JP6861620B2 - 検出装置および制御システム - Google Patents
検出装置および制御システム Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
- B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
- B62J3/10—Electrical devices
- B62J3/14—Electrical devices indicating functioning of other devices, e.g. acoustic warnings indicating that lights are switched on
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/20—Cycle computers as cycle accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
- B62J50/20—Information-providing devices
- B62J50/21—Information-providing devices intended to provide information to rider or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/22—Warning or information lights
- B62J6/24—Warning or information lights warning or informing the rider, e.g. low fuel warning lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/32—Vehicle surroundings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
- B62J1/08—Frames for saddles; Connections between saddle frames and seat pillars; Seat pillars
- B62J2001/085—Seat pillars having mechanisms to vary seat height, independently of the cycle frame
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93273—Sensor installation details on the top of the vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
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Description
(小型車両の全体構成)
図1は、第1実施形態に係る小型車両の模式的な正面図である。図1に示すように、第1実施形態に係る小型車両10は、搭乗者Hが搭乗する車両である。本実施形態では、搭乗者Hが小型車両10を運転する。小型車両10は、自転車、すなわち人力駆動車であり、本体部11、前輪14、後輪16、サドル17、ハンドル18、クランク20、スプロケット24、チェーン26、バッテリ28、コンポーネント30、検知部32、および制御装置40を有する。また、搭乗者Hには、本実施形態に係る検出装置50が取り付けられている。また、搭乗者Hには、報知装置60が取り付けられている。制御装置40と検出装置50と報知装置60とは、本実施形態に係る制御システム62を構成している。
)を含む。クランク軸20Aは、フレーム12に対する回転が可能な状態でフレーム12に接続されている。右クランク20Bおよび左クランクは、クランク軸20Aに結合される。スプロケット24は、フロントスプロケット24Aおよびリアスプロケット24Bを含む。フロントスプロケット24Aは、右クランク20Bと結合される。リアスプロケット24Bは、後輪16のホイール16Aと結合される。チェーン26は、フロントスプロケット24Aおよびリアスプロケット24Bに巻き掛けられる。
次に、制御装置40および検出装置50の機能構成について説明する。図2は、本実施形態に係る制御装置および検出装置の機能を説明するブロック図である。図2に示すように、制御装置40は、入力部41と表示部42と内部機器44とを有する。内部機器44は、通信部44Aと、制御部44Bと、記憶部44Cとを有する。
以下、検出装置50による環境情報の取得について説明する。図3は、環境情報の取得を説明する模式図である。以下の説明では、グローバル座標系として、方向X、方向Y、方向Zを規定する。方向Xは、水平方向であり、方向Yは、水平方向であり、かつ方向Yに直交する方向である。方向Zは、方向Xおよび方向Yに直交する方向、すなわち鉛直方向である。図3は、搭乗者Hによって駆動される小型車両10が、地表面Gを走行する例を示している。小型車両10は、進行方向D1に走行している。
図2に戻り、制御装置40の制御について説明する。制御装置40は、検出装置50が取得した環境情報と検出方向情報とに基づき、コンポーネント30の制御内容を決定する。具体的には、制御装置40の受付部44Dは、検出装置50からの環境情報と検出方向情報とを受け付ける。制御装置40の制御部44Bは、受付部44Dが受け付けた環境情報を解析することで、環境情報の被検知位置がどのような状況にあるかを判断して、コンポーネント30の制御内容を決定する。環境情報の被検知位置とは、取得した環境情報が、どの位置の情報であるかを意味するものである。すなわち、例えば図3に示す凸部E1の環境情報を取得した場合の環境情報の被検知位置とは、凸部E1の位置を指す。制御装置40は、例えば、検出装置50からの環境情報、すなわち電磁波B2の逐次データに基づき、電磁波B2の波形を作成する。制御装置40は、その電磁波B2の波形に基づき、環境情報の被検知位置に検出対象物があるかを判断し、さらに、環境情報の被検知位置における地表面Gの、Z方向への変化の程度を判断する。制御装置40は、その判断結果に基づき、コンポーネント30の制御内容を決定する。
次に、第2実施形態について説明する。第2実施形態に係る検出装置150は、小型車両10に取付けられている点で、第1実施形態と異なる。第2実施形態において第1実施形態と構成が共通する箇所は、説明を省略する。
11 本体部
12 フレーム
14 前輪
16 後輪
17 サドル
18 ハンドル
20 クランク
24 スプロケット
26 チェーン
28 バッテリ
30 コンポーネント
32 検知部
40 制御装置
50 検出装置
52 本体部
54 取得部
56 取付部
57 通信部
57A 出力部
58 検知部
60 報知装置
D1 進行方向
D2 検出方向
H 搭乗者
Claims (9)
- 人力駆動車の周辺環境に関する環境情報を取得する取得部と、
前記環境情報を、前記人力駆動車の制御装置に出力する出力部と、
前記人力駆動車の搭乗者の目線および頭部の少なくとも一方がZ方向に動いた場合、前記人力駆動車の搭乗者の目線および頭部の動きの少なくとも一方に応じて、取得する前記周辺環境の範囲をZ方向に変更するように前記取得部を制御する制御部と、
前記人力駆動車のフレームに取付けられる取付部と、
を備え、
前記環境情報は、地表面のZ方向における変化を含み、
前記制御装置は、前記環境情報に基づき、前記人力駆動車の変速装置、前記人力駆動車のサスペンション、前記人力駆動車のアジャスタブルシートポスト、前記人力駆動車の走行を補助する走行補助装置、および前記人力駆動車の制動装置の少なくとも1つを制御する、検出装置。 - 前記取得部は、前記周辺環境の検出対象物から反射された周波数が30GHz以上の電磁波を受信することで、前記環境情報を取得する、請求項1に記載の検出装置。
- 前記取得部は、前記周辺環境に向けて電磁波を出力し、出力した前記電磁波の前記検出対象物からの反射波を、前記検出対象物から反射された電磁波として受信する、請求項2に記載の検出装置。
- 前記出力部は、前記環境情報を、無線通信によって前記人力駆動車の制御装置に出力する、請求項1から3のいずれか一項に記載の検出装置。
- 請求項1から4のいずれか一項に記載の検出装置と、
前記人力駆動車の制御装置と、を備える制御システム。 - 前記制御装置は、前記出力部からの前記環境情報を、無線通信によって受け付ける受付部を含む、
請求項5に記載の制御システム。 - 報知装置をさらに備え、
前記制御装置は、前記環境情報に基づき、前記報知装置を制御する、請求項5または6に記載の制御システム。 - 前記報知装置は、サイクルコンピュータ、アイウェア、スマートフォン、タブレットデバイス、スマートウォッチ、パーソナルコンピュータ、ランプおよびスピーカの少なくとも1つを含む
請求項7に記載の制御システム。 - 前記報知装置は、音、光および振動の少なくとも1つを出力する、
請求項7または8に記載の制御システム。
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DE102018219385.1A DE102018219385A1 (de) | 2017-12-15 | 2018-11-13 | Erfassungsvorrichtung und Steuerungssystem |
TW107144932A TWI800576B (zh) | 2017-12-15 | 2018-12-13 | 偵測裝置及控制系統 |
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CN110843970A (zh) * | 2019-08-15 | 2020-02-28 | 蓝润英 | 一种单车骑行时的预警装置以及预警系统 |
JP7291232B2 (ja) * | 2019-09-30 | 2023-06-14 | 本田技研工業株式会社 | 鞍乗型車両、鞍乗型車両の制御方法及びプログラム |
DE102020200432B4 (de) * | 2019-12-09 | 2023-08-10 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Steuerung eines Elektromotors eines Elektrofahrrads zum Antrieb des Elektrofahrrads, Steuergerät und Elektrofahrrad |
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CN115158513B (zh) * | 2022-07-27 | 2024-05-31 | 深圳哲轮科技有限公司 | 自行车车座高度调节方法、装置及自行车 |
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