JP2023151107A - Control device for man power drive vehicle - Google Patents

Abstract

To provide a control device for man power drive vehicle, capable of changing a speed preferably, by a derailleur.SOLUTION: A control device for man power drive vehicle comprises: a control part. The man power drive vehicle comprises: at least one first rotor; a wheel; at least one second rotor; a transfer body; a derailleur; and a motor for driving the transfer body. The control part controls the motor and the derailleur, and in at least one out of, when speed change operation of the derailleur is started, in a state of rotating a crank shaft, if rotation of the crank shaft is stopped before a predetermined first period passes, and when the control part estimates stop of the rotation of the crank shaft before a predetermined first period passes, after the speed change operation of the derailleur is started in a state of rotating the crank shaft, the transfer body is driven by the motor.SELECTED DRAWING: Figure 2

Description

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

For example, a control device for a human-powered vehicle disclosed in Patent Document 1 is configured to operate a derailleur when a shift condition is established.

Patent No. 6990618

One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can suitably change gears using a derailleur.

A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and the human-powered vehicle includes a crankshaft to which human-powered driving force is input, and at least one crankshaft connected to the crankshaft. one rotating body, a wheel, at least one second rotating body connected to the wheel, and the at least one second rotating body engaged with the at least one first rotating body and the at least one second rotating body. a transmission body configured to transmit driving force between the first rotating body and the at least one second rotating body; a derailleur configured to operate the transmission body; a motor configured to drive the transmission body; and a control unit configured to control the motor and the derailleur. and the crankshaft stops rotating before a predetermined first period elapses after the derailleur starts a speed change operation while the crankshaft is rotating; In at least one of the following cases, the control unit estimates that the crankshaft will stop rotating before the predetermined first period elapses after starting the gear shifting operation of the derailleur in a state in which the derailleur is rotating. , configured to drive the transmission body by the motor.
According to the control device of the first aspect, if the crankshaft stops rotating before the first period elapses after starting the derailleur gear change operation, and if the crankshaft stops rotating, the control unit starts the derailleur gear change operation. If the control unit estimates that the crankshaft has stopped rotating before the first period elapses, the transmission body can be driven by the motor in at least one of the following cases, so the speed change operation can be suitably continued. Therefore, if the control device is used, the derailleur can suitably change gears.

In the control device of the second aspect according to the first aspect of the present disclosure, the predetermined first period is a period in which the at least one first rotating body rotates by a predetermined first rotation amount, and the at least one second rotation body rotates by a predetermined first rotation amount. It is defined according to at least one of a period in which the body rotates by a predetermined second rotation amount, and a period in which the crankshaft rotates by a predetermined third rotation amount.
According to the control device of the second aspect, the control unit controls the rotation amount of the at least one first rotating body, the rotation amount of the at least one second rotating body, and the predetermined first rotation amount suitable for the rotation amount of the crankshaft. The motor can be controlled depending on the period.

In the control device of the third aspect according to the second aspect of the present disclosure, the predetermined first period is set according to the speed change ratio.
According to the control device of the third aspect, the control unit can control the motor according to a predetermined first period suitable for the gear ratio.

In the control device of the fourth aspect according to the second or third aspect of the present disclosure, the at least one first rotating body includes a plurality of first rotating bodies, and the derailleur is configured to rotate the plurality of first rotating bodies in the shift operation. a first derailleur configured to move the transmission body from one of the plurality of first rotating bodies to another one of the plurality of first rotating bodies; One includes at least one first shift promotion region in the circumferential direction of the plurality of first rotating bodies, and the predetermined first rotation amount is set according to the at least one first shift promotion region. .
According to the control device of the fourth aspect, the control unit can control the motor to change speed according to at least one first speed change promotion region.

In the control device of the fifth aspect according to the fourth aspect of the present disclosure, the control unit may be arranged such that, after starting the shift operation of the first derailleur, the amount of rotation of the plurality of first rotating bodies is the predetermined first rotation. When the amount exceeds the amount, the motor is configured to stop driving in a state in which the crankshaft has stopped rotating or in a state in which the control section estimates that the crankshaft has stopped rotating.
According to the control device of the fifth aspect, the control unit stops driving the motor when the amount of rotation of the plurality of first rotating bodies becomes equal to or greater than a first amount of rotation determined in advance according to at least one first shift promotion region. Stop. Therefore, the control unit can suppress power consumption due to driving the motor.

In the control device of the sixth aspect according to any one of the second to fifth aspects of the present disclosure, the at least one second rotary body includes a plurality of second rotary bodies, and the derailleur is configured to operate in the shift operation. a second derailleur configured to move the transmission body from one of the plurality of second rotating bodies to another one of the plurality of second rotating bodies; At least one of the rotating bodies includes at least one second shift promoting region in the circumferential direction of the plurality of second rotating bodies, and the predetermined second rotation amount includes the at least one second shift promoting region. It is set accordingly.
According to the control device of the sixth aspect, the control unit can control the motor to change speed according to at least one second speed change promotion region.

In the control device according to the seventh aspect according to the sixth aspect of the present disclosure, the control unit may be configured such that, after starting the speed change operation of the second derailleur, the amount of rotation of the plurality of second rotating bodies is the predetermined second rotation. When the amount exceeds the amount, the motor is configured to stop driving in a state in which the crankshaft has stopped rotating or in a state in which the control section estimates that the crankshaft has stopped rotating.
According to the control device of the seventh aspect, the control unit stops driving the motor when the amount of rotation of the plurality of second rotating bodies becomes equal to or greater than a second amount of rotation determined in advance according to at least one second shift promotion region. Stop. Therefore, the control unit can suppress power consumption due to driving the motor.

In the control device of the eighth aspect according to any one of the first to seventh aspects of the present disclosure, the control unit detects the amount of rotation of at least one of the crankshaft and the at least one first rotating body. The device is configured to determine whether the predetermined first period has elapsed based on the output of the first detection unit.
According to the control device of the eighth aspect, the control unit can suitably determine whether the predetermined first period has elapsed from the detection result of the first detection unit.

In the control device according to the ninth aspect according to any one of the first to eighth aspects of the present disclosure, the predetermined first period is such that the crankshaft stops rotating after the shift operation of the derailleur starts. and an estimated period from the start of the shift operation of the derailleur until the crankshaft stops rotating.
According to the control device of the ninth aspect, the control unit controls the period from the start of the derailleur shift operation until the crankshaft stops rotating, and the estimated crankshaft from the start of the derailleur shift operation. The motor can be controlled according to a predetermined first period corresponding to at least one period until the motor stops rotating.

In the control device according to the tenth aspect according to any one of the first to ninth aspects of the present disclosure, the control unit may be configured to adjust the control unit according to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle. The derailleur is configured to be controlled to change the gear ratio.
According to the control device of the tenth aspect, the control unit can change the gear ratio by controlling the derailleur according to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle.

In the control device according to the eleventh aspect according to the tenth aspect of the present disclosure, the running state of the human-powered vehicle includes a rotational speed of the crankshaft, and the control unit is configured to control a predetermined first rotational speed of the crankshaft. If the rotational speed is lower than the rotational speed, the derailleur is configured to be controlled to decrease the gear ratio.
According to the control device of the eleventh aspect, when the rotational speed of the crankshaft is smaller than the predetermined first rotational speed, the control unit can reduce the gear ratio by controlling the derailleur.

In the control device of the twelfth aspect according to the tenth or eleventh aspect of the present disclosure, the running state of the human-powered vehicle includes a rotational speed of the crankshaft, and the control unit is configured such that the rotational speed of the crankshaft is determined in advance. The derailleur is configured to be controlled to increase the gear ratio when the rotational speed is higher than the second rotational speed.
According to the control device of the twelfth aspect, when the rotational speed of the crankshaft is higher than the predetermined first rotational speed, the control unit can increase the gear ratio by controlling the derailleur.

By using the control device for a human-powered vehicle of the present disclosure, it is possible to suitably shift gears using a derailleur.

FIG. 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle including the control device for the human-powered vehicle of FIG. 1. FIG. It is one of at least one first rotating body in FIG. 1 . It is one of at least one second rotating body of FIG. FIG. 2 is a cross-sectional view of the drive unit of FIG. 1; 3 is a flowchart showing a first part of a process for driving a transmission body by a motor, which is executed by the control unit in FIG. 2. FIG. 3 is a flowchart showing a second part of a process for driving a transmission body by a motor, which is executed by the control unit in FIG. 2. FIG.

<Embodiment>
With reference to FIGS. 1 to 7, a control device 80 for a human-powered vehicle will be described. A human-powered vehicle is a vehicle that has at least one wheel and can be driven by at least human-powered driving force. For example, human powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels that a human-powered vehicle has is not limited. For example, human-powered vehicles also include unicycles and vehicles with two or more wheels. A human-powered vehicle is not limited to a vehicle that can be driven solely by human-powered driving force. Human-powered vehicles include E-bikes that use not only human-powered driving force but also electric motor driving force for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. Hereinafter, in each embodiment, the human-powered vehicle will be described as a bicycle. In this specification, the predetermined direction is the front-rear direction of the human-powered vehicle 10.

The human-powered vehicle 10 includes a crankshaft 12, at least one first rotating body 14, wheels 16, at least one second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. . For example, the human powered vehicle 10 further includes crank arms 26A and 26B. For example, the crankshaft 12 and crank arms 26A, 26B constitute a crank 28. A human driving force is input to the crankshaft 12 .

For example, the human powered vehicle 10 further includes a vehicle body 30. For example, the vehicle body 30 includes a frame 32. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 32. For example, each of the crank arms 26A and 26B is provided at an end of the crankshaft 12 in the axial direction. For example, human powered vehicle 10 includes two pedals 34. For example, one of two pedals 34 is connected to the crank arm 26A. The other one of the two pedals 34 is connected to the crank arm 26B. For example, the rear wheel 16R is driven by rotation of the crankshaft 12. For example, the rear wheel 16R is supported by the frame 32.

For example, the human powered vehicle 10 further includes a drive mechanism 36. For example, the drive mechanism 36 includes at least one first rotating body 14 , at least one second rotating body 18 , and a transmission body 20 . At least one first rotating body 14 is connected to the crankshaft 12. At least one second rotating body 18 is connected to the wheel 16. The transmission body 20 engages with at least one first rotating body 14 and at least one second rotating body 18 to generate a driving force between the at least one first rotating body 14 and the at least one second rotating body 18. configured to communicate. For example, the transmission body 20 transmits the rotational force of at least one first rotating body 14 to at least one second rotating body 18.

For example, at least one first rotating body 14 and the crankshaft 12 are arranged coaxially. At least one first rotating body 14 and the crankshaft 12 may not be coaxially arranged. For example, when the at least one first rotating body 14 and the crankshaft 12 are not arranged coaxially, the at least one first rotating body 14 and the crankshaft 12 are a first transmission mechanism including gears and a chain. connected via. The first transmission mechanism may include a pulley and a belt, or may include a shaft and a bevel gear. For example, at least one first rotating body 14 includes at least one first sprocket.

For example, at least one second rotating body 18 and the rear wheel 16R are arranged coaxially. At least one second rotating body 18 and the rear wheel 16R may not be coaxially arranged. For example, when the at least one second rotating body 18 and the rear wheel 16R are not arranged coaxially, the at least one second rotating body 18 and the rear wheel 16R are connected to a second transmission mechanism including gears and a chain. connected via. The second transmission mechanism may include a pulley and a belt, or may include a shaft and a bevel gear. For example, at least one second rotating body 18 includes at least one second sprocket.

A front wheel 16F is attached to the frame 32 via a front fork 38. A handlebar 42 is connected to the front fork 38 via a stem 40. For example, at least one of the front wheel 16F and the rear wheel 16R and the crank 28 are connected by a drive mechanism 36. In this embodiment, the rear wheel 16R and the crank 28 are connected by a drive mechanism 36.

The derailleur 22 is configured to operate the transmission body 20 in order to change the gear ratio R of the rotational speed W of the wheels 16 to the rotational speed C of the crankshaft 12 . For example, the derailleur 22 is provided in a transmission path for human power driving force in the human power driven vehicle 10, and is configured to change the gear ratio R. For example, the derailleur 22 operates the transmission body 20 to change the engagement state between the transmission body 20 and at least one of the at least one first rotation body 14 and the at least one second rotation body 18. Change the ratio R. The relationship between the gear ratio R, the rotational speed W, and the rotational speed C is expressed by equation (1).
Formula (1): Gear ratio R = rotation speed W/rotation speed C

For example, the derailleur 22 can change the gear ratio R for each at least one gear shift stage. For example, derailleur 22 is configured to manipulate transmission 20 to change at least one transmission stage. For example, at least one speed change stage is set according to at least one of at least one first rotating body 14 and at least one second rotating body 18. For example, when at least one shift stage includes a plurality of shift stages, different shift ratios R are set for each of the plurality of shift stages. For example, the higher the shift stage, the larger the shift ratio R becomes.

For example, when the at least one first rotating body 14 includes a plurality of first rotating bodies 14 and the at least one second rotating body 18 includes a plurality of second rotating bodies 18, the shift stage includes a plurality of second rotating bodies 18. It is set according to the combination of one of the first rotating bodies 14 and one of the plurality of second rotating bodies 18. For example, when the at least one first rotating body 14 includes one first rotating body 14 and the at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed change stage includes a plurality of second rotating bodies 18. It is set according to the number of bodies 18. For example, when the at least one first rotating body 14 includes a plurality of first rotating bodies 14 and the at least one second rotating body 18 includes one second rotating body 18, the speed change stage includes a plurality of first rotating bodies 18. It is set according to the number of bodies 14.

For example, the derailleur 22 includes a first derailleur 44 , and the at least one first rotating body 14 includes a plurality of first rotating bodies 14 . The first derailleur 44 is configured to move the transmission body 20 from one of the plurality of first rotating bodies 14 to another one of the plurality of first rotating bodies 14 during a speed change operation. For example, the first derailleur 44 includes a front derailleur. For example, the first derailleur 44 changes the gear ratio R by operating the transmission body 20 to change the state of engagement between at least one first rotating body 14 and the transmission body 20. For example, the multiple first rotating bodies 14 include multiple first sprockets. For example, the plurality of first rotating bodies 14 include two or more and three or less first sprockets. For example, the plurality of first rotating bodies 14 include two first sprockets.

For example, the first derailleur 44 moves a chain that engages one of the plurality of first sprockets to another one of the plurality of first sprockets. For example, among the plurality of first sprockets, the first sprocket with the smallest number of teeth corresponds to the smallest number of gears that can be realized by the first derailleur 44. For example, the first sprocket with the largest number of teeth among the plurality of first sprockets corresponds to the maximum number of gears that can be realized by the first derailleur 44.

For example, the derailleur 22 includes a second derailleur 46, and the at least one second rotating body 18 includes a plurality of second rotating bodies 18. The second derailleur 46 is configured to move the transmission body 20 from one of the plurality of second rotating bodies 18 to another one of the plurality of second rotating bodies 18 during a speed change operation. For example, the second derailleur 46 includes a rear derailleur. For example, the second derailleur 46 changes the gear ratio R by operating the transmission body 20 to change the state of engagement between the at least one second rotating body 18 and the transmission body 20. For example, at least one second rotating body 18 includes a plurality of second sprockets. For example, at least one second rotating body 18 includes 2 or more and 20 or less second sprockets. For example, the plurality of second rotating bodies 18 include twelve second sprockets.

For example, the second derailleur 46 moves a chain that engages one of the plurality of second sprockets to another one of the plurality of second sprockets. For example, the second sprocket with the smallest number of teeth among the plurality of second sprockets corresponds to the maximum number of gears that can be realized by the second derailleur 46. For example, among the plurality of second sprockets, the second sprocket with the largest number of teeth corresponds to the smallest number of gears that can be realized by the second derailleur 46.

In this embodiment, derailleur 22 includes both a first derailleur 44 and a second derailleur 46. The derailleur 22 may include only the first derailleur 44 or only the second derailleur 46. The first derailleur 44 may include a rear derailleur, and the second derailleur 46 may include a front derailleur. For example, if at least one first rotating body 14 includes a plurality of sprockets and the derailleur 22 includes a first derailleur 44, and if at least one second rotating body 18 includes a plurality of sprockets and the derailleur In at least one case, when 22 includes a second derailleur 46, the transmission body 20 includes a chain.

For example, at least one of the plurality of first rotating bodies 14 includes at least one first speed change promotion region 48 in the circumferential direction of the plurality of first rotating bodies 14 . For example, at least one first shift promotion region 48 is individually set for each of the plurality of first rotating bodies 14. For example, the at least one first shift promotion region 48 may be different in all of the plurality of first rotating bodies 14, or at least two may be the same. For example, at least one of the plurality of first rotating bodies 14 does not include the first shift promotion region 48. For example, the smallest first sprocket among the plurality of first sprockets does not include the first shift promotion region 48, and the other first sprockets include the first shift promotion region 48.

For example, at least one first shift promotion region 48 includes a primary shift promotion region 48A and a secondary shift promotion region 48B. For example, the primary shift facilitating region 48A facilitates movement of the chain from one of the plurality of first sprockets to another one of the plurality of first sprockets. For example, the primary shift promotion region 48A promotes increasing the shift stage. For example, the primary speed change promotion region 48A promotes movement of the chain from a first sprocket with a small number of teeth among the plurality of first sprockets to a first sprocket with a large number of teeth among the plurality of first sprockets.

For example, the secondary shift facilitating region 48B facilitates movement of the chain from another one of the plurality of first sprockets to one of the plurality of first sprockets. For example, the secondary shift promotion region 48B promotes downsizing of the shift stages. For example, the secondary speed change promotion region 48B promotes movement of the chain from a sprocket with a large number of teeth among the plurality of first sprockets to a first sprocket with a small number of teeth among the plurality of first sprockets.

For example, in the first rotating body 14 shown in FIG. Two of them are provided in one of the rotating bodies 14. For example, the two secondary speed change promotion regions 48B are provided at positions 180 degrees apart from each other in the circumferential direction of one of the plurality of first rotating bodies 14. For example, two of the four primary speed change promotion regions 48A are provided at positions 180 degrees apart from each other in the circumferential direction of one of the plurality of first rotating bodies 14. For example, the other two of the four primary shift promotion regions 48A are provided at positions 180 degrees apart from each other in the circumferential direction of one of the plurality of first rotating bodies 14.

For example, at least one of the plurality of second rotating bodies 18 includes at least one second speed change promotion region 50 in the circumferential direction of the plurality of second rotating bodies 18. For example, at least one second speed change promotion region 50 is individually set for each of the plurality of second sprockets included in the plurality of second rotating bodies 18. For example, the at least one second shift promotion region 50 may be different in all of the plurality of second rotating bodies 18, or at least two may be the same. For example, at least one of the plurality of second rotating bodies 18 does not include the second shift promotion region 50. For example, the smallest second sprocket among the plurality of second sprockets does not include the second shift promotion region 50, and the other second sprockets include the second shift promotion region 50.

For example, at least one second shift promotion region 50 includes a tertiary shift promotion region 50A and a fourth shift promotion region 50B. For example, the tertiary shift promoting region 50A facilitates movement of the chain from one of the plurality of second sprockets to another one of the plurality of second sprockets. For example, the tertiary shift promotion region 50A promotes an increase in the number of shift stages. For example, the tertiary speed change promotion region 50A promotes movement of the chain from the second sprocket with a large number of teeth among the plurality of second sprockets to the second sprocket with a small number of teeth among the plurality of second sprockets.

For example, the quaternary shift promoting region 50B facilitates movement of the chain from another one of the plurality of second sprockets to one of the plurality of second sprockets. For example, the fourth shift promotion region 50B promotes the reduction of shift stages. For example, the quaternary speed change promotion region 50B promotes movement of the chain from a second sprocket with a small number of teeth among the plurality of second sprockets to a second sprocket with a large number of teeth among the plurality of second sprockets.

For example, in the second rotating body 18 shown in FIG. One of the two rotating bodies 18 is provided with four. For example, each of the four tertiary shift promotion regions 50A and each of the four fourth shift promotion regions 50B are provided alternately in the circumferential direction of one of the plurality of second rotating bodies 18.

For example, the human-powered vehicle 10 further includes an operating device 52 configured to operate the derailleur 22. For example, the operating device 52 is provided on the handlebar 42. For example, the operating device 52 is configured to be operated by a user's hand or the like. For example, the user's hand includes the user's fingers. The operating device 52 includes a first operating section 52A and a second operating section 52B. For example, one of the first operating section 52A and the second operating section 52B is provided on the handlebar 42 located on the left side of the rider, and the other of the first operating section 52A and the second operating section 52B is located on the right side of the rider. It is provided on the handlebar 42 where the

For example, the first operating section 52A and the second operating section 52B include at least one lever or at least one button. The first operating section 52A and the second operating section 52B are not limited to at least one lever or at least one button. It may be a configuration.

For example, the first operating section 52A and the second operating section 52B are configured to operate the derailleur 22. For example, the operating device 52 outputs a speed change operation signal to the control unit 82 in response to a user's operation. The operating device 52 may include a third operating section configured to operate components for a human-powered vehicle other than the derailleur 22, instead of or in addition to the first operating section 52A and the second operating section 52B. good. For example, the shift operation signal includes a first operation signal that includes a shift instruction to operate the derailleur 22 to increase the gear ratio R, and a second operation signal that includes a shift instruction to operate the derailleur 22 to decrease the gear ratio R. Contains operation signals.

For example, the first operation signal includes a primary operation signal including a shift instruction to operate the first derailleur 44 to increase the gear ratio R, and a shift signal to operate the second derailleur 46 to increase the gear ratio R. At least one secondary operation signal includes an instruction. For example, the second operation signal includes a tertiary operation signal that includes a shift instruction to operate the first derailleur 44 to reduce the gear ratio R, and a shift signal to operate the second derailleur 46 to decrease the gear ratio R. At least one of the quaternary operation signals includes an instruction.

For example, the first operating section 52A includes two levers. For example, the first operation unit 52A outputs a primary operation signal when one of the two levers is operated, and outputs a tertiary operation signal when the other one of the two levers is operated. Output. For example, the second operating section 52B includes two levers. For example, the second operation section 52B outputs a secondary operation signal when one of the two levers is operated, and outputs a fourth operation signal when the other one of the two levers is operated. Output.

For example, the first derailleur 44 is operated by one of the first operating section 52A and the second operating section 52B, and the second derailleur 44 is operated by the other one of the first operating section 52A and the second operating section 52B. Derailleur 46 is operated. In this embodiment, the first derailleur 44 is operated by the first operating section 52A, and the second derailleur 46 is operated by the second operating section 52B. When the first derailleur 44 is operated by the first operation section 52A and the derailleur 22 includes only the first derailleur 44, the second operation section 52B may be omitted. When the second derailleur 46 is operated by the second operation section 52B and the derailleur 22 includes only the second derailleur 46, the first operation section 52A may be omitted.

The first derailleur 44 may be operated by the first operating part 52A and the second operating part 52B, and the second derailleur 46 may be operated by the first operating part 52A and the second operating part 52B. The operating device 52 may further include a fourth operating section and a fifth operating section in addition to the first operating section 52A and the second operating section 52B. For example, the fourth operating section and the fifth operating section are configured similarly to the first operating section 52A and the second operating section 52B. The first derailleur 44 is operated by one of the first operating section 52A and the second operating section 52B, and the fourth operating section and the fifth operating section, and the first operating section 52A and the second operating section 52B, the fourth operating section The second derailleur 46 may be operated by the other of the operating section and the fifth operating section.

For example, the first derailleur 44 includes a first electric actuator 44A. The first electric actuator 44A is configured to operate the first derailleur 44. For example, the first electric actuator 44A includes an electric motor. The first electric actuator 44A may further include a reduction gear connected to the output shaft of the electric motor. The first electric actuator 44A may be provided at a position away from the derailleur 22 of the human-powered vehicle 10. For example, when the first electric actuator 44A is driven, the first derailleur 44 operates the transmission body 20, and a speed change operation is performed.

For example, the second derailleur 46 includes a second electric actuator 46A. The second electric actuator 46A is configured to operate the second derailleur 46. For example, the second electric actuator 46A includes an electric motor. The second electric actuator 46A may further include a reduction gear connected to the output shaft of the electric motor. The second electric actuator 46A may be provided at a position away from the derailleur 22 of the human-powered vehicle 10. For example, when the second electric actuator 46A is driven, the second derailleur 46 operates the transmission body 20, and a speed change operation is performed.

For example, the human powered vehicle 10 further includes a battery 54. Battery 54 includes one or more battery elements. The battery element includes a rechargeable battery. For example, the battery 54 is configured to supply power to the control unit 82, the first electric actuator 44A, and the second electric actuator 46A. For example, the battery 54 is communicably connected to the control unit 82 by wire or wirelessly. For example, the battery 54 can communicate with the control unit 82 through Power Line Communication (PLC), Controller Area Network (CAN), or Universal Asynchronous Receiver/Transmitter (UART).

Motor 24 is configured to drive transmission body 20 . For example, the motor 24 is configured to apply propulsive force to the human-powered vehicle 10 in accordance with the human-powered driving force. For example, motor 24 includes one or more electric motors. For example, the electric motor included in motor 24 is, for example, a brushless motor. For example, the motor 24 is configured to transmit rotational force to a human power transmission path from the two pedals 34 to at least one second rotating body 18 . For example, the motor 24 drives the transmission body 20 via at least one first rotating body 14 . In this embodiment, the motor 24 is provided in the frame 32 of the human-powered vehicle 10 and is configured to transmit rotational force to the first rotating body 14 .

The human-powered vehicle 10 further includes a housing 56 in which the motor 24 is provided. A drive unit 58 includes the motor 24 and the housing 56. Housing 56 is attached to frame 32. The housing 56 rotatably supports the crankshaft 12. For example, the motor 24 may be configured to transmit rotational force to the transmission body 20 without going through the at least one first rotating body 14 . For example, when the motor 24 is configured to transmit rotational force to the transmission body 20 without passing through at least one first rotating body 14, the force of the output shaft 24A or the output shaft 24A of the motor 24 is transmitted. The transmission member is provided with a sprocket that engages with the transmission body 20.

For example, drive unit 58 further includes an output section 60. For example, the output section 60 has a rotation center axis CA. For example, the output section 60 and the crankshaft 12 are arranged coaxially. For example, the output unit 60 is configured to transmit the human power driving force and the output of the motor 24. For example, the output unit 60 is configured to transmit the rotational force of the crankshaft 12 and the output of the motor 24. For example, the output section 60 has a substantially cylindrical shape. For example, the output section 60 is provided on the outer periphery of the crankshaft 12 around the rotation center axis CA. For example, at least one first rotating body 14 is connected to the first end 60A of the output section 60 so as to rotate together with the output section 60.

For example, drive unit 58 includes a reduction gear 62. For example, the reducer 62 is provided between the motor 24 and a power transmission path for human power driving force. For example, speed reducer 62 includes at least one speed reduction section. For example, the at least one deceleration portion includes a first deceleration portion 64 , a second deceleration portion 66 , and a third deceleration portion 68 . Reduction gear 62 may include one, two, or more than four reduction sections.

The first reduction portion 64 includes a first gear 64A, a first rotating shaft 64B, and a second gear 64C. For example, the first gear 64A is connected to the second gear 64C. For example, the diameter of the first gear 64A is larger than the diameter of the second gear 64C. For example, the first gear 64A is provided at the second end 60B of the output section 60. For example, the first gear 64A is formed integrally with the output section 60. The first gear 64A and the output section 60 may be formed separately and attached so that they cannot rotate relative to each other.

For example, the first rotation shaft 64B is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the second gear 64C is provided on the first rotating shaft 64B. For example, the second gear 64C is formed in an annular shape and is arranged radially outside the first rotating shaft 64B. For example, the second gear 64C is arranged coaxially with the first rotating shaft 64B. For example, the second gear 64C is supported by the first rotating shaft 64B. For example, the second gear 64C is formed integrally with the first rotating shaft 64B. The first rotating shaft 64B and the second gear 64C may be formed separately and attached so that they cannot rotate relative to each other.

The first reduction portion 64 may be indirectly connected by a belt and a pulley instead of the first gear 64A and the second gear 64C. The first reduction portion 64 may be indirectly connected by a sprocket and a chain instead of the first gear 64A and the second gear 64C.

For example, the second deceleration portion 66 is provided between the motor 24 and the first deceleration portion 64. For example, the second reduction portion 66 includes a third gear 66A, a second rotating shaft 66B, and a fourth gear 66C. The third gear 66A is connected to the fourth gear 66C. For example, the diameter of the third gear 66A is larger than the diameter of the fourth gear 66C.

For example, the third gear 66A is provided on the first rotating shaft 64B. For example, the third gear 66A is formed in an annular shape and is arranged at a different portion from the second gear 64C on the radially outer side of the first rotating shaft 64B. For example, the third gear 66A is arranged coaxially with the first rotating shaft 64B. For example, the third gear 66A is supported by the first rotating shaft 64B. For example, the third gear 66A is formed separately from the first rotating shaft 64B, and is attached so that it cannot rotate relative to the first rotating shaft 64B. The third gear 66A may be formed integrally with the first rotating shaft 64B. For example, the diameter of the third gear 66A is less than or equal to the diameter of the second gear 64C.

For example, the second rotation shaft 66B is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the fourth gear 66C is provided on the second rotating shaft 66B. For example, the fourth gear 66C is formed in an annular shape and is disposed outside the second rotating shaft 66B in the radial direction. For example, the fourth gear 66C is arranged coaxially with the second rotating shaft 66B. For example, the fourth gear 66C is supported by the second rotating shaft 66B. For example, the fourth gear 66C is formed integrally with the second rotating shaft 66B. The fourth gear 66C may be formed separately from the second rotating shaft 66B and may be attached so as to be non-rotatable relative to the second rotating shaft 66B. For example, the fourth gear 66C is configured to rotate together with the second rotating shaft 66B.

The second reduction portion 66 may be indirectly connected by a belt and a pulley instead of the third gear 66A and the fourth gear 66C. The second reduction portion 66 may be indirectly connected by a sprocket and a chain instead of the third gear 66A and the fourth gear 66C.

For example, the third reduction portion 68 includes a fifth gear 68A and a sixth gear 68B. For example, the fifth gear 68A connects with the sixth gear 68B. For example, the diameter of the fifth gear 68A is larger than the diameter of the sixth gear 68B. For example, the fifth gear 68A is provided on the second rotating shaft 66B. For example, the fifth gear 68A is formed in an annular shape and is disposed at a different portion from the fourth gear 66C on the outside of the second rotating shaft 66B in the radial direction.

For example, the fifth gear 68A is arranged coaxially with the second rotating shaft 66B. For example, the fifth gear 68A is supported by the second rotating shaft 66B. For example, the fifth gear 68A is formed separately from the second rotating shaft 66B, and is attached so that it cannot rotate relative to the second rotating shaft 66B. The fifth gear 68A may be formed integrally with the second rotating shaft 66B. For example, the diameter of the fifth gear 68A is larger than the diameter of the fourth gear 66C.

For example, motor 24 includes an output shaft 24A. For example, the output shaft 24A is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the sixth gear 68B is provided on the output shaft 24A. For example, the sixth gear 68B is formed in an annular shape and is arranged on the outside of the output shaft 24A in the radial direction. For example, the sixth gear 68B is arranged coaxially with the output shaft 24A. For example, the sixth gear 68B is supported by the output shaft 24A. For example, the sixth gear 68B is provided on the output shaft 24A of the motor 24 so as to rotate together with the output shaft 24A. For example, the sixth gear 68B is formed integrally with the output shaft 24A. For example, the sixth gear 68B may be formed separately from the output shaft 24A and may be attached to the output shaft 24A.

The third reduction portion 68 may be indirectly connected by a belt and a pulley instead of the fifth gear 68A and the sixth gear 68B. The third reduction portion 68 may be indirectly connected by a sprocket and a chain instead of the fifth gear 68A and the sixth gear 68B.

For example, drive unit 58 further includes a first one-way clutch 70. For example, the first one-way clutch 70 is provided between the power transmission path from the crankshaft 12 to at least one first rotating body 14. For example, the first one-way clutch 70 is provided between the crankshaft 12 and the output section 60.

For example, the first one-way clutch 70 rotates the first rotating body 14 forward when the crankshaft 12 rotates forward, and connects the crankshaft 12 and at least one first rotating body when the crankshaft 12 rotates backward. It is configured to allow relative rotation with respect to 14. For example, the first one-way clutch 70 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

For example, drive unit 58 further includes a second one-way clutch 72. For example, the second one-way clutch 72 is provided between the power transmission path from the motor 24 to at least one first rotating body 14. For example, the second one-way clutch 72 is provided between the third gear 66A and the first rotating shaft 64B.

For example, the second one-way clutch 72 is configured to transmit the rotational force of the motor 24 to the output section 60. For example, the second one-way clutch 72 is configured to suppress the rotational force of the crankshaft 12 from being transmitted to the motor 24 when the crankshaft 12 rotates forward. For example, the second one-way clutch 72 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

For example, the human powered vehicle 10 further includes a first detection section 74. For example, the first detection section 74 is communicably connected to the control section 82 by wire or wirelessly. The first detection unit 74 detects the amount of rotation of at least one of the crankshaft 12 and the at least one first rotating body 14 . For example, the first detection unit 74 is configured to detect information according to the rotational speed C of the crankshaft 12. For example, the first detection unit 74 is configured to detect information according to the rotational speed of at least one first rotating body 14. The information corresponding to the rotational speed C of the crankshaft 12 includes the angular acceleration of the crankshaft 12. The information according to the rotational speed of the at least one first rotating body 14 includes the angular acceleration of the at least one first rotating body 14.

For example, the first detection unit 74 includes a magnetic sensor that outputs a signal according to the strength of the magnetic field. The magnetic sensor includes an annular magnet whose magnetic field strength changes in the circumferential direction. The annular magnet whose magnetic field strength changes in the circumferential direction is provided between the crankshaft 12, the at least one first rotating body 14, or a power transmission path from the crankshaft 12 to the at least one first rotating body 14. It will be done.

For example, the first detection unit 74 outputs a signal according to at least one of the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14 . For example, the first detection unit 74 outputs the detection signal a predetermined number of times during one rotation of at least one of the rotational speed C of the crankshaft 12 and the rotational speed of the at least one first rotating body 14. It is composed of For example, the predetermined number of times is 2 or more. For example, the predetermined number of times is 4 or more. For example, the predetermined number of times is a multiple of four. For example, the predetermined number of times is 8, 12, or 16. The first detection unit 74 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of the magnetic sensor.

For example, the first detection unit 74 is provided in the frame 32 of the human-powered vehicle 10. For example, when the first detection section 74 is provided in the frame 32, the first detection section 74 may include a vehicle speed sensor. When the first detection unit 74 includes a vehicle speed sensor, the control unit 82 may be configured to calculate the rotational speed C of the crankshaft 12 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio R. . For example, the first detection section 74 may be provided in the drive unit 58.

The first detection unit 74 may be configured to detect the amount of rotation of at least one second rotating body 18 . The first detection unit 74 may be configured to detect information according to the rotational speed of at least one second rotating body 18. For example, the information according to the rotational speed of the at least one second rotating body 18 includes the angular acceleration of the at least one second rotating body 18. For example, the first detection unit 74 may output a signal according to the rotational speed of at least one second rotating body 18.

For example, the human-powered vehicle 10 further includes a human-powered driving force detection section 76 . The human power driving force detection section 76 is communicably connected to the control section 82 by wire or wirelessly. The human power driving force detection section 76 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human power driving force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force includes information regarding the human-powered driving force input to the human-powered vehicle 10 .

For example, the human power driving force detection unit 76 is provided in a transmission path of the human power driving force or a member included in the vicinity of a member included in the transmission path of the human power driving force. For example, the members included in the human power driving force transmission path include the crankshaft 12 and a member that transmits the human power driving force between the crankshaft 12 and at least one first rotating body 14 . For example, the human power driving force detection section 76 is provided in a power transmission section configured to transmit the human power driving force from the crankshaft 12 to the output section 60. For example, the power transmission section is provided on the outer periphery of the crankshaft 12.

The human power driving force detection section 76 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge. The human power driving force detection section 76 may have any configuration as long as it can acquire information regarding the human power driving force.

For example, the human power driving force detection section 76 may be provided on the crank arms 26A, 26B or at least one of the two pedals 34. For example, when the human power driving force detection section 76 is provided on at least one of the two pedals 34, the human power driving force detection section 76 is a sensor that detects the pressure applied to at least one of the two pedals 34. May contain. For example, the human power driving force detection section 76 may be provided in a chain included in the transmission body 20. For example, when the human power driving force detection section 76 is provided on a chain, the human power driving force detection section 76 may include a sensor that detects the tension of the chain.

For example, the human-powered vehicle 10 further includes a vehicle speed detection section 78. For example, the vehicle speed detection section 78 is communicably connected to the control section 82 by wire or wirelessly. For example, the vehicle speed detection unit 78 is configured to detect information regarding the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 78 is configured to detect information regarding the rotational speed W of the wheels 16. For example, the vehicle speed detection unit 78 is configured to detect a magnet provided on at least one of the front wheel 16F and the rear wheel 16R.

For example, the vehicle speed detection unit 78 is configured to output a detection signal a predetermined number of times while the wheel 16 rotates once. For example, the predetermined number of times is 1. For example, the vehicle speed detection unit 78 outputs a signal according to the rotational speed W of the wheels 16. The control unit 82 can calculate the vehicle speed of the human-powered vehicle 10 based on a signal corresponding to the rotational speed W of the wheel 16 and information regarding the circumference of the wheel 16. For example, information regarding the circumference of the wheel 16 is stored in the storage unit 84.

The control device 80 for a human-powered vehicle includes a control section 82 . For example, the control unit 82 includes an arithmetic processing device that executes a predetermined control program. For example, the arithmetic processing device included in the control unit 82 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

For example, the arithmetic processing units included in the control unit 82 may be provided at multiple locations separated from each other. For example, a part of the arithmetic processing device may be provided in the human-powered vehicle 10, and another part of the arithmetic processing device may be provided in a server connected to the Internet. When the arithmetic processing device is provided in a plurality of locations separated from each other, each part of the arithmetic processing device is communicably connected to each other via a wireless communication device. The control unit 82 may include one or more microcomputers.

For example, the control device 80 further includes a storage unit 84. For example, the storage unit 84 is communicably connected to the control unit 82 by wire or wirelessly. For example, the storage unit 84 stores a control program and information used for control processing. For example, the storage unit 84 includes, for example, nonvolatile memory and volatile memory. For example, the nonvolatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, volatile memory includes RAM (Random Access Memory).

For example, the control device 80 may further include a drive circuit for the motor 24. For example, the control unit 82 and the drive circuit are provided in the housing 56. The control unit 82 and the drive circuit may be provided on the same circuit board. For example, the drive circuit is communicably connected to the control unit 82 by wire or wirelessly. For example, the drive circuit drives the motor 24 in response to a control signal from the control unit 82.

For example, the drive circuit is electrically connected to the motor 24. For example, the drive circuit controls the supply of power from battery 54 to motor 24 . For example, the drive circuit includes an inverter circuit. For example, an inverter circuit includes multiple transistors. For example, the inverter circuit includes a configuration in which a plurality of inverter sections each including a pair of transistors connected in series are connected in parallel. For example, the inverter circuit may include a current sensor that detects the current flowing through the inverter circuit. For example, the current sensor is communicably connected to the control unit 82 by wire or wirelessly.

Control unit 82 is configured to control motor 24 and derailleur 22. For example, the control unit 82 is configured to control the motor 24 depending on the state of the human-powered vehicle 10. For example, the control unit 82 is configured to control the motor 24 so as to change the propulsive force according to the human power driving force input to the human power vehicle 10. For example, the control unit 82 is configured to control the motor 24 according to the human power driving force detected by the human power driving force detection unit 76.

For example, the control unit 82 controls the motor 24 in accordance with at least one of the rotational speed C of the crankshaft 12 and the rotational speed of the at least one first rotating body 14 detected by the first detection unit 74. It is composed of For example, the control unit 82 is configured to control the motor 24 according to the vehicle speed of the human-powered vehicle 10 detected by the vehicle speed detection unit 78. The control unit 82 may be configured to drive the motor 24 according to information transmitted from outside the drive unit 58. The information transmitted from outside the drive unit 58 may include an operation signal of the operating device 52.

For example, the control unit 82 is configured to control the motor 24 so that the assist level by the motor 24 becomes a predetermined assist level. For example, the assist level is the ratio of the output of the motor 24 to the human-powered driving force input to the human-powered vehicle 10, the maximum value of the output of the motor 24, and the variation in the output of the motor 24 when the output of the motor 24 decreases. and at least one level of inhibition.

For example, the control unit 82 is configured to control the motor 24 so that the ratio of the assist force to the human driving force becomes a predetermined ratio. For example, the human power driving force corresponds to the propulsive force of the human power vehicle 10 that is generated when the user rotates the crankshaft 12. For example, the human power driving force corresponds to the driving force that is input to at least one first rotating body 14 when the user rotates the crankshaft 12 .

For example, the assist force includes a driving force that is input to the first rotating body 14 according to the output of the motor 24. For example, the assist force corresponds to the propulsive force of the human-powered vehicle 10 generated by the rotation of the motor 24. For example, if the drive unit 58 includes a reduction gear 62, the assist force corresponds to the output of the reduction gear 62.

The predetermined ratio is not constant and may change depending on the human power driving force. The predetermined ratio is not constant and may change depending on at least one of the rotational speed C of the crankshaft 12 and the rotational speed of the at least one first rotating body 14. The predetermined ratio is not constant and may change depending on the vehicle speed of the human-powered vehicle 10. The predetermined ratio is not constant, and is determined by any two of the human driving force, at least one of the rotational speed C of the crankshaft 12 and the rotational speed of the at least one first rotating body 14, and the vehicle speed, or, It may vary depending on everything.

For example, human power driving force is represented by at least one of torque and power. For example, when human power driving force is expressed by torque, the human power driving force is described as human power torque. For example, when the output of the motor 24 is expressed by torque, the output of the motor 24 is described as assist torque. For example, the power of the human power driving force is the product of the torque applied to the crankshaft 12 and the rotational speed C of the crankshaft 12.

For example, the assist force is expressed by at least one of torque and power. For example, when the assist force is expressed by torque, the assist force is described as assist torque. For example, when the assist force is expressed by power, the assist force is described as assist power. For example, the assist power is the product of the assist torque and the rotational speed of the output shaft 24A of the motor 24. For example, the ratio of assist force to human power driving force may be the ratio of assist torque to human power torque, or may be the ratio of assist power to human power power.

For example, the control unit 82 is configured to control the motor 24 so that the assist force is equal to or less than the maximum assist force. For example, the control unit 82 is configured to control the motor 24 so that the assist torque is equal to or less than the maximum assist torque. For example, the maximum assist torque is a value in a range of 20 Nm or more and 200 Nm or less. For example, the maximum assist torque is determined by the output characteristics of the motor 24. The control unit 82 may be configured to control the motor 24 so that the assist power is equal to or less than the maximum assist power.

For example, the control unit 82 is configured to control the derailleur 22 in response to a shift instruction. For example, the shift instruction corresponds to at least one of an output from the operating device 52 and a shift condition. For example, the shift instructions include a shift instruction to increase the gear ratio R and a shift instruction to decrease the gear ratio R.

For example, if the derailleur 22 includes the first derailleur 44, the shift instruction includes a first shift instruction. For example, when there is a first shift instruction, the control unit 82 outputs a first shift control signal or a second shift control signal to the first electric actuator 44A. For example, the first electric actuator 44A operates to operate the first derailleur 44 when at least one of the first shift control signal and the second shift control signal is input.

For example, when the first shift control signal is input, the first electric actuator 44A operates to operate the first derailleur 44 so that the shift ratio R becomes larger. For example, when the second shift control signal is input, the first electric actuator 44A operates to operate the first derailleur 44 so that the shift ratio R becomes smaller. For example, the first shift control signal and the second shift control signal include electric power for driving the first electric actuator 44A.

For example, if the derailleur 22 includes the second derailleur 46, the shift instruction includes a second shift instruction. For example, when there is a second shift instruction, the control unit 82 outputs a third shift control signal or a fourth shift control signal to the first electric actuator 44A. For example, the second electric actuator 46A operates to operate the second derailleur 46 when at least one of the third shift control signal and the fourth shift control signal is input.

For example, when the third shift control signal is input, the second electric actuator 46A operates to operate the second derailleur 46 so that the shift ratio R becomes larger. For example, when the fourth shift control signal is input, the second electric actuator 46A operates to operate the second derailleur 46 so that the shift ratio R becomes smaller. For example, the third shift control signal and the fourth shift control signal include electric power for driving the second electric actuator 46A.

For example, the control unit 82 is configured to control the derailleur 22 to change the gear ratio R according to the output from the operating device 52. For example, the control unit 82 is configured to control the first derailleur 44 so as to change the gear ratio R according to the output from the first operation unit 52A. For example, the control unit 82 is configured to control the second derailleur 46 so as to change the gear ratio R according to the output from the second operation unit 52B.

For example, when the primary operation signal is output from the first operation section 52A, the control section 82 outputs the first shift control signal to the first electric actuator 44A. For example, when the tertiary operation signal is output from the first operation section 52A, the control section 82 outputs the second shift control signal to the first electric actuator 44A. For example, when the second operation signal is output from the second operation section 52B, the control section 82 outputs the third shift control signal to the second electric actuator 46A. For example, when the fourth operation signal is output from the second operation section 52B, the control section 82 outputs the fourth shift control signal to the second electric actuator 46A.

For example, a case where a primary operation signal is output from the first operation section 52A corresponds to a case where a first shift instruction for increasing the shift ratio R is issued. For example, a case where a tertiary operation signal is output from the first operation section 52A corresponds to a case where a first shift instruction for reducing the shift ratio R is issued. For example, a case where a secondary operation signal is output from the second operation section 52B corresponds to a case where a second shift instruction for increasing the shift ratio R is issued. For example, the case where the fourth operation signal is output from the second operation section 52B corresponds to the case where there is a second shift instruction for reducing the shift ratio R.

For example, the control unit 82 is configured to control the derailleur 22 to change the speed change ratio R when the speed change condition is satisfied. For example, if the derailleur 22 includes the first derailleur 44, the shift conditions include the first shift conditions. For example, if the derailleur 22 includes the second derailleur 46, the shift conditions include the second shift conditions. For example, when the first shift condition for increasing the gear ratio R is satisfied, the control unit 82 outputs the first shift control signal to the first electric actuator 44A. For example, when the first shift condition for reducing the gear ratio R is satisfied, the control unit 82 outputs the second shift control signal to the first electric actuator 44A. For example, when the second shift condition for increasing the gear ratio R is satisfied, the control unit 82 outputs the third shift control signal to the second electric actuator 46A. For example, when the second shift condition for reducing the gear ratio R is satisfied, the control unit 82 outputs the fourth shift control signal to the second electric actuator 46A.

For example, the control unit 82 is configured to control the derailleur 22 to change the gear ratio R depending on at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10 . For example, the shift condition is established depending on at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10 . For example, the control unit 82 is configured to control the first derailleur 44 so as to change the gear ratio R depending on at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. . For example, the control unit 82 is configured to control the second derailleur 46 to change the gear ratio R depending on at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. .

For example, at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 is the rotational speed C of the crankshaft 12, the human-powered driving force, the vehicle speed, the road surface gradient of the road on which the human-powered vehicle 10 is running, and It includes at least one of running resistance. For example, the running state of the human-powered vehicle 10 includes the rotational speed C of the crankshaft 12. For example, the control unit 82 is configured to control the derailleur 22 so that the rotational speed C of the crankshaft 12 falls within a predetermined range. For example, the control unit 82 is configured to control the derailleur 22 to reduce the gear ratio R when the rotational speed C of the crankshaft 12 is smaller than a predetermined first rotational speed. For example, the control unit 82 is configured to control the derailleur 22 to increase the gear ratio R when the rotational speed C of the crankshaft 12 is higher than a predetermined second rotational speed.

For example, when the rotational speed C of the crankshaft 12 is smaller than a predetermined first rotational speed, the control unit 82 controls at least one of the first derailleur 44 and the second derailleur 46 to decrease the gear ratio R. configured to do so. For example, when the rotational speed C of the crankshaft 12 is higher than a predetermined second rotational speed, the control unit 82 controls at least one of the first derailleur 44 and the second derailleur 46 to increase the gear ratio R. configured to do so.

For example, when the rotational speed C of the crankshaft 12 is smaller than a predetermined first rotational speed, the control unit 82 controls the first electric actuator 44A to reduce the gear ratio R so that the first derailleur 44 configured to operate. For example, when the rotational speed C of the crankshaft 12 is smaller than a predetermined first rotational speed, the control unit 82 controls the second electric actuator 46A to reduce the gear ratio R, thereby controlling the second derailleur 46A. configured to operate.

For example, when the rotational speed C of the crankshaft 12 is higher than a predetermined second rotational speed, the control unit 82 controls the first electric actuator 44A to increase the gear ratio R so that the first derailleur 44 configured to operate. For example, when the rotational speed C of the crankshaft 12 is higher than a predetermined second rotational speed, the control unit 82 controls the second electric actuator 46A to increase the gear ratio R so that the second derailleur 46 configured to operate.

For example, the control unit 82 is configured to control the derailleur 22 so that the human power driving force falls within a predetermined range. For example, the control unit 82 is configured to control the derailleur 22 so that when the vehicle speed becomes a predetermined speed or less, the gear ratio R becomes a predetermined first ratio or less. For example, the control unit 82 is configured to control the derailleur 22 so that the gear ratio R becomes equal to or less than a predetermined second ratio when the road surface gradient exceeds a predetermined gradient.

For example, the case where the first shift condition for increasing the gear ratio R is satisfied corresponds to the case where there is a first shift instruction for increasing the gear ratio R. For example, the case where the first shift condition for reducing the gear ratio R is satisfied corresponds to the case where there is a first shift instruction for reducing the gear ratio R. For example, the case where the second shift condition for increasing the gear ratio R is satisfied corresponds to the case where there is a second shift instruction for increasing the gear ratio R. For example, the case where the second shift condition for reducing the gear ratio R is satisfied corresponds to the case where there is a second shift instruction for reducing the gear ratio R.

If the crankshaft 12 stops rotating before a predetermined first period elapses after starting the speed change operation of the derailleur 22 while the crankshaft 12 is rotating, In at least one case where the control unit 82 estimates that the crankshaft 12 has stopped rotating before a predetermined first period has elapsed after starting the gear shifting operation of the derailleur 22 while the crankshaft 12 is rotating, The transmission body 20 is configured to be driven by the motor 24 .

For example, the control unit 82 causes the crankshaft 12 to stop rotating before a predetermined first period elapses after starting the speed change operation of the derailleur 22 while the crankshaft 12 is rotating. After the estimation, if the crankshaft 12 stops rotating, the motor 24 is configured to drive the transmission body 20. For example, the case where the crankshaft 12 stops rotating is when the rotation speed C of the crankshaft 12 becomes less than or equal to the rotation stop determination speed. The rotation stop determination speed is, for example, 0 rpm. For example, when the control unit 82 estimates that the rotation of the crankshaft 12 has stopped, the rate of decrease in the rotational speed C of the crankshaft 12 is equal to or less than a predetermined speed, and the rotational speed C of the crankshaft 12 is equal to or less than the estimated rotational stoppage speed. This is the case. For example, the rotation stop determination speed is greater than 0 rpm.

For example, the predetermined first period is a period in which at least one first rotating body 14 rotates by a predetermined first rotation amount, a period in which at least one second rotary body 18 rotates by a predetermined second rotation amount, and , is defined according to at least one period during which the crankshaft 12 rotates by a predetermined third rotation amount. For example, the predetermined first rotation amount is 360 degrees or less. For example, the predetermined first rotation amount is 90 degrees or more. For example, the predetermined second rotation amount is 360 degrees or less. For example, the predetermined second rotation amount is 90 degrees or more. For example, the predetermined third rotation amount is 760 degrees or less. For example, the predetermined third rotation amount is 90 degrees or more.

For example, the predetermined first period is set according to the gear ratio R. For example, the predetermined first period may be set depending on the gear shift stage. For example, the predetermined first period is set as a period during which the shift operation can be sufficiently completed for the current gear ratio R and the changed gear ratio R.

For example, the predetermined first rotation amount may be set according to at least one first shift promotion region 48. For example, when the plurality of first rotating bodies 14 include a plurality of first sprockets, the predetermined first rotation amount is applied to at least one first speed change promotion region 48 in each of the first sprockets among the plurality of sprockets. It will be set accordingly. For example, the predetermined first rotation amount is set according to the number of first shift promotion regions 48 provided on the first sprocket used for the shift operation.

For example, the predetermined first rotation amount is the number obtained by dividing 360 degrees by the number of first shift promotion regions 48 in the first sprocket used for the shift operation. For example, when there are two first shift promotion regions 48 provided in the first sprocket used for the shift operation, the predetermined first rotation amount is 180 degrees. When the control unit 82 is configured to be able to detect the rotation angle of the first sprocket, the predetermined first rotation amount is based on the current rotation angle of the first sprocket and the position of the first speed change promotion region 48 on the first sprocket. It may be set accordingly.

For example, after starting the speed change operation of the first derailleur 44, the control unit 82 causes the crankshaft 12 to stop rotating when the amount of rotation of the plurality of first rotating bodies 14 exceeds a predetermined first amount of rotation. The drive of the motor 24 is configured to be stopped in a state or a state in which the control unit 82 estimates that the rotation of the crankshaft 12 has stopped.

For example, the control unit 82 starts the speed change operation of the first derailleur 44 while the crankshaft 12 is rotating, and controls the crankshaft before the plurality of first rotating bodies 14 rotate by a predetermined first rotation amount. When the shaft 12 stops rotating, the motor 24 drives the transmission body 20. For example, the control unit 82 starts the speed change operation of the first derailleur 44 while the crankshaft 12 is rotating, and before the plurality of first rotating bodies 14 rotate by a predetermined first rotation amount, When the unit 82 estimates that the crankshaft 12 has stopped rotating, the motor 24 drives the transmission body 20 . For example, in a state in which the crankshaft 12 stops rotating when the amount of rotation of the plurality of first rotating bodies 14 reaches a predetermined first amount of rotation or more after driving the transmission body 20 by the motor 24, Stop driving the motor 24.

For example, the predetermined second rotation amount may be set according to at least one second shift promotion region 50. For example, when the plurality of second rotating bodies 18 include a plurality of second sprockets, the predetermined second rotation amount corresponds to at least one second speed change promotion region in each second sprocket among the plurality of second sprockets. 50. For example, the predetermined second rotation amount is set according to the number of second speed change promotion regions 50 provided on the second sprocket used for speed change operation. For example, the predetermined second rotation amount is the number obtained by dividing 360 degrees by the number of second shift promotion regions 50 in the second sprocket used for the shift operation. For example, when there are two second speed change promotion regions 50 provided in the second sprocket used for speed change operation, the predetermined second rotation amount is 180 degrees. When the control unit 82 is configured to be able to detect the rotation angle of the second sprocket, the predetermined second rotation amount is based on the current rotation angle of the second sprocket and the position of the second speed change promotion region 50 on the second sprocket. may be set accordingly.

For example, after starting the speed change operation of the second derailleur 46, the control unit 82 causes the crankshaft 12 to stop rotating when the amount of rotation of the plurality of second rotating bodies 18 exceeds a predetermined second amount of rotation. The drive of the motor 24 is configured to be stopped in a state or a state in which the control unit 82 estimates that the rotation of the crankshaft 12 has stopped.

For example, the control unit 82 starts the speed change operation of the second derailleur 46 while the crankshaft 12 is rotating, and before the plurality of second rotating bodies 18 rotate by a predetermined first rotation amount, the control unit 82 When the shaft 12 stops rotating, the motor 24 drives the transmission body 20. For example, the control unit 82 starts the speed change operation of the second derailleur 46 while the crankshaft 12 is rotating, and before the plurality of second rotating bodies 18 rotate by a predetermined first rotation amount, the control unit 82 controls When the unit 82 estimates that the crankshaft 12 has stopped rotating, the motor 24 drives the transmission body 20 . For example, in a state in which the crankshaft 12 stops rotating when the amount of rotation of the plurality of second rotating bodies 18 exceeds a predetermined second amount of rotation after driving the transmission body 20 by the motor 24, Stop driving the motor 24.

For example, the control unit 82 is configured to determine from the output of the first detection unit 74 whether a predetermined first period has elapsed. For example, the control unit 82 is configured to determine whether a predetermined first period has elapsed, based on information corresponding to the rotational speed C of the crankshaft 12. For example, the control unit 82 is configured to determine whether a predetermined first period has elapsed, based on information corresponding to the rotational speed of at least one first rotating body 14. The control unit 82 may be configured to determine whether a predetermined first period has elapsed, based on information corresponding to the rotational speed of at least one second rotating body 18.

For example, the control unit 82 is configured to determine whether the crankshaft 12 has stopped rotating, depending on the output of the first detection unit 74. For example, the control unit 82 determines that the crankshaft 12 has stopped rotating when the rotational speed C of the crankshaft 12 is less than or equal to a predetermined speed. For example, the predetermined speed is 0 km/h or more and 1 km/h or less. For example, the predetermined speed is 0 km/h. For example, the control unit 82 may determine whether or not the crankshaft 12 should stop rotating, depending on the rotational speed of at least one first rotating body 14 .

For example, the control unit 82 is configured to estimate whether or not the rotation of the crankshaft 12 will stop depending on an estimated value regarding the running state of the human-powered vehicle 10 . For example, the control unit 82 estimates that the crankshaft 12 will stop rotating if the estimated value regarding the running state of the human-powered vehicle 10 is less than or equal to a predetermined estimated value. For example, an estimated value regarding the running state of the human-powered vehicle 10 is calculated from the vehicle speed and the gear ratio R. For example, the estimated value regarding the running state of the human-powered vehicle 10 includes an estimated value of the rotational speed C of the crankshaft 12. The estimated value regarding the running state of the human-powered vehicle 10 may include the estimated value of the rotational speed W of the wheels 16.

The process by which the control unit 82 controls the motor 24 will be described with reference to FIGS. 6 and 7. For example, the control unit 82 starts processing when power is supplied to the control unit 82, and moves to step S11 of the flowchart shown in FIG. 6. For example, after the flowcharts in FIGS. 6 and 7 are completed, the control unit 82 repeats the process from step S11 after a predetermined period until the power supply is stopped.

The control unit 82 determines whether the crankshaft 12 rotates in step S11. When the crankshaft 12 rotates, the control unit 82 moves to step S12. If the crankshaft 12 does not rotate, the control unit 82 ends the process. In step S12, the control unit 82 determines whether or not there is a first shift instruction. If there is a first shift instruction, the control unit 82 moves to step S13.

In step S13, the control unit 82 controls the first electric actuator 44A so that the first derailleur 44 starts a gear shifting operation, and proceeds to step S14. In step S14, the control unit 82 determines whether a predetermined first period has elapsed. For example, the control unit 82 determines that the predetermined first period has elapsed when the period after executing the process in step S13 is equal to or longer than the predetermined first period. For example, if a predetermined time has elapsed after the first derailleur 44 starts operating, the control unit 82 may determine that a predetermined first period has elapsed.

For example, in step S14, if the amount of rotation of at least one first rotating body 14 after executing the process in step S13 is equal to or greater than the first amount of rotation determined in advance, the control unit 82 determines that the first period determined in advance has elapsed. It is determined that the For example, in step S14, if the amount of rotation of at least one second rotating body 18 after executing the process in step S13 is equal to or greater than a predetermined second amount of rotation, the control unit 82 determines that the first predetermined period has elapsed. It may be determined that the For example, in step S14, if the rotation amount of the crankshaft 12 after executing the process in step S13 is equal to or greater than a predetermined third rotation amount, the control unit 82 determines that the predetermined first period has elapsed. Good too.

If the predetermined first period has elapsed in step S14, the control unit 82 moves to step S15. In step S15, the control unit 82 completes the speed change operation and ends the process. If the predetermined first period has not elapsed in step S14, the control unit 82 moves to step S16.

In step S16, the control unit 82 determines whether the crankshaft 12 has stopped rotating. If the crankshaft 12 has not stopped rotating, the control unit 82 moves to step S17. If the crankshaft 12 has stopped rotating, the control unit 82 moves to step S18.

In step S17, the control unit 82 determines whether or not it is estimated that the rotation of the crankshaft 12 has stopped. If the control unit 82 does not estimate that the rotation of the crankshaft 12 will stop, the process proceeds to step S14. When the control unit 82 estimates that the rotation of the crankshaft 12 has stopped, the process proceeds to step S18.

In step S18, the control unit 82 drives the transmission body 20 with the motor 24, and proceeds to step S19. In step S19, the control unit 82 determines whether the amount of rotation of the plurality of first rotating bodies 14 is equal to or greater than the first amount of rotation. For example, if the amount of rotation of the plurality of first rotating bodies 14 after executing the process of step S13 is equal to or greater than a predetermined first amount of rotation, the control unit 82 controls the amount of rotation of the plurality of first rotating bodies 14. is determined to be equal to or greater than the first rotation amount. For example, if the amount of rotation of the plurality of first rotating bodies 14 exceeds a predetermined first rotation amount after the first derailleur 44 starts operating, the control unit 82 determines that the first predetermined period has elapsed. You may judge. If the amount of rotation of the plurality of first rotating bodies 14 is less than the first amount of rotation, the control unit 82 moves to step S16.

When the amount of rotation of the plurality of first rotating bodies 14 is equal to or greater than the first amount of rotation, the control unit 82 moves to step S20. The control unit 82 stops driving the motor 24 in step S20, and proceeds to step S15.

If there is no first shift instruction in step S12 of FIG. 6, the control unit 82 moves to step S21 of FIG. 7. In step S21, the control unit 82 determines whether or not there is a second shift instruction. If there is no second shift instruction, the control unit 82 ends the process. If there is a second shift instruction, the control unit 82 moves to step S22.

In step S22, the control unit 82 controls the second electric actuator 46A so that the second derailleur 46 starts a gear shifting operation, and proceeds to step S23. In step S23, the control unit 82 determines whether a predetermined first period has elapsed. For example, the control unit 82 determines that the predetermined first period has elapsed when the period after executing the process of step S22 is equal to or longer than the predetermined first period. For example, if a predetermined time has elapsed after the second derailleur 46 starts operating, the control unit 82 may determine that a predetermined first period has elapsed.

For example, in step S23, if the amount of rotation of at least one first rotating body 14 after executing the process of step S22 is equal to or greater than the first amount of rotation determined in advance, the control unit 82 determines that the first period determined in advance has elapsed. It is determined that the For example, in step S23, if the amount of rotation of at least one second rotating body 18 after executing the process of step S22 is equal to or greater than a predetermined second amount of rotation, the control unit 82 determines that the first predetermined period has elapsed. It may be determined that the For example, in step S23, if the amount of rotation of the crankshaft 12 after executing the process in step S22 is equal to or greater than a predetermined third amount of rotation, the control unit 82 determines that the first predetermined period has elapsed. Good too.

When the predetermined first period has elapsed, the control unit 82 moves to step S24. In step S24, the control unit 82 completes the speed change operation and ends the process. If the predetermined first period has not elapsed, the control unit 82 moves to step S25.

In step S25, the control unit 82 determines whether the crankshaft 12 has stopped rotating. If the crankshaft 12 has not stopped rotating, the control unit 82 moves to step S26. If the crankshaft 12 has stopped rotating, the control unit 82 moves to step S27.

In step S26, the control unit 82 determines whether or not it is estimated that the rotation of the crankshaft 12 has stopped. If the control unit 82 does not estimate that the rotation of the crankshaft 12 has stopped, the process proceeds to step S23. When the control unit 82 estimates that the rotation of the crankshaft 12 has stopped, the process proceeds to step S27.

The control unit 82 drives the transmission body 20 by the motor 24 in step S27, and proceeds to step S28. In step S28, the control unit 82 determines whether the amount of rotation of the plurality of second rotating bodies 18 is equal to or greater than the second amount of rotation. For example, when the amount of rotation of the plurality of second rotating bodies 18 after executing the process of step S22 is equal to or greater than a predetermined second amount of rotation, the control unit 82 controls the amount of rotation of the plurality of second rotating bodies 18. It is determined that the rotation amount has become equal to or greater than the second rotation amount. For example, if the amount of rotation of the plurality of second rotating bodies 18 exceeds a predetermined second amount of rotation after the second derailleur 46 starts operating, the control unit 82 determines that the first predetermined period has elapsed. You may judge. If the amount of rotation of the plurality of second rotating bodies 18 is less than the second amount of rotation, the control unit 82 moves to step S25.

If the amount of rotation of the plurality of second rotating bodies 18 is equal to or greater than the second amount of rotation, the control unit 82 moves to step S29. The control unit 82 stops driving the motor 24 in step S29, and proceeds to step S24.

The process of step S16 may be omitted. If the process in step S16 is omitted, if NO in step S14, the process moves to step S17, and if NO in step S19, the process moves to step S17.

The process in step S17 may be omitted. If the process in step S17 is omitted, if NO in step S16, the process moves to step S14.

The process of step S25 may be omitted. If the process in step S25 is omitted, if NO in step S23, the process moves to step S26, and if NO in step S28, the process moves to step S24.

The process in step S26 may be omitted. If the process in step S26 is omitted, if NO in step S25, the process moves to step S23.

The processes from steps S12 to S20 may be omitted. If the processing from steps S12 to S20 is omitted, if YES in step S11, the process moves to step S21.

The processes from steps S21 to S29 may be omitted. If the processing in steps S21 to S29 is omitted, if NO in step S12, the process moves to step S21.

<Example of change>
The description of the embodiments is an example of the form that a control device for a human-powered vehicle according to the present disclosure may take, and is not intended to limit the form. For example, a control device for a human-powered vehicle according to the present disclosure may take a form in which the following modifications of the embodiment and at least two mutually consistent modifications are combined. In the following modification examples, parts common to the embodiment are given the same reference numerals as in the embodiment, and the explanation thereof will be omitted.

- The predetermined first period is the period from when the derailleur 22 starts shifting until the crankshaft 12 stops rotating, and when the crankshaft 12 is estimated to rotate after the derailleur 22 starts shifting. may be set according to at least one of the periods until the period is stopped. The predetermined first period may be defined according to a predetermined time. For example, the predetermined time is set in accordance with the time from when the derailleur 22 starts a shift operation until the shift operation is completed. For example, the predetermined time is stored in the storage unit 84. For example, the predetermined time is a time of 1 second or more and 5 seconds or less.

- At least one first rotating body 14 and at least one second rotating body 18 may be provided in a gearbox. For example, the gearbox is provided near the crankshaft 12. For example, if at least one of the at least one first rotating body 14 and the at least one second rotating body 18 is provided in the gearbox, the derailleur 22 is provided in the gearbox, and the at least one first rotating body 14 and the at least one second rotating body 18 are provided in the gearbox. It is configured to change the state of engagement between at least one of the second rotating bodies 18 and the transmission body 20. For example, when at least one first rotating body 14 is provided in the gearbox, the derailleur 22 is provided in the gearbox and configured to change the state of engagement between the at least one first rotating body 14 and the transmission body 20. It is composed of For example, when at least one second rotating body 18 is provided in the gearbox, the derailleur 22 is provided in the gearbox and configured to change the state of engagement between the at least one second rotating body 18 and the transmission body 20. It is composed of

- When the at least one second rotating body 18 includes a plurality of second rotating bodies 18, the number of at least one first rotating body 14 may be one. If the at least one second rotating body 18 includes a plurality of second rotating bodies 18 and the at least one first rotating body 14 includes only one first rotating body 14, step S12 to S20 are omitted.

- When the at least one first rotating body 14 includes a plurality of first rotating bodies 14, the number of at least one second rotating body 18 may be one. If the at least one first rotating body 14 includes a plurality of first rotating bodies 14 and the at least one second rotating body 18 includes only one second rotating body 18, step S21 to S29 are omitted.

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 "any combination of two or more options" if there are three or more options. means.

DESCRIPTION OF SYMBOLS 10... Human powered vehicle, 12... Crankshaft, 14... First rotating body, 16... Wheel, 18... Second rotating body, 20... Transmission body, 22... Derailleur, 24... Motor, 44... First derailleur, 46... Second derailleur, 48...first shift promotion region, 50...second shift promotion region, 74...first detection unit, 80...control device, 82...control unit.

Claims (12)

A control device for a human-powered vehicle,
The human-powered vehicle includes a crankshaft into which human-powered driving force is input, at least one first rotating body connected to the crankshaft, wheels, and at least one second rotating body connected to the wheels. , engaged with the at least one first rotating body and the at least one second rotating body to transmit a driving force between the at least one first rotating body and the at least one second rotating body. a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft; a motor consisting of;
Equipped with a control unit,
The control unit includes:
configured to control the motor and the derailleur;
When the crankshaft stops rotating before a predetermined first period elapses after the derailleur starts a speed change operation while the crankshaft is rotating, and
When the control unit estimates that the crankshaft will stop rotating before the predetermined first period elapses after starting the speed change operation of the derailleur while the crankshaft is rotating, at least In one aspect, a control device configured to drive the transmission body by the motor. The predetermined first period is a period in which the at least one first rotating body rotates by a predetermined first rotation amount, a period in which the at least one second rotation body rotates by a predetermined second rotation amount, and The control device according to claim 1, wherein the control device is defined according to at least one period during which the crankshaft rotates by a predetermined third rotation amount. The control device according to claim 2, wherein the predetermined first period is set according to the gear ratio. The at least one first rotating body includes a plurality of first rotating bodies,
The derailleur is a first derailleur configured to move the transmission body from one of the plurality of first rotating bodies to another one of the plurality of first rotating bodies in the shift operation. including;
At least one of the plurality of first rotating bodies includes at least one first speed change promotion region in the circumferential direction of the plurality of first rotating bodies,
The control device according to claim 2 or 3, wherein the predetermined first rotation amount is set according to the at least one first shift promotion region. After starting the speed change operation of the first derailleur, the control unit causes the crankshaft to stop rotating when the amount of rotation of the plurality of first rotating bodies exceeds the predetermined first amount of rotation. The control device according to claim 4, wherein the control device is configured to stop driving the motor in a state or a state in which the control unit estimates that the crankshaft has stopped rotating. The at least one second rotating body includes a plurality of second rotating bodies,
The derailleur is a second derailleur configured to move the transmission body from one of the plurality of second rotating bodies to another one of the plurality of second rotating bodies in the shift operation. including;
At least one of the plurality of second rotating bodies includes at least one second speed change promotion region in the circumferential direction of the plurality of second rotating bodies,
The control device according to any one of claims 2 to 5, wherein the predetermined second rotation amount is set according to the at least one second shift promotion region. After starting the speed change operation of the second derailleur, the control unit causes the crankshaft to stop rotating when the amount of rotation of the plurality of second rotating bodies exceeds the predetermined second amount of rotation. The control device according to claim 6, wherein the control device is configured to stop driving the motor in a state or a state in which the control unit estimates that the crankshaft has stopped rotating. The control unit is configured to determine whether the predetermined first period has elapsed based on the output of the first detection unit for detecting the amount of rotation of at least one of the crankshaft and the at least one first rotating body. The control device according to any one of claims 1 to 7, configured to. The predetermined first period is a period from when the speed change operation of the derailleur starts until the crankshaft stops rotating, and a period from when the speed change operation of the derailleur starts to when the crankshaft is estimated. The control device according to any one of claims 1 to 8, wherein the control device is set according to at least one of the periods until the rotation stops. The control unit is configured to control the derailleur so as to change the gear ratio according to at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle. 10. The control device according to any one of 9 to 9. The running state of the human-powered vehicle includes the rotational speed of the crankshaft,
The control unit according to claim 10, wherein the control unit is configured to control the derailleur so as to decrease the gear ratio when the rotation speed of the crankshaft is smaller than a predetermined first rotation speed. Device. The running state of the human-powered vehicle includes the rotational speed of the crankshaft,
The control unit is configured to control the derailleur so as to increase the gear ratio when the rotation speed of the crankshaft is higher than a predetermined second rotation speed. control device.

Images