thus reducing the communication load between the main control unit and the first subordinate control unit.

[0019] According to the control device of the 13th and 14th embodiments of the present invention, the main control unit sends a switching signal to the first subordinate control unit for switching the control state of the first subordinate control unit between the first control state and the second control state, and the first subordinate control unit switches the control state between the first control state and the second control state according to the switching signal. The control device of type 14 can appropriately switch the control state between the first control state and the second control state according to the switching signal.

[0020] According to the control device of the 15th type of any one of the 1st to 14th types of the present invention, the first subordinate control unit is provided in the first component. With the control device of the 15th type, since the first subordinate control unit is located in the first component, the circuit wiring can be simplified.

[0021] According to the control device of the 16th type of any one of the first to 15 types of the present invention, at least one of the first component and the second component includes a speed change device. With the control device of the 16th type, the main control unit can appropriately control the transmission device.

[0022] According to the control device of the 17th type of any one of the first to 15 types of the present invention, at least one of the first component and the second component includes: a motor for providing propulsion to a human-powered vehicle. With the control device of the 17th type, the main control unit can properly control the motor.

[0023] According to the control device of the 18th type of any of the 1st to 15th types of the present invention, power from the battery is supplied to the first component and the second component via a drive unit including a motor for providing propulsion to a human-powered vehicle. The control device of the 18th type can supply power from the battery to the first and second components via the drive unit, so the first and second components can be operated by the power of a single high-capacity battery.

[0024] According to the control device of the 18th and 19th embodiments of the present invention, the main control unit is provided in the human-powered vehicle assembly, and the human-powered vehicle assembly communicatively connects the drive unit, the first assembly, and the second assembly. With the control device of the 19th type, the main control unit can communicate with the drive unit and both the first and second components, so the main control unit can appropriately control the first and second components.

[0025] The 20th type of component of the present invention is a human-powered vehicle component, which includes a control device of any one of the 1st to 16th types. The 20th type of component allows for appropriate control of multiple components.

[0026] According to the 20th and 21st embodiments of the present invention, power from a battery is supplied to the first and second components via a drive unit that includes a motor for providing propulsion to a human-powered vehicle; and the first and second components are provided with a connection portion that communicatively connects the drive unit to the first and second components. With the component of type 21, the connecting part can communicate with the drive unit and both the first and second components. With the component having the above-mentioned connecting part, multiple components can be appropriately controlled. [Invention Effects]

[0027] The human-powered vehicle control device and human-powered vehicle components of the present invention can appropriately control a plurality of components. Simple Explanation of the Diagram

[0028] [Figure 1] is a side view of a human-powered vehicle including the human-powered vehicle control device and human-powered vehicle components of the embodiment. [Figure 2] is a block diagram showing the circuit structure of the human-powered vehicle in Figure 1. [Figure 3] is a flowchart of the process of switching the control state between the first control state and the second control state by the main control unit in Figure 2. [Figure 4] is a flowchart of the process of switching the control state between the first control state and the second control state by the first subordinate control unit in Figure 2. [Figure 5] is the first part of a flowchart of the process used to control the first and second components by the main control unit in Figure 2. [Figure 6] is the second part of a flowchart of the process used to control the first and second components by the main control unit in Figure 2. [Figure 7] is a flowchart of the control process of the first component executed by the first subordinate control unit in Figure 2. [Figure 8] is a flowchart of the control process of the second component executed by the second subordinate control unit in Figure 2. [Figure 9] is a flowchart of the process executed by the main control unit in Figure 2 to control the processing of the first and second components in response to anomalies. [Figure 10] is a flowchart of the process executed by the first subordinate control unit in Figure 2 to control the first and second components in response to anomalies. [Figure 11] is a flowchart of the process of updating identification information performed by the main control unit in Figure 2. Implementation

[0029] <Implementation Method>

[0030] Referring to Figures 1 to 11, the human-powered vehicle control device 60 and the human-powered vehicle assembly 40 of the present invention will be described.

[0031] A human-powered vehicle is a vehicle with at least one wheel that can be propelled by at least human power. Human-powered vehicles include, for example, various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand-cranked bicycles, and recumbent bicycles. The number of wheels a human-powered vehicle has is not limited. Human-powered vehicles also include, for example, unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles propelled solely by human power. Human-powered vehicles include electric bicycles (E-bikes) that are propelled not only by human power but also by the power of an electric motor. Electric bicycles (E-bikes) include electric-assisted bicycles that are propelled with the assistance of an electric motor. In the following embodiments, human-powered vehicles are described as electric-assisted bicycles.

[0032] As shown in Figure 1, the human-powered bicycle 10 includes a crank 12 for inputting human driving force. The human-powered bicycle 10 further includes: wheels 14 and a frame 16. The wheels 14 include: a rear wheel 14A and a front wheel 14B. The frame 16 includes: a frame 18, a front fork 20, handlebars 22, and a handlebar 24. The frame 16 may also further include: at least one of a suspension system and a rack. The frame 18 includes, for example, at least one of: a top tube, a down tube, a seat post, a saddle support, and a chain support. The frame 16 further includes a saddle support mounted on the seat post.

[0033] The crank 12 includes: an input shaft 12A rotatable relative to the frame 18, and crank arms 12B and 12C respectively disposed at the axial ends of the input shaft 12A. The input shaft 12A is a crank shaft. Pedals 26A and 26B are respectively connected to each crank arm 12B and 12C.

[0034] The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported on the frame 18. The crank 12 and the rear wheel 14A are connected by a drive mechanism 28. The drive mechanism 28 includes a first rotating body 30 connected to the input shaft 12A. The input shaft 12A can also be connected to the first rotating body 30 for integral rotation, or it can be connected via a first one-way clutch. The first one-way clutch causes the first rotating body 30 to rotate forward when the crank 12 rotates forward, and allows the crank 12 and the first rotating body 30 to rotate relative to each other when the crank 12 rotates backward. The first rotating body 30 includes a sprocket, pulley, or helical gear. The drive mechanism 28 further includes a second rotating body 32 and a connecting member 28A. The connecting member 28A transmits the rotational force of the first rotating body 30 to the second rotating body 32. The connecting member 28A includes, for example, a chain, belt, or shaft.

[0035] The second rotating body 32 is connected to the rear wheel 14A. The second rotating body 32 includes a sprocket, pulley, or helical gear. It is preferable to provide a second one-way clutch between the second rotating body 32 and the rear wheel 14A. The second one-way clutch allows the rear wheel 14A to rotate forward when the second rotating body 32 rotates forward, and allows the second rotating body 32 and the rear wheel 14A to rotate relative to each other when the second rotating body 32 rotates backward.

[0036] The front wheel 14B is mounted to the frame 18 via the front fork 20. The front fork 20 is connected to the handlebar 22 via the stem 24. In this embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 28. Alternatively, at least one of the rear wheel 14A and the front wheel 14B can be connected to the crank 12 by the drive mechanism 28.

[0037] As shown in Figures 1 and 2, for example, a manually driven vehicle 10 includes a drive unit 34. The drive unit 34 includes a motor 34A for providing propulsion to the manually driven vehicle 10. The motor 34A is, for example, a brushless motor. The motor 34A is used to transmit rotational force to at least one of the following: a power transmission path of human-powered drive force from pedals 26A, 26B to the rear wheel 14A, and the front wheel 14B. The power transmission path of human-powered drive force from pedals 26A, 26B to the rear wheel 14A also includes the rear wheel 14A. In this embodiment, the motor 34A is disposed on the frame 18 of the manually driven vehicle 10 and is used to transmit rotational force to the first rotating body 30.

[0038] The drive unit 34 further includes a housing 34B. The motor 34A is disposed within the housing 34B of the drive unit 34. The housing 34B is disposed on the frame 18. The housing 34B is, for example, detachably mounted on the frame 18. A reducer may also be disposed in the drive unit 34, and the reducer is connected to the output shaft of the motor 34A. In this embodiment, the housing 34B rotatably supports the input shaft 12A. In this embodiment, in the power transmission route between the motor 34A and the input shaft 12A, the third one-way clutch is preferably configured to suppress the transmission of the rotational force of the crank 12 to the motor 34A when the input shaft 12A is rotated in the direction of forward movement of the manually driven vehicle 10. If the motor 34A is disposed in at least one of the rear wheel 14A and the front wheel 14B, the motor 34A may also be disposed in the wheel hub, or it may form a hub motor together with the wheel hub.

[0039] For example, drive unit 34 includes a control unit. The control unit includes a processing unit for executing a predetermined control program. The processing unit included in the control unit may include, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The processing unit included in the control unit may also be located in multiple separate parts. The control unit may also include one or more microcomputers.

[0040] For example, the control unit further includes a memory unit. The memory unit stores: a predetermined control program and information used for control processing. The memory unit may include, for example, non-volatile memory and volatile memory. Non-volatile memory may include, for example, at least one of: ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory may include, for example, RAM (Random Access Memory).

[0041] For example, the human-powered vehicle 10 further includes a battery 36. For example, battery 36 is a battery. Battery 36 includes one or more battery elements. The battery elements include rechargeable batteries. For example, battery 36 is used to supply power to the control unit of drive unit 34. For example, battery 36 can communicate with the control unit of drive unit 34 via wired or wireless means, such as power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0042] For example, the human-powered vehicle 10 has a human-powered vehicle control system. The human-powered vehicle control system includes: a human-powered vehicle component 40, a first component 44, and a second component 46. For example, the human-powered vehicle component 40 includes a control device 60. For example, the human-powered vehicle component 40 includes at least a portion of the control device 60. For example, power from the battery 36 is supplied to the first component 44 and the second component 46 via a drive unit 34. For example, the human-powered vehicle component 40 communicatively connects the drive unit 34 to the first component 44 and the second component 46. For example, the human-powered vehicle component 40 includes a connection portion 42, which communicatively connects the drive unit 34 to the first component 44 and the second component 46. For example, power from the battery 36 is supplied to the first component 44 and the second component 46 via the drive unit 34, which includes a motor 34A for providing propulsion to the human-powered vehicle 10.

[0043] For example, the connecting part 42 can be connected to the drive unit 34 via a first cable. For example, the first cable is detachably mounted to the connecting part 42. For example, the connecting part 42 can be connected to the first component 44 and the second component 46 via a second cable. For example, the second cable is detachably mounted to the connecting part 42.

[0044] For example, at least one of the first component 44 and the second component 46 includes a transmission device 50. In this embodiment, the first component 44 includes a transmission device 50, and the second component 46 includes a transmission device 50.

[0045] For example, a transmission device 50 is installed in the human-powered vehicle 10 along the transmission path of the human-powered drive force and is used to change the gear ratio. The transmission device 50 has a plurality of gear shifting stages. The gear ratios corresponding to the gear shifting stages are different from each other. The number of gear shifting stages is, for example, in the range of 3 to 30. The gear ratio is the ratio of the rotational speed of the drive wheel to the rotational speed of the input shaft 12A. In this embodiment, the drive wheel is the rear wheel 14A.

[0046] For example, transmission 50 includes at least one of a first transmission 50A and a second transmission 50B. For example, the second transmission 50B is located closer to the drive wheel than the first transmission 50A in the transmission path of human-powered drive. For example, the first transmission 50A is located near the crank 12, and the second transmission 50B is located near the drive wheel.

[0047] The transmission 50 includes, for example, at least one of a derailleur and an internal gearbox. When the transmission 50 includes an internal gearbox, the internal gearbox is, for example, located in the wheel hub of the rear wheel 14A. The internal gearbox may also include a CVT (Continuously Variable Transmission).

[0048] In the case where the first derailleur 50A includes a derailleur, for example, the first derailleur 50A includes a front derailleur. In the case where the second derailleur 50B includes a derailleur, for example, the second derailleur 50B includes a rear derailleur.

[0049] In the case where the first derailleur 50A includes a front derailleur, the first derailleur 50A includes a first rotating body 30, and the first rotating body 30 includes a plurality of front sprockets. In the case where the second derailleur 50B includes a rear derailleur, the second derailleur 50B includes a second rotating body 32, and the second rotating body 32 includes a plurality of rear sprockets. The derailleur 50 includes an electric derailleur, which is operated by an actuator. The actuator includes an electric actuator. The actuator includes, for example, an electric motor. The relationship between the gear ratio, the speed of the drive wheel, and the speed of the input shaft 12A is expressed by equation (1). Equation (1): Gear ratio = Speed ​​of drive wheel / Speed ​​of input shaft

[0050] The rotational speed of the drive wheel and the rotational speed of the input shaft 12A can also be expressed as the number of rotations per unit time. Alternatively, the rotational speed of the drive wheel can be replaced by the number of teeth on the front sprocket, and the rotational speed of the input shaft 12A can be replaced by the number of teeth on the rear sprocket.

[0051] For example, one of the first component 44 and the second component 46 includes a first derailleur 50A, and the other of the first component 44 and the second component 46 includes a second derailleur 50B. For example, one of the first component 44 and the second component 46 includes a front derailleur, and the other of the first component 44 and the second component 46 includes a rear derailleur. Alternatively, one of the first component 44 and the second component 46 may include a derailleur, and the other of the first component 44 and the second component 46 may include an internal derailleur. In this embodiment, the first component 44 includes the first derailleur 50A, and the second component 46 includes the second derailleur 50B. In this embodiment, the first component 44 includes a front derailleur, and the second component 46 includes a rear derailleur.

[0052] Component 40 and drive unit 34 are separate entities. For example, component 40 may be configured to operate independently of drive unit 34. For example, component 40 may communicate via power line transmission (PLC) with component 1 44 and component 2 46. Component 40 may also communicate via CAN (Controller Area Network) with component 1 44 and component 2 46.

[0053] For example, component 40 supplies power to first component 44 and second component 46. First component 44 and second component 46 may also be connected side-by-side to component 40. For example, power from battery 36 may be input into component 40. For example, power from battery 36 may be input into component 40 via drive unit 34.

[0054] For example, component 40 communicates with component 44 and component 46 via the first communication specification. For example, component 40 communicates with drive unit 34 via the second communication specification. The first and second communication specifications may be different or the same. For example, the first communication specification may be one of Power Line Communication (PLC), CAN (Controller Area Network), and UART (Universal Asynchronous Receiver / Transmitter). For example, the second communication specification may be one of Power Line Communication (PLC), CAN (Controller Area Network), and UART (Universal Asynchronous Receiver / Transmitter).

[0055] The control device 60 includes a main control unit 62. For example, the main control unit 62 may be located in a manually operated vehicle assembly 40. For example, the main control unit 62 may be located within the housing of the assembly 40. The main control unit 62 includes a processing unit for executing a predetermined control program. The processing unit included in the main control unit 62 may include, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The processing unit included in the main control unit 62 may also be located in multiple separate locations. The main control unit 62 may also include one or more microcomputers.

[0056] For example, the control device 60 further includes a main memory unit 64. For example, the main memory unit 64 is disposed in the manually driven vehicle component 40. For example, the main memory unit 64 is disposed in the housing of the component 40. The main memory unit 64 stores: a predetermined control program and information used for control processing. The main memory unit 64 includes, for example, non-volatile memory and volatile memory. Non-volatile memory includes, for example, at least one of: ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. Volatile memory includes, for example, RAM (Random Access Memory).

[0057] For example, the control device 60 further includes a first main communication unit 66. For example, the first main communication unit 66 is provided in the manually driven vehicle component 40. For example, the first main communication unit 66 is provided in the housing of the component 40. The first main communication unit 66 transmits / receives signals conforming to the first communication specification.

[0058] For example, the control device 60 further includes a second main communication unit 68. For example, the second main communication unit 68 is provided in the manually driven vehicle component 40. For example, the second main communication unit 68 is provided in the housing of the component 40. The second main communication unit 68 transmits / receives signals conforming to a second communication specification.

[0059] For example, the control device 60 further includes a first subordinate control unit 70. For example, the first subordinate control unit 70 is disposed in the first component 44. For example, the first subordinate control unit 70 is disposed in the housing of the first component 44. The first subordinate control unit 70 includes an arithmetic processing unit for executing a predetermined control program. The arithmetic processing unit included in the first subordinate control unit 70 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing unit included in the first subordinate control unit 70 may also be disposed in multiple mutually separate locations. The first subordinate control unit 70 may also include one or more microcomputers.

[0060] For example, the control device 60 further includes a first slave memory unit 72. For example, the first slave memory unit 72 is disposed in the first component 44. For example, the first slave memory unit 72 is disposed in the housing of the first component 44. The first slave memory unit 72 stores: a predetermined control program and information used for control processing. The first slave memory unit 72 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of: ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

[0061] For example, the control device 60 further includes a first slave communication unit 74. For example, the first slave communication unit 74 is provided in the first component 44. For example, the first slave communication unit 74 is provided in the housing of the first component 44. The first slave communication unit 74 transmits / receives signals conforming to the second communication specification with the second master communication unit 68.

[0062] For example, the control device 60 further includes a second subordinate control unit 76. For example, the second subordinate control unit 76 is disposed in the second component 46. For example, the second subordinate control unit 76 is disposed in the housing of the second component 46. The second subordinate control unit 76 includes an arithmetic processing unit for executing a predetermined control program. The arithmetic processing unit included in the second subordinate control unit 76 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing unit included in the second subordinate control unit 76 may also be disposed in multiple mutually separate locations. The second subordinate control unit 76 may also include one or more microcomputers.

[0063] For example, the control device 60 further includes a second slave memory unit 78. For example, the second slave memory unit 78 is disposed in the second component 46. For example, the second slave memory unit 78 is disposed in the housing of the second component 46. The second slave memory unit 78 stores: a predetermined control program and information used for control processing. The second slave memory unit 78 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of: ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

[0064] For example, the control device 60 further includes a second slave communication unit 80. For example, the second slave communication unit 80 is provided in the second component 46. For example, the second slave communication unit 80 is provided in the housing of the second component 46. The second slave communication unit 80 transmits / receives signals conforming to the second communication specification with the second master communication unit 68.

[0065] The main control unit 62 is used to control the first component 44 and the second component 46. The first component 44 is controlled by at least one of the main control unit 62 and the first subordinate control unit 70. When the first component 44 is controlled by the first subordinate control unit 70, the main control unit 62 restricts the operation of at least one of the first component 44 and the second component 46 according to a first action signal sent from the first subordinate control unit 70.

[0066] When the first subordinate control unit 70 controls the first component 44, for example, when the first subordinate control unit 70 determines that the operating conditions of the first component are met. For example, when the main control unit 62 controls the first component 44 through the first subordinate control unit 70, it can determine whether to restrict the operation of the first component 44 before the operation of the first component 44 begins.

[0067] For example, the first subordinate control unit 70 can be autonomously controlled. For example, the second subordinate control unit 76 can be autonomously controlled. Autonomous control is control based on the determination of the fulfillment of the operating conditions of the first component, without relying on control commands from the main control unit 62 and operating devices. For example, the autonomous control of the first subordinate control unit 70 includes control for adjusting the first component 44. For example, the autonomous control of the second subordinate control unit 76 includes control for adjusting the second component 46.

[0068] For example, restrictions on the operation of the first component 44 and the second component 46 may include at least one method such as delaying or prohibiting the start of the operation. For example, the main control unit 62 controls the first component 44 and the second component 46 to prevent them from operating simultaneously. For example, the main control unit 62 controls the operation of the first component 44 and the second component 46 so that the sum of the power consumed by the operation of the first component 44 and the power consumed by the operation of the second component 46 is below a predetermined power.

[0069] For example, the operation of the first component 44 corresponds to the driving of the electric actuator included in the first component 44. For example, the operation of the second component 46 corresponds to the driving of the electric actuator included in the second component 46. For example, if the first component 44 includes a derailleur, the operation of the first component 44 includes an action for adjusting the position of the derailleur. For example, if the second component 46 includes a derailleur, the operation of the second component 46 includes an action for adjusting the position of the derailleur.

[0070] For example, when the main control unit 62 causes the first component 44 to operate via the first subordinate control unit 70, it allows the second component 46 to operate when the first component 44 completes its operation; or when the first component 44 is operated via the first subordinate control unit 70, the second component 46 is allowed to operate after a first period has elapsed since the first component 44 began operating. For example, the first period is set to account for the period until the operation of the first component 44 is completed.

[0071] For example, when the operation of the first component 44 is completed, the first subordinate control unit 70 sends a first completion signal to the main control unit 62. The main control unit 62 then allows the operation of the second component 46 based on the first completion signal.

[0072] For example, the second component 46 is controlled by at least one of the main control unit 62 and the second subordinate control unit 76. When the main control unit 62 controls the second component 46 by the second subordinate control unit 76, it restricts the operation of at least one of the first component 44 and the second component 46 according to the second action signal sent from the second subordinate control unit 76.

[0073] When the second component 46 is controlled by the second subordinate control unit 76, for example, when the second subordinate control unit 76 determines that the operating conditions of the second component are met, the main control unit 62 can determine whether to restrict the operation of the second component 46 before the operation of the second component 46 begins.

[0074] For example, when the main control unit 62 causes the second component 46 to operate via the second subordinate control unit 76, the first component 44 is allowed to operate when the second component 46 completes its operation; or when the second component 46 is caused to operate via the second subordinate control unit 76, the first component 44 is allowed to operate after a second period has elapsed since the second component 46 began operating. For example, the second period is set to account for the period until the operation of the second component 46 is completed.

[0075] For example, when the operation of the second component 46 is completed, the second subordinate control unit 76 sends a second completion signal to the main control unit 62. The main control unit 62 then allows the operation of the first component 44 based on the second completion signal.

[0076] For example, when the main control unit 62 restricts the operation of the second component 46, it sends a restriction signal for the second component 46 to the second subordinate control unit 76. The restriction signal for the second component 46 is used to restrict the start operation of the second component 46.

[0077] For example, if the second component operation condition for starting the operation of the second component 46 is met, and no restriction signal for the second component is received from the main control unit 62, the second subordinate control unit 76 controls the second component 46 to start the operation.

[0078] For example, if the operating conditions of the second component are met and the second component restriction signal is received from the main control unit 62, the second subordinate control unit 76 controls the second component 46 to prevent the second component 46 from starting to operate.

[0079] For example, when the main control unit 62 restricts the operation of the first component 44, it sends a first component restriction signal to the first subordinate control unit 70. The first component restriction signal is used to restrict the start operation of the first component 44.

[0080] For example, if the first component operation condition for starting the operation of the first component 44 is met, and the first component restriction signal is not received from the main control unit 62, the first subordinate control unit 70 controls the first component 44 to start the operation.

[0081] For example, if the operating conditions of the first component are met and the first component restriction signal is received from the main control unit 62, the first subordinate control unit 70 controls the first component 44 to prevent the first component 44 from starting to operate.

[0082] For example, the first subordinate control unit 70 switches the control state between the first control state and the second control state. When the control state is the first control state, the first subordinate control unit 70 sends a first action signal to the main control unit 62 when the operation condition of the first component is met. When the control state is the second control state, the first subordinate control unit 70 does not send a first action signal to the main control unit 62 when the operation condition of the first component is met, but instead controls the first component 44 to begin operation.

[0083] For example, the main control unit 62 sends a switching signal to the first subordinate control unit 70 to switch the control state of the first subordinate control unit 70 between the first control state and the second control state. The first subordinate control unit 70 switches the control state between the first control state and the second control state according to the switching signal.

[0084] Referring to Figure 3, the process by which the main control unit 62 switches the control state between the first control state and the second control state will be explained. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and proceeds to step S11 of the process shown in Figure 3. When the process in Figure 3 ends, for example before the power supply stops, the main control unit 62 repeatedly performs the processing starting from step S11 after a predetermined period.

[0085] In step S11, the main control unit 62 determines whether control corresponding to the first control state is being executed. For example, if the first component 44 and the second component 46 are in the first control state, the main control unit 62 determines that control corresponding to the first control state is being executed. If the main control unit 62 controls the first component 44 and the second component 46 to the first control state, it determines that control corresponding to the first control state is being executed. If the main control unit 62 is not executing control corresponding to the first control state, it proceeds to step S12.

[0086] In step S12, the main control unit 62 determines whether it is necessary to switch from the second control state to the first control state. For example, the main control unit 62 determines whether it is necessary to switch from the second control state to the first control state based on at least one of the operation signals from the operating device provided on the manual drive vehicle 10 and signals from an external device. For example, the main control unit 62 determines whether it is necessary to switch from the second control state to the first control state based on the remaining amount of battery 36. If it is necessary to switch from the second control state to the first control state, the main control unit 62 proceeds to step S13.

[0087] In step S13, the main control unit 62 sends a switching signal to switch from the second control state to the first control state, and proceeds to step S14. For example, the main control unit 62 sends the switching signal to switch from the second control state to the first subordinate control unit 70 and the second subordinate control unit 76.

[0088] In step S14, the main control unit 62 executes the control corresponding to the first control state and ends the process. After step S14, the main control unit 62 controls the first component 44 and the second component 46 to limit the simultaneous operation of the first component 44 and the second component 46.

[0089] In step S12, if there is no need to switch from the second control state to the first control state, the main control unit 62 proceeds to step S15. In step S15, the main control unit 62 executes the control corresponding to the second control state and ends the process. After step S15, the main control unit 62 controls the first component 44 and the second component 46 without restricting the simultaneous operation of the first component 44 and the second component 46.

[0090] In step S11, if the main control unit 62 is executing control corresponding to the first control state, it proceeds to step S16. In step S16, the main control unit 62 determines whether it needs to switch from the first control state to the second control state. For example, the main control unit 62 determines whether it needs to switch from the first control state to the second control state based on at least one of an operation signal from the operating device provided on the manual drive vehicle 10 and a signal from an external device. For example, the main control unit 62 determines whether it needs to switch from the first control state to the second control state based on the remaining amount of battery 36. If it needs to switch from the first control state to the second control state, the main control unit 62 proceeds to step S17.

[0091] In step S17, the main control unit 62 sends a switching signal to switch from the first control state to the second control state, and proceeds to step S18. For example, the main control unit 62 sends the switching signal to switch from the first control state to the second control state to the first subordinate control unit 70 and the second subordinate control unit 76.

[0092] In step S18, the main control unit 62 executes the control corresponding to the second control state and ends the process. After step S18, the main control unit 62 controls the first component 44 and the second component 46 without restricting the simultaneous operation of the first component 44 and the second component 46.

[0093] In step S16, if there is no need to switch from the first control state to the second control state, the main control unit 62 proceeds to step S19. In step S19, the main control unit 62 continues the control corresponding to the first control state and ends the process. After step S19, the main control unit 62 controls the first component 44 and the second component 46 to limit their simultaneous operation.

[0094] Referring to Figure 4, the process by which the first slave control unit 70 switches the control state between the first control state and the second control state will be explained. For example, when power is supplied to the first slave control unit 70, the first slave control unit 70 begins processing and proceeds to step S21 of the flow shown in Figure 4. When the flow in Figure 4 ends, for example, before the power supply stops, the first slave control unit 70 repeatedly performs the processing starting from step S21 in Figure 4 after a predetermined period.

[0095] In step S21, the first subordinate control unit 70 determines whether it is in the first control state. If it is not in the first control state, the first subordinate control unit 70 proceeds to step S22.

[0096] In step S22, the first subordinate control unit 70 determines whether it has received a switching signal to switch from the second control state to the first control state. For example, if the first subordinate control unit 70 receives a switching signal sent from the main control unit 62 in step S13 of FIG3, then it determines that it has received a switching signal to switch from the second control state to the first control state. If the first subordinate control unit 70 does not receive a switching signal to switch from the second control state to the first control state, then it terminates the process. If the first subordinate control unit 70 receives a switching signal to switch from the second control state to the first control state, then it proceeds to step S23.

[0097] In step S23, the first subordinate control unit 70 switches from the second control state to the first control state and ends the process. After step S23, the first subordinate control unit 70 can make the first component 44 operate without communicating with the main control unit 62.

[0098] In step S21, if the first subordinate control unit 70 is in the first control state, it proceeds to step S24.

[0099] In step S24, the first subordinate control unit 70 determines whether it has received a switching signal from the first control state to the second control state. For example, if the first subordinate control unit 70 receives a switching signal sent from the main control unit 62 in step S17 of FIG3, then it determines that it has received a switching signal from the first control state to the second control state. If the first subordinate control unit 70 does not receive a switching signal from the first control state to the second control state, then it terminates the process. If the first subordinate control unit 70 receives a switching signal from the first control state to the second control state, then it proceeds to step S25.

[0100] In step S25, the first subordinate control unit 70 switches from the first control state to the second control state and ends the process. After step S25, when the first component 44 is to be operated, the first subordinate control unit 70 operates the first component 44 according to the communication with the main control unit 62.

[0101] The process by which the second subordinate control unit 76 switches the control state between the first control state and the second control state is performed in the same manner as the flowchart shown in FIG4. The process by which the second subordinate control unit 76 switches between the first control state and the second control state is to replace the first subordinate control unit 70 with the second subordinate control unit 76 and the first component 44 with the second component 46 in the description of the flowchart shown in FIG4.

[0102] Referring to Figures 5 and 6, the processing of the main control unit 62 controlling the first component 44 and the second component 46 in the first control state will be explained. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and proceeds to step S31 of the flow shown in Figure 5. When the flow in Figures 5 and 6 ends, for example before the power supply stops, the main control unit 62 repeatedly performs the processing starting from step S31 in Figure 5 after a predetermined period.

[0103] In step S31, the main control unit 62 determines whether control corresponding to the first control state is being executed. If the main control unit 62 is not executing control corresponding to the first control state, then the process ends. If the main control unit 62 is executing control corresponding to the first control state, then it proceeds to step S32.

[0104] In step S32, the main control unit 62 determines whether it has received the first action signal. If the control unit 62 has received the first action signal, it proceeds to step S33. In step S33, the main control unit 62 determines whether it is restricting the action of the first component. For example, if the main control unit 62 receives the second action signal from the second component 46 but does not receive the second completion signal from the second component 46, and no second period has elapsed since receiving the second action signal, it determines that the action of the first component is being restricted. If the main control unit 62 is not restricting the action of the first component, it proceeds to step S34. In step S34, the main control unit 62 sends a permission signal for the first component and ends the process.

[0105] In step S33, if the operation of the first component is being restricted, the main control unit 62 proceeds to step S35. In step S35, the main control unit 62 sends a restriction signal for the first component and proceeds to step S36.

[0106] In step S36, the main control unit 62 determines whether it has received a second completion signal. If it has received the second completion signal, it proceeds to step S38. If it has not received the second completion signal, it proceeds to step S37. In step S37, the main control unit 62 determines whether the second period has elapsed. If the second period has not elapsed, it proceeds to step S36. If the second period has elapsed, it proceeds to step S38.

[0107] The order of processing steps S36 and S37 can also be changed. Alternatively, one of the processing steps S36 or S37 can be omitted. If one of the processing steps S36 or S37 is omitted, and the main control unit 62 is affirmative (yes) in the other of the processing steps S36 and S37, then proceeds to step S38. If one of the processing steps S36 or S37 is omitted, and the main control unit 62 is negative (no) in the other of the processing steps S36 and S37, then the other of the processing steps S36 and S37 is repeated.

[0108] In step S38, the main control unit 62 sends the first component permission signal and ends the process.

[0109] In step S32, if the first action signal is not received, the main control unit 62 proceeds to step S39. In step S39, the main control unit 62 determines whether a second action signal has been received. If the second action signal has been received, the main control unit 62 proceeds to step S40. In step S40, the main control unit 62 determines whether the operation of the second component is being restricted. For example, if the main control unit 62 receives the first action signal from the first component 44 but does not receive the first completion signal from the first component 44, and no first period has elapsed since receiving the first action signal, then it determines that the operation of the second component is being restricted. If the main control unit 62 is not restricting the operation of the second component, it proceeds to step S41. In step S41, the main control unit 62 sends a permission signal for the second component and ends the process.

[0110] In step S40, if the operation of the second component is being restricted, the main control unit 62 proceeds to step S42. In step S42, the main control unit 62 sends a restriction signal for the second component and proceeds to step S43.

[0111] In step S43, the main control unit 62 determines whether it has received the first completion signal. If the main control unit 62 has received the first completion signal, it proceeds to step S45. If the main control unit 62 has not received the first completion signal, it proceeds to step S44. In step S44, the main control unit 62 determines whether the first period has elapsed. If the first period has not elapsed, the main control unit 62 proceeds to step S43. If the first period has elapsed, the main control unit 62 proceeds to step S45.

[0112] The order of processing steps S43 and S44 can also be changed. Alternatively, one of the processing steps S43 and S44 can be omitted. If one of the processing steps S43 and S44 is omitted, and the other processing step (S43 or S44) is affirmative (yes), the main control unit 62 proceeds to step S45. If one of the processing steps S43 and S44 is omitted, and the other processing step (S43 or S44) is negative (no), the main control unit 62 repeatedly performs the other processing step (S43 or S44).

[0113] In step S45, the main control unit 62 sends a second component permission signal and ends the process.

[0114] Referring to Figure 7, the process of the first slave control unit 70 controlling the first component 44 will be explained. For example, when power is supplied to the first slave control unit 70, the first slave control unit 70 starts processing and proceeds to step S51 of the process shown in Figure 7. When the process in Figure 7 ends, for example before the power supply stops, the first slave control unit 70 repeatedly performs the processing starting from step S51 in Figure 7 after a predetermined period.

[0115] In step S51, the first subordinate control unit 70 determines whether the operation condition of the first component is met. If the operation condition of the first component is not met, the first subordinate control unit 70 terminates the process. If the operation condition of the first component is met, the first subordinate control unit 70 proceeds to step S52.

[0116] In step S52, the first subordinate control unit 70 determines whether it is in the first control state. If the first subordinate control unit 70 is in the first control state, it proceeds to step S53. In step S53, the first subordinate control unit 70 sends the first action signal to the main control unit 62 and proceeds to step S54.

[0117] In step S54, the first slave control unit 70 determines whether it has received a restriction signal from the first component from the main control unit 62. If the first slave control unit 70 has not received a restriction signal from the first component from the main control unit 62, it proceeds to step S56. If the first slave control unit 70 has received a restriction signal from the first component from the main control unit 62, it proceeds to step S55.

[0118] In step S55, the first slave control unit 70 determines whether it has received a permission signal from the first component from the main control unit 62. If the first slave control unit 70 has received a permission signal from the first component from the main control unit 62, it proceeds to step S56.

[0119] In step S56, the first subordinate control unit 70 causes the first component 44 to begin operation and proceeds to step S57. In step S57, the first subordinate control unit 70 determines whether the operation of the first component 44 has been completed. If the operation of the first component 44 has not been completed, the first subordinate control unit 70 executes step S57 again. If the operation of the first component 44 has been completed, the first subordinate control unit 70 proceeds to step S58.

[0120] In step S58, the first subordinate control unit 70 sends the first completion signal to the main control unit 62 to end the process.

[0121] In step S55, if the first subordinate control unit 70 does not receive a permission signal from the first component from the main control unit 62, it proceeds to step S59. In step S59, the first subordinate control unit 70 determines whether an operation stop condition is met. The operation stop condition is, for example, met if a first predetermined time has elapsed since the operation condition of the first component was met. If the first subordinate control unit 70 finds the operation stop condition not met, it proceeds to step S55. If the first subordinate control unit 70 finds the operation stop condition met, it terminates the process.

[0122] If the first subordinate control unit 70 is not in the first control state in step S52, it proceeds to step S60. In step S60, the first subordinate control unit 70 starts the operation of the first component 44 and ends the process.

[0123] Referring to Figure 8, the process of the second slave control unit 76 controlling the second component 46 will be explained. For example, when power is supplied to the second slave control unit 76, the second slave control unit 76 begins processing and proceeds to step S71 of the process shown in Figure 8. When the process in Figure 8 ends, for example before the power supply stops, the second slave control unit 76 repeatedly performs the processing starting from step S71 of Figure 8 after a predetermined period.

[0124] In step S71, the second subordinate control unit 76 determines whether the operation conditions of the second component are met. If the operation conditions of the second component are not met, the second subordinate control unit 76 terminates the process. If the operation conditions of the second component are met, the second subordinate control unit 76 proceeds to step S72.

[0125] In step S72, the second subordinate control unit 76 determines whether it is in the first control state. If the second subordinate control unit 76 is in the first control state, it proceeds to step S73. In step S73, the second subordinate control unit 76 sends the second action signal to the main control unit 62 and proceeds to step S74.

[0126] In step S74, the second slave control unit 76 determines whether it has received a restriction signal from the second component from the main control unit 62. If the second slave control unit 76 has not received a restriction signal from the second component from the main control unit 62, it proceeds to step S76. If the second slave control unit 76 has received a restriction signal from the second component from the main control unit 62, it proceeds to step S75.

[0127] In step S75, the second slave control unit 76 determines whether it has received a permission signal from the second component from the main control unit 62. If the second slave control unit 76 has received a permission signal from the second component from the main control unit 62, it proceeds to step S76.

[0128] In step S76, the second subordinate control unit 76 initiates the operation of the second component 46 and proceeds to step S77. In step S77, the second subordinate control unit 76 determines whether the operation of the second component 46 has been completed. If the operation of the second component 46 has not been completed, the second subordinate control unit 76 executes step S77 again. If the operation of the second component 46 has been completed, the second subordinate control unit 76 proceeds to step S78.

[0129] In step S78, the second subordinate control unit 76 sends the second completion signal to the main control unit 62 to end the process.

[0130] In step S75, if the second subordinate control unit 76 does not receive a permission signal from the main control unit 62 for the second component, it proceeds to step S79. In step S79, the second subordinate control unit 76 determines whether the operation abort condition is met. The operation abort condition is, for example, met if a second predetermined time has elapsed since the operation condition of the second component was met. If the operation abort condition is not met, the second subordinate control unit 76 proceeds to step S75. If the operation abort condition is met, the second subordinate control unit 76 terminates the process.

[0131] If the second subordinate control unit 76 is not in the first control state in step S72, it proceeds to step S80. In step S80, the second subordinate control unit 76 begins the operation of the second component 46 and ends the process.

[0132] By means of the processing shown in Figures 3 to 8, the control device 60 can limit the simultaneous operation of the first component 44 and the second component 46 in the first control state. Thus, the control device 60 can control the first component 44 and the second component 46 such that the sum of the power consumed by the operation of the first component 44 and the power consumed by the operation of the second component 46 is below a predetermined power.

[0133] For example, the main control unit 62 controls the first component 44 and the second component 46 in response to the occurrence of an anomaly. For example, the main control unit 62 determines that an anomaly has occurred when the temperature of the drive unit 34 reaches a predetermined temperature. For example, the main control unit 62 determines that an anomaly has occurred when the remaining amount of the battery 36 falls below a predetermined remaining amount.

[0134] For example, when an anomaly occurs, the main control unit 62 controls the first component 44 and the second component 46 to prevent them from operating. Alternatively, when an anomaly occurs, the main control unit 62 sends an operation stop signal to the first subordinate control unit 70 and the second subordinate control unit 76 to prevent the first component 44 and the second component 46 from operating.

[0135] Referring to Figure 9, the main control unit 62 controls the processing of the first component 44 and the second component 46 in response to the occurrence of an anomaly. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and proceeds to step S91 of the process shown in Figure 9. When the process in Figure 9 ends, for example, before the power supply stops, the main control unit 62 repeatedly performs the processing starting from step S91 of Figure 9 after a predetermined cycle.

[0136] In step S91, the main control unit 62 determines whether an abnormality has occurred. If no abnormality has occurred, the main control unit 62 terminates the process. If an abnormality has occurred, the main control unit 62 proceeds to step S92. In step S92, the main control unit 62 sends an action abort signal and proceeds to step S93.

[0137] In step S93, the main control unit 62 determines whether a cognitive signal has been received. If a cognitive signal has been received, the main control unit 62 terminates the process. If no cognitive signal has been received, the main control unit 62 proceeds to step S94. In step S94, the main control unit 62 determines whether the third period has elapsed. For example, if in step S91 the main control unit 62 determines that the third period has elapsed if the period counted from the occurrence of the abnormality has exceeded the third period, the main control unit 62 proceeds to step S92 if the third period has not elapsed. If the main control unit 62 proceeds to step S95 if the third period has elapsed.

[0138] In step S95, the main control unit 62 performs control measures in case of an anomaly and terminates the process. In case of an anomaly, the main control unit 62 may, for example, shut down the first subordinate control unit 70 and the second subordinate control unit 76. In case of an anomaly, the main control unit 62 may, for example, stop supplying power to the first subordinate control unit 70 and the second subordinate control unit 76.

[0139] Referring to Figure 10, the process by which the first slave control unit 70 controls the first component 44 in response to an anomaly is explained. For example, when power is supplied to the first slave control unit 70, the first slave control unit 70 begins processing and proceeds to step S101 of the flow shown in Figure 10. When the flow in Figure 10 ends, for example before the power supply stops, the first slave control unit 70 repeatedly performs the processing starting from step S101 of Figure 10 after a predetermined period.

[0140] In step S101, the first slave control unit 70 determines whether it has received an operation stop signal. If the first slave control unit 70 has not received an operation stop signal, it terminates the process. If the first slave control unit 70 has received an operation stop signal, it proceeds to step S102.

[0141] In step S102, the first subordinate control unit 70 determines whether the first component 44 is currently operating. If the first subordinate control unit 70 finds that the first component 44 is currently operating, it proceeds to step S103. In step S103, the first subordinate control unit 70 terminates the operation of the first component 44 and proceeds to step S104. In step S104, the first subordinate control unit 70 sends the operation in progress signal and the recognition signal to the main control unit 62, ending the processing.

[0142] In step S102, if the first component 44 is not currently operating, the first subordinate control unit 70 proceeds to step S105. In step S105, the first subordinate control unit 70 disables the operation of the first component 44, sends a cognitive signal to the main control unit 62, and terminates the process.

[0143] The second subordinate control unit 76 controls the processing of the second component 46 in response to the occurrence of an anomaly, and performs the same operation as in the flowchart shown in FIG10. The process of the second subordinate control unit 76 switching between the first control state and the second control state is to replace the first subordinate control unit 70 in the description of the flowchart shown in FIG10 with the second subordinate control unit 76, and replace the first component 44 with the second component 46.

[0144] Control device 60, through the processing shown in Figures 9 and 10, the main control unit 62 can restrict the operation of the first subordinate control unit 70 and the second subordinate control unit 76 when an abnormality occurs.

[0145] For example, identification information for communication and control is set in the main control unit 62, the first subordinate control unit 70, and the second subordinate control unit 76. For example, the main control unit 62 can update the identification information of at least one of the main control unit 62, the first subordinate control unit 70, and the second subordinate control unit 76 in response to signals from external devices.

[0146] Identification information, such as IDs automatically assigned to each subordinate control unit according to communication specifications, can help avoid ID duplication, for example, when the maximum number of IDs for a CAN bus is relatively small.

[0147] Referring to Figure 11, the process by which the main control unit 62 identifies information updates will be explained. For example, when power is supplied to the main control unit 62, the main control unit 62 begins processing and proceeds to step S111 of the process shown in Figure 11. When the process in Figure 11 ends, for example before the power supply stops, the main control unit 62 repeatedly performs the processing starting from step S111 of Figure 11 after a predetermined period.

[0148] In step S111, the main control unit 62 determines whether there is a request to update the identification information. If there is no request to update the identification information, the main control unit 62 terminates the process. If there is a request to update the identification information, the main control unit 62 proceeds to step S112. In step S112, the main control unit 62 updates the identification information and terminates the process.

[0149] <Example of Change> The description of the embodiments is an example of the forms taken by the human-powered vehicle control device and human-powered vehicle assembly of the present invention, and is not intended to limit its form. The human-powered vehicle control device and human-powered vehicle assembly of the present invention can take the form of, for example, variations of the embodiments shown below and combinations of at least two variations that do not contradict each other. In the following variations, the parts common to the embodiments are marked with the same reference numerals as in the embodiments, and their descriptions are omitted.

[0150] At least one of the first component 44 and the second component 46 may also include a motor 34A that provides propulsion to the human-powered vehicle 10.

[0151] At least one of the first component 44 and the second component 46 may also include at least one electrically adjustable seat support, an electric brake, an electric suspension device, and a lighting device.

[0152] The control device 60 may also have three or more subordinate control units. When the control device 60 includes three or more subordinate control units, the main control unit 62 can control the operation of the three or more subordinate control units. When the control device 60 includes three or more subordinate control units, the main control unit 62 may restrict the simultaneous operation of two or more subordinate control units, or it may restrict the simultaneous operation of three or more subordinate control units.

[0153] Component 40 may also be configured to wirelessly communicate with Component 44 and Component 46. In the case where Component 40 is configured to wirelessly communicate with Component 44 and Component 46, for example, Component 68, Component 74, and Component 80 may each include a wireless communication unit.

[0154] Component 40 can also be configured to communicate wirelessly with drive unit 34. In the case where component 40 is configured to communicate wirelessly with drive unit 34, for example, the first main communication unit 66 may include a wireless communication unit.

[0155] The term "at least one" as used in this specification means "more than one" of the required options. As an example, if there are two options, "at least one" as used in this specification means "only one option" or "both options". As another example, if there are three or more options, "at least one" as used in this specification means "only one option" or "any combination of two or more options".

[0156] 10: Human-powered vehicle 34: Drive Unit 34A: Motor 36: Battery 40: Components 42: Connecting part 44: Component 1 46: Component 2 50: Speed ​​Transmission 60: Control device 62: Main Control Unit 70: First Subordinate Control Department 76: Second Subordinate Control Department

Claims

1. A human-powered vehicle control device comprising a main control unit for controlling a first component and a second component; wherein the first component is controlled by at least one of the main control unit and a first subordinate control unit, and wherein the main control unit, when controlling the first component by the first subordinate control unit, restricts the operation of at least one of the first component and the second component based on a first action signal, wherein the first action signal is sent from the first subordinate control unit and received by the main control unit.

2. As in claim 1, a manually operated vehicle control device, wherein, When the first component is operated by the first subordinate control unit, the main control unit allows the second component to operate when the first component completes its operation; or when the first component is operated by the first subordinate control unit, the second component is allowed to operate after a first period has elapsed since the first component started operating.

3. The manually operated vehicle control device as described in claim 1 or 2, wherein, Upon completion of the operation of the first component, the first subordinate control unit sends a first completion signal to the main control unit, which then allows the second component to operate based on the first completion signal.

4. The manually operated vehicle control device as described in claim 1 or 2, wherein, The second component is controlled by at least one of the main control unit and the second subordinate control unit. When the main control unit controls the second component by the second subordinate control unit, it restricts the operation of at least one of the first component and the second component according to a second action signal sent from the second subordinate control unit.

5. The manually operated vehicle control device as described in claim 4, wherein, When the second component is operated by the second subordinate control unit, the first component is allowed to operate when the second component completes its operation; or when the second component is operated by the second subordinate control unit, the first component is allowed to operate after a second period has elapsed since the second component started operating.

6. The manually operated vehicle control device as described in claim 4, wherein, Upon completion of the operation of the second component, the second subordinate control unit sends a second completion signal to the main control unit, which then allows the first component to operate based on the second completion signal.

7. The manually operated vehicle control device as described in claim 5, wherein, When the main control unit restricts the operation of the second component, it sends a second component restriction signal to the second subordinate control unit. The second component restriction signal is used to restrict the start operation of the second component.

8. The manually operated vehicle control device as described in claim 7, wherein, Furthermore, it includes the aforementioned second subordinate control unit; the aforementioned second subordinate control unit controls the aforementioned second component to start operating when the second component operation condition for starting the operation of the aforementioned second component is met, and no restriction signal for the aforementioned second component is received from the aforementioned main control unit.

9. The manually operated vehicle control device as described in claim 8, wherein, When the operating conditions of the second component are met and the second component restriction signal is received from the main control unit, the second subordinate control unit controls the second component to prevent it from starting to operate.

10. The manually operated vehicle control device as requested in item 1 or 2, wherein, When the main control unit restricts the operation of the first component, it sends a first component restriction signal to the first subordinate control unit. The first component restriction signal is used to restrict the start operation of the first component.

11. The manually operated vehicle control device as claimed in claim 10, wherein, Furthermore, it includes the aforementioned first subordinate control unit; the aforementioned first subordinate control unit controls the aforementioned first component to start operating when the first component operation condition for starting the operation of the aforementioned first component is met, and no restriction signal for the aforementioned first component is received from the aforementioned main control unit.

12. The manually operated vehicle control device as claimed in claim 11, wherein, When the operating conditions of the first component are met and the first component restriction signal is received from the main control unit, the first subordinate control unit controls the first component to prevent it from starting to operate.

13. The manually operated vehicle control device as claimed in claim 11, wherein, The first subordinate control unit can switch the control state between a first control state and a second control state. When the control state is the first control state, the first action signal is sent to the main control unit when the operation condition of the first component is met. When the control state is the second control state, the first action signal is not sent to the main control unit when the operation condition of the first component is met, but the first component is controlled to start operating.

14. The manually operated vehicle control device as described in claim 13, wherein, The main control unit sends a switching signal to the first subordinate control unit to switch the control state of the first subordinate control unit between the first control state and the second control state. The first subordinate control unit switches the control state between the first control state and the second control state according to the switching signal.

15. The manually operated vehicle control device as claimed in claim 1 or 2, wherein, The aforementioned first subordinate control unit is located in the aforementioned first component.

16. The manually operated vehicle control device as claimed in claim 1 or 2, wherein, At least one of the first component and the second component mentioned above includes a speed change device.

17. The manually operated vehicle control device as claimed in claim 1 or 2, wherein, At least one of the first component and the second component mentioned above includes: a motor for providing propulsion to a human-powered vehicle.

18. The manually operated vehicle control device as claimed in claim 1 or 2, wherein, Power from the battery is supplied to the first component and the second component via a drive unit that includes a motor for providing propulsion to a human-powered vehicle.

19. The manually operated vehicle control device as claimed in claim 18, wherein, The aforementioned main control unit is located in the human-powered vehicle component, which communicatively connects the aforementioned drive unit to the aforementioned first component and the aforementioned second component.

20. A human-powered vehicle assembly comprising a human-powered vehicle control device according to any one of claims 1 to 16.

21. As in request item 20, the human-powered vehicle component, wherein, Power from the battery is supplied to the first component and the second component via a drive unit that includes a motor for providing propulsion to a human-powered vehicle; and the first component and the second component are provided with a connection portion that communicatively connects the drive unit to the first component and the second component.

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