阅读说明：本技术 人力驱动车用的判别装置及人力驱动车用的控制装置 (Discriminating device for human-powered vehicle and control device for human-powered vehicle ) 是由 中村润平 胜木琢也 寺岛圭司 土泽康弘 松田浩史 于 2020-09-27 设计创作，主要内容包括：本发明提供一种能够适当地应用于人力驱动车的人力驱动车用的判别装置及人力驱动车用的控制装置。一种人力驱动车用的判别装置,其包括：判别部,该判别部构成为,获取与所述人力驱动车的输入旋转轴的转速相关的信息、和与所述人力驱动车的车轮的转速相关的信息,在施加给所述人力驱动车的人力驱动力为预先设定的阈值以上的状态下,根据所述输入旋转轴的转速的变化量、和所述车轮的转速的变化量,来判别预先设定的状态。(The invention provides a discrimination device for a human-powered vehicle and a control device for a human-powered vehicle, which can be suitably applied to a human-powered vehicle. An identification device for a human-powered vehicle, comprising: and a determination unit configured to acquire information on a rotational speed of an input rotary shaft of the human-powered vehicle and information on a rotational speed of a wheel of the human-powered vehicle, and determine a preset state from a variation in the rotational speed of the input rotary shaft and a variation in the rotational speed of the wheel in a state where a human-powered driving force applied to the human-powered vehicle is equal to or greater than a preset threshold value.)

1. A discrimination device for a human-powered vehicle, comprising:

a determination unit configured to acquire information on a rotational speed of an input rotary shaft of the human-powered vehicle and information on a rotational speed of a wheel of the human-powered vehicle,

the manual driving force applied to the manual-powered vehicle is equal to or greater than a predetermined threshold value, and the predetermined state is determined based on a variation in the rotational speed of the input rotary shaft and a variation in the rotational speed of the wheel.

2. The discrimination apparatus according to claim 1,

the determination unit is configured to determine the predetermined state when the rotation speed of the wheel is equal to or higher than a predetermined first speed.

3. The discrimination apparatus according to claim 1 or 2, wherein,

the determination unit is configured to determine whether the image data is correct,

further acquiring at least one of first information related to a first ratio of the rotational speed of the wheel to the rotational speed of the input rotary shaft, and second information related to a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel,

in a state where the manual driving force is equal to or greater than the predetermined threshold value, a predetermined state is determined based on at least one of a variation in the rotational speed of the input rotary shaft, a variation in the rotational speed of the wheel, and the first ratio and the second ratio.

4. The discrimination apparatus according to claim 3, wherein,

the determination unit is configured to determine the preset state based on a comparison between a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel, or a comparison between a change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio.

5. The discrimination apparatus according to claim 4, wherein,

the determination unit is configured to determine that the preset state is the first state when the variation of the first value and the variation of the rotation speed of the wheel are equal to or larger than a first difference, or when the variation of the rotation speed of the input rotary shaft and the variation of the second value are equal to or larger than a second difference.

6. The discrimination apparatus according to claim 4 or 5, wherein,

the determination unit is configured to determine that the preset state is the second state when the variation of the first value and the variation of the rotation speed of the wheel are smaller than a third difference or when the variation of the rotation speed of the input rotary shaft and the variation of the second value are smaller than a fourth difference.

7. The discrimination apparatus according to claim 4, wherein,

the determination unit is configured to determine the preset state based on a comparison between a change amount of a third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a change amount of the rotation speed of the wheel, or a comparison between a change amount of the rotation speed of the input rotary shaft and a change amount of a fourth value obtained by multiplying the rotation speed of the wheel by the second ratio.

8. The discrimination apparatus according to claim 7, wherein,

the determination unit is configured to determine that the preset state is the first state when the variation of the third value and the variation of the rotation speed of the wheel are equal to or larger than a fifth difference, or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are equal to or larger than a sixth difference.

9. The discrimination apparatus according to claim 7 or 8, wherein,

the determination unit is configured to determine that the preset state is the second state when the variation of the third value and the variation of the rotation speed of the wheel are smaller than a seventh difference or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are smaller than an eighth difference.

10. A discrimination device for a human-powered vehicle, comprising:

a determination unit configured to determine, based on the determination result,

acquiring information relating to the rotational speed of an input rotary shaft of the human-powered vehicle and information relating to the rotational speed of wheels of the human-powered vehicle,

the predetermined state is determined based on at least one of a first ratio of the rotational speed of the wheel to the rotational speed of the input rotary shaft and a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel.

11. The discrimination apparatus according to claim 10, wherein,

the determination unit is configured to determine the predetermined state from at least one of the first ratio and the second ratio in a state where a human-powered driving force applied to the human-powered vehicle is equal to or greater than a predetermined threshold value.

12. The discrimination apparatus according to claim 10 or 11, wherein,

the determination unit determines that the predetermined state is the first state when the first ratio is equal to or higher than a predetermined third ratio.

13. The discrimination apparatus according to any one of claims 10 to 12, wherein,

the determination unit determines that the predetermined state is the second state when the first ratio is smaller than a predetermined fourth ratio.

14. The discrimination apparatus according to claim 10 or 11, wherein,

the determination unit determines that the predetermined state is the first state when the second ratio is smaller than a fifth ratio set in advance.

15. The discrimination apparatus according to any one of claims 10, 11, 12 and 14, wherein,

when the second ratio is equal to or higher than a preset sixth ratio, the determination unit determines that the preset state is the second state.

16. The discrimination apparatus according to any one of claims 5, 8, 12 and 14, wherein,

the determination unit is configured to acquire information on the rotation speed of the wheel from the detection unit,

the first state includes at least one of a state in which the detection unit is not configured by a preset detection unit and a state in which the detection unit is malfunctioning.

17. The discrimination apparatus according to any one of claims 6, 9, 13 and 15, wherein,

the determination unit is configured to acquire information on the rotation speed of the wheel from the detection unit,

the second state includes a state in which the detection unit is constituted by a preset detection unit.

18. A control device for a human-powered vehicle, comprising:

a control unit configured to control the operation of the motor,

acquiring information relating to the rotational speed of an input rotary shaft of the human-powered vehicle and information relating to the rotational speed of wheels of the human-powered vehicle,

and a control unit configured to control a component provided in the human-powered vehicle based on a variation in a rotational speed of the input rotary shaft and a variation in a rotational speed of the wheel in a state where a human-powered driving force applied to the human-powered vehicle is equal to or greater than a predetermined threshold value.

19. The control device according to claim 18,

the control unit is configured to further acquire at least one of first information relating to a first ratio of a rotational speed of a wheel to a rotational speed of the input rotary shaft, and second information relating to a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel,

the means is controlled in accordance with at least one of a variation in the rotational speed of the input rotary shaft, a variation in the rotational speed of the wheel, and the first ratio and the second ratio in a state where the human power driving force is equal to or greater than the predetermined threshold value.

20. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to suppress the output of the motor when a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

21. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to reduce an assist ratio of the assist force generated by the motor to the human-powered driving force input to the human-powered vehicle when a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

22. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to stop the motor when a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

23. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to suppress the output of the motor when a change amount of a third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a change amount of the rotation speed of the wheel are equal to or greater than a fifth difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a fourth value obtained by multiplying the rotation speed of the wheel by the second ratio are equal to or greater than a sixth difference.

24. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to reduce an assist ratio of the assist force generated by the motor to the human-powered vehicle input by the human-powered vehicle when a variation in the rotational speed of the input rotary shaft divided by the second ratio and a variation in the rotational speed of the wheel are equal to or greater than a fifth difference or when a variation in the rotational speed of the input rotary shaft and a variation in the rotational speed of the wheel multiplied by the second ratio are equal to or greater than a sixth difference.

25. The control device according to claim 19,

the assembly includes a motor configured to apply a propulsive force to the human-powered vehicle,

the control unit is configured to stop the motor when a change amount of a third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a change amount of the rotation speed of the wheel are equal to or greater than a fifth difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a fourth value obtained by multiplying the rotation speed of the wheel by the second ratio are equal to or greater than a sixth difference.

26. The control device according to any one of claims 19 to 25,

the assembly includes a display portion that is configured to display,

the control unit is configured to output information to the display unit so that preset display information is displayed on the display unit, based on at least one of a change amount of a rotation speed of the input rotary shaft, a change amount of a rotation speed of the wheel, and the first ratio and the second ratio, in a state where the human power driving force is equal to or greater than the preset threshold value.

Technical Field

The present invention relates to a discrimination device for a human-powered vehicle and a control device for a human-powered vehicle.

Background

For example, a human-powered vehicle disclosed in patent document 1 includes a detection unit that outputs information on the rotation speed of a wheel.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2016-7905

Disclosure of Invention

An object of the present invention is to provide a discrimination device for a human-powered vehicle and a control device for a human-powered vehicle, which can be suitably applied to a human-powered vehicle.

According to a first aspect of the present application, a discriminating device for a human-powered vehicle includes:

and a determination unit configured to acquire information on a rotational speed of an input rotary shaft of the human-powered vehicle and information on a rotational speed of a wheel of the human-powered vehicle, and determine a preset state from a variation in the rotational speed of the input rotary shaft and a variation in the rotational speed of the wheel in a state where a human-powered driving force applied to the human-powered vehicle is equal to or greater than a preset threshold value.

According to the discrimination device of the first aspect, in a state where the manual driving force applied to the manually driven vehicle is equal to or greater than the predetermined threshold value, the predetermined state can be discriminated from the amount of change in the rotation speed of the input rotary shaft and the amount of change in the rotation speed of the wheel, and therefore, the discrimination device can be suitably applied to the manually driven vehicle.

In the second aspect of the present invention, the determination unit is configured to determine the predetermined state when the rotation speed of the wheel is equal to or higher than a predetermined first speed.

According to the second aspect of the present invention, since the determination device determines the predetermined state when the rotation speed of the wheel is equal to or higher than the predetermined first speed, the determination accuracy can be improved.

In the determination device according to the first or third aspect of the present application, the determination unit is configured to further acquire at least one of first information relating to a first ratio of the rotational speed of the wheel to the rotational speed of the input rotary shaft and second information relating to a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel, and determine the predetermined state based on at least one of a change amount of the rotational speed of the input rotary shaft, a change amount of the rotational speed of the wheel, and the first ratio and the second ratio in a state where the human-powered driving force is equal to or greater than the predetermined threshold value.

According to the determination device of the third aspect, in a state where the manual driving force is equal to or greater than the predetermined threshold value, the predetermined state can be determined based on at least one of the amount of change in the rotation speed of the input rotary shaft, the amount of change in the rotation speed of the wheel, and the first ratio and the second ratio.

In the discrimination device according to a fourth aspect of the present application, the discrimination unit is configured to discriminate the preset state based on a comparison between a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel, or a comparison between a change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio.

According to the determination device of the fourth aspect, the predetermined state can be determined based on a comparison between the variation of the first value and the variation of the rotation speed of the wheel, or a comparison between the variation of the rotation speed of the input rotary shaft and the variation of the second value.

In the discrimination device according to a fifth aspect of the present invention, the discrimination unit is configured to discriminate that the preset state is the first state when the variation of the first value and the variation of the rotation speed of the wheel are equal to or larger than a first difference or when the variation of the rotation speed of the input rotary shaft and the variation of the second value are equal to or larger than a second difference.

According to the determining device of the fifth aspect, the predetermined state can be determined as the first state when the variation of the first value and the variation of the rotational speed of the wheel are equal to or larger than the first difference, or when the variation of the rotational speed of the input rotary shaft and the variation of the second value are equal to or larger than the second difference.

In the sixth aspect of the present invention, the determination unit is configured to determine that the preset state is the second state when the variation of the first value and the variation of the rotation speed of the wheel are smaller than a third difference or when the variation of the rotation speed of the input rotary shaft and the variation of the second value are smaller than a fourth difference.

According to the determination device of the sixth aspect, it is possible to determine that the preset state is the second state when the variation of the first value and the variation of the rotation speed of the wheel are smaller than the third difference or when the variation of the rotation speed of the input rotary shaft and the variation of the second value are smaller than the fourth difference.

In the seventh aspect of the present invention, the determination unit is configured to determine the preset state based on a comparison between a variation in the third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a variation in the rotation speed of the wheel, or a comparison between a variation in the rotation speed of the input rotary shaft and a variation in the fourth value obtained by multiplying the rotation speed of the wheel by the second ratio.

According to the discrimination device of the seventh aspect, the predetermined state can be discriminated based on a comparison between the variation of the third value and the variation of the rotation speed of the wheel, or a comparison between the variation of the rotation speed of the input rotary shaft and a variation of the fourth value obtained by multiplying the rotation speed of the wheel by the second ratio.

In the discrimination device according to an eighth aspect of the seventh aspect of the present application, the discrimination unit is configured to discriminate that the preset state is the first state when the variation in the third value and the variation in the rotation speed of the wheel are equal to or larger than a fifth difference, or when the variation in the rotation speed of the input rotary shaft and the variation in the fourth value are equal to or larger than a sixth difference.

According to the determination device of the eighth aspect, the predetermined state can be determined as the first state when the variation of the third value and the variation of the rotation speed of the wheel are equal to or larger than the fifth difference, or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are equal to or larger than the sixth difference.

In the seventh or eighth aspect of the present invention, in the determination device according to the ninth aspect, the determination unit is configured to determine that the preset state is the second state when the variation in the third value and the variation in the rotation speed of the wheel are smaller than a seventh difference or when the variation in the rotation speed of the input rotary shaft and the variation in the fourth value are smaller than an eighth difference.

According to the determination device of the ninth aspect, the predetermined state can be determined as the second state when the variation of the third value and the variation of the rotation speed of the wheel are smaller than the seventh difference or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are smaller than the eighth difference.

A discrimination device according to a tenth aspect of the present application is a discrimination device for a human-powered vehicle, including: a determination unit configured to acquire information on a rotational speed of an input rotary shaft of the human-powered vehicle and information on a rotational speed of a wheel of the human-powered vehicle, and determine a preset state based on at least one of a first ratio of the rotational speed of the wheel to the rotational speed of the input rotary shaft and a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel.

According to the discrimination device of the tenth aspect, the previously set state can be discriminated on the basis of at least one of the first ratio and the second ratio of the rotation speed of the input rotary shaft to the rotation speed of the wheel, and therefore the discrimination device can be suitably applied to a human-powered vehicle.

In the eleventh aspect of the present invention, the discrimination unit is configured to discriminate the predetermined state from at least one of the first ratio and the second ratio in a state where the human-powered driving force applied to the human-powered vehicle is equal to or greater than a predetermined threshold value.

According to the discrimination device of the eleventh aspect, in a state where the human-powered driving force applied to the human-powered vehicle is equal to or greater than the predetermined threshold value, the predetermined state can be discriminated from at least one of the first ratio and the second ratio.

In the twelfth aspect of the present invention, the determination unit determines that the predetermined state is the first state when the first ratio is equal to or higher than a predetermined third ratio.

According to the discrimination device of the twelfth aspect, when the first ratio is equal to or greater than the third ratio set in advance, it is possible to discriminate that the preset state is the first state.

In the thirteenth aspect of the present invention, in the determination device according to any one of the tenth to twelfth aspects, the determination unit determines that the predetermined state is the second state when the first ratio is smaller than a predetermined fourth ratio.

According to the discrimination device of the thirteenth aspect, when the first ratio is smaller than the preset fourth ratio, it is possible to discriminate that the preset state is the second state.

In the discrimination device according to the tenth aspect or the fourteenth aspect of the present application, the discrimination unit discriminates that the preset state is the first state when the second ratio is smaller than a fifth ratio that is set in advance.

According to the discrimination device of the fourteenth aspect, when the second ratio is smaller than the fifth ratio set in advance, it is possible to discriminate that the state set in advance is the first state.

In the fifteenth aspect of the present invention, in the determination device according to any one of the tenth, eleventh, twelfth and fourteenth aspects, the determination unit determines that the preset state is the second state when the second ratio is equal to or higher than a preset sixth ratio.

According to the determining device of the fifteenth aspect, when the second ratio is equal to or greater than the preset sixth ratio, it can be determined that the preset state is the second state.

In a sixteenth aspect of the present invention, in the determination device according to any one of the fifth, eighth, twelfth and fourteenth aspects, the determination unit is configured to acquire information on the rotation speed of the wheel from a detection unit, and the first state includes at least one of a state where the detection unit is not constituted by a detection unit set in advance and a state where the detection unit is malfunctioning.

According to the discrimination device of the sixteenth aspect, the first state including at least one of the state in which the detection unit is not constituted by the detection unit set in advance and the state in which the detection unit is malfunctioning can be discriminated.

In the seventeenth aspect of the present invention, in the determination device according to any one of the sixth, ninth, thirteenth, and fifteenth aspects of the present invention, the determination unit is configured to acquire information on the rotation speed of the wheel from a detection unit, and the second state includes a state in which the detection unit is configured by a detection unit set in advance.

According to the seventeenth aspect of the present invention, the second state of the state in which the detection unit is constituted by the preset detection unit can be determined.

A control device according to an eighteenth aspect of the present application is a control device for a human-powered vehicle, including: and a control unit configured to acquire information on a rotational speed of an input rotary shaft of the human-powered vehicle and information on a rotational speed of a wheel of the human-powered vehicle, and to control a component provided in the human-powered vehicle based on a variation in the rotational speed of the input rotary shaft and a variation in the rotational speed of the wheel in a state where a human-powered force applied to the human-powered vehicle is equal to or greater than a predetermined threshold value.

According to the control device of the eighteenth aspect, in a state where the manual driving force applied to the manual drive vehicle is equal to or greater than the predetermined threshold value, the components provided in the manual drive vehicle can be controlled in accordance with the amount of change in the rotational speed of the input rotary shaft and the amount of change in the rotational speed of the wheel.

In the control device according to a nineteenth aspect of the eighteenth aspect of the present application, the control unit is configured to further acquire at least one of first information relating to a first ratio of a rotational speed of a wheel to a rotational speed of the input rotary shaft and second information relating to a second ratio of the rotational speed of the input rotary shaft to the rotational speed of the wheel, and to control the unit based on at least one of a change amount of the rotational speed of the input rotary shaft, a change amount of the rotational speed of the wheel, and the first ratio and the second ratio in a state where the human-powered driving force is equal to or greater than the predetermined threshold value.

According to the control device of the nineteenth aspect, the means can be controlled in accordance with at least one of the amount of change in the rotational speed of the input rotary shaft, the amount of change in the rotational speed of the wheel, and the first ratio and the second ratio, in a state where the manual driving force is equal to or greater than the predetermined threshold value.

In the control device according to a twentieth aspect of the nineteenth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to suppress the output of the motor when a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

According to the control device of the twentieth aspect, the output of the motor can be suppressed when the amount of change in the first value and the amount of change in the rotation speed of the wheel are equal to or greater than the first difference, or when the amount of change in the rotation speed of the input rotary shaft and the amount of change in the second value are equal to or greater than the second difference.

In the control device according to a twenty-first aspect of the nineteenth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to reduce an assist ratio of an assist force generated by the motor with respect to a human-powered driving force input to the human-powered vehicle, when a variation amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a variation amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the variation amount of the rotation speed of the input rotary shaft and a variation amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

According to the control device of the twenty-first aspect, the assist ratio can be reduced when the amount of change in the first value and the amount of change in the rotation speed of the wheel are equal to or greater than the first difference, or when the amount of change in the rotation speed of the input rotary shaft and the amount of change in the second value are equal to or greater than the second difference.

In the control device according to a twenty-second aspect of the nineteenth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to stop the motor when a change amount of a first value obtained by multiplying the rotation speed of the input rotary shaft by the first ratio and a change amount of the rotation speed of the wheel are equal to or greater than a first difference, or when the change amount of the rotation speed of the input rotary shaft and a change amount of a second value obtained by dividing the rotation speed of the wheel by the first ratio are equal to or greater than a second difference.

According to the control device of the twenty-second aspect, the motor can be stopped when the change amount of the first value and the change amount of the rotation speed of the wheel are equal to or greater than the first difference, or when the change amount of the rotation speed of the input rotary shaft and the change amount of the second value are equal to or greater than the second difference.

In the control device according to a twenty-third aspect of the nineteenth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to suppress the output of the motor when a variation in the third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a variation in the rotation speed of the wheel are equal to or greater than a fifth difference, or when the variation in the rotation speed of the input rotary shaft and a variation in the fourth value obtained by multiplying the rotation speed of the wheel by the second ratio are equal to or greater than a sixth difference.

According to the control device of the twenty-third aspect, the output of the motor can be suppressed when the variation of the third value and the variation of the rotation speed of the wheel are equal to or larger than the fifth difference, or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are equal to or larger than the sixth difference.

In the control device according to a twenty-fourth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to reduce an assist ratio of an assist force generated by the motor with respect to a human-powered driving force input to the human-powered vehicle, when a variation in a third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a variation in the rotation speed of the wheel are equal to or greater than a fifth difference, or when the variation in the rotation speed of the input rotary shaft and a variation in a fourth value obtained by multiplying the rotation speed of the wheel by the second ratio are equal to or greater than a sixth difference.

According to the control device of the twenty-fourth aspect, the assist ratio can be reduced when the variation in the third value and the variation in the rotational speed of the wheel are equal to or greater than the fifth difference, or when the variation in the rotational speed of the input rotary shaft and the variation in the fourth value are equal to or greater than the sixth difference.

In the control device according to a twenty-fifth aspect of the nineteenth aspect of the present application, the module includes a motor configured to apply a propulsive force to the human-powered vehicle, and the control unit is configured to stop the motor when a variation in a third value obtained by dividing the rotation speed of the input rotary shaft by the second ratio and a variation in the rotation speed of the wheel are equal to or greater than a fifth difference, or when the variation in the rotation speed of the input rotary shaft and a variation in a fourth value obtained by multiplying the rotation speed of the wheel by the second ratio are equal to or greater than a sixth difference.

According to the control device of the twenty-fifth aspect, the motor can be stopped when the variation of the third value and the variation of the rotation speed of the wheel are equal to or greater than the fifth difference, or when the variation of the rotation speed of the input rotary shaft and the variation of the fourth value are equal to or greater than the sixth difference.

In a twenty-sixth aspect of the present invention, in the control device according to any one of nineteenth to twenty-fifth aspects of the present application, the module includes a display unit, and the control unit is configured to output information to the display unit so that preset display information is displayed on the display unit, based on at least one of a change amount of a rotation speed of the input rotary shaft, a change amount of a rotation speed of the wheel, and the first ratio and the second ratio, in a state where the manual driving force is equal to or greater than the preset threshold value.

According to the control device of the twenty-sixth aspect, in a state where the manual driving force is equal to or greater than the preset threshold value, information can be output to the display unit so that preset display information is displayed on the display unit, based on at least one of the amount of change in the rotational speed of the input rotary shaft, the amount of change in the rotational speed of the wheel, and the first ratio and the second ratio.

ADVANTAGEOUS EFFECTS OF INVENTION

The discrimination device for a human-powered vehicle and the control device for a human-powered vehicle according to the present application can be suitably applied to a human-powered vehicle.

Drawings

FIG. 1 is a side view of a human-powered vehicle including a control apparatus for a human-powered vehicle of a first embodiment;

fig. 2 is a block diagram showing an electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment;

FIG. 3 is a flowchart of a process executed by the control unit of FIG. 2 to determine a preset state;

fig. 4 is a flowchart of a process of controlling the motor, which is executed by the control section of fig. 2;

fig. 5 is a flowchart of a process executed by the control unit of the second embodiment to determine a preset state;

fig. 6 is a flowchart of a process executed by the control unit of the third embodiment to determine a preset state;

fig. 7 is a flowchart of a process executed by the control unit of the fourth embodiment to determine a preset state;

fig. 8 is a flowchart of a process of suppressing the output of the motor executed by the control unit of the first example of the modification;

fig. 9 is a flowchart of a process of decreasing the assist ratio, which is executed by the control unit of the second example of the modification;

fig. 10 is a flowchart of a process of stopping the motor executed by the control unit of the third example of the modification;

fig. 11 is a flowchart of a process of suppressing the output of the motor executed by the control unit of the fourth example of the modification;

fig. 12 is a flowchart of a process of decreasing the assist ratio, which is executed by the control unit of the fifth example of the modification;

fig. 13 is a flowchart of a process of stopping the motor, which is executed by the control unit of the sixth example of the modification.

Detailed Description

< first embodiment >

Referring to fig. 1 to 4, a discrimination device 60 for a human-powered vehicle and a control device 70 for a human-powered vehicle according to a first embodiment will be described. The human-powered vehicle 10 is a vehicle having at least one wheel and being capable of being driven by at least a human-powered driving force H. The human-powered vehicle 10 includes various types of bicycles such as a mountain bike, a road bike, a city bike, a cargo bike, a hand bike (hand bike), and a recumbent bike (recumbent bike). The human powered vehicle 10 has no limit on the number of wheels. The human powered vehicle 10 includes, for example, a unicycle and a vehicle having more than 3 wheels. The human-powered vehicle 10 is not limited to a vehicle that can be driven only by the human-powered driving force H. The human-powered vehicle 10 includes an electric bicycle (E-bike) that is propelled by not only a human-powered driving force H but also a driving force of an electric motor. Electric bicycles include electric-assisted bicycles that are propelled by an electric motor. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as an electric assist bicycle.

The human-powered vehicle 10 includes a crank 12 to which a human-powered driving force H is input. The human-powered vehicle 10 further includes wheels 14 and a vehicle body 16. The wheels 14 include rear wheels 14A and front wheels 14B. The vehicle body 16 includes a frame 18. The crank 12 includes: an input rotary shaft 12A rotatable with respect to the frame 18; and a pair of crank arms 12B provided at respective axial end portions of the input rotary shaft 12A. The pair of pedals 20 are coupled to the respective crank arms 12B. The rear wheel 14A is driven by rotation of the crank 12. The rear wheel 14A is supported on the frame 18. The crank 12 and the rear wheel 14A are coupled by a drive mechanism 22. The drive mechanism 22 includes a first rotating body 24 coupled to the input rotating shaft 12A. The input rotary shaft 12A and the first rotating body 24 may be coupled to rotate integrally, or may be coupled to each other via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a coupling member 28. The coupling member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The coupling member 28 includes, for example, a chain, a belt, or a transmission shaft.

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

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

The human powered vehicle 10 includes a battery 36 for the human powered vehicle. The battery 36 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 36 supplies electric power to the control device 70. Preferably, the battery 36 is communicably connected with the control section 72 of the control device 70 by a cable or a wireless communication device. The battery 36 can communicate with the control unit 72 of the control device 70 by, for example, Power Line Communication (PLC), can (controller Area network), or UART (Universal Asynchronous Receiver/Transmitter).

The human-powered vehicle 10 includes a module 38 for a human-powered vehicle. Preferably, the assembly 38 includes a motor 40, the motor 40 being configured to apply a propulsive force to the human powered vehicle 10. The motor 40 includes one or more electric motors. The motor 40 is configured to transmit rotation to at least one of the front wheels 14B and a power transmission path of the manual driving force H from the pedals 20 to the rear wheels 14A. The power transmission path of the human-powered driving force H from the pedals 20 to the rear wheels 14A includes the rear wheels 14A. In the present embodiment, the motor 40 is provided in the body frame 18 of the human-powered vehicle 10 and configured to transmit rotation to the first rotating body 24. The assembly 38 includes a housing 39. Housing 39 is provided to frame 18. Case 39 is detachably attached to frame 18, for example. The motor 40 is provided in the housing 39. The drive unit is constituted to include a motor 40 and a housing provided with the motor 40. Preferably, a third one-way clutch is provided in a power transmission path between the motor 40 and the input rotary shaft 12A so as not to transmit the rotational force of the transmission crank 12 to the motor 40 when the input rotary shaft 12A is rotated in the direction in which the vehicle 10 is manually driven to advance. In the case where the motor 40 is provided to at least one of the rear wheel 14A and the front wheel 14B, the motor 40 may include a hub motor.

The assembly 38 may include a display 42. The display unit 42 includes, for example, a display panel. The display portion 42 includes, for example, at least one of a portable electronic device, a display, a smartphone, a tablet, and a code meter. The display unit 42 may include a speaker.

Preferably, the human-powered vehicle 10 includes a transmission 44, and the transmission 44 is configured to change a gear ratio of the human-powered vehicle 10. The transmission ratio of the human-powered vehicle 10 is a first ratio R1 of the rotation speed W of the wheels 14 to the rotation speed C of the input rotary shaft 12A. The first ratio R1 is the rotation speed W/the rotation speed C. In the present embodiment, the driving wheel is the rear wheel 14A. The transmission 44 includes at least one of a front derailleur, a rear derailleur, and an internal transmission, for example. In the case where the transmission 44 includes an internal transmission, the internal transmission is provided on, for example, a hub of the rear wheel 14A. The built-in transmission may be provided to the housing 39, for example. The transmission 44 includes at least one of an electric transmission configured to be operated by an electric actuator and a cable transmission configured to be operated by a bowden cable.

The determination device 60 includes a determination unit 62. The control device 70 includes a control section 72. Preferably, the control section 72 includes the determination section 62. The control device 70 and the determination device 60 may be at least partially overlapped, or may be substantially the same. In the present embodiment, the control unit 72 includes the determination unit 62.

The control unit 72 includes a processing unit that executes a preset control program. The operation Processing device includes, for example, a CPU (Central Processing Unit) or an MPU (micro Processing Unit). The arithmetic processing device may be provided in a plurality of places separated from each other. The control section 72 may include one or more microcomputers. Preferably, the control device 70 further includes a memory portion 74. The storage unit 74 stores various control programs and various pieces of information for controlling the processing. The storage section 74 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile Memory includes, for example, at least one of a ROM (Read-Only Memory), an eprom (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash Memory. Volatile memory includes, for example, ram (random access memory). The control unit 72 functions as the determination unit 62 by the arithmetic processing device executing a control program for functioning as the determination unit 62.

Preferably, the control device 70 further includes a drive circuit 76 for the motor 40. The drive circuit 76 and the control section 72 are preferably provided in the housing 39. The drive circuit 76 and the control unit 72 may be provided on the same circuit board, for example. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 36 to the motor 40. The drive circuit 76 is connected to the control unit 72 by wire or wirelessly. The drive circuit 76 drives the motor 40 in accordance with a control signal from the control unit 72.

The human powered vehicle 10 includes a detection portion 46. The detection unit 46 is configured to detect information on the rotation speed W of the wheel 14. The detection unit 46 is connected to the control unit 72 via a wireless communication device or a cable. Preferably, the detection portion 46 includes a vehicle speed sensor 48.

The vehicle speed sensor 48 is configured to detect information corresponding to the rotational speed W of the wheels 14 of the human-powered vehicle 10. The vehicle speed sensor 48 is configured to detect, for example, a magnet provided on the wheel 14 of the human-powered vehicle 10. The vehicle speed sensor 48 is configured to output a detection signal a predetermined number of times during 1 rotation of the wheel 14, for example. The predetermined number of times is, for example, 1 time. The vehicle speed sensor 48 outputs a signal corresponding to the rotation speed of the wheels 14. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed of the wheels 14 and the information on the circumferential length of the wheels 14. The storage unit 74 stores information relating to the circumferential length of the wheel 14. The vehicle speed sensor 48 includes, for example, a magnetic reed (magnetic reed) or a hall element constituting a magnetic reed switch. The vehicle speed sensor 48 may be attached to the rear lower fork of the frame 18 of the human-powered vehicle 10 to detect the magnet attached to the rear wheel 14A, or may be attached to the front fork 30 to detect the magnet attached to the front wheel 14B. In the present embodiment, the vehicle speed sensor 48 is configured such that the magnet is detected 1 time by the reed switch when the wheel 14 rotates 1 turn. The vehicle speed sensor 48 is not limited to a configuration for detecting a magnet provided on the wheel 14, and may be a configuration including an optical sensor or the like, for example. The vehicle speed sensor 48 is connected to the control unit 72 via a wireless communication device or a cable.

Where the assembly 38 includes the motor 40, the human powered vehicle 10 preferably also includes a crank rotation sensor 50 and a torque sensor 52. The crank rotation sensor 50 is configured to detect information corresponding to the rotation speed C of the input rotary shaft 12A. The crank rotation sensor 50 is provided to, for example, the frame 18 or the drive unit of the human-powered vehicle 10. The crank rotation sensor 50 is configured to include a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The ring magnet, whose magnetic field strength changes in the circumferential direction, is provided on the input rotary shaft 12A, a member that rotates in conjunction with the input rotary shaft 12A, or a power transmission path from the input rotary shaft 12A to the first rotating body 24. The member that rotates in conjunction with the input rotary shaft 12A may include an output shaft of the motor 40. The crank rotation sensor 50 outputs a signal corresponding to the rotation speed C of the input rotary shaft 12A. The magnet may be provided on a power transmission path of the manual driving force H from the input rotary shaft 12A to the first rotating body 24, and may be provided on a member that rotates integrally with the input rotary shaft 12A. For example, in the case where the first one-way clutch is not provided between the input rotary shaft 12A and the first rotating body 24, the magnet may be provided in the first rotating body 24. The crank rotation sensor 50 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like, instead of the magnetic sensor. The crank rotation sensor 50 is connected to the control unit 72 via a wireless communication device or a cable.

Preferably, the human-powered vehicle 10 further includes a human-powered driving force detection portion 51. The human-powered driving force detection unit 51 includes a torque sensor 52. The torque sensor 52 is configured to output a signal corresponding to the torque applied to the crank 12 by the manual driving force H. For example, in the case where the first one-way clutch is provided in the power transmission path, the torque sensor 52 is preferably provided on the upstream side of the power transmission path from the first one-way clutch. The torque sensor 52 includes a strain gauge sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain gauge sensor comprises a strain gauge. The torque sensor 52 is provided in the vicinity of the power transmission path or a member included in the power transmission path. The power transmission path includes, for example, the input rotary shaft 12A, a member that transmits the manual driving force H between the input rotary shaft 12A and the first rotating body 24, the crank arm 12B, or the pedal 20. The torque sensor 52 is connected to the control unit 72 via a wireless communication device or a cable. The human-powered driving force detecting unit 51 may have any configuration as long as it can acquire information on the human-powered driving force H, and may include, for example, a sensor that detects pressure applied to the pedals, a sensor that detects tension of the chain, or the like.

Preferably, the human powered vehicle 10 also includes a shift state sensor 54. The shift state sensor 54 outputs information related to the shift state of the transmission 44. The shift state includes, for example, a shift stage. The shift state sensor 54 may be provided to the transmission 44, or may be provided to a bowden cable or a shift operation device. When the transmission 44 is an electric transmission, the shift state sensor 54 is configured to detect, for example, an operation of an electric actuator of the electric transmission. The electric actuator of the electrically variable transmission includes, for example, an electric motor and a reduction gear. The shift state sensor 54 is configured to detect an operation of an electric motor or a reduction gear of the electric actuator. When the transmission 44 is a cable transmission, the shift state sensor 54 is configured to detect at least one of an operation of a movable portion of the transmission 44, an operation of a bowden cable, and an operation of a shift operation device, for example. The shift state sensor 54 includes, for example, a magnetic sensor, a potentiometer, a rotary encoder, a linear encoder, an optical sensor, or the like. The storage unit 74 stores information relating to the gear shift state output from the gear shift state sensor 54 and information relating to the gear ratio of the human-powered vehicle in association with each other. The control unit can acquire information on the first ratio R1 of the current human-powered vehicle 10 from the information on the shift state output from the shift state sensor 54 and the information stored in the storage unit 74.

The determination device 60 includes a determination unit 62. The determination unit 62 acquires information on the rotation speed C of the input rotary shaft 12A of the human-powered vehicle 10 and information on the rotation speed W of the wheel 14 of the human-powered vehicle 10. The determination unit 62 is configured to determine a preset state from the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the rotation speed W of the wheel 14 in a state where the human power driving force H applied to the human power driven vehicle 10 is equal to or greater than a preset threshold HX. Preferably, the determination unit 62 is configured to acquire information on the rotation speed W of the wheel 14 from the detection unit 46. Preferably, the predetermined threshold HX is greater than 0 Nm. Preferably, the preset threshold HX is set to a value that can discriminate the coasting of the human-powered vehicle 10. The predetermined threshold HX is, for example, a value in the range of greater than 0Nm and less than or equal to 8 Nm. The predetermined threshold HX is, for example, a value in the range of more than 3Nm and not more than 6 Nm. The change amount is, for example, a change amount within a predetermined time. The predetermined time is, for example, 1 second.

Preferably, the determination unit 62 is configured to determine a preset state when the rotation speed W of the wheel 14 is equal to or higher than a preset first speed WX. The preset first speed WX includes, for example, a value corresponding to a vehicle speed V of the human-powered vehicle 10 being 25km per hour or about 25km per hour. The preset first speed WX may include, for example, a value corresponding to a vehicle speed V of the human-powered vehicle 10 being 24km per hour or about 24km per hour.

Preferably, the determination section 62 further acquires at least one of first information relating to a first ratio R1 of the rotation speed W of the wheel 14 to the rotation speed C of the input rotary shaft 12A, and second information relating to a second ratio R2 of the rotation speed C of the input rotary shaft 12A to the rotation speed W of the wheel 14. The second ratio R2 is speed C/speed W. Preferably, the determination unit 62 is configured to determine the preset state based on the amount of change in the rotation speed C of the input rotary shaft 12A, the amount of change in the rotation speed W of the wheel 14, and at least one of the first ratio R1 and the second ratio R2 in a state where the manual driving force H is equal to or greater than the preset threshold HX. Preferably, the determination unit 62 is configured to determine the preset state based on a comparison between a variation in the first value P1 obtained by multiplying the rotation speed C of the input rotary shaft 12A by the first ratio R1 and a variation in the rotation speed W of the wheel 14, or a comparison between a variation in the rotation speed C of the input rotary shaft 12A and a variation in the second value P2 obtained by dividing the rotation speed W of the wheel 14 by the first ratio R1.

Preferably, the predetermined state includes a first state and a second state. For example, the first state includes at least one of a state in which the detection unit 46 is not configured by a predetermined detection unit and a state in which the detection unit 46 has failed. The second state includes a state in which the detection unit 46 is constituted by a preset detection unit. The preset detection unit is configured to be appropriately used for controlling the module 38. If the detection unit 46 is not configured by a preset detection unit, the actual change in the rotation speed W of the wheel 14 may be different from the change in the rotation speed W of the wheel 14 obtained from the detection result of the detection unit 46. When the detection unit 46 is not suitable for the control of the module 38, the determination unit 62 can determine the first state.

Preferably, the determination unit 62 is configured to determine that the preset state is the first state when the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than the first difference D1, or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2. Preferably, the determination unit 62 is configured to determine that the preset state is the second state when the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are smaller than the third difference D3 or when the amount of change in the rotation speed of the input rotary shaft and the amount of change in the second value P2 are smaller than the fourth difference D4.

Preferably, the first difference D1 is greater than the third difference D3. The first difference D1 may be equal to the third difference D3. Preferably, the second difference D2 is greater than the fourth difference D4. The second difference D2 may be equal to the fourth difference D4. The first difference D1, the second difference D2, the third difference D3, and the fourth difference D4 are preset. Information relating to at least one of the first difference D1, the second difference D2, the third difference D3, and the fourth difference D4 is stored in the storage section 74.

Preferably, the controller 72 is configured to output information to the display 42 so that the display 42 displays preset display information, based on the amount of change in the rotation speed C of the input rotary shaft 12A, the amount of change in the rotation speed W of the wheels 14, and at least one of the first ratio R1 and the second ratio R2, in a state where the manual driving force H is equal to or greater than the preset threshold HX.

Preferably, the control unit 72 causes the display unit 42 to notify preset notification information in the second state. The preset notification information indicates, for example, an error of the detection unit 46. When the display unit 42 includes a display, the preset notification information includes at least one of a character and an image, for example. When the display unit 42 includes a speaker, the preset notification information includes at least one of a sound and a warning sound, for example. In the case of the first state, the display unit 42 may continuously notify until the second state is reached, or may intermittently notify until the second state is reached, for example.

The process of discriminating the first state and the second state will be described with reference to fig. 3. When the control unit 72 receives the electric power supply, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in fig. 3. When the flowchart of fig. 3 is completed, the control unit 72 repeats the processing from step S11 after a predetermined period until the supply of electric power is stopped.

In step S11, the control unit 72 determines whether or not the human power driving force H is equal to or greater than a preset threshold HX. When the human driving force H is not equal to or greater than the preset threshold HX, the control unit 72 ends the process. When the manual driving force H is equal to or greater than the preset threshold HX, the control unit 72 proceeds to step S12.

In step S12, the control unit 72 determines whether or not the rotation speed W of the wheels 14 is equal to or higher than a preset first speed WX. When the rotation speed W of the wheel 14 is not equal to or higher than the preset first speed WX, the control unit 72 ends the process. When the rotation speed W of the wheel 14 is equal to or higher than the preset first speed WX, the control unit 72 proceeds to step S13.

In step S13, the control unit 72 determines whether or not the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheels 14 are equal to or greater than the first difference D1, or whether or not the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2. If the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than the first difference D1, or if the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2, the controller 72 proceeds to step S14. In step S14, control unit 72 determines that it is in the first state, and proceeds to step S17.

In step S13, when the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheels 14 are not equal to or greater than the first difference D1 and the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are not equal to or greater than the second difference D2, the control unit 72 proceeds to step S15. In step S15, the control unit 72 determines whether the amount of change in the first value P1 and the amount of change in the rotational speed W of the wheel 14 are smaller than the third difference D3 or whether the amount of change in the rotational speed C of the input rotary shaft 12A and the amount of change in the second value P2 are smaller than the fourth difference D4. In the case where the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are not less than the third difference D3, and the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are not less than the fourth difference D4, the control portion 72 ends the process. When the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are smaller than the third difference D3, or the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are smaller than the fourth difference D4, the control portion 72 proceeds to step S16. In step S16, control unit 72 determines that it is in the second state, and proceeds to step S17.

In step S17, the control unit 72 outputs information to the display unit 42 to display the preset display information, and ends the process. When it is determined in step S14 that the state is the first state, the control unit 72 outputs information including the state in the first state to the display unit 42, and the display unit 42 displays predetermined display information corresponding to the first state. When it is determined in step S16 that the state is the second state, the control unit 72 outputs information including the state in the second state to the display unit 42, and the display unit 42 displays predetermined display information corresponding to the second state.

The control unit 72 may be configured to proceed to step S14 if the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than the first difference D1 in step S13, and to proceed to step S15 if the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are not equal to or greater than the first difference D1. The control unit 72 may be configured to proceed to step S14 when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2 in step S13, and to proceed to step S15 when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are not equal to or greater than the second difference D2.

The control portion 72 may be configured to proceed to step S16 in the case where the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are smaller than the third difference D3 in step S15, and to end the processing in the case where the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheel 14 are not smaller than the third difference D3. The control unit 72 may be configured to proceed to step S16 when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are smaller than the fourth difference D4 in step S15, and end the processing when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are not smaller than the fourth difference D4.

Preferably, the control unit 72 is configured to control the module 38 provided in the human-powered vehicle 10 based on the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the rotation speed W of the wheel 14 in a state where the human-powered driving force H applied to the human-powered vehicle 10 is equal to or greater than a predetermined threshold HX.

The control section 72 controls the module 38 based on the output of the detection section 46. In the case where the component 38 is the motor 40, the control section 72 controls the motor 40 based on the output of the detection section 46. Preferably, in the case where the component 38 is the motor 40, the control portion 72 controls the motor 40 based on the outputs of the detection portion 46, the crank rotation sensor 50, and the torque sensor 52.

For example, the control unit 72 controls the motor 40 based on at least one of a vehicle speed V at which the vehicle 10 is driven by human power and a rotation speed C of the input rotary shaft 12A. Preferably, the control section 72 also controls the motor 40 according to the manual driving force H. The control unit 72 may be configured to control the motor 40 in the assist mode and the push mode. In the push mode, the control unit 72 is configured to drive the motor 40 when the manual driving force H input to the crank 12 is equal to or less than the preset driving force HA. The preset driving force HA is, for example, 0 Nm. The push mode is, for example, a case where the user pushes the human-powered vehicle 10. In the push mode, the control unit 72 is configured to drive the motor 40 when the manual driving force H is equal to or less than a preset first driving force HA1 while the operation unit for driving the motor 40 is being operated by the user. The preset first driving force HA1 is, for example, 0 Nm. In the assist mode, the control unit 72 is configured to control the motor 40 based on the manual driving force H and drive the motor 40 when the manual driving force H is larger than a preset second driving force HA 2. The human motive force H may be represented by torque TH, and may also be represented by power WH. The preset second driving force HA2 is, for example, 5 Nm. When the manual driving force H is expressed by electric power, the manual driving force H is obtained by multiplying the torque detected by the torque sensor 52 and the rotation speed C of the input rotary shaft 12A detected by the crank rotation sensor 50.

The control unit 72 is configured to control the motor 40 so that the ratio of the assist force M generated by the motor 40 to the manual driving force H becomes a preset assist ratio X, for example. The preset assist ratio X is not fixed, and may be changed, for example, depending on the human power driving force H, the vehicle speed V, or both the human power driving force H and the vehicle speed V. The human driving force H and the assisting force M may be expressed by torque or power. When the manual driving force H and the assisting force M are represented by torque, the manual driving force H is referred to as a manual torque TH, and the assisting force M is referred to as an assisting torque TM. When the human driving force H and the assist force M are expressed by power, the human driving force H is described as human power WH, and the assist force M is described as assist power WM. A torque ratio of the assist torque TM of the human-powered vehicle 10 to the human-powered torque TH may be referred to as an assist ratio AT. There are cases where the ratio of the assist power WM generated by the motor 40 to the human power WH is referred to as an assist ratio AW. The control unit 72 is configured to control the motor 40 in accordance with one control state selected from a plurality of control states in which at least a part of the correspondence relationship between the human power driving force H and the assist ratio X is different from each other, for example. The manual power WH is calculated by multiplying the manual torque TH by the rotational speed C of the input rotary shaft 12A. When the output of the motor 40 is input to the power path of the manual driving force H via the speed reducer, the output of the speed reducer is set as the assist force M. In the case where the speed reducer is not present, the assist power WM is calculated by multiplying the output torque of the motor 40 by the rotation speed of the motor 40. When a reduction gear is present, the assist power WM is calculated by multiplying the output torque of the reduction gear by the output rotation speed of the reduction gear. When a speed reducer is present, the storage unit 74 is configured to store information relating to the reduction ratio of the speed reducer. The control unit 72 can calculate the output rotation speed of the speed reducer based on the rotation speed of the motor 40 and information on the reduction ratio of the speed reducer. The storage unit 74 stores information indicating a relationship between a control command for the motor 40 and the output torque of the motor 40, for example. The control unit 72 can calculate the output torque of the motor 40 based on information indicating the relationship between the control command of the motor 40 and the output torque of the motor 40 stored in the storage unit 74, for example. The control unit 72 can calculate the output torque of the speed reducer from the output torque of the motor 40 and information on the speed reduction ratio of the speed reducer, for example. The control unit 72 is configured to output a control command to the drive circuit 76 of the motor 40 in accordance with the manual torque TH or the manual power WH. The control command includes, for example, a torque command value. The plurality of control states may include a control state in which the motor 40 is not driven.

The control unit 72 controls the motor 40 so that the assist force M is equal to or less than the upper limit value MX. When the assist force M is represented by torque, the control unit 72 controls the motor 40 so that the assist torque TM is equal to or less than the upper limit MTX. Preferably, the upper limit MTX is a value in the range of 30Nm or more and 90Nm or less. The upper limit value MTX is, for example, 80 Nm. The upper limit value MTX is determined by, for example, the output characteristics of the motor 40. When the assist force M is expressed by the power, the control unit 72 controls the motor 40 so that the assist power WM is equal to or less than the upper limit MWX.

For example, when the vehicle speed V is equal to or higher than a preset vehicle speed VX, the control unit 72 stops the motor 40. The preset vehicle speed VX is, for example, 25Km per hour. The predetermined vehicle speed VX may be less than 25Km, for example, 24 Km. The preset vehicle speed VX may be greater than 25Km per hour, for example, 45Km per hour. The predetermined first speed WX is preferably equal to the rotational speed W of the wheel 14 corresponding to the predetermined vehicle speed VX or less than the rotational speed W of the wheel 14 corresponding to the predetermined vehicle speed VX. The determination unit 62 is configured to determine a predetermined state when the rotation speed W of the wheel 14 is equal to or higher than a predetermined first speed WX. Therefore, even when the actual vehicle speed V exceeds the preset vehicle speed VX, if the detection unit 46 outputs an output to the control unit 72 such that the output does not exceed the preset vehicle speed VX, if the preset first speed WX is equal to or less than the rotation speed W of the wheel 14 corresponding to the preset vehicle speed VX, it can be appropriately determined that the vehicle is in the first state in which the detection unit 46 is not configured by the preset detection unit.

For example, when the rotation speed C of the input rotary shaft 12A is equal to or less than a preset first rotation speed C1, the control unit 72 stops the motor 40. The predetermined first rotational speed C1 is, for example, 0 rpm. For example, when the rotation speed C of the input rotary shaft 12A is equal to or higher than the preset second rotation speed C2, the control unit 72 may stop the motor 40 or may control the motor 40 so that the assist force M is reduced.

In the first state, for example, the control unit 72 may suppress the output of the motor 40 more than in the second state, may lower the assist ratio X more than in the second state, or may stop the motor 40.

With reference to fig. 4, a process of controlling the motor 40 in the first state will be described. When the electric power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S21 of the flowchart shown in fig. 4. When the flowchart of fig. 4 is completed, the control unit 72 repeats the processing from step S21 after a predetermined period until the supply of electric power is stopped.

In step S21, the control unit 72 determines whether or not the state is the first state. If the state is not the first state, the control unit 72 ends the process. If the state is the first state, the control unit 72 proceeds to step S22. In step S22, the control unit 72 executes the control of the motor 40 according to the first state, and ends the process.

< second embodiment >

Referring to fig. 2 and 5, a control device 70 according to a second embodiment will be described. The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment except for a mechanism for discriminating between the first state and the second state, and therefore, the same reference numerals as those of the first embodiment are given to the common configuration with the first embodiment, and redundant description is omitted.

The determination unit 62 is configured to determine the preset state based on a comparison between a variation in the third value P3 obtained by dividing the rotation speed C of the input rotary shaft 12A by the second ratio R2 and a variation in the rotation speed W of the wheel 14, or a comparison between a variation in the rotation speed C of the input rotary shaft 12A and a variation in the fourth value P4 obtained by multiplying the rotation speed W of the wheel 14 by the second ratio R2.

Preferably, the determination unit 62 is configured to determine that the preset state is the first state when the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than the fifth difference D5, or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are equal to or greater than the sixth difference D6. Preferably, the determination unit 62 determines that the preset state is the second state when the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are smaller than the seventh difference D7 or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are smaller than the eighth difference D8.

Preferably, the fifth difference D5 is greater than the seventh difference D7. The fifth difference D5 may also be equal to the seventh difference D7. Preferably, the sixth difference D6 is greater than the eighth difference D8. The sixth difference D6 may be equal to the eighth difference D8. The fifth difference D5, the sixth difference D6, the seventh difference D7, and the eighth difference D8 are preset. Information relating to at least one of the fifth difference D5, the sixth difference D6, the seventh difference D7, and the eighth difference D8 is stored in the storage section 74.

The process of discriminating the first state and the second state will be described with reference to fig. 5. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in fig. 5. When the flowchart of fig. 5 ends, the control unit 72 repeats the processing from step S11 after a predetermined period until the supply of electric power is stopped. The processing of steps S11, S12, S14, and S17 in fig. 5 correspond to the processing of steps S11, S12, S14, and S17 in fig. 3, respectively, and therefore, the description of the same processing is omitted.

In the flowchart of fig. 5, the process of step S31 is executed instead of the process of step S13 of fig. 3. In the flowchart of fig. 5, the process of step S32 is executed instead of the process of step S15 of fig. 3.

If the determination at step S12 is yes, control unit 72 proceeds to step S31. In step S31, the control unit 72 determines whether or not the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than a fifth difference D5, or whether or not the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are equal to or greater than a sixth difference D6. When the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are equal to or greater than the fifth difference D5, or the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are equal to or greater than the sixth difference D6, the control unit 72 proceeds to step S14. When the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are not equal to or greater than the fifth difference D5, and the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are not equal to or greater than the sixth difference D6, the controller 72 proceeds to step S32.

In step S32, the control unit 72 ends the process when the amount of change in the third value P3 and the amount of change in the rotational speed W of the wheel 14 are not less than the seventh difference D7, and the amount of change in the rotational speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are not less than the eighth difference D8. When the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheel 14 are smaller than the seventh difference D7 or the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are smaller than the eighth difference D8, the control unit 72 proceeds to step S16.

In step S31, the control unit 72 may be configured to proceed to step S14 if the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheels 14 are equal to or greater than the fifth difference D5, and to proceed to step S32 if the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheels 14 are not equal to or greater than the fifth difference D5. In step S31, the control unit 72 may be configured to proceed to step S14 if the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are equal to or greater than the sixth difference D6, and to proceed to step S32 if the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are not equal to or greater than the sixth difference D6.

The control unit 72 may be configured in step S32 to proceed to step S16 if the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheels 14 are smaller than the seventh difference D7, and to end the processing if the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheels 14 are not smaller than the seventh difference D7. The control portion 72 may be configured in step S32 to proceed to step S16 if the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are smaller than the eighth difference D8, and to end the processing if the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are not smaller than the eighth difference D8.

< third embodiment >

Referring to fig. 2 and 6, a control device 70 according to a third embodiment will be described. The control device 70 of the third embodiment is the same as the control device 70 of the first and second embodiments except for a mechanism for discriminating between the first and second states, and therefore, the same reference numerals as those of the first embodiment are given to the common configuration with the first and second embodiments, and redundant description is omitted.

The determination unit 62 acquires information on the rotation speed C of the input rotary shaft 12A of the human-powered vehicle 10 and information on the rotation speed W of the wheel 14 of the human-powered vehicle 10. The determination unit 62 is configured to determine a preset state from at least one of the first ratio R1 and the second ratio R2.

Preferably, the determination unit 62 is configured to determine the predetermined state from at least one of the first ratio R1 and the second ratio R2 in a state where the human-powered driving force H applied to the human-powered vehicle 10 is equal to or greater than a predetermined threshold value HX. Preferably, the determination unit 62 determines that the preset state is the first state when the first ratio R1 is equal to or greater than the preset third ratio R1X. Preferably, the determination section 62 determines that the preset state is the second state when the first ratio R1 is smaller than the preset fourth ratio R1Y. Preferably, the third ratio R1X is greater than the fourth ratio R1Y. The third ratio R1X may be equal to the fourth ratio R1Y.

The process of discriminating the first state and the second state will be described with reference to fig. 6. When the electric power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in fig. 6. When the flowchart of fig. 6 is completed, the control unit 72 repeats the processing from step S11 after a predetermined period until the supply of electric power is stopped. The processing of steps S11, S12, S14, and S17 in fig. 6 correspond to the processing of steps S11, S12, S14, and S17 in fig. 3, respectively, and therefore, the description of the same processing is omitted.

In the flowchart of fig. 6, the process of step S41 is executed instead of the process of step S13 of fig. 3. In the flowchart of fig. 6, the process of step S42 is executed instead of the process of step S15 of fig. 3.

If the determination at step S12 is yes, control unit 72 proceeds to step S41. In step S41, the control unit 72 determines whether or not the first ratio R1 is equal to or greater than a preset third ratio R1X. When the first ratio R1 is equal to or higher than the preset third ratio R1X, the controller 72 proceeds to step S14. If the first ratio R1 is not equal to or greater than the preset third ratio R1X, the controller 72 proceeds to step S42.

In step S42, the control section 72 determines whether the first ratio R1 is smaller than a preset fourth ratio R1Y. When the first ratio R1 is not less than the preset fourth ratio R1Y, the controller 72 ends the process. If the first ratio R1 is smaller than the preset fourth ratio R1Y, the controller 72 proceeds to step S16.

< fourth embodiment >

Referring to fig. 2 and 7, a control device 70 according to a fourth embodiment will be described. The control device 70 of the fourth embodiment is the same as the control device 70 of the first, second, and third embodiments except for the configuration for determining the first state and the second state, and therefore the configuration common to the first embodiment is given the same reference numerals as those of the first, second, and third embodiments, and redundant description is omitted.

Preferably, the determination part 62 determines that the preset state is the first state when the second ratio R2 is smaller than the preset fifth ratio R2X. Preferably, the determination unit 62 determines that the preset state is the second state when the second ratio R2 is equal to or greater than a preset sixth ratio R2Y. Preferably, the fifth ratio R2X is smaller than the sixth ratio R2Y. The fifth ratio R2X is equal to the sixth ratio R2Y.

The process of discriminating the first state and the second state will be described with reference to fig. 7. When the electric power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in fig. 7. When the flowchart of fig. 7 ends, the control unit 72 repeats the processing from step S11 after a predetermined period until the supply of electric power is stopped. The processing of steps S11, S12, S14, and S17 in fig. 7 correspond to the processing of steps S11, S12, S14, and S17 in fig. 3, respectively, and therefore, the description of the same processing is omitted.

In the flowchart of fig. 7, the process of step S51 is executed instead of the process of step S13 of fig. 3. In the flowchart of fig. 7, the process of step S52 is executed instead of the process of step S15 of fig. 3.

If the determination at step S12 is yes, control unit 72 proceeds to step S51. In step S51, the control portion 72 determines whether the second ratio R2 is smaller than a preset fifth ratio R2X. If the second ratio R2 is smaller than the preset fifth ratio R2X, the control unit 72 proceeds to step S14. In the case where the second ratio R2 is not less than the preset fifth ratio R2X, the control portion 72 proceeds to step S52.

In step S52, the control unit 72 determines whether or not the second ratio R2 is equal to or greater than a preset sixth ratio R2Y. If the second ratio R2 is not equal to or greater than the preset sixth ratio R2Y, the controller 72 ends the process. If the second ratio R2 is equal to or greater than the preset sixth ratio R2Y, the controller 72 proceeds to step S16.

< modification example >

The description of the embodiments is an example of the manner in which the discrimination device for a human-powered vehicle and the control device for a human-powered vehicle according to the present application can be employed, and is not intended to limit the manner. The discrimination device for a human-powered vehicle and the control device for a human-powered vehicle according to the present invention may be obtained by combining, for example, modifications of the embodiments described below and at least two modifications that are not mutually inconsistent. In the following modifications, the same reference numerals as in the embodiment are given to portions common to the embodiment and the description thereof is omitted.

In the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the modification of the first embodiment, the modification of the second embodiment, the modification of the third embodiment, and the modification of the fourth embodiment, the process shown in the flowchart of fig. 4 can be omitted. In this case, the human powered vehicle 10 may not include the motor 40. In this case, the component 38 may include only the display portion 42, or may include an electrical component controlled according to the output of the detection portion 46 instead of the display portion 42 or include an electrical component controlled according to the output of the detection portion 46 in addition to the display portion 42. The electrical components include, for example, at least one of a suspension, an adjustable seatpost, and a brake.

In the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the modification of the first embodiment, the modification of the second embodiment, the modification of the third embodiment, and the modification of the fourth embodiment, the control unit 72 may be configured to cause the display unit 42 to display the preset display information only in one of the first state and the second state. For example, when the second state is determined in step S16, the control unit 72 may end the process without outputting information including the second state to the display unit 42.

In the first embodiment, the second embodiment, the modification of the first embodiment, and the modification of the second embodiment, the process of step S17 may be omitted from the flowcharts of fig. 3, 5, 6, and 7. In this case, the display portion 42 can be omitted from the module 38. For example, when it is determined in step S14 that the state is the first state, the control unit 72 ends the process. For example, when it is determined in step S16 that the state is the second state, the control unit 72 ends the process.

In the first embodiment, the second embodiment, the modification of the first embodiment, and the modification of the second embodiment, the control unit 72 may be configured not to control the module 38. In this case, for example, the control unit 72 may be configured to store the determined preset state in the storage unit 74. Preferably, the control unit 72 has a calendar function and a clock function, and stores the determined preset state in the storage unit 74 in association with information on date and time.

In the first embodiment and the modification of the first embodiment, the process of step S15 in fig. 3 can be omitted. In this case, when no in step S13, the process proceeds to step S16.

In the second embodiment and the modification of the second embodiment, the process of step S32 in fig. 5 can be omitted. In this case, when no in step S31, the process proceeds to step S16.

In the third embodiment and the modification of the third embodiment, the process of step S42 in fig. 6 can be omitted. In this case, when no in step S41, the flow proceeds to step S16.

In the fourth embodiment and the modification of the fourth embodiment, the process of step S52 in fig. 7 can be omitted. In this case, if no in step S51, the process proceeds to step S16.

In the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the modification of the first embodiment, the modification of the second embodiment, the modification of the third embodiment, and the modification of the fourth embodiment, the control unit 72 may be configured to control the module 38 without determining a preset state. For example, the control unit 72 is configured to control the module 38 provided in the human-powered vehicle 10 based on the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the rotation speed W of the wheels 14 in a state where the human-powered driving force H applied to the human-powered vehicle 10 is equal to or greater than a preset threshold HX. Preferably, the controller 72 is configured to further acquire at least one of first information relating to the first ratio R1 and second information relating to the second ratio R2, and control the module 38 in accordance with the amount of change in the rotation speed of the input rotary shaft 12A, the amount of change in the rotation speed W of the wheels 14, and at least one of the first ratio R1 and the second ratio R2 in a state where the manual driving force H is equal to or greater than a predetermined threshold HX. In this modification, for example, the control portion 72 controls the package 38 based on a comparison between the amount of change in the first value P1 and the amount of change in the rotational speed W of the wheel 14, or a comparison between the amount of change in the rotational speed C of the input rotary shaft 12A and the amount of change in the second value P2.

In the first example in which the module 38 includes the motor 40, the controller 72 is configured to suppress the output of the motor 40 when the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheels 14 are equal to or greater than the first difference D1, or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2. For example, the flowchart of fig. 3 may be changed to the flowchart shown in fig. 8. The processing of steps S11, S12, S13, and S15 in fig. 8 correspond to the processing of steps S11, S12, S13, and S15 in fig. 3, respectively, and therefore, the description of the same processing is omitted. In fig. 8, if the determination at step S13 is yes, control unit 72 proceeds to step S61. In step S61, the control unit 72 suppresses the output of the motor 40, and the process proceeds to step S62. In fig. 8, if the determination at step S15 is yes, control unit 72 proceeds to step S62. Preferably, the control unit 72 outputs information to the display unit 42 in step S62 so as to display preset display information that is different between the case where the determination in step S13 is "yes" and the case where the determination in step S15 is "yes". In the present modification, the display unit 42 displays preset display information that is different between the case where the suppression process of the motor 40 is executed and the case where the suppression process of the motor 40 is not executed. If the determination at step S15 is yes, the control unit 72 may end the process. The display unit 42 may display preset display information only when the suppression process of the motor 40 is executed. In the first example, when the control of the motor 40 is performed, the control unit 72 controls the motor 40 so that the output of the motor 40 when the processing of step S61 is performed is smaller than the output of the motor 40 when the processing of step S61 is not performed.

In the second example in which the module 38 includes the motor 40, the controller 72 is configured to decrease the assist ratio X when the amount of change in the first value P1 and the amount of change in the rotation speed W of the wheels 14 are equal to or greater than the first difference D1, or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the second value P2 are equal to or greater than the second difference D2. For example, the flowchart of fig. 8 may be changed to the flowchart shown in fig. 9, for example. The processing of steps S11, S12, S13, S15, and S62 in fig. 9 correspond to the processing of steps S11, S12, S13, S15, and S62 in fig. 8, respectively, and therefore, the same processing will not be described. In the flowchart of fig. 9, the process of step S63 is executed instead of the process of step S61 of fig. 8. In fig. 9, if the determination at step S13 is yes, control unit 72 proceeds to step S63. In step S63, the control unit 72 decreases the assist ratio X and proceeds to step S62. In the present modification, the display unit 42 displays predetermined information that is different between the case where the assist ratio X reduction processing is executed and the case where the assist ratio X reduction processing is not executed. The display unit 42 may display preset display information only when the assist ratio X reduction process is executed. In the second example, when the control of the motor 40 is performed, the control unit 72 controls the motor 40 such that the assist ratio X when the processing of step S63 is performed is smaller than the assist ratio X when the processing of step S63 is not performed.

In the third example in which the module 38 includes the motor 40, the control unit 72 is configured to stop the motor 40 when the change amount of the first value P1 and the change amount of the rotation speed W of the wheel 14 are equal to or greater than the first difference D1, or when the change amount of the rotation speed C of the input rotary shaft 12A and the change amount of the second value P2 are equal to or greater than the second difference D2. For example, the flowchart of fig. 8 may be changed to the flowchart shown in fig. 10. The processing of steps S11, S12, S13, S15, and S62 in fig. 10 correspond to the processing of steps S11, S12, S13, S15, and S62 in fig. 8, respectively, and therefore, the same processing will not be described. In the flowchart of fig. 10, the process of step S64 is executed instead of the process of step S61 of fig. 8. In fig. 10, if the determination at step S13 is yes, control unit 72 proceeds to step S64. In step S64, the control unit 72 stops the motor 40 and proceeds to step S62. In the present modification, the display unit 42 displays predetermined display information that is different between a case where the stop process of the motor 40 is executed and a case where the stop process of the motor 40 is not executed. The display unit 42 may display preset display information only when the stop process of the motor 40 is executed. In the third example, the control unit 72 does not drive the motor 40 when the control of the motor 40 is performed and when the process of step S64 is performed.

In the fourth example in which the module 38 includes the motor 40, the control unit 72 is configured to suppress the output of the motor 40 when a variation in the third value obtained by dividing the rotation speed of the input rotary shaft 12A by the second ratio and a variation in the rotation speed W of the wheels 14 are equal to or greater than the fifth difference D5, or when a variation in the rotation speed of the input rotary shaft 12A and a variation in the fourth value obtained by multiplying the rotation speed W of the wheels 14 by the second ratio are equal to or greater than the sixth difference D6. For example, the flowchart of fig. 5 may be changed to the flowchart shown in fig. 11. The processing of steps S11, S12, S31, and S32 in fig. 11 correspond to the processing of steps S11, S12, S31, and S32 in fig. 5, respectively, and therefore, the description of the same processing is omitted. In fig. 11, if the determination at step S31 is yes, control unit 72 proceeds to step S71. In step S71, the control unit 72 suppresses the output of the motor 40 and proceeds to step S72. In fig. 11, if the determination at step S32 is yes, control unit 72 proceeds to step S72. Preferably, in step S72, the control section 72 outputs information to the display section 42 to display preset information that is different from each other in the case where the determination in step S31 is "yes" and the case where the determination in step S32 is "yes". In the present modification, the display unit 42 displays preset display information that is different between the case where the suppression process of the motor 40 is executed and the case where the suppression process of the motor 40 is not executed. If the determination at step S32 is yes, the control unit 72 may end the process. The display unit 42 may display preset display information only when the suppression process of the motor 40 is executed. In the fourth example, when the control of the motor 40 is performed, the control unit 72 controls the motor 40 such that the output of the motor 40 when the process of step S71 is performed is smaller than the output of the motor 40 when the process of step S71 is not performed.

In the fifth example in which the module 38 includes the motor 40, the controller 72 is configured to decrease the assist ratio X when the amount of change in the third value P3 and the amount of change in the rotation speed W of the wheels 14 are equal to or greater than the fifth difference D5, or when the amount of change in the rotation speed C of the input rotary shaft 12A and the amount of change in the fourth value P4 are equal to or greater than the sixth difference D6. For example, the flowchart of fig. 11 may be changed to the flowchart shown in fig. 12. The processing of steps S11, S12, S31, S32, and S72 in fig. 12 correspond to the processing of steps S11, S12, S31, S32, and S72 in fig. 11, respectively, and therefore, the same processing will not be described. In the flowchart of fig. 12, the process of step S73 is executed instead of the process of step S71 of fig. 11. In fig. 12, if the determination at step S31 is yes, control unit 72 proceeds to step S73. In step S73, the control unit 72 decreases the assist ratio X and proceeds to step S72. In the present modification, the display unit 42 displays predetermined display information that is different between the case where the assist ratio X reduction processing is executed and the case where the assist ratio X reduction processing is not executed. The display unit 42 may display preset display information only when the assist ratio X reduction process is executed. In the fifth example, when the control of the motor 40 is performed, the control unit 72 controls the motor 40 such that the assist ratio X in the case where the processing of step S73 is performed is smaller than the assist ratio X in the case where the processing of step S73 is not performed.

In the sixth example in which the module 38 includes the motor 40, the controller 72 is configured to stop the motor 40 when the variation amount of the third value P3 and the variation amount of the rotation speed W of the wheel 14 are equal to or greater than the fifth difference D5, or when the variation amount of the rotation speed of the input rotary shaft 12A and the variation amount of the fourth value P4 are equal to or greater than the sixth difference D6. For example, the flowchart of fig. 11 can be changed to the flowchart shown in fig. 13. The processing of steps S11, S12, S31, S32, and S72 in fig. 13 correspond to the processing of steps S11, S12, S31, S32, and S72 in fig. 11, respectively, and therefore, the same processing will not be described. In the flowchart of fig. 13, the process of step S74 is executed instead of the process of step S71 of fig. 11. In fig. 13, if the determination at step S31 is yes, control unit 72 proceeds to step S74. In step S74, the control unit 72 stops the motor 40 and proceeds to step S72. In the present modification, the display unit 42 displays predetermined display information that is different between a case where the stop process of the motor 40 is executed and a case where the stop process of the motor 40 is not executed. The display unit 42 may display preset display information only when the stop process of the motor 40 is executed. In the sixth example, the control unit 72 does not drive the motor 40 when the control of the motor 40 is performed and when the process of step S74 is performed.

In the seventh example in which the module 38 includes the motor 40, the controller 72 is configured to suppress the output of the motor 40 when the first ratio R1 is equal to or greater than the preset third ratio R1X. In the seventh example, for example, in the flowchart of fig. 6, step S14 and step S16 are omitted, and when the determination of step S41 is "yes", the control unit 72 suppresses the output of the motor 40 in the same manner as the processing of step S61 in the flowchart of fig. 8, and proceeds to step S17, and when the determination of step S42 is "yes", the process proceeds to step S17. In the seventh example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S41 is "yes" and the case where the determination in step S42 is "yes".

In the eighth example in which the module 38 includes the motor 40, the controller 72 is configured to decrease the assist ratio X when the first ratio R1 is equal to or greater than the preset third ratio R1X. In the eighth example, for example, in the flowchart of fig. 6, step S14 and step S16 are omitted, and when the determination at step S41 is "yes", the control unit 72 lowers the assist ratio X in the same manner as the processing at step S63 in the flowchart of fig. 9, and proceeds to step S17, and when the determination at step S42 is "yes", the process proceeds to step S17. In the eighth example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S41 is "yes" and the case where the determination in step S42 is "yes".

In a ninth example in which the module 38 includes the motor 40, the controller 72 is configured to stop the motor 40 when the first ratio R1 is equal to or greater than a preset third ratio R1X. In the ninth example, for example, in the flowchart of fig. 6, step S14 and step S16 are omitted, and when the determination of step S41 is "yes", the control unit 72 stops the motor 40 in the same manner as the process of step S64 of the flowchart of fig. 10, and proceeds to step S17, and when the determination of step S42 is "yes", the control unit proceeds to step S17. In the ninth example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S41 is "yes" and the case where the determination in step S42 is "yes".

In a tenth example in the case where the module 38 includes the motor 40, the controller 72 is configured to suppress the output of the motor 40 when the second ratio R2 is smaller than a preset fifth ratio R2X. In the tenth example, for example, in the flowchart of fig. 7, step S14 and step S16 are omitted, and when the determination of step S51 is "yes", the control unit 72 suppresses the output of the motor in the same manner as the processing of step S61 in the flowchart of fig. 8, and proceeds to step S17, and when the determination of step S52 is "yes", the control unit proceeds to step S17. In the tenth example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S51 is "yes" and the case where the determination in step S52 is "yes".

In a tenth example in the case where the module 38 includes the motor 40, the control unit 72 is configured to decrease the assist ratio X when the second ratio R2 is smaller than a preset fifth ratio R2X. In the tenth example, for example, in the flowchart of fig. 7, step S14 and step S16 are omitted, and when the determination of step S51 is "yes", the control unit 72 lowers the assist ratio X in the same manner as the processing of step S63 in the flowchart of fig. 9, and proceeds to step S17, and when the determination of step S52 is "yes", the control unit proceeds to step S17. In the tenth example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S51 is "yes" and the case where the determination in step S52 is "yes".

In the twelfth example in the case where the module 38 includes the motor 40, the controller 72 is configured to stop the motor 40 when the second ratio R2 is smaller than a preset fifth ratio R2X. In the twelfth example, for example, when the determination at step S51 in the flowchart of fig. 7 is yes, the control unit 72 stops the motor 40 and proceeds to step S17, similarly to the processing at step S64 in the flowchart of fig. 10, and when the determination at step S52 is yes, the control unit proceeds to step S17. In the twelfth example, in step S17, the control unit 72 outputs information to the display unit 42 so as to display preset information that is different between the case where the determination in step S51 is "yes" and the case where the determination in step S52 is "yes".

In the embodiment and the modifications thereof in which the flowchart includes the processing of steps S11, S12, and S13, if the determination of step S13 is "yes", the control unit 72 may proceed to step S11, and if the determination of step S11, step S12, and step S13 is "yes" a plurality of times in succession, the control unit may proceed to step S14. In this case, false detection can be suppressed.

In the embodiment and the modifications thereof in which the flowchart includes the processing of steps S11, S12, and S31, if the determination of step S31 is "yes", the control unit 72 may proceed to step S11, and if the determination of step S11, step S12, and step S31 is "yes" a plurality of times in succession, the control unit may proceed to step S14. In this case, false detection can be suppressed.

In the embodiment and the modifications thereof in which the flowchart includes the processing of steps S11, S12, and S51, if the determination of step S51 is "yes", the control unit 72 proceeds to step S11, and if the determination of step S11, step S12, and step S51 is "yes" a plurality of times in succession, the control unit proceeds to step S14. In this case, false detection can be suppressed.

Such expression of "at least one" as used in this specification refers to "more than one" of the desired options. For example, the expression "at least one of" as used in this specification refers to "only one option" or "both options" if there are two options. By way of another example, the expression "at least one of", if three options are available, as used in this specification means "only one option" or "a combination of two or more arbitrary options"

Description of the symbols

10 … manpower-driven vehicle, 12A … input rotating shaft, 14 … wheel, 38 … module, 40 … motor, 42 … display part, 46 … detection part, 60 … discrimination device, 62 … discrimination part, 70 … control device and 72 … control part.