JP7432696B2 - Control device for human-powered vehicles - Google Patents

Description

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

BACKGROUND ART A control device for a human-powered vehicle that controls electric components mounted on the human-powered vehicle is known. Electric components include motors that are attached to human-powered vehicles. Conventional control devices for human-powered vehicles control motors included in electric components. Patent Document 1 discloses an example of a conventional control device for a human-powered vehicle.

Special Publication No. 10-511621

It is desirable for drivers of human-powered vehicles to be able to travel comfortably.
An object of the present invention is to provide a control device for a human-powered vehicle that can contribute to comfortable running of the human-powered vehicle.

A control device for a human-powered vehicle according to a first aspect of the present invention is a control device for a human-powered vehicle mounted on a human-powered vehicle capable of connecting a conveying section different from a driver seating section, The control unit includes a control unit that controls a motor attached to the vehicle, and the control unit determines driving conditions of the motor during riding, excluding an assist ratio, according to at least one of a connection state of the conveyance unit and information regarding the conveyance unit; At least one of a response speed of the motor and an output upper limit value of the motor is controlled.
According to the control device for a human-powered vehicle of the first aspect, the control mode of the motor attached to the human-powered vehicle is changed according to at least one of the connection state of the conveying section and the information regarding the conveying section. It can contribute to the comfortable driving of human-powered vehicles.

In the control device for a human-powered vehicle according to the second aspect according to the first aspect, the motor is capable of assisting propulsion of the human-powered vehicle, and the control unit is configured to control a human-powered vehicle that is input to the human-powered vehicle. The motor is controlled according to the motor.
According to the control device for a human-powered vehicle of the second aspect, the control mode of the motor capable of assisting the propulsion of the human-powered vehicle is changed in accordance with at least one of the connection state of the conveyance unit and the information regarding the conveyance unit. Therefore, it can contribute to the comfortable driving of human-powered vehicles.

In the control device for a human-powered vehicle according to the third aspect according to the second aspect, when the human-powered driving force becomes equal to or greater than a first threshold value when the conveyance unit is not connected to the human-powered vehicle, Driving of the motor is started, and when the human power driving force becomes equal to or higher than a second threshold value smaller than the first threshold value when the conveying section is connected to the human power vehicle, driving of the motor is started.
According to the control device for a human-powered vehicle according to the third aspect, when it is assumed that the load on the driver related to the running of the human-powered vehicle increases, the drive of the motor is stopped when the human-powered driving force becomes equal to or higher than the second threshold. Begins. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the fourth aspect according to the second or third aspect, the control unit is configured such that when the human-powered vehicle is inputted when the transport unit is not connected to the human-powered vehicle, The motor is controlled at a first response speed, and when the human drive force is input when the conveyance section is connected to the human drive vehicle, the motor is controlled at a second response speed that is greater than the first response speed. control.
According to the control device for a human-powered vehicle according to the fourth aspect, when it is assumed that the load on the driver related to the running of the human-powered vehicle becomes large, when the human-powered vehicle is input, the motor is activated at the second response speed. is controlled. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the fifth aspect according to any one of the first to fourth aspects, the transport section includes at least one of a child seat, a cargo platform, and a towed vehicle.
According to the control device for a human-powered vehicle of the fifth aspect, it is possible to contribute to comfortable running of the human-powered vehicle that can connect various conveyance units.

In the control device for a human-powered vehicle according to the sixth aspect according to any one of the first to fifth aspects, the human-powered vehicle further includes a connection state detection section that detects a connection state of the transport section, A control section controls the motor according to a detection state of the connection state detection section.
According to the control device for a human-powered vehicle according to the sixth aspect, since the motor is suitably controlled according to the detection state of the connection state detection section, it can contribute to comfortable running of the human-powered vehicle.

In the control device for a human-powered vehicle according to the seventh aspect according to any one of the first to sixth aspects, the information regarding the conveyance section includes a type of the conveyance section, a shape of the conveyance section, a size of the conveyance section. , the model year of the transport unit, the maximum load capacity of the transport unit, the load state on the transport unit, and the weight information of the transport unit.
According to the control device for a human-powered vehicle of the seventh aspect, the control mode of the motor is changed according to various types of information included in the information regarding the transport section. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the eighth aspect according to the seventh aspect, the weight information of the transport section includes at least one of the weight of the transport section and the total weight of the transport section.
According to the control device for a human-powered vehicle in the eighth aspect, it is possible to contribute to comfortable running of the human-powered vehicle.

In the control device for a human-powered vehicle according to the ninth aspect according to any one of the first to eighth aspects, the connection state of the conveying section is such that the first connecting section of the human-powered vehicle and the second connecting section of the conveying section are connected to each other. A connected or uncoupled state with a connecting part, a load acting between the first connecting part and the second connecting part, switching between a connected mode and a disconnected mode by an operating device, and the human-powered vehicle and the conveyance section.
According to the control device for a human-powered vehicle of the ninth aspect, the control mode of the motor is changed depending on various states included in the connected state of the transport section. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the tenth aspect according to any one of the first to ninth aspects, the control unit may control the output of the motor when the conveyance unit is not connected to the human-powered vehicle. When the upper limit value is set to a first output upper limit value and the conveyance unit is connected to the human-powered vehicle, the output upper limit value of the motor is set to a second output upper limit value that is larger than the first output upper limit value. Set.
According to the control device for a human-powered vehicle in the tenth aspect, when it is assumed that the load on the driver related to the running of the human-powered vehicle increases, the output upper limit value of the motor is set to the second output upper limit value. Ru. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the eleventh aspect according to any one of the first to tenth aspects, the human-powered vehicle has rotation of a crank of the human-powered vehicle and rotation of wheels of the human-powered vehicle. The controller further includes a transmission that changes a rotation ratio of the human-powered vehicle, and the control unit is configured to respond to at least one of a driving state of the human-powered vehicle, a traveling environment of the human-powered vehicle, and an assist state related to propulsion of the human-powered vehicle. control the transmission, and set the speed change conditions for driving the transmission and the rotation ratio at the time of starting the human-powered vehicle according to at least one of the connection state of the transport unit and information regarding the transport unit. change at least one of the following.
According to the control device for a human-powered vehicle according to the eleventh aspect, the control mode of the transmission is changed according to at least one of the connection state of the conveying section and the information regarding the conveying section, so that the human-powered vehicle can be operated comfortably. It can contribute to driving.

A control device for a human-powered vehicle according to a twelfth aspect of the present invention is a control device for a human-powered vehicle installed in a human-powered vehicle to which a child seat can be connected, the human-powered vehicle having a human-powered driving force input to the human-powered vehicle. The controller includes a control unit that controls a motor that assists in propulsion of the human-powered vehicle, and the control unit controls the human-powered vehicle according to at least one of a connection state of the child seat and information regarding the child seat. Controlling the output ratio of the motor.
According to the control device for a human-powered vehicle according to the twelfth aspect, the control mode of the motor that assists in propulsion of the human-powered vehicle is changed in accordance with at least one of the connection state of the child seat and the information regarding the child seat. It can contribute to the comfortable driving of human-powered vehicles.

In the control device for a human-powered vehicle according to the thirteenth aspect according to the twelfth aspect, the human-powered vehicle further includes a connection state detection section that detects a connection state of the child seat, and the control section includes a connection state detection section that detects a connection state of the child seat. The motor is controlled according to the detected state of the motor.
According to the control device for a human-powered vehicle according to the thirteenth aspect, the motor is suitably controlled according to the detection state of the connection state detection section, so that it can contribute to comfortable running of the human-powered vehicle.

In the control device for a human-powered vehicle according to the fourteenth aspect according to the thirteenth aspect, the control unit is configured to control when the child seat is connected to the human-powered vehicle, and when the child seat is not connected to the human-powered vehicle. The output ratio of the motor is increased.
According to the control device for a human-powered vehicle in the fourteenth aspect, when it is assumed that the load on the driver related to running the human-powered vehicle will increase, the motor is controlled so that the output ratio of the motor is increased. . Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the fifteenth aspect according to the thirteenth or fourteenth aspect, the child seat includes a holding part that holds a passenger riding in the child seat to the child seat, and the connection state detection part includes: The control unit detects a holding state of the holding unit, and controls the output ratio of the motor to be higher when the occupant is held by the holding unit than when the occupant is not held by the holding unit. Make it expensive.
According to the control device for a human-powered vehicle according to the fifteenth aspect, when it is assumed that the load on the driver related to the running of the human-powered vehicle increases, the motor is controlled so that the output ratio of the motor becomes high. . Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device for a human-powered vehicle according to the sixteenth aspect according to any one of the twelfth to fifteenth aspects, the control unit may control the output ratio of the motor when a passenger is not riding in the child seat. The motor is controlled to have a first output ratio, and when the passenger is in the child seat, the output ratio of the motor is controlled to be a second output ratio that is larger than the first output ratio. controlling the motor;
According to the control device for a human-powered vehicle in the sixteenth aspect, when it is assumed that the load on the driver related to the running of the human-powered vehicle increases, the motor is adjusted so that the output ratio of the motor becomes the second output ratio. is controlled. Therefore, it can contribute to the comfortable running of human-powered vehicles.

The control device for a human-powered vehicle of the present invention can contribute to the comfortable running of a human-powered vehicle.

FIG. 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. FIG. 2 is a side view of a human-powered vehicle to which a towed vehicle is connected. FIG. 2 is a block diagram showing electrical connections between the control device of FIG. 1 and various elements. A graph showing an example of the relationship between human power driving force and motor output. A graph showing the relationship between human power driving force and motor output according to various predetermined conditions. 2 is a flowchart showing an example of control executed by the control device of FIG. 1. FIG. 7 is a graph showing the response speed of the motor according to various predetermined conditions in the control device for a human-powered vehicle according to the second embodiment. 8 is a flowchart showing an example of control executed by the control device of FIG. 7. FIG. 7 is a graph showing the relationship between human power driving force and motor output according to various predetermined conditions in a control device for a human power vehicle according to a third embodiment. 10 is a flowchart showing an example of control executed by the control device in FIG. 9. 10 is a map showing an example of shift conditions used to control a transmission in a control device for a human-powered vehicle according to a fourth embodiment. 12 is a flowchart showing an example of control executed by the control device of FIG. 11. 12 is a flowchart showing an example of control executed by the control device for a human-powered vehicle according to the fifth embodiment. FIG. 7 is a side view of a human-powered vehicle that includes a control device for a human-powered vehicle according to a sixth embodiment and is equipped with a child seat. FIG. 2 is a perspective view of the child seat showing a state in which a passenger is seated. A graph showing the relationship between human power driving force and motor output according to various predetermined conditions. 15 is a flowchart showing an example of control executed by the control device in FIG. 14.

<First embodiment>
Referring to FIG. 1, a human-powered vehicle A including a control device 10 for a human-powered vehicle will be described.
Here, the term "human-powered vehicle" refers to a vehicle that uses human power at least in part as a motive force for driving, and includes vehicles that use electric power to assist human power. Vehicles that use only a motive force other than human power are not included in human-powered vehicles. In particular, vehicles that use only an internal combustion engine as a motive force are not included in human-powered vehicles. Normally, human-powered vehicles are assumed to be small, light vehicles, and vehicles that do not require a license to drive on public roads. The illustrated human-powered vehicle A is a bicycle that includes an electric auxiliary unit E that assists the propulsion of the human-powered vehicle A using electrical energy. Specifically, the illustrated human-powered vehicle A is a city cycle. The human-powered vehicle A further includes a frame A1, a front fork A2, wheels W, a handle H, and a drive train B. Wheels W include a front wheel WF and a rear wheel WR.

Drive train B is, for example, a chain drive type. Drive train B includes a crank C, a front sprocket D1, a rear sprocket D2, and a chain D3. The crank C includes a crank shaft C1 rotatably supported by a frame A1, and a pair of crank arms C2 provided at each end of the crank shaft C1. A pedal PD is rotatably attached to the tip of each crank arm C2. Drive train B can be selected from any type, and may be a belt drive type or a shaft drive type.

The front sprocket D1 is provided on the crank C so as to rotate together with the crankshaft C1. The rear sprocket D2 is provided on the hub HR of the rear wheel WR. Chain D3 is wound around front sprocket D1 and rear sprocket D2. The human power driving force applied to the pedal PD by the driver driving the human power vehicle A is transmitted to the rear wheel WR via the front sprocket D1, the chain D3, and the rear sprocket D2.

Human-powered vehicle A further includes an electric component CE. The electric component CE is configured to operate electrically in response to at least one of an input to an operating device mounted on the human-powered vehicle A and a condition different from the input to the operating device. The expression "at least one" as used herein means "one or more" of the desired options. As an example, the expression "at least one" as used herein means "only one option" or "both of the two options" if the number of options is two. As another example, the expression "at least one" as used herein means "only one option" or "a combination of any two or more options" if the number of options is three or more. means. The electric component CE operates using electric power supplied from a battery BT mounted on the human-powered vehicle A, electric power supplied from a dedicated power source installed on each electric component CE, or the like. In one example, the electric component CE includes at least one of an electric auxiliary unit E, a transmission T, a suspension SU, an adjustable seat post ASP, and a brake device BD. Among the electric auxiliary unit E, transmission T, suspension SU, adjustable seat post ASP, and braking device BD, the elements that are not included in the electric component CE are operated mechanically in response to input to the operating device. may be configured, or may be omitted from the human-powered vehicle A.

The electric auxiliary unit E operates to assist the propulsion of the human-powered vehicle A. The electric auxiliary unit E operates according to the human power driving force input to the pedal PD of the human power vehicle A, for example. The human power driving force is represented by at least one of the rotation torque applied to the crank C, the rotation speed of the crank C, and the power of the crank C, which is the product of the rotation torque of the crank C and the rotation speed of the crank C. Electric auxiliary unit E includes a motor M1. Motor M1 is connected to crank C via, for example, a speed reduction mechanism. The motor M1 is capable of assisting the propulsion of the human-powered vehicle A.

The human-powered vehicle A further includes a transmission T that changes the rotation ratio between the rotation of the crank C of the human-powered vehicle A and the rotation of the wheels W of the human-powered vehicle A. The transmission T includes an external transmission. In one example, the transmission T includes at least one of a front derailleur TF and a rear derailleur TR. The front derailleur TF is provided near the front sprocket D1. As the front derailleur TF is driven, the front sprocket D1 around which the chain D3 is wound is changed, and the rotation ratio of the human-powered vehicle A is changed. The rotation ratio of the human-powered vehicle A is defined based on the relationship between the number of teeth of the front sprocket D1 and the number of teeth of the rear sprocket D2. In one example, the rotation ratio of the human-powered vehicle A is defined as the ratio of the number of teeth on the front sprocket D1 to the number of teeth on the rear sprocket D2. In other words, the rotation ratio of the human-powered vehicle A is defined as the ratio of the rotation speed of the rear sprocket D2 to the rotation speed of the front sprocket D1. The rear derailleur TR is provided at the rear end A3 of the frame A1. As the rear derailleur TR is driven, the rear sprocket D2 around which the chain D3 is wound is changed, and the rotation ratio of the human-powered vehicle A is changed. When the transmission T is included in the electric component CE, the transmission T includes a motor M2 (see FIG. 3). In one example, the transmission T includes at least one of a motor M2 for driving the front derailleur TF and a motor M2 for driving the rear derailleur TR. The transmission T may include an internal transmission or a continuously variable transmission instead of an external transmission.

The suspension SU includes at least one of a front suspension SF and a rear suspension. The front suspension SF operates to alleviate the impact that the front wheel WF receives from the ground. The rear suspension operates to reduce the impact that the rear wheel WR receives from the ground. If the suspension SU is included in the electric component CE, the suspension SU includes a motor M3 (see FIG. 3). In one example, the suspension SU includes at least one of a motor M3 for driving the front suspension SF and a motor M3 for driving the rear suspension.

The adjustable seat post ASP operates to change the height of the driver seat SD. The driver seating portion SD includes a saddle on which a driver who drives the human-powered vehicle A can sit. In one example, the height of the driver seating portion SD with respect to the frame A1 is changed as the adjustable seat post ASP is driven. If the adjustable seat post ASP is included in the electric component CE, the adjustable seat post ASP includes a motor M4 (see FIG. 3).

The brake device BD includes brake devices BD corresponding to the number of wheels W. In this embodiment, the human-powered vehicle A is provided with a brake device BD corresponding to the front wheel WF and a brake device BD corresponding to the rear wheel WR. The two braking devices BD have similar configurations. The braking device BD is, for example, a rim braking device that brakes the rim R of the human-powered vehicle A. When the brake device BD is included in the electric component CE, the brake device BD includes a motor M5 (see FIG. 3). In one example, the braking device BD includes at least one of a motor M5 for driving the braking device BD corresponding to the front wheel WF and a motor M5 for driving the braking device BD corresponding to the rear wheel WR. The braking device BD may be a disc brake device that brakes a disc brake rotor mounted on the human-powered vehicle A.

As shown in FIG. 2, the human powered vehicle A is configured to be able to connect a transport section TP different from the driver seating section SD. The transport section TP is configured to be able to load at least one of people and luggage. The transport unit TP is connected to the human-powered vehicle A so as to move as the human-powered vehicle A travels. In one example, the first connecting portion CL1 of the human-powered vehicle A and the second connecting portion CL2 of the transport unit TP are connected to each other. The transport unit TP may be connected to the human-powered vehicle A in a detachable manner, or may be connected to the human-powered vehicle A in a non-detachable manner. The transport section TP includes at least one of a child seat CS (see FIG. 14), a cargo platform CR, and a towed vehicle TT. In this embodiment, the human-powered vehicle A is configured to be able to connect at least one of the cargo platform CR and the towed vehicle TT.

The loading platform CR is configured to be able to load cargo. The maximum loading capacity of the loading platform CR is specified based on the Road Traffic Act. The loading platform CR is connected to the frame A1 of the human-powered vehicle A so as to be disposed, for example, on the rear wheel WR of the human-powered vehicle A. In the example shown in FIG. 2, the second connecting portion CL2 of the loading platform CR is connected to the rear end A3 and the seat stay A4 in the frame A1. In this case, the rear end A3 and the seat stay A4 correspond to the first connecting portion CL1, and the portion of the cargo platform CR that is connected to the frame A1 corresponds to the second connecting portion CL2. The loading platform CR may be connected to the frame A1 of the human-powered vehicle A so as to be disposed on the front wheel WF of the human-powered vehicle A.

The towed vehicle TT is configured to be able to load at least one of people and cargo. The maximum load capacity of the towed vehicle TT is defined based on the standards of the towed vehicle TT. The towed vehicle TT is connected to the human-powered vehicle A so as to be placed behind the human-powered vehicle A, for example. The towed vehicle TT has an adjustable seat post ASP, a portion of the frame A1 that supports the adjustable seat post ASP, a seatstay A4, a loading platform CR, and at least one of the hub axles that constitute the hub HR of the rear wheel WR. Concatenated.

The towed vehicle TT includes a main body TT1, wheels TT2, a connecting portion TT3, and a connecting portion TT4. The main body TT1 is configured to be capable of loading at least one of a person and baggage. Wheel TT2 is provided on main body TT1. Preferably, the number of wheels TT2 is two or more. The connecting portion TT3 is configured to connect the main body TT1 and the connecting portion TT4 to each other. The connecting portion TT3 may be configured integrally with at least one of the main body TT1 and the connecting portion TT4, or may be configured separately from the main body TT1 and the connecting portion TT4. The connecting portion TT3 may be configured to be able to load cargo. The connecting portion TT4 extends from the connecting portion TT3, for example, and is connected to the human-powered vehicle A. In the example shown in FIG. 2, the connecting portion TT4 of the towed vehicle TT is connected to a portion of the frame A1 that supports the adjustable seat post ASP. In this case, the portion of the frame A1 that supports the adjustable seat post ASP corresponds to the first connecting portion CL1, and the connecting portion TT4 of the towed vehicle TT corresponds to the second connecting portion CL2. The towed vehicle TT may be coupled to the human-powered vehicle A so as to be disposed in front of or to the side of the human-powered vehicle A. The towed vehicle TT may be configured without the connecting portion TT3.

With reference to FIG. 3, the configuration of the control device 10 for a human-powered vehicle will be described.
The human-powered vehicle A further includes a control system 1 . The control system 1 includes a control device 10 for a human-powered vehicle. The control device 10 for a human-powered vehicle is mounted on a human-powered vehicle A to which a transport section TP different from the driver seating section SD can be connected. Hereinafter, the control device 10 for a human-powered vehicle will be simply referred to as the control device 10. The control device 10 is housed, for example, in a housing E1 of the electric auxiliary unit E (see FIG. 1). Control device 10 operates with power supplied from battery BT.

The control device 10 includes a control section 12 that controls a motor M attached to the human-powered vehicle A. The control unit 12 is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Motor M includes, for example, an electric motor. Motor M includes at least one of motor M1, motor M2, motor M3, motor M4, and motor M5. In this embodiment, the motor M includes at least a motor M1. In one example, the control unit 12 controls the motor M1 according to the human power driving force input to the human power vehicle A. The control device 10 further includes a storage unit 14 that stores various information. Storage unit 14 includes nonvolatile memory and volatile memory. The storage unit 14 stores, for example, various programs for control, information set in advance, and the like.

The control unit 12 determines the driving conditions of the motor M at the time of riding, excluding the assist ratio, the response speed of the motor M, and the output upper limit of the motor M, according to at least one of the connection state of the transport unit TP and information regarding the transport unit TP. controlling at least one of the values VP; The driving conditions for the motor M during riding are the driving conditions for the motor M when a driver is riding on the human-powered vehicle A. The drive conditions of the motor M during riding include, for example, the drive conditions of the motor M that affect the load on the driver when the driver of the human-powered vehicle A starts to pedal PD. In one example, the drive conditions for the motor M at the time of boarding are at least the conditions for starting the assist of the human-powered vehicle A, the shift conditions for driving the transmission T, and the conditions for the rotation ratio at the time of starting the human-powered vehicle A. Contains one. The driving conditions for the motor M during riding do not include conditions regarding the assist ratio, which is the output ratio of the motor M1 to the human power driving force. The response speed of the motor M is the speed at which the output of the motor M reaches a preset value with respect to the input to the human-powered vehicle A. The output upper limit value VP of the motor M is the maximum output of the motor M. The maximum output of the motor M is different from the maximum output based on the performance of the motor M.

The connected state of the transport part TP is a connected or unconnected state between the first joint part CL1 of the human-driven vehicle A and the second joint part CL2 of the transport part TP, and a state between the first joint part CL1 and the second joint part CL2. This includes at least one of the load acting on the vehicle, the switching between the connected mode and the uncoupled mode by the operating device OD, and the relative distance between the human-powered vehicle A and the transport section TP. The connected or uncoupled state of the first connecting part CL1 and the second connecting part CL2 defines whether or not the human-powered vehicle A and the transport part TP are connected. The load acting between the first connecting portion CL1 and the second connecting portion CL2 includes a load acting on at least one of the first connecting portion CL1 and the second connecting portion CL2. When the load acting between the first connecting portion CL1 and the second connecting portion CL2 is equal to or greater than a predetermined load, this indicates a state in which the first connecting portion CL1 and the second connecting portion CL2 are connected. When the load acting between the first connecting portion CL1 and the second connecting portion CL2 is less than the predetermined load, this indicates a state in which the first connecting portion CL1 and the second connecting portion CL2 are not connected. The operating device OD includes an operating device that can be mounted on the human-powered vehicle A. The operating device OD includes, for example, a cycle computer SC (see FIG. 1). The connection mode indicates a state in which the first connection portion CL1 and the second connection portion CL2 are connected. The unconnected mode indicates a state in which the first connecting portion CL1 and the second connecting portion CL2 are not connected. When the relative distance between the human-driven vehicle A and the transport section TP is less than a predetermined distance, this indicates a state in which the first connecting section CL1 and the second connecting section CL2 are connected. When the relative distance between the human-powered vehicle A and the transport section TP is equal to or greater than the predetermined distance, this indicates a state in which the first connecting section CL1 and the second connecting section CL2 are not connected.

The information regarding the transport section TP includes the type of transport section TP, the shape of the transport section TP, the size of the transport section TP, the model year of the transport section TP, the maximum load capacity of the transport section TP, the load state on the transport section TP, and Contains at least one piece of weight information of the transport section TP. The load state on the transport section TP includes a load that acts on the transport section TP when at least one of a person and cargo is loaded on the transport section TP. The weight information of the transport section TP includes at least one of the weight of the transport section TP and the total weight of the transport section TP. The total weight of the transport section TP is the sum of the weight of the transport section TP and the weight of people, luggage, etc. loaded on the transport section TP. The weight of people, luggage, etc. loaded on the transport section TP is substantially the same as the load that acts on the transport section TP when at least one of the people and luggage is loaded on the transport section TP.

As shown in FIG. 4, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or higher than the threshold value TH. Specifically, the control unit 12 starts driving the motor M1 when the human power driving force changes from a state less than the threshold value TH to a state equal to or more than the threshold value TH. The control unit 12 controls the motor M1 so that as the manual driving force increases, the output of the motor M1 increases in proportion. Hereinafter, the output of the motor M1 will be referred to as a motor output. The motor output is the output of motor M1 via the speed reduction mechanism. The motor output is expressed, for example, in the same unit as the human power driving force. In one example, the motor output is indicated by at least one of the rotational torque of the motor M1, the rotational speed of the motor M1, and the power of the motor M1, which is the product of the rotational torque of the motor M1 and the rotational speed of the motor M1. When the human power driving force exceeds the first predetermined threshold TA, the control unit 12 controls the motor M1 so that the motor output maintains the output upper limit value VP. The first predetermined threshold TA is greater than the threshold TH. The control unit 12 controls the motor M1 so that the ratio between the human power driving force and the motor output becomes a predetermined ratio, for example, when the human power driving force is within a range of not less than the threshold value TH and less than the first predetermined threshold value TA. The relationship between the human-powered driving force and the motor output is defined according to the relationship between the vehicle speed of the human-powered vehicle A and the Road Traffic Act.

As shown in FIG. 5, the threshold TH includes a first threshold TH1 and a second threshold TH2 different from the first threshold TH1. When the first predetermined condition is satisfied, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or greater than the first threshold value TH1. For example, when at least one of the first condition to the twelfth condition is satisfied, the control unit 12 determines that the first predetermined condition is satisfied.

The control unit 12 determines that the first condition is satisfied when the first connecting portion CL1 of the human-powered vehicle A and the second connecting portion CL2 of the transport unit TP are not connected. The control unit 12 determines that the second condition is satisfied when the load acting between the first connecting portion CL1 and the second connecting portion CL2 is less than a predetermined load. The control unit 12 determines that the third condition is satisfied when the connected mode is switched to the unconnected mode by the operation using the operating device OD. The control unit 12 determines that the fourth condition is satisfied when the relative distance between the human-powered vehicle A and the transport unit TP is a predetermined distance or more.

The control unit 12 determines that the fifth condition is satisfied when the type of the transport unit TP is the first type. The first type indicates the type of the transport section TP that applies a load less than the first load to the driver of the human-powered vehicle A, for example. The control unit 12 determines that the sixth condition is satisfied when the shape of the transport unit TP is the first shape. The first shape indicates, for example, the shape of the transport section TP that applies a load less than the second load to the driver. The control unit 12 determines that the seventh condition is satisfied when the size of the transport unit TP is less than the predetermined size. The control unit 12 determines that the eighth condition is satisfied when the model year of the transport unit TP is the first model year. The first model year indicates, for example, the model year of the transport section TP manufactured after a predetermined year. The control unit 12 determines that the ninth condition is satisfied when the maximum loading capacity of the transport unit TP is less than the predetermined maximum loading capacity. The control unit 12 determines that the tenth condition is satisfied when the load state on the transport unit TP is the first load state. The first load state indicates a state in which the load acting on the transport section TP by, for example, people and luggage loaded on the transport section TP is small. The control unit 12 determines that the eleventh condition is satisfied when the weight of the transport unit TP is less than the predetermined weight. The control unit 12 determines that the twelfth condition is satisfied when the total weight of the transport unit TP is less than the predetermined total weight. The graph shown by the solid line in FIG. 5 shows an example of the relationship between the human power driving force and the motor output when the first predetermined condition is satisfied.

When the second predetermined condition is satisfied, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or greater than the second threshold value TH2. The second threshold TH2 is smaller than the first threshold TH1. In this case, the timing to start driving the motor M1 based on the satisfaction of the second predetermined condition is earlier than the timing to start driving the motor M1 based on the satisfaction of the first predetermined condition. For example, when at least one of the 13th condition to the 24th condition is satisfied, the control unit 12 determines that the second predetermined condition is satisfied.

The control unit 12 determines that the thirteenth condition is satisfied when the first connecting portion CL1 of the human-powered vehicle A and the second connecting portion CL2 of the transport unit TP are connected. The control unit 12 determines that the fourteenth condition is satisfied when the load acting between the first connecting portion CL1 and the second connecting portion CL2 is equal to or greater than a predetermined load. The control unit 12 determines that the 15th condition is satisfied when the uncoupled mode is switched to the coupled mode by the operation using the operating device OD. The control unit 12 determines that the 16th condition is satisfied when the relative distance between the human-powered vehicle A and the transport unit TP is less than a predetermined distance.

The control unit 12 determines that the seventeenth condition is satisfied when the type of the transport unit TP is the second type. The second type indicates the type of the transport section TP that applies a load equal to or higher than the first load to the driver of the human-powered vehicle A, for example. The control unit 12 determines that the 18th condition is satisfied when the shape of the transport unit TP is the second shape. The second shape indicates, for example, the shape of the transport portion TP that applies a load equal to or higher than the second load to the driver. The control unit 12 determines that the nineteenth condition is satisfied when the size of the transport unit TP is equal to or larger than the predetermined size. The control unit 12 determines that the 20th condition is satisfied when the model year of the transport unit TP is the second model year. The second model year indicates, for example, the model year of the transport section TP manufactured before a predetermined year. The control unit 12 determines that the 21st condition is satisfied when the maximum loading capacity of the transport unit TP is greater than or equal to the predetermined maximum loading capacity. The control unit 12 determines that the 22nd condition is satisfied when the load state on the transport unit TP is the second load state. The second load state indicates a state in which the load acting on the transport section TP due to, for example, people, luggage, etc. loaded on the transport section TP is greater than the first load state. The control unit 12 determines that the 23rd condition is satisfied when the weight of the transport unit TP is equal to or greater than the predetermined weight. The control unit 12 determines that the 24th condition is satisfied when the total weight of the transport unit TP is equal to or greater than the predetermined total weight. The graph shown by the two-dot chain line in FIG. 5 shows an example of the relationship between the human power driving force and the motor output when the second predetermined condition is satisfied.

In the present embodiment, the control unit 12 determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the first to fourth conditions, and determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the thirteenth to sixteenth conditions. It is determined that the second predetermined condition is satisfied. In one example, when the transport unit TP is not connected to the human-powered vehicle A, the control unit 12 starts driving the motor M1 when the human-powered driving force becomes equal to or higher than the first threshold value TH1, and the controller 12 starts driving the motor M1 so that the transport unit TP When the human power driving force becomes equal to or higher than a second threshold value TH2 which is smaller than the first threshold value TH1, driving of the motor M1 is started. In this embodiment, the control unit 12 controls the motor M1 so that the response speed of the motor M1 is constant regardless of whether the first predetermined condition or the second predetermined condition is satisfied. The control unit 12 changes in proportion to at least one of the load acting between the first connection part CL1 and the second connection part CL2, the load on the transport part TP, and the weight information of the transport part TP. Additionally, at least one of the driving conditions of the motor M during riding, the response speed of the motor M, and the output upper limit value VP of the motor M may be controlled.

As shown in FIG. 2, the human-powered vehicle A further includes a connection state detection section 16 that detects the connection state of the transport section TP. The connection state detection section 16 is provided in at least one of the human-powered vehicle A and the transport section TP. In one example, the connection state detection section 16 is provided in the first connection section CL1 of the human-powered vehicle A. The connection state detection unit 16 outputs various detected information to the control unit 12, for example. The control unit 12 controls the motor M according to the detection state of the connection state detection unit 16.

The connection state detection unit 16 includes at least one of a contact sensor, a first load sensor, a first communication unit capable of wireless communication, and a first reading sensor. The contact sensor is configured to be able to detect contact between the human-powered vehicle A and the transport section TP. The first load sensor is configured to be able to detect a load acting between the first connecting portion CL1 and the second connecting portion CL2. The first communication unit is configured to be able to communicate with a second communication unit different from the first communication unit. In one example, the first communication section is provided on one of the human-powered vehicle A and the transport section TP, and the second communication section is provided on the other of the human-powered vehicle A and the transport section TP. In this example, when the relative distance between the human-powered vehicle A and the transport section TP is less than a predetermined distance, communication between the first communication section and the second communication section is executed. The first reading sensor is configured to be able to read at least one of a barcode and a two-dimensional code. In one example, a first reading sensor is provided on one of the human-powered vehicle A and the transport section TP, and at least one of a barcode and a two-dimensional code is provided on the other of the human-powered vehicle A and the transport section TP. The connection state detection unit 16 may include a camera.

The human-powered vehicle A further includes a transport information detection section 18 that detects information regarding the transport section TP. The transport information detection section 18 is provided in at least one of the human-powered vehicle A and the transport section TP. In one example, the conveyance information detection section 18 is provided at the first connection section CL1 of the human-powered vehicle A. The conveyance information detection unit 18 outputs various detected information to the control unit 12, for example. The control unit 12 controls the motor M according to the detection result of the conveyance information detection unit 18.

The conveyance information detection section 18 includes at least one of a second load sensor, a weight sensor, a third communication section, and a second reading sensor. The second load sensor is configured to be able to detect the load acting on the transport section TP. The weight sensor is configured to be able to detect at least one of the weight of the transport section TP and the weight of people, luggage, etc. loaded on the transport section TP. In one example, the total weight of the transport section TP is calculated by calculating the sum of the weight of the transport section TP and the weight of people, luggage, etc. loaded on the transport section TP. The third communication unit is configured to be able to communicate with a fourth communication unit different from the third communication unit. In one example, the third communication section is provided on one of the human-powered vehicle A and the transport section TP, and the fourth communication section is provided on the other of the human-powered vehicle A and the transport section TP. The third communication unit acquires information regarding the transport unit TP by communicating with the fourth communication unit. The first communication unit and the third communication unit may be one common communication unit. The second reading sensor is configured to be able to read at least one of a barcode and a two-dimensional code. In one example, a second reading sensor is provided on one of the human-powered vehicle A and the transport section TP, and at least one of a barcode and a two-dimensional code is provided on the other of the human-powered vehicle A and the transport section TP. The second reading sensor acquires information regarding the transport section TP by reading at least one of a barcode and a two-dimensional code. The first reading sensor and the second reading sensor may be one common reading sensor.

At least one of the connection state detection section 16 and the conveyance information detection section 18 is included in the control system 1. In other words, the control system 1 includes at least one of the connection state detection section 16 and the conveyance information detection section 18. When the control system 1 acquires at least one of the connection state of the transport unit TP and information regarding the transport unit TP using an element different from the connection state detection unit 16 and the transport information detection unit 18, the control system 1 uses the connection state detection unit 16. At least one of the transport information detection unit 18 and the conveyance information detection unit 18 may be omitted. Elements different from the connection state detection unit 16 and the conveyance information detection unit 18 include, for example, information regarding the operation of the operating device OD.

An example of control executed by the control device 10 will be described with reference to FIG. 6.
The control unit 12 acquires various information in step S11. Specifically, the control unit 12 receives at least one of the connection state of the transport unit TP and information regarding the transport unit TP from at least one of the connection state detection unit 16, the transport information detection unit 18, and the operating device OD. get. In one example, the control unit 12 acquires information regarding whether or not the human-powered vehicle A and the transport unit TP are connected from the connection state detection unit 16. In step S12, the control unit 12 determines whether a first predetermined condition is satisfied. When the control unit 12 determines in step S12 that the first predetermined condition is satisfied, the process proceeds to step S13.

In step S13, the control unit 12 determines whether the human power driving force is greater than or equal to the first threshold TH1. When the control unit 12 determines in step S13 that the human power driving force is less than the first threshold TH1, the control unit 12 returns the process to step S11. If the control unit 12 determines in step S13 that the human power driving force is less than the first threshold TH1, the control unit 12 may repeat the process of step S13. If the control unit 12 determines in step S13 that the human power driving force is greater than or equal to the first threshold TH1, the process proceeds to step S14. The control unit 12 starts driving the motor M1 in step S14.

When the control unit 12 determines in step S12 that the first predetermined condition is not satisfied, the process proceeds to step S15. In step S15, the control unit 12 determines whether the second predetermined condition is satisfied. When the control unit 12 determines in step S15 that the second predetermined condition is not satisfied, the process returns to step S11. When the control unit 12 determines in step S15 that the second predetermined condition is satisfied, the process proceeds to step S16.

In step S16, the control unit 12 determines whether the human power driving force is greater than or equal to the second threshold TH2. When the control unit 12 determines in step S16 that the human power driving force is less than the second threshold TH2, the control unit 12 returns the process to step S11. If the control unit 12 determines in step S16 that the human power driving force is less than the second threshold TH2, the control unit 12 may repeat the process of step S16. When the control unit 12 determines in step S16 that the human power driving force is equal to or greater than the second threshold TH2, the process proceeds to step S17. The control unit 12 starts driving the motor M1 in step S17.

After the above processing, the processing from step S11 to step S17 ends. The control unit 12 may repeatedly execute the process from step S11 to step S17 while the human-powered vehicle A is running, or may execute the process from step S11 to step S17 at the timing when the human-powered vehicle A starts moving. .

<Second embodiment>
A control device 10 according to a second embodiment will be described with reference to FIGS. 7 and 8. Components that are common to the first embodiment are given the same reference numerals as those in the first embodiment, and redundant explanations will be omitted.

FIG. 7 shows an example of the relationship between the motor output and time in a state where a human power driving force equal to or greater than the first predetermined threshold TA is input to the pedal PD.
The response speed of motor M1 includes a first response speed and a second response speed different from the first response speed. When the first predetermined condition is satisfied, the control unit 12 controls the motor M1 at a first response speed when the human driving force is input. In one example, when the first predetermined condition is satisfied, when a human drive force equal to or greater than the first predetermined threshold TA is input to the pedal PD, the control unit 12 controls the motor output to reach the output upper limit value VP at time t2. Controls motor M1. The slope of the graph indicated by the solid line in FIG. 7 indicates an example of the first response speed.

When the second predetermined condition is satisfied, the control unit 12 controls the motor M1 at the second response speed when the human driving force is input. The second response speed is greater than the first response speed. In one example, when the second predetermined condition is satisfied, when a human drive force equal to or greater than the first predetermined threshold TA is input to the pedal PD, the control unit 12 controls the motor output to reach the output upper limit value VP at time t1. Controls motor M1. The time required until time t1 is shorter than the time required until time t2. The slope of the graph indicated by the two-dot chain line in FIG. 7 indicates an example of the second response speed.

In the present embodiment, the control unit 12 determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the first to fourth conditions, and determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the thirteenth to sixteenth conditions. It is determined that the second predetermined condition is satisfied. In one example, the control unit 12 controls the motor M1 at the first response speed when the human power driving force is input when the transport unit TP is not connected to the human power vehicle A, When the human power driving force is input when the motor M1 is connected to the motor M1, the motor M1 is controlled at a second response speed that is higher than the first response speed.

An example of control executed by the control device 10 will be described with reference to FIG. 8.
The control unit 12 acquires various information in step S21. Specifically, the control unit 12 receives at least one of the connection state of the transport unit TP and information regarding the transport unit TP from at least one of the connection state detection unit 16, the transport information detection unit 18, and the operating device OD. get. In one example, the control unit 12 acquires information regarding whether or not the human-powered vehicle A and the transport unit TP are connected from the connection state detection unit 16. In step S22, the control unit 12 determines whether the first predetermined condition is satisfied. When the control unit 12 determines in step S22 that the first predetermined condition is satisfied, the process proceeds to step S23. The control unit 12 controls the motor M1 at the first response speed in step S23.

When the control unit 12 determines in step S22 that the first predetermined condition is not satisfied, the process proceeds to step S24. In step S24, the control unit 12 determines whether the second predetermined condition is satisfied. When the control unit 12 determines in step S24 that the second predetermined condition is not satisfied, the control unit 12 returns the process to step S21. When the control unit 12 determines in step S24 that the second predetermined condition is satisfied, the process proceeds to step S25. The control unit 12 controls the motor M1 at the second response speed in step S25.

After the above processing, the processing from step S21 to step S25 ends. The control unit 12 may repeatedly execute the process from step S21 to step S25 while the human-powered vehicle A is traveling, or may execute the process from step S21 to step S25 at the timing when the human-powered vehicle A starts moving. . The control unit 12 may execute the processes from step S11 to step S17 shown in FIG. 6 in parallel.

<Third embodiment>
A control device 10 according to a third embodiment will be described with reference to FIGS. 9 and 10. Components that are common to the first embodiment are given the same reference numerals as those in the first embodiment, and redundant explanations will be omitted.

As shown in FIG. 9, the output upper limit value VP includes a first output upper limit value VP1 and a second output upper limit value VP2 different from the first output upper limit value VP1. When the first predetermined condition is satisfied, the control unit 12 sets the output upper limit value VP of the motor M1 to the first output upper limit value VP1. In one example, when the first predetermined condition is satisfied, the control unit 12 controls the motor M1 so that the motor output maintains the first output upper limit value VP1 when the human power driving force becomes equal to or greater than the first predetermined threshold value TA. The graph shown by the solid line in FIG. 9 shows an example of the relationship between the human power driving force and the motor output when the first predetermined condition is satisfied.

When the second predetermined condition is satisfied, the control unit 12 sets the output upper limit value VP of the motor M1 to the second output upper limit value VP2. The second output upper limit value VP2 is larger than the first output upper limit value VP1. In one example, when the second predetermined condition is satisfied, the control unit 12 controls the motor M1 so that the motor output maintains the second output upper limit value VP2 when the human power driving force becomes equal to or greater than the second predetermined threshold value TB. The second predetermined threshold TB is larger than the first predetermined threshold TA. The second predetermined threshold TB may be the same as the first predetermined threshold TA, or may be smaller than the first predetermined threshold TA. The graph shown by the two-dot chain line in FIG. 9 shows an example of the relationship between the human power driving force and the motor output when the second predetermined condition is satisfied.

In the present embodiment, the control unit 12 determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the first to fourth conditions, and determines that the first predetermined condition is satisfied based on the satisfaction of at least one of the thirteenth to sixteenth conditions. It is determined that the second predetermined condition is satisfied. In one example, when the transport unit TP is not connected to the human-powered vehicle A, the control unit 12 sets the output upper limit value VP of the motor M1 to the first output upper limit value VP1, and the transport unit TP is connected to the human-powered vehicle A. When connected, the output upper limit value VP of the motor M1 is set to the second output upper limit value VP2, which is larger than the first output upper limit value VP1.

An example of control executed by the control device 10 will be described with reference to FIG. 10.
The control unit 12 acquires various information in step S31. Specifically, the control unit 12 receives at least one of the connection state of the transport unit TP and information regarding the transport unit TP from at least one of the connection state detection unit 16, the transport information detection unit 18, and the operating device OD. get. In one example, the control unit 12 acquires information regarding whether or not the human-powered vehicle A and the transport unit TP are connected from the connection state detection unit 16. In step S32, the control unit 12 determines whether the first predetermined condition is satisfied. When the control unit 12 determines in step S32 that the first predetermined condition is satisfied, the process proceeds to step S33. In step S33, the control unit 12 sets the output upper limit value VP of the motor M1 to the first output upper limit value VP1.

When the control unit 12 determines in step S32 that the first predetermined condition is not satisfied, the process proceeds to step S34. In step S34, the control unit 12 determines whether the second predetermined condition is satisfied. When the control unit 12 determines in step S34 that the second predetermined condition is not satisfied, the control unit 12 returns the process to step S31. When the control unit 12 determines in step S34 that the second predetermined condition is satisfied, the process proceeds to step S35. In step S35, the control unit 12 sets the output upper limit value VP of the motor M1 to the second output upper limit value VP2.

After the above processing, the processing from step S31 to step S35 is ended. The control unit 12 may repeatedly execute the process from step S31 to step S35 while the human-powered vehicle A is traveling, or may execute the process from step S31 to step S35 at the timing when the human-powered vehicle A starts moving. . The control unit 12 may execute at least one of the processing from step S11 to step S17 shown in FIG. 6 and the processing from step S21 to step S25 shown in FIG. 8 in parallel.

<Fourth embodiment>
A control device 10 according to a fourth embodiment will be described with reference to FIGS. 11 and 12. Components that are common to the first embodiment are given the same reference numerals as those in the first embodiment, and redundant explanations will be omitted.

The control unit 12 automatically controls the transmission T of the human-powered vehicle A according to the shift conditions. The control unit 12 controls a motor M attached to the human-powered vehicle A. In this embodiment, motor M includes at least motor M2. In one example, the control unit 12 controls the transmission T according to at least one of the driving state of the human-powered vehicle A, the driving environment of the human-powered vehicle A, and the assist state related to propulsion of the human-powered vehicle A. The running state of the human-powered vehicle A includes at least one of cadence, torque acting on the crank C of the human-powered vehicle A, vehicle speed, acceleration, and power. Cadence is synonymous with the rotational speed of crank C. Power is the product of cadence and torque. The running environment of the human-powered vehicle A includes at least one of the following: road surface conditions, running resistance of the human-powered vehicle A, weather, and temperature. The assist state includes at least one of the assist ratio of the human-powered vehicle A, the conditions for starting assist of the human-powered vehicle A, the response speed of the motor M1, and the output upper limit value VP of the motor M1. Information used for automatic control of the transmission T is detected by various sensors mounted on the human-powered vehicle A, for example.

As shown in FIG. 11, the shift conditions are defined based on the reference value RV and the shift threshold TS. The reference value RV includes, for example, a value related to the running state of the human-powered vehicle A. In one example, the reference value RV includes cadence. The shift threshold TS includes a first shift threshold TS1 and a second shift threshold TS2. The control unit 12 controls the transmission T so that the rotation ratio of the human-powered vehicle A increases according to the relationship between the reference value RV and the first shift threshold TS1, and The transmission T is controlled so that the rotation ratio of the human-powered vehicle A is reduced according to the relationship. The first shift threshold TS1 is different from the second shift threshold TS2. In this embodiment, the first shift threshold TS1 is larger than the second shift threshold TS2.

In one example, the control unit 12 controls the transmission T such that the rotation ratio of the human-powered vehicle A increases when the reference value RV exceeds the first shift threshold TS1, and when the reference value RV falls below the second shift threshold TS2. The transmission T is controlled so that the rotation ratio of the human-powered vehicle A is reduced. When the rotation ratio of the human-powered vehicle A is the maximum rotation ratio, the control unit 12 controls the transmission T so that the rotation ratio of the human-powered vehicle A is maintained even if the reference value RV exceeds the first shift threshold TS1. not control. The maximum rotation ratio is the maximum rotation ratio based on the relationship between the front sprocket D1 and the rear sprocket D2. When the rotation ratio of the human-powered vehicle A is the minimum rotation ratio, the control unit 12 controls the transmission T so that the rotation ratio of the human-powered vehicle A is maintained even if the reference value RV falls below the second shift threshold TS2. not control. The minimum rotation ratio is the minimum rotation ratio based on the relationship between the front sprocket D1 and the rear sprocket D2.

The control unit 12 controls at least one of the speed change conditions for driving the transmission T and the rotation ratio at the time of starting the human-powered vehicle A, depending on at least one of the connection state of the transport unit TP and information regarding the transport unit TP. change. In this embodiment, the control unit 12 changes the speed change conditions according to at least one of the connection state of the transport unit TP and information regarding the transport unit TP. The control unit 12 maintains the shift condition when the first predetermined condition is satisfied. The control unit 12 changes the shift condition when the second predetermined condition is satisfied. In one example, when the second predetermined condition is satisfied, the control unit 12 changes the shift condition so that the second shift threshold TS2 that defines the shift condition becomes larger. In other words, when the second predetermined condition is satisfied, the control unit 12 changes the shift condition so that the second shift threshold TS2 approaches the first shift threshold TS1. In the present embodiment, when the second predetermined condition is satisfied, the control unit 12 changes the shift condition so that the second shift threshold TS2 becomes the third shift threshold TS3. The third shift threshold TS3 is smaller than the first shift threshold TS1 and larger than the second shift threshold TS2. The third shift threshold TS3 may be smaller than the second shift threshold TS2. When the first predetermined condition is satisfied after changing the speed change condition, the control unit 12 returns the speed change condition to its original state. The two-dot chain line shown in FIG. 11 indicates an example of the third shift threshold TS3.

The shift conditions may be defined based on the reference value RV and table values. The table values include a table defining the rotation ratio of the human-powered vehicle A associated with the reference value RV. In this case, the control unit 12 controls the transmission T according to the relationship between the reference value RV and the table value so that the rotation ratio of the human-powered vehicle A corresponds to the reference value RV and the table value. In one example, when the first predetermined condition is satisfied, the control unit 12 maintains the shift condition, and when the second predetermined condition is satisfied, the control unit 12 maintains the rotation of the human-powered vehicle A associated with the reference value RV that defines the table value. Change the shifting conditions so that the ratio becomes smaller.

An example of control executed by the control device 10 will be described with reference to FIG. 12.
The control unit 12 acquires various information in step S41. Specifically, the control unit 12 receives at least one of the connection state of the transport unit TP and information regarding the transport unit TP from at least one of the connection state detection unit 16, the transport information detection unit 18, and the operating device OD. get. In one example, the control unit 12 acquires information regarding whether or not the human-powered vehicle A and the transport unit TP are connected from the connection state detection unit 16. In step S42, the control unit 12 determines whether the first predetermined condition is satisfied. When the control unit 12 determines in step S42 that the first predetermined condition is satisfied, the process proceeds to step S43. The control unit 12 maintains the shift condition in step S43.

When the control unit 12 determines in step S42 that the first predetermined condition is not satisfied, the process proceeds to step S44. In step S44, the control unit 12 determines whether the second predetermined condition is satisfied. When the control unit 12 determines in step S44 that the second predetermined condition is not satisfied, the control unit 12 returns the process to step S41. If the control unit 12 determines in step S44 that the second predetermined condition is satisfied, the process proceeds to step S45. In step S45, the control unit 12 changes the shift conditions so that the second shift threshold TS2 becomes the third shift threshold TS3.

After the above processing, the processing from step S41 to step S45 ends. The control unit 12 may repeatedly execute the process from step S41 to step S45 while the human-powered vehicle A is traveling, or may execute the process from step S41 to step S45 at the timing when the human-powered vehicle A starts moving. . The control unit 12 performs at least one of the processing from step S11 to step S17 shown in FIG. 6, the processing from step S21 to step S25 shown in FIG. 8, and the processing from step S31 to step S35 shown in FIG. May be executed in parallel.

<Fifth embodiment>
A control device 10 according to a fifth embodiment will be described with reference to FIG. 13. Components that are common to the fourth embodiment are given the same reference numerals as those in the fourth embodiment, and redundant explanations will be omitted.

The control unit 12 controls at least one of the speed change conditions for driving the transmission T and the rotation ratio at the time of starting the human-powered vehicle A, depending on at least one of the connection state of the transport unit TP and information regarding the transport unit TP. change. In the present embodiment, the control unit 12 changes the rotation ratio when the human-powered vehicle A starts, depending on at least one of the connection state of the transport unit TP and information regarding the transport unit TP. The time when the human-powered vehicle A starts, includes, for example, when the crank C rotates a predetermined number of times from a stopped state of the human-powered vehicle A, or when the vehicle speed of the human-powered vehicle A reaches a predetermined vehicle speed. In one example, the rotation ratio of the human-powered vehicle A at the time of starting is the rotation ratio of the human-powered vehicle A when the driver of the human-powered vehicle A starts to pedal PD. In other words, the rotation ratio of the human-powered vehicle A when it starts is the rotation ratio of the human-powered vehicle A when the crank C of the human-powered vehicle A starts rotating. In another example, the rotation ratio when the human-powered vehicle A starts is the rotation ratio of the human-powered vehicle A when the human-powered vehicle A starts traveling.

The control unit 12 controls the motor M2 according to, for example, one of the following first to third examples, and changes the rotation ratio at the time of starting the human-powered vehicle A. In the first example, the control unit 12 controls the motor M2 as the human-powered vehicle A starts so as to change the rotation ratio when the human-powered vehicle A starts. The control related to the first example can be applied to any transmission T including an external transmission, an internal transmission, and a continuously variable transmission. In the second example, the control unit 12 controls the motor M2 when the human-powered vehicle A is stopped so that a smooth shift is achieved when the human-powered vehicle A starts. Specifically, the control unit 12 operates so that at least one of the movable member of the front derailleur TF and the movable member of the rear derailleur TR operates in preparation for changing the chain D3 to the front sprocket D1 and the rear sprocket D2 that are gear shifting destinations. The motor M2 is controlled when the human-powered vehicle A is stopped. Then, as the human-powered vehicle A starts, the front sprocket D1 and the rear sprocket D2 rotate, thereby changing the rotation ratio when the human-powered vehicle A starts. The control regarding the second example can be applied to the transmission T including an external transmission. In the third example, the control unit 12 controls the motor M2 of the transmission T and at least one of the front sprocket D1 and the rear sprocket D2 so as to change the rotation ratio of the human-powered vehicle A when the human-powered vehicle A is stopped. The motor rotates and controls the. In one example, in preparation for replacing the chain D3 on the front sprocket D1 and the rear sprocket D2 that are gear shifting destinations, the control unit 12 controls the manual drive so that at least one of the movable member of the front derailleur TF and the movable member of the rear derailleur TR operates. Motor M2 is controlled when car A is stopped. Thereafter, by controlling the motor that rotates at least one of the front sprocket D1 and the rear sprocket D2, the rotation ratio when the human-powered vehicle A is stopped and when the human-powered vehicle A is started is changed. The control regarding the third example can be applied to the transmission T including an external transmission. In an example where a transmission T including an internal transmission is applied, the control unit 12 controls the motor M2 when the human-powered vehicle A stops so as to change the rotation ratio when the human-powered vehicle A starts. Good too.

When the first predetermined condition is satisfied, the control unit 12 controls the transmission T so that the rotation ratio at the time of starting the human-powered vehicle A becomes the first rotation ratio. The first rotation ratio may be a preset rotation ratio of the human-powered vehicle A, or may be a rotation ratio when the human-powered vehicle A is stopped. When the second predetermined condition is satisfied, the control unit 12 controls the transmission T so that the rotation ratio at the time of starting the human-powered vehicle A becomes the second rotation ratio. The second rotation ratio is smaller than the first rotation ratio.

An example of control executed by the control device 10 will be described with reference to FIG. 13.
The control unit 12 acquires various information in step S51. Specifically, the control unit 12 receives at least one of the connection state of the transport unit TP and information regarding the transport unit TP from at least one of the connection state detection unit 16, the transport information detection unit 18, and the operating device OD. get. In one example, the control unit 12 acquires information regarding whether or not the human-powered vehicle A and the transport unit TP are connected from the connection state detection unit 16. In step S52, the control unit 12 determines whether the first predetermined condition is satisfied. When the control unit 12 determines in step S52 that the first predetermined condition is satisfied, the process proceeds to step S53. In step S53, the control unit 12 controls the transmission T so that the rotation ratio at the time of starting the human-powered vehicle A becomes the first rotation ratio.

When the control unit 12 determines in step S52 that the first predetermined condition is not satisfied, the process proceeds to step S54. In step S54, the control unit 12 determines whether the second predetermined condition is satisfied. When the control unit 12 determines in step S54 that the second predetermined condition is not satisfied, the process returns to step S51. When the control unit 12 determines in step S54 that the second predetermined condition is satisfied, the process proceeds to step S55. In step S55, the control unit 12 controls the transmission T so that the rotation ratio at the time of starting the human-powered vehicle A becomes the second rotation ratio.

After the above processing, the processing from step S51 to step S55 ends. The control unit 12 may repeatedly execute the process from step S51 to step S55 while the human-powered vehicle A is traveling, or may execute the process from step S51 to step S55 at the timing when the human-powered vehicle A starts moving. . The control unit 12 performs the processing from step S11 to step S17 shown in FIG. 6, the processing from step S21 to step S25 shown in FIG. 8, the processing from step S31 to step S35 shown in FIG. 10, and the processing shown in FIG. At least one of the processes from step S41 to step S45 may be executed in parallel.

<Sixth embodiment>
A control device 10 according to a sixth embodiment will be described with reference to FIGS. 14 to 17. Components that are common to the first embodiment are given the same reference numerals as those in the first embodiment, and redundant explanations will be omitted.

As shown in FIG. 14, the human-powered vehicle A is configured to be able to connect a transport section TP different from the driver seating section SD. In this embodiment, the human-powered vehicle A is configured to be able to connect at least one of the child seat CS and the cargo bed CR. The child seat CS is configured to be able to carry at least one of a person and luggage. In one example, the child seat CS is configured to allow a passenger to board the child seat CS. The child seat CS includes at least one of a first child seat CS1 provided in front of the driver seating part SD and a second child seat CS2 provided in the rear with respect to the driver seating part SD.

The first child seat CS1 is configured to allow a first passenger to ride therein. The first child seat CS1 is provided so as to be connectable to a steering wheel H of a human-powered vehicle A, for example. In one example, the first child seat CS1 is provided around the steering wheel H in the front-rear direction of the human-powered vehicle A so that the first passenger can ride between the steering wheel H and the driver seat SD. In this case, the portion of the handle H that is connected to the first child seat CS1 corresponds to the first connecting portion CL1, and the portion of the first child seat CS1 that is connected to the handle H corresponds to the second connecting portion CL2. . The second child seat CS2 is configured to allow a second passenger to ride therein. The second child seat CS2 is provided so as to be connectable to the cargo bed CR of the human-powered vehicle A, for example. In this case, the portion of the loading platform CR that is connected to the second child seat CS2 corresponds to the first connecting portion CL1, and the portion of the second child seat CS2 that is connected to the loading platform CR corresponds to the second connecting portion CL2. . In the following description, the configuration common to the first child seat CS1 and the second child seat CS2 will be explained using the child seat CS.

As shown in FIG. 15, the child seat CS includes a holding part SB that holds a passenger riding in the child seat CS to the child seat CS. The holding part SB includes a seat belt SB1 and a lock part SB2. The seat belt SB1 is configured to be attachable to the lock portion SB2. When the passenger gets on the child seat CS and the seat belt SB1 is attached to the lock part SB2, the passenger is held by the holding part SB. The child seat CS shown in FIG. 15 indicates the second child seat CS2.

As shown in FIG. 14, the control device 10 is mounted on a human-powered vehicle A to which a child seat CS can be connected. The control unit 12 controls a motor M attached to the human-powered vehicle A. In this embodiment, the motor M includes at least a motor M1. The control unit 12 controls a motor M1 that assists the propulsion of the human-powered vehicle A in accordance with the human-powered driving force input to the human-powered vehicle A. The control unit 12 controls the output ratio of the motor M1 to the human driving force in accordance with at least one of the connection state of the child seat CS and information regarding the child seat CS.

The connected state of the child seat CS refers to the connected or uncoupled state between the first connecting part CL1 of the human-driven vehicle A and the second connecting part CL2 of the child seat CS, and the effect between the first connecting part CL1 and the second connecting part CL2. This includes at least one of the load to be applied, switching between a coupled mode and a non-coupled mode by the operating device OD, and the relative distance between the human-powered vehicle A and the child seat CS. The connection state of the child seat CS may further include the presence or absence of a passenger riding in the child seat CS. The information regarding the child seat CS includes at least the type of child seat CS, the shape of the child seat CS, the size of the child seat CS, the model year of the child seat CS, the maximum load capacity of the child seat CS, the load condition on the child seat CS, and the weight information of the child seat CS. Contains one.

In one example, when the child seat CS is connected to the human-powered vehicle A, the control unit 12 makes the output ratio of the motor M1 higher than when the child seat CS is not connected to the human-powered vehicle A. In another example, when the passenger is held by the holding part SB, the control part 12 makes the output ratio of the motor M1 higher than when the passenger is not held by the holding part SB. In other words, the control unit 12 makes the output ratio of the motor M1 higher when the passenger is riding in the child seat CS than when the passenger is not riding in the child seat CS. The control unit 12 controls the control unit 12 when each of the first passenger and the second passenger is riding in the child seat CS1, CS2, or when one of the first passenger and the second passenger is riding in the child seat CS1, CS2. The output ratio of the motor M1 may be made higher than that of the motor M1. The control unit 12 controls the control unit 12 to control the control unit 12 if the first passenger is not seated in the first child seat CS1 and the second passenger is not seated in the second child seat CS2, the first passenger is not seated in the first child seat CS1, and the second passenger is seated in the second child seat CS1. The output ratio of the motor M1 may be set higher than when the child seats in the second child seat CS2.

As shown in FIG. 16, the output ratio of motor M1 includes a first output ratio and a second output ratio different from the first output ratio. The control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the first output ratio when the third predetermined condition is satisfied. In one example, when the third predetermined condition is satisfied, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or greater than the first predetermined threshold TH, and outputs the motor output when the human power drive force becomes equal to or greater than the first predetermined threshold TA. Motor M1 is controlled to maintain upper limit value VP. The control unit 12 determines that the third predetermined condition is satisfied, for example, when at least one of the first condition, the twelfth condition, the twenty-fifth condition, and the twenty-sixth condition is satisfied. The control unit 12 determines that the twenty-fifth condition is satisfied when the passenger is not held by the holding unit SB. The control unit 12 determines that the twenty-sixth condition is satisfied when the passenger is not riding in the child seat CS. The graph shown by the solid line in FIG. 16 shows an example of the relationship between the human power driving force and the motor output when the third predetermined condition is satisfied.

The control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the second output ratio when the fourth predetermined condition is satisfied. The second output ratio is greater than the first output ratio. In one example, when the fourth predetermined condition is satisfied, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or greater than the third predetermined threshold TH, and outputs the motor output when the human power drive force becomes equal to or greater than the third predetermined threshold TC. Motor M1 is controlled to maintain upper limit value VP. The third predetermined threshold TC is smaller than the first predetermined threshold TA. For example, when at least one of the 13th to 24th conditions, the 27th condition, and the 28th condition is satisfied, the control unit 12 determines that the fourth predetermined condition is satisfied. The control unit 12 determines that the 27th condition is satisfied when the passenger is held by the holding unit SB. The control unit 12 determines that the twenty-eighth condition is satisfied when the passenger is riding in the child seat CS. The graph shown by the two-dot chain line in FIG. 16 shows an example of the relationship between the human power driving force and the motor output when the fourth predetermined condition is satisfied.

In the present embodiment, the control unit 12 determines that the third predetermined condition is satisfied based on the satisfaction of at least one of the 25th condition and the 26th condition, and determines that the third predetermined condition is satisfied based on the satisfaction of at least one of the 27th condition and the 28th condition. It is determined that the fourth predetermined condition is satisfied. In one example, the control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the first output ratio when the passenger is not in the child seat CS, and when the passenger is not in the child seat CS. In this case, the motor M1 is controlled so that the output ratio of the motor M1 becomes a second output ratio that is larger than the first output ratio.

The human-powered vehicle A further includes a connection state detection unit 16 that detects the connection state of the child seat CS. In one example, the connection state detection section 16 includes at least one of a connection state detection section 16 that detects the connection state of the first child seat CS1, and a connection state detection section 16 that detects the connection state of the second child seat CS2. The connection state detection section 16 detects the holding state of the holding section SB. Specifically, the connection state detection section 16 includes a sensor capable of detecting the holding state of the holding section SB. The connection state detection unit 16 may include at least one of a contact sensor, a first load sensor, a first communication unit capable of wireless communication, and a first reading sensor. The control section 12 controls the motor M1 according to the detection state of the connection state detection section 16.

An example of control executed by the control device 10 will be described with reference to FIG. 17.
The control unit 12 acquires various information in step S61. Specifically, the control unit 12 acquires at least one of the connection state of the child seat CS and information regarding the child seat CS from at least one of the connection state detection unit 16, the conveyance information detection unit 18, and the operating device OD. . In one example, the control unit 12 acquires information regarding the presence or absence of a passenger riding in the child seat CS from the connection state detection unit 16. In step S62, the control unit 12 determines whether the third predetermined condition is satisfied. When the control unit 12 determines in step S62 that the third predetermined condition is satisfied, the process proceeds to step S63. In step S63, the control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the first output ratio.

When the control unit 12 determines in step S62 that the third predetermined condition is not satisfied, the process proceeds to step S64. In step S64, the control unit 12 determines whether a fourth predetermined condition is satisfied. When the control unit 12 determines in step S64 that the fourth predetermined condition is not satisfied, the process returns to step S61. When the control unit 12 determines in step S64 that the fourth predetermined condition is satisfied, the process proceeds to step S65. In step S65, the control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the second output ratio.

After the above processing, the processing from step S61 to step S65 ends. The control unit 12 may repeatedly execute the process from step S61 to step S65 while the human-powered vehicle A is running, or may execute the process from step S61 to step S65 at the timing when the human-powered vehicle A starts moving. . The control unit 12 performs the processing from step S11 to step S17 shown in FIG. 6, the processing from step S21 to step S25 shown in FIG. 8, the processing from step S31 to step S35 shown in FIG. 10, and the step shown in FIG. At least one of the processes from S41 to S45 and the processes from step S51 to S55 shown in FIG. 13 may be executed in parallel. In this case, the control unit 12 replaces at least one of step S12, step S22, step S32, step S42, and step S52 regarding the establishment of the first predetermined condition with step S62, and replaces step S15 regarding the establishment of the second predetermined condition. , step S24, step S34, step S44, and step S54 may be replaced with step S64.

<Modified example>
The description of each of the embodiments above is an example of the form that the control device for a human-powered vehicle according to the present invention can take, and is not intended to limit the form. The control device for a human-powered vehicle according to the present invention can take a form in which, for example, the following modifications of each of the embodiments described above and at least two mutually consistent modifications are combined. In the following modified examples, parts that are common to the forms of each embodiment are given the same reference numerals as those of each embodiment, and the description thereof will be omitted.

- The control content of the control unit 12 can be changed arbitrarily. In the first example, the control unit 12 starts driving the motor M1 when the human power driving force becomes equal to or higher than the second threshold TH2 when the first predetermined condition is satisfied, and starts driving the motor M1 when the second predetermined condition is satisfied. When becomes equal to or greater than the first threshold value TH1, driving of the motor M1 is started. In the second example, the control unit 12 controls the motor M1 at the second response speed when the human power driving force is input when the first predetermined condition is satisfied, and controls the motor M1 at the second response speed when the human power driving force is input when the second predetermined condition is satisfied. When input, the motor M1 is controlled at the first response speed. In the third example, the control unit 12 sets the output upper limit value VP of the motor M1 to the second output upper limit value VP2 when the first predetermined condition is satisfied, and sets the output upper limit value VP of the motor M1 to the second output upper limit value VP2 when the second predetermined condition is satisfied. The upper limit value VP is set to the first output upper limit value VP1. In the fourth example, the control unit 12 maintains the shift condition when the first predetermined condition is satisfied, and maintains the shift condition so that the first shift threshold TS1 becomes the fourth shift threshold when the second predetermined condition is satisfied. change. The fourth shift threshold is larger than the first shift threshold TS1. The fourth shift threshold may be smaller than the first shift threshold TS1 and larger than the second shift threshold TS2. In the fifth example, when the first predetermined condition is met, the control unit 12 changes the shift condition so that the second shift threshold TS2 becomes the third shift threshold TS3, and when the second predetermined condition is met, the control unit 12 changes the shift condition so that the second shift threshold TS2 becomes the third shift threshold TS3. Maintain conditions. In the sixth example, when the first predetermined condition is satisfied, the control unit 12 controls the transmission T so that the rotation ratio at the time of starting the human-powered vehicle A becomes the second rotation ratio, and the second predetermined condition is satisfied. If this holds true, the transmission T is controlled so that the rotation ratio at the time of starting the human-driven vehicle A becomes the first rotation ratio. In the seventh example, when the third predetermined condition is satisfied, the control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the second output ratio, and when the fourth predetermined condition is satisfied, the control unit 12 controls the motor M1 so that the output ratio of the motor M1 becomes the second output ratio. The motor M1 is controlled so that the output ratio becomes the first output ratio.

- The control target of the control unit 12 can be changed arbitrarily. In the first example, motor M includes at least motor M3. When at least one of the second predetermined condition and the fourth predetermined condition is satisfied, the control unit 12 reduces the impact that the wheel W receives from the ground more than when at least one of the first predetermined condition and the third predetermined condition is satisfied. The suspension SU is controlled so that the stability is increased. In the second example, motor M includes at least motor M4. When at least one of the second predetermined condition and the fourth predetermined condition is satisfied, the control unit 12 controls the driver seating portion SD relative to the frame A1 to be more stable than when at least one of the first predetermined condition and the third predetermined condition is satisfied. The adjustable seat post ASP is controlled so that the height is increased. In the third example, motor M includes at least motor M5. When at least one of the second predetermined condition and the fourth predetermined condition is satisfied, the control unit 12 controls the wheel W in response to the operation of the operating device more than when at least one of the first predetermined condition and the third predetermined condition is satisfied. The braking device BD is controlled so that the braking force acting on the brake is increased.

- The configuration of the transport section TP can be changed arbitrarily. The transport section TP includes a passenger seating section instead of or in addition to at least one of the child seat CS, the cargo bed CR, and the towed vehicle TT. The passenger seating portion is provided in the human-powered vehicle A so as to be disposed behind the driver seating portion SD in the front-rear direction of the human-powered vehicle A. The passenger seating section has substantially the same configuration as the driver seating section SD. In one example, human powered vehicle A is a tandem bicycle.

- The configuration of the operating device OD can be changed arbitrarily. In the first example, the operating device OD includes an operating section provided on a handle H of the human-powered vehicle A. In the second example, the operating device OD includes a smart device. Smart devices include at least one of wearable devices such as smart watches, smartphones, and tablet computers.

- The type of human-powered vehicle A can be changed arbitrarily. In the first example, the human powered vehicle A is a road bike, a mountain bike, a cross bike, a trekking bike, a cargo bike, or a recumbent bike. In the second example, the human powered vehicle A is a kick skater.

DESCRIPTION OF SYMBOLS 10... Control device (control device for human-powered vehicle), 12... Control unit, 16... Connection state detection unit, A... Human-powered vehicle, C... Crank, CL1... First connection part, CL2... Second connection part, CR...Cargo platform, CS...Child seat, M...Motor, M1...Motor, M2...Motor, M3...Motor, M4...Motor, M5...Motor, OD...Operation device, SB...Holding section, SD...Driver seating section, T ...Transmission, TH1...First threshold value, TH2...Second threshold value, TP...Transportation section, TT...Towed vehicle, VP...Output upper limit value, VP1...First output upper limit value, VP2...Second output upper limit value, W …Wheel.

Claims (9)

A control device for a human-powered vehicle installed in a human-powered vehicle to which a child seat can be connected,
a control unit that controls a motor that assists propulsion of the human-powered vehicle in accordance with human-powered driving force input to a pedal of the human-powered vehicle;
The control unit controls an output ratio of the motor to the human power driving force according to at least one of a connection state of the child seat and information regarding the child seat,
The child seat is a control device including a first child seat provided in front of a driver seating portion and in which a first passenger rides . The human-powered vehicle further includes a connection state detection unit that detects a connection state of the child seat,
The control device according to claim 1, wherein the control section controls the motor according to a detection state of the connection state detection section. The control according to claim 2, wherein the control unit makes the output ratio of the motor higher when the child seat is connected to the human-powered vehicle than when the child seat is not connected to the human-powered vehicle. Device. The child seat includes a holding part that holds a passenger riding in the child seat to the child seat,
The connection state detection unit detects a state in which the passenger is held by the holding unit,
The control unit makes the output ratio of the motor higher when the occupant is held by the holding unit than when the occupant is not held by the holding unit. control device. The child seat further includes a second child seat that is provided rearwardly with respect to the driver seating portion and in which a second passenger is seated;
The connection state detection section includes at least one of a first connection state detection section that detects a connection state of the first child seat, and a second connection state detection section that detects a connection state of the second child seat,
The control unit according to any one of claims 2 to 4, wherein the control unit controls the motor according to the at least one detection state of the first connection state detection unit and the second connection state detection unit. Device. The control unit controls the motor so that the output ratio of the motor becomes a first output ratio when the passenger is not riding in the child seat, and when the passenger is riding in the child seat, The control device according to any one of claims 1 to 5, which controls the motor so that an output ratio of the motor becomes a second output ratio that is larger than the first output ratio. The child seat further includes a second child seat that is provided rearwardly with respect to the driver seating portion and in which a second passenger is seated;
The control unit controls whether the first passenger is riding in the first child seat when the first passenger is riding in the first child seat and the second passenger is riding in the second child seat. , the second passenger is not riding in the second child seat, and the first passenger is not riding in the first child seat, and the second passenger is riding in the second child seat. The control device according to any one of claims 1 to 4, wherein the output ratio of the motor is made higher than in the case where the output ratio of the motor is increased. The child seat further includes a second child seat that is provided rearwardly with respect to the driver seating portion and in which a second passenger is seated;
The control unit may be arranged such that, when the first occupant rides in the first child seat and the second occupant does not ride in the second child seat, the first occupant does not ride in the first child seat; The control device according to any one of claims 1 to 4, wherein the output ratio of the motor is made higher than when a second passenger rides in the second child seat. The information regarding the child seat includes at least the type of the child seat, the shape of the child seat, the size of the child seat, the model year of the child seat, the maximum load capacity of the child seat, the load state on the child seat, and the weight information of the child seat. 9. A control device according to any one of claims 1 to 8, comprising one.