JP2019093849A - Control device, man power drive vehicle system and control method - Google Patents

Abstract

To provide a control device, a man power drive vehicle system and a control method capable of reducing power consumption of a detection device.SOLUTION: The control device of the detection device which is provided on a man power drive vehicle for detecting an electromagnetic wave having frequency of 30 GHz or more except for a visible light ray, is configured to control the detection device in at least any one of a first mode and a second mode in which power consumption is less than that of the first mode.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device, a man-powered vehicle system including the same, and a control method.

  Patent Document 1 discloses an example of a control device mounted on a human-powered vehicle. The control device controls the assist device based on the reflection level from the road surface of the beam irradiated to the road surface by the detection device.

JP, 2016-97877, A

  It is preferable to be able to reduce the power consumption of the detection device provided in a human powered vehicle.

One mode of the control device according to the first aspect of the present invention is a control device of a detection device provided in a human powered vehicle so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light, Control is performed in at least one of the one mode and the second mode in which the power consumption is smaller than that of the first mode.
According to the control device of the first aspect, the power consumption of the detection device can be reduced because the first mode and the second mode can be switched as needed.

In the control device of the second aspect according to the first aspect, the detection device is controlled in at least one of the first mode and the second mode based on the information on the human powered vehicle.
According to the control device of the second aspect, since the detection device is controlled based on the information on the human powered vehicle, it is possible to execute control in accordance with the intention of the passenger of the human powered vehicle.

In the control device of the third aspect according to the second aspect, the information regarding the human powered vehicle includes information regarding vibration of the human powered vehicle, information regarding total weight of the human powered vehicle, information regarding a rotating body of the human powered vehicle, At least one of the information on the operation device of the human powered vehicle and the information on the locking device of the human powered vehicle.
According to the control device of the third aspect, the detection device can be controlled based on various information.

In the control device of the fourth aspect according to the second or third aspect, in the first mode, when the information on the human powered vehicle is not acquired for a first predetermined time, the detection device is controlled in the second mode .
According to the control device of the fourth aspect, switching from the first mode to the second mode can be easily performed.

In the control device of the fifth aspect according to any one of the first to fourth aspects, the detection device is controlled to operate intermittently in the second mode.
According to the control device of the fifth aspect, the power consumption of the detection device in the second mode is further reduced.

In the control device of the sixth aspect according to any one of the first to fifth aspects, power supply to the detection device is stopped in the second mode.
According to the control device of the sixth aspect, the power consumption of the detection device in the second mode is further reduced.

In the controller according to the seventh aspect according to any one of the first through sixth aspects, the first mode, the second mode, and the third power consumption is smaller than the first mode and the second mode. The detection device is controlled in any of the modes.
According to the control device of the seventh aspect, the detection device can be variously controlled.

In the control apparatus of the eighth aspect according to the seventh aspect, in the second mode, when the information on the human-powered vehicle is not acquired for a second predetermined time, the detection apparatus is controlled in the third mode.
According to the control device of the eighth aspect, switching from the second mode to the third mode can be easily performed.

In the controller according to the ninth aspect in accordance with the seventh or eighth aspect, power supply to the detection device is stopped in the third mode.
According to the control device of the ninth aspect, the power consumption of the detection device in the third mode can be further reduced.

In the control device of the tenth aspect in accordance with any one of the first to ninth aspects, the detection device outputs an electromagnetic wave having a frequency of 30 GHz or more excluding visible light and detects the reflected electromagnetic wave.
According to the control device of the tenth aspect, the detection device can be suitably controlled.

In the control device of the eleventh aspect according to any one of the first to tenth aspects, the detection device detects at least one of ultraviolet light, infrared light, sub-millimeter wave, and millimeter wave.
According to the control device of the eleventh aspect, the detection device can be suitably controlled.

In the control device of the twelfth aspect according to any one of the first to eleventh aspects, the detection device outputs an electromagnetic wave including at least one of ultraviolet light, infrared light, submillimeter wave, and millimeter wave; The reflected electromagnetic wave is detected.
According to the control device of the twelfth aspect, the detection device can be suitably controlled.

One mode of a human powered vehicle system according to a thirteenth aspect of the present invention is a detection device for detecting an electromagnetic wave having a frequency of 30 GHz or more excluding visible light, and a control device according to any one of the first to twelfth aspects. Prepare.
According to the human powered vehicle system of the thirteenth aspect, the power consumption of the detection device can be reduced because the first mode and the second mode can be switched as needed.

The system according to the fourteenth aspect further comprises a power supply device for supplying power to the detection device.
According to the human powered vehicle system of the fourteenth aspect, power can be suitably supplied to the detection device.

In the human powered vehicle system according to the fifteenth aspect, the power supply device includes at least one of a power generation unit and a storage unit.
According to the human powered vehicle system of the fifteenth aspect, power can be suitably supplied to the detection device.

In the human powered vehicle system according to the sixteenth aspect according to the fourteenth or fifteenth aspect, the detection device includes a housing, and the power supply device is provided in the housing.
According to the human powered vehicle system of the sixteenth aspect, the power supply device is protected.

In the seventeenth side human-powered vehicle system according to the fourteenth or fifteenth aspect, the power supply device is provided separately from the detection device.
According to the human powered vehicle system of the seventeenth aspect, the degree of freedom in the arrangement of the detection device and the power supply device is enhanced.

The eighteenth aspect of the human powered vehicle according to the fourteenth through seventeenth aspects, wherein the power supply device is configured to be capable of supplying power to components of the human powered vehicle.
According to the human powered vehicle system of the eighteenth aspect, the convenience is enhanced.

One mode of the control method according to the nineteenth aspect of the present invention is a control method of a detection device provided in a human powered vehicle so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light, Control is performed in at least one of the one mode and the second mode in which the power consumption is smaller than that of the first mode.
According to the control method of the nineteenth aspect, the power consumption of the detection device can be reduced because the first mode and the second mode can be switched as needed.

  According to the control device, the human powered vehicle system, and the control method according to the present invention, power consumption of the detection device can be reduced.

FIG. 1 is a side view of a human powered vehicle to which a human powered vehicle system of an embodiment is applied. FIG. 2 is a block diagram showing the human powered vehicle system of FIG. 1; The flowchart which shows an example of the process sequence of 1st control. The flowchart which shows an example of the process sequence of 2nd control. The flowchart which shows an example of the process sequence of 2nd control. The flowchart which shows an example of the process sequence of 3rd control.

(Embodiment)
A human powered vehicle A including a human powered vehicle system 10 will be described with reference to FIG. Here, the human-powered vehicle A means a vehicle that at least partially uses human power as a motive power for traveling, and includes a vehicle that assists human power electrically. Vehicles using only motive power other than human power are not included in human powered vehicles. In particular, vehicles using only an internal combustion engine as a motive power are not included in human powered vehicles. In general, small and light vehicles are assumed to be human powered vehicles, and vehicles requiring no license for driving on public roads are assumed. The illustrated man-powered vehicle A is an e-bike that includes an auxiliary device C that assists the propulsion of the man-powered vehicle A using electrical energy. More specifically, the illustrated human powered vehicle A is a city cycle. The configuration of the human drive vehicle A can be arbitrarily changed. The human powered vehicle A can be configured without the auxiliary device C. In other words, the manual drive vehicle A may be a normal bicycle driven only by the manual drive force. The type of human powered vehicle A may be a road bike, a mountain bike, or a cross bike. The human drive vehicle A includes a main body A1, a handlebar A2, a front wheel A3, a rear wheel A4, a drive mechanism B, an auxiliary device C, a braking device D, and a human drive vehicle system 10. The main body A1 includes a frame A5.

  The drive mechanism B transmits a manual drive force to the rear wheel A4. The drive mechanism B includes a front sprocket B1, a rear sprocket B2, a chain B3, a crank mechanism E, and a pair of pedals B4. The drive mechanism B may be, for example, a belt drive type or a shaft drive type.

  The crank mechanism E includes a crankshaft E1, a right crank E2, and a left crank E3. The crankshaft E1 is rotatably supported by a bottom bracket (not shown) provided on the frame A5. The right crank E2 and the left crank E3 are respectively connected to the crankshaft E1. One of the pair of pedals B4 is rotatably supported by the right crank E2. The other of the pair of pedals B4 is rotatably supported by the left crank E3.

  The front sprocket B1 is coupled to the crankshaft E1. The rotational axis of the crankshaft E1 is coaxial with the rotational axis of the front sprocket B1. The structure for connecting front sprocket B1 to crankshaft E1 can be arbitrarily selected. A one-way clutch (not shown) is provided between the crankshaft E1 and the front sprocket B1. The one-way clutch transmits the rotation of the crankshaft E1 to the front sprocket B1 when the rotational speed of the crankshaft E1 rotating forward is faster than the rotation speed of the front sprocket B1. The one-way clutch may be omitted.

  The rear sprocket B2 is supported by the hub of the rear wheel A4. The chain B3 is wound around the front sprocket B1 and the rear sprocket B2. When the crankshaft E1 and the front sprocket B1 rotate forward by the manual drive force applied to the pair of pedals B4, the rear wheel A4 rotates forward by the manual drive force transmitted through the chain B3 and the rear sprocket B2.

  The auxiliary device C includes an auxiliary motor C1, a drive circuit C2, a reduction gear C3, and a one-way clutch (not shown). The auxiliary device C assists the propulsion of the manually driven vehicle A by transmitting torque to the front sprocket B1. The auxiliary motor C1 operates by the power supplied from the power supply device 32 described later.

  The braking device D is driven by electric power so as to brake the rotating body F of the manual drive vehicle A. The rotating body F is, for example, a disk brake rotor provided on the front wheel A3 and the rear wheel A4 of the manual drive vehicle A. In this embodiment, a pair of braking devices D respectively corresponding to the front wheel A3 and the rear wheel A4 is provided. In this embodiment, the braking device D is a disk brake device that changes the rotational speed of the disk brake rotor. The braking device D includes an electric motor D1 and a braking portion D2. The electric motor D1 operates with the power supplied from the power supply device 32 described later. The braking portion D2 includes, in one example, a hydraulic mechanism and a braking member operated by the hydraulic mechanism. The braking unit D2 holds the rotating body F of the manual drive vehicle A, which is a disk brake rotor, by sandwiching it with a pair of braking members. The braking device D may be a rim brake device that brakes the rim G of the front wheel A3 and the rear wheel A4 of the manual drive vehicle A, respectively.

  As shown in FIG. 2, the human-powered vehicle A further includes an operating device H, a vibration sensor I, a wheel rotation sensor J, a crank rotation sensor K, a load sensor L, a locking device M, and a switch N.

  The operating device H is manually operated to drive the braking device D of the human powered vehicle system 10. The operating device H includes, for example, a lever. The operating device H is communicably connected to the man-powered vehicle system 10 so that a signal corresponding to the operation of the lever can be transmitted to the braking device D. The operating device H is communicably connected to the human-powered vehicle system 10 by an electric wire or communication line capable of PLC (Power Line Communication). The controller device H may be communicably connected to the human-powered vehicle system 10 by a wireless communication unit capable of wireless communication. When the operation device H is operated, a signal for braking at least one of the front wheel A3 and the rear wheel A4 is transmitted to the control device 30 of the manual drive vehicle system 10, and the braking device D responds to the signal. Operate.

  The vibration sensor I detects the vibration generated in the human powered vehicle A. An example of the vibration which the vibration sensor I detects is a vibration level (dB). The vibration sensor I is provided, for example, on the frame A5 of the manual drive vehicle A. The vibration sensor I is, for example, an acceleration sensor, a velocity sensor, and a displacement sensor. The vibration sensor I is communicably connected to the control device 30 by wire or wirelessly. The control device 30 calculates the magnitude of the vibration of the manual drive vehicle A based on the output of the vibration sensor I. Preferably, the control device 30 calculates the magnitude of at least one of vibration in the vertical direction (longitudinal direction) of the human power driven vehicle A and vibration in the lateral direction (horizontal direction) of the human powered vehicle A.

  The wheel rotation sensor J detects the rotational speed of at least one of the front wheel A3 and the rear wheel A4 of the manual drive vehicle A. The wheel rotation sensor J is communicably connected to the control device 30 by wire or wirelessly. In this embodiment, the wheel rotation sensor J is attached to the front fork A6 (see FIG. 1) of the frame A5 and the seat stay A7 (see FIG. 1) of the frame A5. The wheel rotation sensor J is communicably connected to the control device 30 by wire or wirelessly. The wheel rotation sensor J outputs a signal corresponding to a change in relative position between the magnet attached to the front wheel A3 and the wheel rotation sensor J to the control device 30 of the manual drive vehicle system 10. The control device 30 calculates the vehicle speed of the manual drive vehicle A based on this signal. By this, the presence or absence of rotation of the rotating body F can be detected. Further, the wheel rotation sensor J outputs a signal corresponding to a change in relative position between the magnet attached to the rear wheel A4 and the wheel rotation sensor J to the control device 30 of the manual drive vehicle system 10. The wheel rotation sensor J may be provided in the braking device D so as to detect rotation of a rotor that is the rotating body F.

  The crank rotation sensor K detects the rotational speed and the rotational angle of the crankshaft E1 (see FIG. 1). The crank rotation sensor K is attached to the frame A5 of the manual drive vehicle A. The crank rotation sensor K is configured to include a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation sensor K is communicably connected to the control device 30 in a wired or wireless manner. The crank rotation sensor K outputs a signal corresponding to the rotational speed and the rotational angle of the crankshaft E1 to the control device 30.

  The load sensor L detects the total weight of the manual drive vehicle A. The total weight of the human powered vehicle A includes the weight of the human powered vehicle A and the weight of the passenger of the human powered vehicle A. The load sensor L detects the load of the front wheel A3 or the rear wheel A4. The load sensor L is provided, for example, on a hub axle A8 of the front wheel A3 or a hub axle A9 of the rear wheel A4. The load sensor L is, for example, a load cell. The load sensor L is communicably connected to the control device 30 by wire or wirelessly. The load sensor L outputs a signal corresponding to the pressure applied to the load sensor L from the front wheel A3 or the rear wheel A4 to the control device 30. The load sensor L may be used to detect the loads of the handlebar A2, the pedal B4, and the saddle A10 of the human-powered vehicle A. In this case, the total weight of the manually driven vehicle A is the sum of the weight of the manually driven vehicle A, the load of the handlebar A2 detected by the load sensor L, the load of the pedal B4, and the load of the saddle A10 defined in advance. It can be defined as

  The locking device M is configured to be switchable between a locked state that regulates the rotation of the rear wheel A4 and an unlocked state that does not regulate the rotation of the rear wheel A4. The locking device M is communicably connected to the control device 30 by wire or wirelessly. The locking device M is attached to, for example, a seat stay A7 of the frame A5. The lock device M outputs a signal corresponding to the current state of the lock state and the unlock state to the control device 30.

  The switch N includes a plurality of buttons for switching the auxiliary device C and the man-powered vehicle system 10 on and off. The switch N is communicably connected to the auxiliary device C and the human powered vehicle system 10. The switch N may be communicably connected to the auxiliary device C and the manual drive vehicle system 10 by a wireless communication unit capable of wireless communication. The switch N is provided, for example, on the handle bar A2 (see FIG. 1).

  The human powered vehicle system 10 includes a detection device 20 and a control device 30. The human powered vehicle system 10 preferably comprises a power supply 32. The detection device 20 is provided in the human powered vehicle A so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light. The range of the visible light frequency is a range based on the definition of ISO (International Organization for Standardization). The detection device 20 outputs an electromagnetic wave having a frequency of 30 GHz or more excluding visible light, and detects the reflected electromagnetic wave. Therefore, the environment around the human-powered vehicle A can be detected with high accuracy. Hereinafter, an electromagnetic wave having a frequency of 30 GHz or more excluding visible light is simply referred to as an electromagnetic wave. The detection device 20 detects at least one of ultraviolet light, infrared light, submillimeter wave, and millimeter wave. The detection device 20 outputs an electromagnetic wave including at least one of ultraviolet light, infrared light, submillimeter wave, and millimeter wave, and detects the reflected electromagnetic wave.

  Detection device 20 includes a housing 20A. Detection device 20 further includes an output unit 20B and a detection unit 20C. The housing 20A is provided, for example, on the handle bar A2 (see FIG. 1). The output unit 20B and the detection unit 20C are disposed inside the housing 20A. The output unit 20 B outputs an electromagnetic wave around the human powered vehicle A. The detection unit 20C receives the reflected electromagnetic wave among the electromagnetic waves output by the output unit 20B.

  The power supply device 32 includes a first power supply device 32A and a second power supply device 32B. The installation location of the power supply device 32 is either inside the housing 20 A of the detection device 20 or outside the detection device 20. If the power supply 32 is provided inside the housing 20A of the detection device 20, the power supply 32 is protected. When the power supply device 32 is provided outside the detection device 20, the degree of freedom in the arrangement of the detection device 20 and the power supply device 32 is enhanced. The first power supply device 32A supplies power to the detection device 20. Therefore, power can be suitably supplied to the detection device 20. The first power supply 32A is provided in the housing 20A. For this reason, the first power supply device 32A is protected. First power supply device 32A includes at least one of power generation unit 34 and power storage unit 36. The first power supply device 32A includes, for example, at least one of a solar cell, a piezoelectric element, and an electromagnetic induction generator as the power generation unit 34. First power supply device 32A includes, as power storage unit 36, at least one of a lead storage battery, a nickel hydrogen battery, and a lithium ion battery. The first power supply device 32A may be omitted. In this case, power is supplied from the second power supply device 32B to the detection device 20.

  The second power supply device 32B is provided separately from the detection device 20. For this reason, the freedom degree of arrangement | positioning of the detection apparatus 20 and the 2nd power supply apparatus 32B is raised. The second power supply device 32B is, for example, a storage battery. The second power supply 32B is attached to the frame A5 (see FIG. 1). The second power supply device 32B is configured to be able to supply power to the components of the human-powered vehicle A. Therefore, the convenience is enhanced. The components of the human powered vehicle A are, for example, the auxiliary device C and other electrical devices mounted on the human powered vehicle A. The first power supply device 32A or the second power supply device 32B may be configured to be able to supply power to the detection device 20 and components of the human powered vehicle A other than the detection device 20. The second power supply device 32B may be omitted.

  Control device 30 includes an operation unit including a central processing unit (CPU) and a micro processing unit (MPU), and a storage unit including a random access memory (RAM) and a read only memory (ROM). The arrangement position of the controller 30 can be arbitrarily selected. In one example, control device 30 is provided in housing 20A of detection device 20. The control device 30 may be disposed outside the detection device 20. The control device 30 controls the detection device 20 in at least one of the first mode and the second mode in which the power consumption is smaller than the first mode, based on the information on the human powered vehicle A. Since the detection device 20 is controlled based on the information on the human powered vehicle A, control in accordance with the intention of the passenger of the human powered vehicle A can be performed. The control method of the detection device 20 executed by the control device 30 is a control method of the detection device 20 provided in the human powered vehicle A so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light. In this control method, the detection device 20 is controlled in at least one of a first mode and a second mode which consumes less power than the first mode. The control device 30 controls the detection device 20 in any of the first mode, the second mode, and the third mode in which the power consumption is smaller than the first mode and the second mode. Therefore, the detection device 20 can be controlled in various ways. Control device 30 controls detection device 20 to operate detection device 20 according to the operation of the passenger in the first mode. Control device 30 controls detection device 20 to operate intermittently in the second mode. Therefore, the control device 30 which further reduces the power consumption of the detection device 20 in the second mode stops the power supply to the detection device 20 in the third mode. Therefore, the power consumption of the detection device 20 in the third mode is further reduced. In the third mode, the detection device 20 is supplied with low power so that the detection device 20 can be rapidly driven according to the operation of the switch N by the rider when the control mode is switched to the first mode or the second mode. It may be in the state of In the control device 30, programs for executing a plurality of control modes including the first mode, the second mode, and the third mode are stored in the storage unit. The plurality of control modes including the first mode, the second mode, and the third mode are realized by the computing unit expanding and executing this program in the storage unit.

  Control device 30 switches the plurality of control modes based on the information on human powered vehicle A. In the first mode, the control device 30 controls the detection device 20 in the second mode when the information on the human powered vehicle A is not acquired for the first predetermined time. Therefore, switching from the first mode to the second mode can be easily performed. The first predetermined time includes a predetermined time TA, a predetermined time TB, a predetermined time TC, and a predetermined time TD. In the second mode, the control device 30 controls the detection device 20 in the third mode when the information on the human powered vehicle A is not acquired for the second predetermined time. Therefore, switching from the second mode to the third mode can be easily performed. The second predetermined time includes a predetermined time TE, a predetermined time TF, a predetermined time TG, and a predetermined time TH.

  Information on the human drive vehicle A (hereinafter referred to as “setting information”) includes information on the vibration of the manual drive vehicle A, information on the total weight of the manual drive vehicle A, information on the rotating body F of the manual drive vehicle A, and At least one of the information on the operating device H and the information on the locking device M of the manual drive vehicle A is included. Therefore, the detection device 20 can be controlled based on various information. The setting information includes first to seventh information. The first information includes information on the vibration of the human powered vehicle A. The control device 30 switches the first mode to the second mode when the stationary state of the manual drive vehicle A exceeds the predetermined time TA in the first mode. In the second mode, the control device 30 switches the second mode to the third mode when the stationary state of the manual drive vehicle A exceeds the predetermined time TE. The stationary state of the human powered car A is a state in which the vibration of the human powered car A is not detected by the vibration sensor I. The predetermined time TA and the predetermined time TE are times when it is possible to determine that the manual drive vehicle A is in a stationary state because the vibration of the manual drive vehicle A is not detected. The control device 30 switches the first mode to the second mode by recognizing the stationary state of the manual drive vehicle A based on the vibration of the manual drive vehicle A. The control device 30 switches the second mode to the third mode by recognizing the stationary state of the manual drive vehicle A based on the vibration of the manual drive vehicle A. Therefore, the power consumption of the detection device 20 can be reduced in the human-powered vehicle A in a stationary state. The control device 30 switches the second mode or the third mode to the first mode by the manual drive vehicle A vibrating in the second mode or the third mode. Therefore, the control mode of the control device 30 can be easily switched from the second mode or the third mode to the first mode along with the transition from the stationary state to the drive state.

  The second information includes information on the rotation of the rotating body F. The control device 30 switches the first mode to the second mode when the rotation stop state of the rotating body F exceeds the predetermined time TB in the first mode. The control device 30 switches the second mode to the third mode when the rotation stop state of the rotating body F exceeds the predetermined time TF in the second mode. The stationary state of the human powered vehicle A is a state in which the rotational speed of the rotating body F detected by the wheel rotation sensor J is zero. The predetermined time TB and the predetermined time TF are times when it can be determined that the manual drive vehicle A is at rest since the rotational speed of the rotating body F is zero. The control device 30 switches the first mode to the second mode by recognizing the stationary state of the manual drive vehicle A based on the rotation of the rotating body F. The control device 30 switches the second mode to the third mode by recognizing the stationary state of the manual drive vehicle A based on the rotation of the rotating body F. Therefore, the power consumption of the detection device 20 can be reduced in the human-powered vehicle A in a stationary state. Control device 30 switches the second mode or the third mode to the first mode by rotation of rotating body F in the second mode or the third mode. Therefore, the control mode of the control device 30 can be easily switched from the second mode or the third mode to the first mode along with the transition from the stationary state to the drive state.

  The third information includes information on the rotation of the crankshaft E1 to which a manual drive force is input. The control device 30 switches the first mode to the second mode when the stopped state of the crankshaft E1 exceeds the predetermined time TC in the first mode. The control device 30 switches the second mode to the third mode when the stopped state of the crankshaft E1 exceeds the predetermined time TG in the second mode. The stationary state of the human drive vehicle A is a state in which the rotational speed of the crankshaft E1 detected by the crank rotation sensor K is zero. The predetermined time TC and the predetermined time TG are times when it can be determined that the user is not on the human powered vehicle A because the rotational speed of the crankshaft E1 is zero. The control device 30 switches the first mode to the second mode by recognizing the stationary state of the manual drive vehicle A based on the rotation of the crankshaft E1. The control device 30 switches the second mode to the third mode by recognizing the stationary state of the manual drive vehicle A based on the rotation of the crankshaft E1. Therefore, the power consumption of the detection device 20 can be reduced in the human-powered vehicle A in a stationary state. Control device 30 switches the second mode or the third mode to the first mode by the rotation of crankshaft E1 in the second mode or the third mode. Therefore, the control mode of the control device 30 can be easily switched from the second mode or the third mode to the first mode along with the transition from the stationary state to the drive state.

  The fourth information includes information on the total weight WA of the human powered vehicle A. Therefore, based on the information on the total weight WA of the human powered vehicle A, the presence or absence of a passenger can be easily determined. Control device 30 switches the first mode to the third mode by reducing the total weight WA in the first mode. Therefore, the power consumption of the detection device 20 can be reduced in the non-ride state human powered vehicle A. Control device 30 switches the third mode to the first mode by increasing the total weight WA in the third mode. Therefore, the control mode of the control device 30 can be easily switched from the third mode to the first mode along with the transition from the non-riding state to the riding state.

  The fifth information includes information on the operating state of the operating device H manually operated to drive the braking device D. Therefore, by recognizing the presence or absence of the passenger based on the operation mode of the operation device H, the plurality of control modes can be suitably switched. Control device 30 switches the first mode to the second mode when the non-operation state in which the operation device H is not operated in the first mode exceeds the predetermined time TD. The control device 30 switches the second mode to the third mode when the non-operation state in which the operation device H is not operated in the second mode exceeds the predetermined time TH. The non-operation state is a state in which the operating device H does not output a signal to the control device 30. The predetermined time TD and the predetermined time TH are times when it can be determined that the manual drive vehicle A is stationary based on the fact that the controller device H does not output a signal. Therefore, the power consumption of the detection device 20 can be reduced in the non-ride state human powered vehicle A. Control device 30 switches the second mode or the third mode to the first mode by operating operation device H in the second mode or the third mode. Therefore, it is possible to easily switch the control mode of the control device 30 from the second mode or the third mode to the first mode along with the transition from the non-ride state to the ride state.

  The sixth information includes information on the locking device M of the manual drive vehicle A. Therefore, by recognizing the stationary state of the manual drive vehicle A based on the locking state of the manual drive vehicle A, it is possible to switch between a plurality of control modes. Control device 30 switches the first mode to the third mode by locking device M being in the locked state in the first mode. For this reason, the power consumption of the detection device 20 can be reduced in the stationary human-powered vehicle A. The control device 30 switches the third mode to the first mode by the locking device M being unlocked in the third mode. Therefore, it is possible to easily switch the control mode of the control device 30 from the second mode to the first mode along with the transition from the stationary state to the driving state.

  The seventh information includes information on the on and off of the switch N connected to the human powered vehicle system 10. Therefore, the plurality of control modes can be switched based on the input by the passenger. Control device 30 switches the first mode to the third mode by turning off switch N in the first mode. For this reason, the power consumption of the detection device 20 when the switch N is off can be reduced. Control device 30 switches the third mode to the first mode by turning on switch N in the third mode. Therefore, the control mode of the control device 30 can be easily switched from the third mode to the first mode.

  Control device 30 executes the first control, the second control, and the third control based on the setting information. The first control is control that is repeatedly executed when the control mode of the control device 30 is the first mode. The second control is control that is repeatedly executed when the control mode of the control device 30 is the second mode. The third control is control that is repeatedly executed when the control mode of the control device 30 is the third mode. In the first control, the second control, and the third control, switching of each mode based on any one of the first information to the seventh information included in the setting information can be omitted.

An example of the first control will be described with reference to FIG.
In step S11, the control device 30 determines, based on the output of the vibration sensor I, whether the stationary state of the manual drive vehicle A has exceeded a predetermined time TA. If the determination result in step S11 is a negative determination, control device 30 determines in step S12 whether or not the rotation stop state of rotating body F has exceeded predetermined time TB based on the output of wheel rotation sensor J. If the determination result in step S12 is negative, the controller 30 determines in step S13 based on the output of the crank rotation sensor K whether or not the rotation stop state of the crankshaft E1 has exceeded the predetermined time TC. If the determination result in step S13 is negative, the control device 30 determines whether the non-operation state exceeds the predetermined time TD based on the output of the controller device H in step S14. If the determination result in step S14 is negative, the control device 30 executes the process of step S16. If the determination result in any one of steps S11 to S14 is an affirmative determination, control device 30 switches the control mode to the second mode in step S15.

  At step S16, control device 30 determines whether or not the total weight WA of human-powered vehicle A has decreased. If the determination result in step S16 is negative, the control device 30 determines whether or not the locking device M is in the locked state based on the output of the locking device M in step S17. If the determination result in step S17 is negative, the control device 30 determines whether the switch N is turned off based on the output of the switch N in step S18. If the determination result in step S18 is negative, the control device 30 maintains the first mode. If the determination result in any one of steps S16 to S18 is an affirmative determination, control device 30 switches the control mode to the third mode in step S19.

An example of the second control will be described with reference to FIGS. 4 and 5.
As shown in FIG. 4, in step S21, the control device 30 determines whether the stationary state of the manual drive vehicle A has exceeded a predetermined time TE based on the output of the vibration sensor I. If the determination result in step S21 is a negative determination, control device 30 determines whether or not the rotation stop state of rotating body F has exceeded predetermined time TF based on the output of wheel rotation sensor J in step S22. If the determination result in step S22 is negative, the control device 30 determines in step S23 based on the output of the crank rotation sensor K whether or not the rotation stop state of the crankshaft E1 has exceeded the predetermined time TG. If the determination result in step S23 is negative, the control device 30 determines whether the non-operation state exceeds the predetermined time TH based on the output of the controller device H in step S24. If the determination result in step S24 is negative, the control device 30 executes the process of step S26. If the determination result in any one of steps S21 to S24 is an affirmative determination, control device 30 switches the control mode to the third mode in step S25.

  As shown in FIG. 5, in step S26, the control device 30 determines whether or not the manually driven vehicle A has vibrated based on the output of the vibration sensor I. If the determination result in step S26 is negative, the control device 30 determines whether the rotating body F has rotated based on the output of the wheel rotation sensor J in step S27. If the determination result in step S27 is negative, the control device 30 determines in step S28 based on the output of the crank rotation sensor K whether or not the crankshaft E1 has rotated. If the determination result in step S28 is negative, the control device 30 determines in step S29 based on the output of the load sensor L whether or not the total weight WA of the manual drive vehicle A has increased. If the determination result in step S29 is negative, the control device 30 determines whether the controller device H has been operated based on the output of the controller device H in step S30. If the determination result in step S30 is negative, the control device 30 determines in step S31 whether or not the locking device M has been unlocked based on the output of the locking device M. If the determination result in step S31 is negative, the control device 30 determines whether the switch N is turned on based on the output of the switch N in step S32. If the determination result in step S32 is negative, the control device 30 maintains the second mode. If the determination result in any one of steps S26 to S32 is an affirmative determination, control device 30 switches the control mode to the first mode in step S33.

An example of the third control will be described with reference to FIG.
As shown in FIG. 6, in step S41, the control device 30 determines whether or not the manual drive vehicle A has vibrated based on the output of the vibration sensor I. If the determination result in step S41 is a negative determination, control device 30 determines whether or not rotating body F has rotated based on the output of wheel rotation sensor J in step S42. If the determination result in step S42 is negative, the control device 30 determines whether the crankshaft E1 has rotated based on the output of the crank rotation sensor K in step S43. If the determination result in step S43 is negative, the control device 30 determines whether the total weight WA of the manual drive vehicle A has increased based on the output of the load sensor L in step S44. If the determination result in step S44 is negative, the control device 30 determines whether or not the operating device H has been operated based on the output of the operating device H in step S45. If the determination result in step S45 is negative, the control device 30 determines in step S46 based on the output of the locking device M whether or not the locking device M is in the unlocked state. If the determination result in step S46 is negative, the control device 30 determines whether the switch N is turned on based on the output of the switch N in step S47. If the determination result in step S47 is a negative determination, control device 30 maintains the third mode. If the determination result in any one of steps S41 to S47 is an affirmative determination, control device 30 switches the control mode to the first mode in step S48.

  According to the human powered vehicle system 10, the following operation and effect can be obtained. The power consumption of the detection device 20 can be reduced because the first mode and the second mode can be switched as necessary.

(Modification)
The above-mentioned embodiment is an illustration of the form which the control device, the human-powered vehicle system, and the control method concerning the present invention can take, and it is not intended to limit the form. The control device, the human powered vehicle system, and the control method according to the present invention may take forms different from the forms exemplified in the embodiments. An example is a form in which part of the configuration of the embodiment is replaced, changed or omitted, or a configuration in which a new configuration is added to the embodiment. An example of the modification of embodiment is shown below.

  -The process of the 1st control which control device 30 performs can be changed arbitrarily. The control device 30 of the first example switches the control mode to the third mode in step S15. About 1st control which control device 30 of the 2nd example performs, at least one of Step S11-Step S14 may be omitted. The control device 30 of the third example switches the control mode to the second mode in step S19. Regarding the first control executed by the control device 30 of the fourth example, at least one of steps S16 to S18 may be omitted.

  -The process of the 2nd control which control device 30 performs can be changed arbitrarily. At least one of steps S21 to S24 may be omitted for the second control executed by the control device 30 of the first example. Regarding the second control executed by the control device 30 of the second example, at least one of steps S26 to S32 may be omitted.

  -The process of the 3rd control which control device 30 performs can be changed arbitrarily. In step S48, the control device 30 of the first example switches the control mode to the second mode. About the 3rd control which control device 30 of the 2nd example performs, at least one of Step S41-Step S47 may be omitted.

  The number of control modes of the control device 30 can be arbitrarily changed. The third mode may be omitted from the control mode of the control device 30 of the modification. The control device 30 of this modification stops the power supply to the detection device 20 in the second mode. Steps S16 to S19 are omitted for the first control executed by the control device 30 of this modification. Steps S21 to S25 are omitted for the second control executed by the control device 30 of this modification. The control device 30 of this modification does not execute the third control because the third mode is omitted.

  -Although the said embodiment illustrated about the case where the man-powered drive system regarding this invention was applied to a bicycle, the man-powered drive system regarding this invention is applicable not only to a bicycle but arbitrary man-powered drive vehicles.

DESCRIPTION OF SYMBOLS 10 ... Human-power drive vehicle system, 20 ... Detection apparatus, 20A ... Housing, 30 ... Control apparatus, 32 ... Power supply apparatus, 34 ... Power generation part, 36 ... Storage part.

Control device 30 includes an operation unit including a central processing unit (CPU) and a micro processing unit (MPU), and a storage unit including a random access memory (RAM) and a read only memory (ROM). The arrangement position of the controller 30 can be arbitrarily selected. In one example, control device 30 is provided in housing 20A of detection device 20. The control device 30 may be disposed outside the detection device 20. The control device 30 controls the detection device 20 in at least one of the first mode and the second mode in which the power consumption is smaller than the first mode, based on the information on the human powered vehicle A. Since the detection device 20 is controlled based on the information on the human powered vehicle A, control in accordance with the intention of the passenger of the human powered vehicle A can be performed. The control method of the detection device 20 executed by the control device 30 is a control method of the detection device 20 provided in the human powered vehicle A so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light. In this control method, the detection device 20 is controlled in at least one of a first mode and a second mode which consumes less power than the first mode. The control device 30 controls the detection device 20 in any of the first mode, the second mode, and the third mode in which the power consumption is smaller than the first mode and the second mode. Therefore, the detection device 20 can be controlled in various ways. Control device 30 controls detection device 20 to operate detection device 20 according to the operation of the passenger in the first mode. Control device 30 controls detection device 20 to operate intermittently in the second mode. Therefore, the power consumption of the detection device 20 in the second mode is further reduced . Control device 30 stops the power supply to detection device 20 in the third mode. Therefore, the power consumption of the detection device 20 in the third mode is further reduced. In the third mode, the detection device 20 is supplied with low power so that the detection device 20 can be rapidly driven according to the operation of the switch N by the rider when the control mode is switched to the first mode or the second mode. It may be in the state of In the control device 30, programs for executing a plurality of control modes including the first mode, the second mode, and the third mode are stored in the storage unit. The plurality of control modes including the first mode, the second mode, and the third mode are realized by the computing unit expanding and executing this program in the storage unit.

Information on the human drive vehicle A (hereinafter referred to as “setting information”) includes information on the vibration of the manual drive vehicle A, information on the total weight of the manual drive vehicle A, information on the rotating body F of the manual drive vehicle A, and At least one of the information on the operating device H and the information on the locking device M of the manual drive vehicle A is included. Therefore, the detection device 20 can be controlled based on various information. The setting information includes first to seventh information. The first information includes information on the vibration of the human powered vehicle A. The control device 30 switches the first mode to the second mode when the stationary state of the manual drive vehicle A exceeds the predetermined time TA in the first mode. In the second mode, the control device 30 switches the second mode to the third mode when the stationary state of the manual drive vehicle A exceeds the predetermined time TE. The stationary state of the human powered car A is a state in which the vibration of the human powered car A is not detected by the vibration sensor I. The predetermined time TA and the predetermined time TE are times when it is possible to determine that the manual drive vehicle A is in a stationary state because the vibration of the manual drive vehicle A is not detected. The control device 30 switches the first mode to the second mode by recognizing the stationary state of the manual drive vehicle A based on the vibration of the manual drive vehicle A. The control device 30 switches the second mode to the third mode by recognizing the stationary state of the manual drive vehicle A based on the vibration of the manual drive vehicle A. Therefore, the power consumption of the detection device 20 can be reduced in the human-powered vehicle A in a stationary state. The control device 30 switches the second mode or the third mode to the first mode by the manual drive vehicle A vibrating in the second mode or the third mode. Therefore, the control mode of the control device 30 can be easily switched from the second mode or the third mode to the first mode along with the transition from the stationary state to the drive state.

The sixth information includes information on the locking device M of the manual drive vehicle A. Therefore, by recognizing the stationary state of the manual drive vehicle A based on the locking state of the manual drive vehicle A, it is possible to switch between a plurality of control modes. Control device 30 switches the first mode to the third mode by locking device M being in the locked state in the first mode. For this reason, the power consumption of the detection device 20 can be reduced in the stationary human-powered vehicle A. The control device 30 switches the third mode to the first mode by the locking device M being unlocked in the third mode. Therefore, it is possible to easily switch the control mode of the control device 30 from the third mode to the first mode along with the transition from the stationary state to the driving state.

Claims (19)

A control device of a detection device provided in a human powered vehicle so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light,
A control device that controls the detection device in at least one of a first mode and a second mode that consumes less power than the first mode.   The control device according to claim 1, wherein the detection device is controlled in at least one of the first mode and the second mode based on the information on the human powered vehicle.   The information on the human powered vehicle includes information on the vibration of the human powered vehicle, information on the total weight of the human powered vehicle, information on the rotating body of the human powered vehicle, information on the operating device of the human powered vehicle, and The control device according to claim 2, comprising at least one of the information on the locking device of a human powered vehicle.   The control device according to claim 2 or 3, wherein in the first mode, when the information on the human powered vehicle is not acquired for a first predetermined time, the detection device is controlled in the second mode.   The control device according to any one of claims 1 to 4, wherein the detection device is controlled to operate intermittently in the second mode.   The control device according to any one of claims 1 to 5, wherein power supply to the detection device is stopped in the second mode.   The control method according to any one of claims 1 to 6, wherein the detection device is controlled in any one of the first mode, the second mode, and a third mode that consumes less power than the first mode and the second mode. The control apparatus as described in a term.   The control device according to claim 7, wherein, in the second mode, when the information on the human powered vehicle is not acquired for a second predetermined time, the detection device is controlled in the third mode.   The control device according to claim 7, wherein power supply to the detection device is stopped in the third mode.   The control device according to any one of claims 1 to 9, wherein the detection device outputs an electromagnetic wave having a frequency of 30 GHz or more excluding visible light, and detects the reflected electromagnetic wave.   The control device according to any one of claims 1 to 10, wherein the detection device detects at least one of ultraviolet light, infrared light, submillimeter wave, and millimeter wave.   The detection apparatus according to any one of claims 1 to 11, wherein the detection device outputs an electromagnetic wave including at least one of ultraviolet light, infrared light, submillimeter wave, and millimeter wave, and detects the reflected electromagnetic wave. Control device. A detection device for detecting an electromagnetic wave having a frequency of 30 GHz or more excluding visible light;
And a control device according to any one of claims 1 to 12.   The man-powered vehicle system according to claim 13, further comprising a power supply device for supplying power to the detection device.   The human powered vehicle system according to claim 14, wherein the power supply device includes at least one of a power generation unit and a storage unit.   The man-powered vehicle system according to claim 14 or 15, wherein the detection device includes a housing, and the power supply device is provided in the housing.   The man-powered vehicle system according to claim 14 or 15, wherein the power supply device is provided separately from the detection device.   The human powered vehicle system according to any one of claims 14 to 17, wherein the power supply device is configured to be able to supply power to components of the human powered vehicle. A control method of a detection device provided in a human powered vehicle so as to detect an electromagnetic wave having a frequency of 30 GHz or more excluding visible light,
A control method for controlling the detection device in at least one of a first mode and a second mode which consumes less power than the first mode.