JP6416699B2 - Control device for bicycle transmission - Google Patents

Description

  The present invention relates to a control device for a bicycle transmission.

  Patent Document 1 discloses a technique for controlling a transmission based only on one output signal of a cadence sensor or a vehicle speed sensor so that the rotation speed of a crank is maintained in a certain range.

JP-A-9-123978

In the prior art, the gear ratio may be changed at an inappropriate timing depending on the running state of the bicycle.
An object of the present invention is to provide a control device for a bicycle transmission capable of changing a gear ratio at an appropriate timing.

  [1] A control device for a bicycle transmission according to an aspect of the present invention includes a first control state for controlling a transmission based on a first signal input from a first detection unit that detects rotation of a crank, It is possible to switch between a second control state for controlling the transmission based on a second signal input from a second detection unit that detects a value reflecting the speed of the motor.

[2] In one form of the bicycle transmission control device, the second detection unit detects rotation of a wheel of the bicycle.
[3] One form of the bicycle transmission control device switches between the first control state and the second control state based on the first signal and the second signal.

  [4] One form of the bicycle transmission control device includes the first control state and the second control based on the first signal, the second signal, and the manpower driving force applied to the crank. Switch between states.

[5] One form of the bicycle transmission control device switches between the first control state and the second control state based on the manual driving force applied to the crank.
[6] According to one aspect of the control device for a bicycle transmission, when the rotation speed of the crank based on the first signal is equal to or higher than the maximum rotation speed of the crank based on the second signal, A control signal for controlling the transmission is output based on the signal.

  [7] In one form of the control device for a bicycle transmission, the second signal is generated when the maximum rotation number of the crank based on the second signal is larger than the rotation number of the crank based on the first signal. Based on the control signal, a control signal for controlling the transmission is output.

  [8] In one form of the bicycle transmission control device, the maximum number of revolutions of the crank based on the second signal is greater than the number of revolutions of the crank based on the first signal, and the manual drive When the force is less than a predetermined value, a control signal for controlling the transmission is output based on the second signal.

  [9] In one form of the bicycle transmission control device, the maximum number of revolutions of the crank based on the second signal is greater than the number of revolutions of the crank based on the first signal, and the manual drive When the force is greater than or equal to a predetermined value, a control signal for controlling the transmission is output based on the first signal.

[10] One form of the control device for the bicycle transmission outputs a control signal for controlling the transmission based on the first signal when the human driving force is equal to or greater than a predetermined value.
[11] According to one aspect of the bicycle transmission control device, when the human driving force is less than a predetermined value, a control signal for controlling the transmission is output based on the second signal.

  [12] In one form of the bicycle transmission control apparatus, the human power driving force is input from a driving force sensor that outputs a third signal in accordance with the human driving force applied to the crank. Based on.

  [13] In one embodiment of the bicycle transmission control device, when the transmission is controlled based on the first signal, the crank rotation speed based on the first signal is a predetermined crank rotation speed or A control signal for controlling the transmission is output so that the crank rotation speed is within a predetermined range.

  [14] In one embodiment of the bicycle transmission control apparatus, when the transmission is controlled based on the second signal, the maximum rotational speed of the crank based on the second signal is a predetermined crank rotational speed. Alternatively, a control signal for controlling the transmission is output so that the crank rotation speed is within a predetermined range.

  [15] In one form of the bicycle transmission control device, the maximum number of revolutions of the crank based on the second signal is the second signal, information on the gear ratio, the diameter and radius of the bicycle wheel. Or the information on the circumference.

[16] One form of the bicycle transmission control device outputs a control signal for controlling the transmission based on the second signal when an abnormality occurs in the first signal.
[17] One form of the bicycle transmission control device outputs a control signal for controlling the transmission based on the first signal when an abnormality occurs in the second signal.

  [18] In one form of the bicycle transmission control device, the minimum angle in one rotation of the crank that can be detected by the first detection unit is the rotation angle of the wheel that can be detected by the second detection unit. Smaller than the minimum angle.

  [19] In one form of the bicycle transmission control apparatus, the transmission ratio is controlled when the transmission is controlled based on the first signal and when the rotation speed of the crank is greater than or equal to a first upper limit value. When the transmission is operated to be increased and the transmission is controlled based on the first signal, the transmission is set so that the transmission ratio is reduced when the rotation speed of the crank is equal to or lower than a first lower limit value. When the transmission is controlled based on the second signal, and the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission ratio is increased. When the transmission is operated and the transmission is controlled based on the second signal, the transmission ratio is reduced when the maximum crank rotation speed corresponding to the second signal is equal to or lower than a second lower limit value. To operate the transmission.

[20] In one form of the bicycle transmission control device, the second upper limit value is smaller than the first upper limit value.
[21] In one form of the bicycle transmission control device, the second lower limit value is larger than the first lower limit value.

  [22] In one form of the bicycle transmission control device, the range from the second upper limit value to the second lower limit value is the range from the first upper limit value to the first lower limit value. Of 25 to 50%.

  [23] In one form of the control device for a bicycle transmission, when the transmission is controlled based on the first signal, the rotation speed of the crank is equal to or higher than a first upper limit value, or a first lower limit value. When the rotational speed of the crank falls within a range that is less than the first upper limit value and exceeds the first lower limit value after the first waiting period elapses from when When the transmission is controlled based on the second signal without being operated, the second standby is started when the maximum rotation speed of the crank is equal to or higher than the second upper limit value or lower than the second lower limit value. If the number of rotations of the crank falls within a range that is less than the second upper limit value and exceeds the second lower limit value before the period elapses, the transmission is not operated.

[24] In one form of the bicycle transmission control device, the second standby period is equal to or shorter than the first standby period.
[25] In one form of the bicycle transmission control device, the first standby period and the second standby period are set based on a traveling load of the bicycle.

[26] In one form of the bicycle transmission control device, the second standby period is equal to or shorter than the first standby period when the traveling load of the bicycle is included in the same range.
[27] According to one aspect of the control device for a bicycle transmission, the first standby period and the second standby period include a previous shift operation of the transmission and a traveling load of the bicycle. Set based on.

  The bicycle transmission control apparatus of the present invention can change the gear ratio at an appropriate timing.

The side view of the bicycle of a 1st embodiment. The block diagram which shows the electrical structure of the bicycle of FIG. The flowchart of the control state switching process performed by the control apparatus of FIG. The flowchart of the speed change process performed by the control apparatus of FIG. The flowchart of the speed change process performed by the control apparatus of 2nd Embodiment. The flowchart of the speed change process of the modification of 2nd Embodiment. The flowchart of the speed change process of the modification of 2nd Embodiment. The flowchart of the switching process of the modification of each embodiment. The flowchart of the switching process of the modification of each embodiment. The flowchart of the switching process of the modification of each embodiment.

(First embodiment)
The configuration of the bicycle 10 will be described with reference to FIG.
The bicycle 10 includes a frame 12, a handlebar 14, a front wheel 16, a rear wheel 18, a drive mechanism 20, a transmission control device 22, a transmission device 24, a first detection device 26 (see FIG. 2), and a second detection device 28 (FIG. 2). A driving force sensor 30, a shift state detection device 68 (see FIG. 2), and a control device 70.

The drive mechanism 20 includes a crank 32, a front sprocket 34, a rear sprocket 36, a chain 38, and a pedal 44.
The crank 32 includes a crankshaft 40 and left and right crank arms 42 that are rotatably supported by the frame 12. The left and right pedals 44 each include a pedal shaft 46. The left and right crank arms 42 are attached to the crankshaft 40. The main body of the pedal 44 is attached to the crank arm 42 so as to be rotatable around the pedal shaft 46.

  The front sprocket 34 is connected to the crankshaft 40. The front sprocket 34 is provided coaxially with the crankshaft 40. The front sprocket 34 may be coupled so as not to rotate relative to the crankshaft 40. When the crankshaft 40 rotates forward, the front sprocket 34 is coupled via a one-way clutch (not shown) so that the front sprocket 34 also rotates forward. May be.

  The rear sprocket 36 is rotatably mounted around the axle 18A of the rear wheel 18. The rear sprocket 36 is connected to the rear wheel 18 via a one-way clutch. The chain 38 is wound around the front sprocket 34 and the rear sprocket 36. When the crank 32 is rotated by the human driving force applied to the pedal 44, the rear wheel 18 is rotated by the front sprocket 34, the chain 38, and the rear sprocket 36.

  The shift control device 22 is attached to the handle bar 14. The transmission control device 22 is electrically connected to the control device 70 via a cable (not shown). When the shift control device 22 is operated by the operator, the shift control device 22 transmits a shift-up signal or a shift-down signal to the control device 70. Note that the upshift is a shift in a direction in which the gear ratio γ increases, and the downshift is a shift in a direction in which the gear ratio γ decreases.

  As shown in FIG. 2, the transmission 24 includes a motor unit 48 and a transmission 50. The transmission 50 is realized by an internal transmission integrated with a hub of the rear wheel 18 (see FIG. 1). The transmission 50 includes a planetary gear mechanism that is controlled by a motor unit 48. The transmission 50 changes the speed ratio γ stepwise. The motor unit 48 changes the gear ratio γ by changing the connection state of the gears constituting the planetary gear mechanism of the transmission 50. The motor unit 48 is electrically connected to the control device 70 by a cable (not shown). The motor unit 48 includes an electric motor and a speed reducer that decelerates the output rotation of the electric motor. The electric motor is connected to the transmission 50 via a speed reducer.

  The first detection device 26 detects the rotation of the crank 32 (see FIG. 1). The first detection device 26 includes two magnets 52 </ b> A and 52 </ b> B and a first detection unit 54 attached to the frame 12. The magnet 52A is an annular magnet, and a plurality of magnetic poles are alternately arranged in the circumferential direction. The magnet 52 </ b> A is provided on the crankshaft 40 or the crank arm 42 and is disposed coaxially with the crankshaft 40. The magnet 52B is attached to either one of the left and right crank arms 42.

  The 1st detection part 54 is electrically connected with the control apparatus 70 with the cable which is not shown in figure. The first detection unit 54 transmits the first signal S1 to the control device 70 in accordance with the rotation of the crank 32. The first detection unit 54 is a so-called cadence sensor. The first detector 54 includes an element 56A that outputs a value corresponding to a change in the magnetic field of the magnet 52A, and an element 56B that detects the magnetic field of the magnet 52B. Element 56A detects the relative angular position of the crank relative to the frame. Element 56B detects the reference angular position of the crank relative to the frame.

  The first detection unit 54 includes a first rotation number calculation unit 58 that calculates the rotation number of the crank 32 per unit time (hereinafter, “first rotation number NA”) from the outputs of the elements 56A and 56B. The first detection unit 54 outputs a first signal S1 including information representing the first rotation speed NA to the control device 70. When the crankshaft makes one rotation, the element 56A outputs a signal having an angle obtained by dividing 360 ° by the number of magnetic poles of the same polarity as one cycle. The element 56B outputs a signal with one rotation of the crankshaft as one cycle.

  The element 56B outputs a value corresponding to the rotation angle of the crank 32 (see FIG. 1). The minimum angle of the crank 32 (see FIG. 1) that can be detected by the first detector 54 is 180 degrees or less, preferably 15 degrees, and more preferably 6 degrees.

  The 2nd detection apparatus 28 detects rotation of the front wheel 16 (refer FIG. 1) which is a front wheel. The second detector 28 includes a magnet 60 attached to the spoke 16A of the front wheel 16 and a second detector 62 attached to the front fork 12A of the frame 12. The magnet 60 may be attached to the spoke 18B of the rear wheel 18. In this case, the second detection unit 62 is attached to the chain stay of the frame 12. The second detection unit 62 is fixed to the frame 12 by bolts and nuts, bands, or the like. In the following description, the second detection unit 62 is configured to detect the rotation of the front wheel 16. However, when the second detection unit 62 detects the rotation of the rear wheel 18, the front wheel 16 is simply replaced with the rear wheel 18. Therefore, the description thereof is omitted.

  The 2nd detection part 62 is electrically connected with the control apparatus 70 with the cable which is not shown in figure. The second detection unit 62 transmits the second signal S2 to the control device 70 according to the rotation of the front wheel 16. The second detection unit 62 is a so-called vehicle speed sensor. The second detection unit 62 outputs a value corresponding to a change in relative position with the magnet 60, and a vehicle speed for calculating a travel distance per unit time (hereinafter “vehicle speed V”) from the output of the element 64. A calculation unit 66 is provided.

  The element 64 outputs a signal with one rotation of the front wheel 16 (see FIG. 1) as one cycle. That is, the minimum angle of the front wheel 16 that can be detected by the second detection unit 62 is 360 degrees. The minimum detectable angle in one rotation of the crank 32 is smaller than the minimum detectable angle in one rotation of the front wheel 16.

  The vehicle speed calculation unit 66 multiplies the rotation speed of the front wheels 16 (see FIG. 1) per unit time by multiplying the circumference of the front wheels 16 (see FIG. 1) stored in advance (hereinafter, “circumference L”). V is calculated. The second detection unit 62 outputs a second signal S2 including information related to the vehicle speed V to the control device 70. The vehicle speed V can also be calculated using the diameter or radius of the front wheel 16 (see FIG. 1). In this case, the diameter or radius of the front wheel 16 (see FIG. 1) is stored in the second detector 62 in advance.

  The shift state detection device 68 detects the current shift state of the transmission 24. The shift state detection device 68 may be provided in the motor unit 48 or may be provided in the shift control device 22. The shift state detection device 68 outputs information related to the shift position, that is, the speed ratio γ. The shift state detection device 68 detects a rotation angle of a predetermined portion of the electric motor or the speed reducer in the motor unit 48, a rotation angle of a predetermined position of the transmission 50, and the like. The shift state detection device 68 is configured by a potentiometer or a detection device including a magnet and a magnetic sensor that detects the magnet. The shift state detection device 68 is electrically connected to the control device 70.

  The driving force sensor 30 detects a human driving force applied to the crank 32 (see FIG. 1). The driving force sensor 30 outputs a third signal S3 including a signal corresponding to the human driving force. The driving force sensor 30 may be provided between the crankshaft 40 and the front sprocket 34 shown in FIG. 1, may be provided on the crankshaft 40 or the front sprocket 34, and is provided on the crank arm 42 or the pedal 44. May be. The driving force sensor 30 can be realized by using, for example, a strain sensor, a magnetostrictive sensor, an optical sensor, a pressure sensor, and the like, and is a sensor that outputs a signal corresponding to the human driving force applied to the crank arm 42 or the pedal 44. Any sensor can be used as long as it is present.

  As shown in FIG. 2, the control device 70 includes a second rotation speed calculation unit 72, a rotation speed comparison unit 74, a driving force calculation unit 76, a selection value setting unit 78, a shift determination unit 80, a storage unit 84, and a motor. A control unit 82 is provided. The control device 70 includes an arithmetic processing device such as a CPU and a memory in which software is stored, and can realize a plurality of functions. The second rotation speed calculation unit 72, the rotation speed comparison unit 74, the driving force calculation unit 76, the selection value setting unit 78, the shift determination unit 80, and the motor control unit 82 represent functions of the control device 70. The control device 70 may include a plurality of arithmetic processing devices, and may include a plurality of microcomputers. The second signal S <b> 2 is input to the second rotation speed calculation unit 72. The first signal S <b> 1 is input to the rotation speed comparison unit 74 and the selection value setting unit 78.

  The second rotation speed calculation unit 72 generates the second rotation speed of the crank 32 based on the second signal S2 from the second detection unit 62, information on the circumference L of the front wheel 16 (see FIG. 1), and the gear ratio γ at that time. 2 Rotational speed NB is estimated. Specifically, the second rotational speed calculation unit 72 calculates the second rotational speed NB by dividing the vehicle speed V included in the second signal S2 by the circumferential length L of the front wheels 16 and the gear ratio γ. The second rotation speed calculation unit 72 outputs the second rotation speed NB to the rotation speed comparison unit 74. The relationship between the transmission gear ratio γ and the detection result of the transmission state detection device 68 is associated in advance, for example, the correspondence relationship is stored in the memory. The second rotational speed calculation unit 72 calculates from the detection result of the shift state detection device 68 using the corresponding speed ratio γ or obtains the speed ratio γ using a function.

  The rotational speed of the front wheels 16 (see FIG. 1) may be larger than the value obtained by multiplying the rotational speed of the crank 32 by the speed ratio γ. For example, even when the crank 32 is stopped during traveling on a downhill or the like, the front wheels 16 may be rotating. For this reason, the second rotation speed NB calculated based on the output of the second detection unit 62 may be larger than the first rotation speed NA. Further, since the minimum detectable angle for one rotation of the front wheel 16 is larger than the minimum detectable angle for one rotation of the crank 32, the calculation of the second rotational speed NB is delayed, and the calculated second rotational speed NB. May show a value larger than the first rotational speed NA. The second rotation speed NB corresponds to the rotation speed of the crank 32 when the crank 32 and the front wheel 16 rotate in synchronization, that is, the maximum rotation speed of the crank 32.

  The rotation speed comparison unit 74 compares the first rotation speed NA represented by the information included in the first signal S1 and the second rotation speed NB represented by the information included in the signal output from the second rotation speed calculation unit 72. To do. The rotation speed comparison unit 74 outputs to the selection value setting unit 78 which is greater between the first rotation speed NA and the second rotation speed NB. The driving force calculation unit 76 calculates the human power driving force T based on the third signal S3 from the driving force sensor 30, and outputs the human power driving force T to the selection value setting unit 78. The selection value setting unit 78 receives the first rotation speed NA and the second rotation speed NB. The selection value setting unit 78 uses the first rotation number NA or the second rotation number based on the comparison result of the rotation number comparison unit 74 and the manual driving force T or based only on the comparison result of the rotation number comparison unit 74. NB is set as the selection value N, and the selection value N is output to the shift determination unit 80.

  The control device 70 switches between a first control state in which the transmission 50 is controlled based on the first signal S1 and a second control state in which the transmission 50 is controlled based on the second signal S2. The control device 70 switches between the first control state and the second control state based on the first rotation speed NA, the second rotation speed NB, and the human power driving force T.

With reference to FIG. 3, the switching process of the control state by the control apparatus 70 is demonstrated.
In step S11, the second rotation speed calculation unit 72 calculates the second rotation speed NB based on the vehicle speed V. Next, in step S12, the selection value setting unit 78 compares the first rotation speed NA and the second rotation speed NB, and when the first rotation speed NA is equal to or higher than the second rotation speed NB, the process proceeds to step S13. The first rotation number NA is set to the selection value N. When the first rotation speed NA is set to the selection value N in the previous switching process, the selection value N is maintained at the first rotation speed NA. When the second rotation speed NB is set to the selection value N in the previous switching process, the selection value N is changed from the second rotation speed NB to the first rotation speed NA, and the control state is changed from the second control state to the first. Switch to the control state.

  When the second rotational speed NB is larger than the first rotational speed NA in step S12, the selection value setting unit 78 proceeds to step S14 and determines whether or not the human power driving force T is equal to or greater than a predetermined value TX. When the human driving force T is equal to or greater than the predetermined value TX, the process proceeds to step S15, and the first rotational speed NA is set to the selection value N. When the first rotation speed NA is set to the selection value N in the previous switching process, the selection value N is maintained at the first rotation speed NA. When the second rotational speed NB is set to the selected value N in the previous switching process, the selected value N is changed from the second rotational speed NB to the first rotational speed NA, and the control state is changed from the first control state to the second rotational speed. Switch to the control state.

  When the human driving force T is less than the predetermined value TX in step S14, the selection value setting unit 78 moves to step S16 and sets the second rotation speed NB to the selection value N. When the second rotation speed NB is set to the selection value N in the previous switching process, the selection value N is maintained at the second rotation speed NB. When the first rotation speed NA is set to the selection value N in the previous switching process, the selection value N is changed from the first rotation speed NA to the second rotation speed NB, and the control state is changed from the second control state to the first. Switch to the control state. For example, a value between 1 Nm and 3 Nm is selected as the predetermined value TX.

  The shift determination unit 80 shown in FIG. 2 outputs a shift-up signal or a shift-down signal to the motor control unit 82 based on the selection value N set by the selection value setting unit 78. The shift determination unit 80 can read the first determination value NX and the second determination value NY stored in the storage unit 84. The first determination value NX and the second determination value NY are threshold values. The shift determination unit 80 outputs a shift-up signal when the selection value N is equal to or greater than the first determination value NX, and outputs a shift-down signal when the selection value N is equal to or less than the second determination value NY. The first determination value NX is preferably a value that is equal to or greater than the second determination value NY. For example, 65 rpm to 70 rpm is selected as the first determination value NX, and a value of 60 rpm to 65 rpm is selected as the second determination value, for example.

  The first determination value NX and the second determination value NY are set as values for controlling the transmission 50 so that the selected value N becomes a predetermined crank rotation speed or a crank rotation speed within a predetermined range. In other words, when the shift determination unit 80 controls the transmission 50 based on the first signal S1, the transmission is set so that the first rotation speed NA becomes a predetermined crank rotation speed or a crank rotation speed within a predetermined range. 50 is controlled. Further, when the shift determination unit 80 controls the transmission 50 based on the second signal S2, the shift determination unit 80 sets the transmission 50 so that the second rotation speed NB becomes a predetermined crank rotation speed or a crank rotation speed within a predetermined range. Control.

With reference to FIG. 4, the procedure of the shift process executed by the shift determining unit 80 will be described.
The shift determination unit 80 determines whether or not the selection value N is greater than or equal to the first determination value NX in step S21. When the selection value N is greater than or equal to the first determination value NX, an upshift signal is generated and output to the motor control unit 82 in step S22.

  When the selection value N is less than the first determination value NX in step S21, the shift determination unit 80 determines whether the selection value N is equal to or less than the second determination value NY in step S23. When the selection value N is less than or equal to the second determination value NY, the shift determination unit 80 generates a downshift signal in step S24 and outputs it to the motor control unit 82. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the selection value N is larger than the second determination value NY in step S23.

  The motor control unit 82 illustrated in FIG. 2 controls the motor unit 48 based on a signal output from the shift determination unit 80 or a signal input from the shift control device 22. When the upshift signal is input, the motor control unit 82 outputs a control signal SA for shifting up the gear position of the transmission 24 to a drive circuit (not shown) of the motor unit 48. When the downshift signal is input, the motor control unit 82 outputs a control signal SA for shifting down the gear position of the transmission 24 to a drive circuit (not shown) of the motor unit 48. When the upshift signal is input at the maximum speed ratio γ and when the downshift signal is input at the minimum speed ratio γ, the motor control unit 82 switches the motor unit 48. Do not drive.

The operation and effect of the control device 70 will be described.
(1) The minimum angle of the crank 32 that can be detected by the first detector 54 is smaller than the minimum angle of the front wheel 16 that can be detected by the second detector 62. That is, the first rotation speed NA calculated according to the output of the first detection unit 54 is higher in accuracy than the second rotation speed NB calculated according to the output of the second detection unit 62. For this reason, by controlling the transmission 50 based on the first rotational speed NA, the transmission 50 can be changed more appropriately than when the transmission 50 is controlled based on the second rotational speed NB. .

  If the transmission 50 is controlled based only on the first rotational speed NA, for example, when the rotation of the crank 32 is stopped while the bicycle 10 is running, the transmission is shifted to the downshift side so that the gear ratio γ is reduced. It will be controlled. In such a case, immediately after the user restarts the rotation of the crank 32, the manual driving force is not immediately transmitted to the wheels due to the gear ratio γ being too small, and the rotation speed of the crank 32 is predetermined. There are situations where it is difficult to fit within the range.

  The control device 70 can switch between a first control state in which the transmission 50 is controlled based on the first signal S1 and a second control state in which the transmission 50 is controlled based on the second signal S2. For this reason, the gear ratio γ can be controlled based on the signals S1 and S2 appropriate for the traveling state of the bicycle 10. For this reason, the gear ratio γ can be changed at an appropriate timing.

  (2) For example, the accuracy of the second rotation speed NB calculated according to the output of the second detection unit 62 is lower than the accuracy of the first rotation speed NA calculated according to the output of the first detection unit 54. . Therefore, especially when the vehicle speed V suddenly increases or decreases, the second rotational speed NB is equal to the first rotational speed NA although the crank 32 and the front wheels 16 are actually rotating in synchronization. May be larger.

  In the case where the transmission 24 is controlled only by comparing the second rotational speed NB and the first rotational speed NA, the shift is actually performed based on the second rotational speed NB even if the crank 32 and the front wheels 16 are rotating in synchronization. As a result, the gear ratio γ may be increased.

  Even if the second rotational speed NB is greater than the first rotational speed NA, the control device 70 controls the transmission 50 based on the first rotational speed NA when the human power driving force T is equal to or greater than the predetermined value TX. . For this reason, control according to a user's load is realizable, and it can control that it becomes improper gear ratio γ, even if vehicle speed V changes rapidly.

(Second Embodiment)
With reference to FIG. 5, the control apparatus 70 of 2nd Embodiment is demonstrated. The control device 70 of the second embodiment executes a shift process shown in FIG. 5 instead of the shift process of FIG. 4 of the first embodiment. The shift process shown in FIG. 5 is repeated until the power is turned off. The storage unit 84 (see FIG. 2) replaces the determination values NX and NY with a first upper limit value NA1, a first lower limit value NA2, a second upper limit value NB1, a second lower limit value NB2, and A table relating to the first waiting period PA and the second waiting period PB is stored. The first upper limit value NA1, the first lower limit value NA2, the second upper limit value NB1, the second lower limit value NB2, and the first waiting period PA and the second waiting period PB are threshold values. In addition, about the structure which is common in 1st Embodiment, the code | symbol same as 1st Embodiment is attached | subjected and the description is abbreviate | omitted.

A procedure of the shift process executed by the shift determination unit 80 will be described.
The shift determination unit 80 determines whether or not the selection value N selected by the selection value setting unit 78 in step S31 is the first rotation speed NA.

  When the selection value N is the first rotation speed NA, the shift determination unit 80 determines whether or not the selection value N is greater than or equal to the first upper limit value NA1 in step S31. When the selection value N is greater than or equal to the first upper limit value NA1, it is determined in step S33 whether or not the first standby period PA has elapsed since the previous shift. The previous shift is the time when either the upshift signal or the downshift signal is finally output to the transmission 50. When the control device 70 outputs the upshift signal and the downshift signal to the transmission 50, the control device 70 counts up the time from that time.

  When the first waiting period PA has elapsed since the previous shift, the shift determination unit 80 generates a shift-up signal in step S34 and outputs it to the motor control unit 82. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the first standby period PA has not elapsed in step S33.

  When the selection value N is less than the first upper limit value NA1 in step S32, the shift determination unit 80 determines whether the selection value N is less than or equal to the first lower limit value NA2 in step S35. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the selection value N is larger than the first lower limit value NA2 in step S35. In other words, the shift determination unit 80 controls the motor for both the upshift signal and the downshift signal when the first rotational speed NA is less than the first upper limit value NA1 and greater than the first lower limit value NA2 in the first control state. The data is not output to the unit 82.

  When the selection value N is equal to or smaller than the first lower limit value NA2 in step S35, the shift determination unit 80 determines in step S36 whether or not the first standby period PA has elapsed since the previous shift.

  When the first standby period PA has elapsed since the previous shift, the shift determination unit 80 generates a downshift signal in step S37 and outputs the downshift signal to the motor control unit 82. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the first standby period PA has not elapsed in step S36.

  That is, when the control device 70 controls the transmission 50 based on the first signal, and the first rotational speed NA, which is the rotational speed of the crank 32, is greater than or equal to the first upper limit value NA1, the speed ratio γ is large. When the transmission 50 is operated so that the transmission 50 is controlled based on the first signal, the transmission is operated so that the gear ratio γ becomes small when the first rotational speed NA is equal to or lower than the first lower limit value. Let

  Further, the control device 70 controls the transmission 50 based on the first signal and when the first rotational speed NA becomes equal to or higher than the first upper limit value NA1 or equal to or lower than the first lower limit value NA2. The transmission 50 is not operated if the crank rotational speed is within the range of less than the first upper limit value NA1 and greater than the first lower limit value NA2 until the first waiting period PA elapses.

  When the selection value N is the second rotational speed NB in step S31, the shift determination unit 80 determines whether the selection value N is equal to or greater than the second upper limit value NB1 in step S38. When the selection value N is greater than or equal to the second upper limit value NB1, it is determined in step S39 whether or not the second standby period PB has elapsed since the previous shift. When the second standby period PB has elapsed, an upshift signal is generated in step S40 and output to the motor control unit 82. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the second standby period PB has not elapsed in step S39.

  When the selection value N is less than the second upper limit value NB1 in step S38, the shift determination unit 80 determines whether or not the selection value N is less than or equal to the second lower limit value NB2 in step S41. When the selection value N is larger than the second lower limit value NB2 in step S42, the shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82. That is, in the second control state, the shift determination unit 80 performs motor control for both the upshift signal and the downshift signal when the second rotational speed NB is less than the second upper limit value NB1 and greater than the second lower limit value NB2. The data is not output to the unit 82.

  When the selection value N is less than or equal to the second lower limit value NB2 in step S41, the shift determination unit 80 determines whether or not the second standby period PB has elapsed since the previous shift in step S36. When the second standby period PB has elapsed, the shift determination unit 80 generates a downshift signal in step S43 and outputs it to the motor control unit 82. The shift determination unit 80 outputs neither the upshift signal nor the downshift signal to the motor control unit 82 when the second standby period PB has not elapsed in step S43.

  That is, when controlling the transmission 50 based on the second signal, the control device 70 operates the transmission 50 so that the gear ratio γ is increased when the second rotational speed NB is equal to or greater than the second upper limit value NB1. When the transmission 50 is controlled based on the second signal, the transmission 50 is operated so that the gear ratio γ becomes small when the second rotational speed NB is equal to or smaller than the second lower limit NB2.

  Further, when the control device 70 controls the transmission based on the second signal, the second rotation speed NB becomes equal to or higher than the second upper limit value NB1 or equal to or lower than the second lower limit value NB2. If the crank rotation speed falls within the range of less than the second upper limit value NB1 and greater than the second lower limit value NB2 until the waiting period PB elapses, the speed ratio γ of the transmission 50 is not changed.

  The storage unit 84 stores a first upper limit value NA1, a first lower limit value NA2, a second upper limit value NB1, and a second lower limit value NB2. The second upper limit value NB1 is smaller than the first upper limit value NA1. The second lower limit value NB2 is larger than the first lower limit value NA2. The range from the second upper limit value NB1 to the second lower limit value NB2 is preferably 25 to 50% of the range from the first upper limit value NA1 to the first lower limit value NA2. For example, the first upper limit NA1 is 70 rpm, the first lower limit NA2 is 50 rpm, the second upper limit NB1 is 67.5 rpm, and the second lower limit NB2 is 52. 5 rpm.

The storage unit 84 stores a table relating to the first standby period PA and the second standby period PB. The first standby period PA and the second standby period PB are set based on the control state, the magnitude of the traveling load R, and the previous shift operation. The travel load R is calculated based on at least one of the manual driving force applied to the pedal 44, the vehicle speed of the bicycle 10, and the rotational speed of the crank 32. The travel load R is obtained, for example, by subtracting the kinetic energy changed by the bicycle from the input energy. The input energy can be obtained by integrating the torque generated in the crank by the manual driving force applied to the pedal 44 and the crank rotation speed. The altered kinetic energy of the bicycle can be determined from the weight of the bicycle and rider and the speed of the bicycle. The changed kinetic energy of the bicycle can be obtained, for example, by 1/2 m (v2-V1) ² . The first rotational speed NA can be used as the vehicle speed of the bicycle 10. The second rotational speed NB can be used as the rotational speed of the crank 32. The travel load R includes a first travel load RA and a second travel load RB. The first travel load RA indicates a relatively small travel load R, for example, when the bicycle 10 travels downhill. The second travel load RB indicates a relatively large travel load R, for example, when the bicycle 10 travels uphill. The second travel load RB is larger than the first travel load RA.

  Table 1 shows a relationship table between the control state, the first travel load RA, and the previous speed change operation, and the first standby period PA and the second standby period PB when the upshift condition is satisfied. . The upshift condition is established when the first rotational speed NA is larger than the upper limit value NA1 in the first control state, and when the second rotational speed NB is larger than the upper limit value NB1 in the second control state. Is established.

The maximum period PAmax, the intermediate period PAmid, and the minimum period PAmin of the first standby period PA have a relationship of PAmax>PAmid> PAmin. The maximum period PBmax, the intermediate period PBmid, and the minimum period PBmin of the second standby period PB have a relationship of PBmax>PBmid> PBmin. The maximum period PAmax and the maximum period PBmax can be made equal or different. The intermediate period PAmid and the intermediate period PBmid can be equal or different. The minimum period PAmin and the minimum period PBmin can be made equal or different. The maximum periods PAmax and PBmax are, for example, 1000 milliseconds. The intermediate periods PAmid and PBmid are, for example, half the maximum periods PAmax and PBmax, and are 500 milliseconds. The minimum periods PAmin and PBmin are, for example, half of the intermediate periods PAmid and PBmid and are 250 milliseconds.

  When the upshift condition is satisfied when the previous speed change operation is upshift, and when the travel load R is equal to or higher than the first travel load RA, the control device 70 performs the first standby period PA or the second The standby period PB is set to the maximum period PAmax or the maximum period PBmax. In other words, when the traveling load R is large, for example, when the bicycle 10 is downshifting while traveling on a flat road, the control device 70 sets a period during which the upshifting is prohibited. Set longer than when driving on a hill.

  Table 2 shows a relationship table between the control state, the second travel load RB, and the previous shift operation, and the first standby period PA and the second standby period PB when the downshift condition is satisfied. . The downshift condition is established when the first rotational speed NA is smaller than the lower limit value NA2 in the first control state, and when the second rotational speed NB is smaller than the lower limit value NB2 in the second control state. Is established.

When the downshift condition is satisfied when the previous shift operation is upshifting, and when the traveling load R is less than the second traveling load RB, the control device 70 performs the first standby period PA or the second The standby period PB is set to the maximum period PAmax or the maximum period PBmax. In other words, when the traveling load R is small, for example, when the bicycle 10 is shifting up on a flat road, the control device 70 sets a period during which the shift down is prohibited. Set longer than after shifting up when driving on a hill.

  As shown in Tables 1 and 2, the first standby period PA and the second standby period PB are set based on the previous shift operation of the transmission 50 and the travel load R of the bicycle 10. When the traveling load R of the bicycle 10 is included in the same range, the second standby period PB is equal to or shorter than the first standby period PA.

In addition to the effects (1) and (2) of the first embodiment, the control device 70 has the following effects.
(3) The first upper limit value NA1 and the second upper limit value NB1 are different. Therefore, control device 70 can change gear ratio γ using upper limit values NA1 and NB1 suitable for the first control state and the second control state, respectively.

  (4) The first lower limit value NA2 and the second lower limit value NB2 are different. Therefore, control device 70 can change gear ratio γ using lower limit values NA2 and NB2 suitable for the first control state and the second control state, respectively.

  (5) The second upper limit value NB1 is smaller than the first upper limit value NA1. Further, the second lower limit value NB2 is larger than the first lower limit value NA2. That is, the range from the second upper limit value NB1 to the second lower limit value NB2 is smaller than the range from the first upper limit value NA1 to the first lower limit value NA2. Therefore, in the second control state, specifically, when the driver stops his foot and stops the rotation of the crank 32, or the first rotational speed NA is smaller than the second rotational speed NB, etc. When the torque applied to the crank 32 is small, the shift is easily performed. For this reason, compared with the case where the shift is performed when the torque applied to the crank 32 is large, the driver is less likely to feel uncomfortable due to the shift operation of the transmission 50. Further, since the speed change operation is easily performed when the torque applied to the crank 32 is small, the frequency of the speed change operation failing due to the large torque applied to the crank 32 can be reduced.

  (6) When the gear ratio γ increases, the rotation speed of the crank 32 tends to decrease. Therefore, the downshift condition is likely to be satisfied immediately after the speed ratio γ is increased. Further, when the speed ratio γ decreases, the rotation speed of the crank 32 tends to increase. For this reason, the upshift condition is likely to be satisfied immediately after the speed ratio γ becomes small. When the upshift condition or the downshift condition is satisfied, the control device 70 does not change the speed ratio γ until the first standby period PA or the second standby period PB has elapsed from the previous shift operation. For this reason, it can suppress that gear shifting operation is repeatedly performed in a short time.

  (7) The control device 70 determines that the upshift condition is greater than the standby periods PA and PB when the downshift condition is satisfied when the previous shift operation is upshifting and the traveling load R is greater than or equal to the first traveling load RA. The standby periods PA and PB when the above is established are reduced. For this reason, it is easy to shift up when the traveling load R is small, such as downhill. For this reason, it is difficult for the driver to feel uncomfortable due to the speed change operation of the transmission 50, and the frequency at which the speed change operation fails can be reduced.

  (8) The control device 70 shifts down more than the waiting periods PA and PB when the upshift condition is satisfied when the previous speed change operation is downshifted and the travel load R is less than the second travel load RB. The waiting periods PA and PB when the condition is satisfied are reduced. For this reason, the downshift is easily performed in a state where the traveling load R is large such as an uphill.

  (9) When the traveling load R is included in the same range, the second standby period PB is equal to or shorter than the first standby period PA. For this reason, the shift is easily performed in the second control state in which the second rotational speed NB is larger than the first rotational speed NA.

(Modification)
Specific forms that can be taken by the present control apparatus are not limited to the forms exemplified in the above embodiments. This control apparatus can take various forms different from the above embodiments. The modifications of the above-described embodiments described below are examples of various forms that can be taken by the present control apparatus.

  -The shift process of 2nd Embodiment can also be changed into the process shown in FIG. In this modification, the storage unit 84 stores a first determination value NX and a second determination value NY. The shift determination unit 80 executes the process of step S51 for determining whether or not the selection value N is equal to or greater than the first determination value NX instead of the process of step S32. The shift determination unit 80 executes the process of step S54 for determining whether or not the selection value N is equal to or greater than the first determination value NX instead of the process of step S38. Further, the shift determination unit 80 executes the process of step S52 for determining whether or not the selection value N is equal to or less than the second determination value NY instead of the process of step S35. The shift determination unit 80 executes the process of step S54 for determining whether or not the selection value N is equal to or less than the second determination value NY instead of the process of step S41. The shift process shown in FIG. 6 is repeated until the power is turned off. The shift determination unit 80 proceeds to step S33 when step S51 is affirmative, and proceeds to step S52 when determination is negative. The shift determination unit 80 proceeds to step S36 when the determination in step S52 is affirmative, and ends the shift process when the determination is negative. The shift determination unit 80 proceeds to step S39 when the determination in step S53 is affirmative, and proceeds to step S54 when the determination is negative. The shift determination unit 80 proceeds to step S42 when the determination in step S54 is affirmative, and ends the shift process when the determination is negative. In the process shown in FIG. 6, the threshold value that is the speed change condition is not changed between when shifting based on the first rotation speed NA and when shifting based on the second rotation speed NB.

  In the shift process of the second embodiment, steps S33, S36, S39, and S42 shown in FIG. 5 can be omitted. That is, as shown in FIG. 7, control device 70 outputs a shift-up signal when the selection value N is equal to or higher than upper limit values NA1 and NB1 in steps S32 and S38, and ends the shift process. When the selected value N is equal to or lower than the lower limit values NA2 and NB2 in step S35 and step S41, the control device 70 outputs a downshift signal and ends the shift process.

  In the second embodiment, the control device 70 obtains at least one of the first upper limit value NA1, the first lower limit value NA2, the second upper limit value NB1, and the second lower limit value NB2 by calculation. You can also For example, the storage unit 84 stores a first upper limit value NA1 and a first lower limit value NA2. In the second control state, the control device 70 sets a value obtained by multiplying the first upper limit value NA1 by a first coefficient equal to or greater than “1” as the second upper limit value NB1, and sets the first lower limit value NA2 to “1”. The value obtained by multiplying the second coefficient less than "is set as the second lower limit NB2.

In the second embodiment, the first standby period PA can be set to a constant value regardless of the traveling load R and the previous shift operation.
In the second embodiment, the second standby period PB can be set to a constant value regardless of the traveling load R and the previous shift operation.

In the second embodiment, the first waiting period PA and the second waiting period PB can be made equal.
In the second embodiment, the second standby period PB can be set to be equal to or shorter than the first standby period regardless of the travel load R and the previous shift operation.

  In the second embodiment, the control device 70 may obtain at least one of the first standby period PA and the second standby period PB by calculation. For example, the maximum period Pmax is stored in the storage unit 84. The control device 70 calculates the first standby period PA or the second standby period PB by multiplying the maximum period Pmax by a correction coefficient based on the control state, the travel load R, and the previous shift operation.

  The switching process of each embodiment can be changed to the process shown in FIG. That is, the control device 70 switches between the first control state and the second control state based on the human power driving force T. Specifically, after the second rotational speed calculation unit 72 calculates the second rotational speed NB in step S61, the selection value setting unit 78 determines whether or not the human power driving force T is equal to or greater than a predetermined value TX in step S62. Determine. When the manual driving force T is equal to or greater than the predetermined value TX, the selection value setting unit 78 moves to step S63, sets the first rotational speed NA to the selection value N, and when the manual driving force T is less than the predetermined value TX. The selection value setting unit 78 moves to step S64, and sets the second rotation speed NB to the selection value N.

  -In the switching process of each embodiment, the process of step S14 and step S15 shown in FIG. 3 can also be abbreviate | omitted. That is, as shown in FIG. 9, when the first rotation speed NA is equal to or higher than the second rotation speed NB, the control device 70 sets the first rotation speed NA to the selection value N, and the first rotation speed NA is the second rotation speed NA. When the rotational speed is less than NB, the second rotational speed NB is set to the selected value N.

  The switching process of each embodiment can be changed to the process shown in FIG. The control device 70 sets the first rotation speed NA as the selection value N in the initial setting. In step S71, the control device 70 determines whether or not the first rotational speed NA is the selected value N. If the first rotational speed NA is the selected value N, it is determined in step S72 whether an abnormality has occurred in the first signal S1. When determining in step S72 that an abnormality has occurred in the first signal S1, the control device 70 switches the second rotational speed NB to the selected value N in step S73. Further, when it is determined in step S72 that no abnormality has occurred in the first signal S1, the control device 70 maintains the selection value N at the first rotational speed NA and ends the present process.

  When it is determined in step S71 that the first rotation speed NA is not the selection value N, that is, when the second rotation speed NB is the selection value N, the control device 70 maintains the selection value N at the second rotation speed NB. Then, this process ends.

  The first signal S1 is determined to be abnormal because the first signal S1 includes the first rotational speed NA, although the second signal S2 can determine that the bicycle is in a running state. Examples include a case where the value does not change from a certain value, or a case where the first rotational speed NA is excessively large. If the first rotational speed NA does not change from a constant value even when the bicycle 10 is in a running state, for example, dirt such as mud adheres to the first detection unit 54, failure of the first detection unit 54, magnets 52A, Examples include dropping of 52B from the crank 32, or disconnection of a telegraph wire (not shown) connecting the first detection unit 54 and the control device 70. Further, when the first rotational speed NA is excessively large, for example, a short circuit failure in the first detection unit 54 or the like can be mentioned.

  In the modification shown in FIG. 10, the control device 70 sets the second rotational speed NB as the selection value N in the initial setting, and selects the first rotational speed NA when an abnormality occurs in the second signal S2. It is also possible to switch to the value N. Whether to select the second rotation speed NB or the first rotation speed NA in the initial setting may be selected by the user. In this case, for example, an electrical connection is made to a control device 70 such as a cycle computer or a personal computer having an input interface, and initial settings are made via these.

  -The process of the modification shown in FIG. 10 can also be added to the switching process shown in FIG. That is, after step S13 and step S15 of FIG. 3, the process from step S51 to S53 is executed, and after step S16, the process of the modified example shown in FIG. 10 is performed.

  -In the switching process of each embodiment, the processing order of step S12 and step S14 shown in FIG. 3 can also be switched. In this case, for example, the control device 70 determines in step S12 whether or not the human power driving force T is equal to or greater than a predetermined value TX. If the human power driving force T is equal to or greater than the predetermined value TX, the control device 70 proceeds to step S13. When the human driving force T is less than the predetermined value TX in step S12, it is determined in step S14 whether or not the first rotational speed NA is equal to or higher than the second rotational speed NB. If it is determined in step S14 that the first rotational speed NA is greater than or equal to the second rotational speed NB, the process proceeds to step S15, and the first rotational speed NA is set to the selected value N. If it is determined in step S14 that the first rotational speed NA is less than the second rotational speed NB, the process proceeds to step S16, where the second rotational speed NB is set to the selected value N.

The magnet 52A of the first detection device 26 of each embodiment can be attached to the pedal 44.
-The 1st detection part 54 of the 1st detection apparatus 26 of each embodiment can also be attached to the crank 32, and the magnets 52A and 52B can also be attached to the flame | frame 12. In this case, the first detection unit 54 transmits the first signal S1 to the control device 70 by wireless communication.

  The outputs of the elements 56A and 56B of the first detection device 26 of each embodiment may be directly input to the control device 70, or may be input to the control device 70 after amplifying the outputs of the elements 56A and 56B. it can. In this case, the control device 70 has the function of the first rotation speed calculation unit 58, and the control device 70 calculates the first rotation speed NA.

-The element 56A of the 1st detection apparatus 26 of each embodiment can also be made into the rotation angle sensor attached around the crankshaft 40. FIG.
-At least one of element 56A, 56A of the 1st detection apparatus 26 of each embodiment and the element 64 of the 2nd detection apparatus 28 can also be comprised with an optical sensor.

  -It can change so that the 2nd detection device 28 of each embodiment may be attached to rear wheel 18 which is a rear wheel, magnet 60 may be attached to frame 12, and rotation of rear wheel 18 may be detected. In this case, the second detection unit 62 transmits the first signal S1 to the control device 70 by wireless communication.

  The output of the element 64 of the second detection device 28 of each embodiment may be directly input to the control device 70, or may be input to the control device 70 after amplifying the output of the element 64. In this case, the control device 70 has the function of the vehicle speed calculation unit 66, and the control device 70 calculates the second rotational speed NB.

  A hub dynamo can be used in place of the magnet 60 and the element 64 of the second detection device 28 of each embodiment. For example, the hub dynamo outputs a periodic signal or a pulse signal to the vehicle speed calculation unit 66 for each predetermined rotation angle of the front wheels 16.

  -The 2nd detection apparatus 28 of each embodiment can also be comprised by a GPS (Global Positioning System) receiver. In this case, the second detection device 28 or the control device 70 determines the second rotational speed NB based on the travel distance per unit time of the bicycle 10, information on the circumference L of the front wheel 16, and the gear ratio γ at that time. Calculate.

  The minimum angle of the front wheel 16 that can be detected by the second detection unit 62 of each embodiment can be made equal to or less than the minimum angle of the crank 32 that can be detected by the first detection unit 54. In this case, for example, the first detection unit 54 does not include the magnet 52B and the element 56B, and has a configuration that detects the position of the magnet 52A only once in one rotation of the crank, and the second detection unit 62 includes a hub dynamo. Consists of. In this modification, the accuracy of the rotational speed calculated according to the output of the second detection unit 62 is higher than the rotational speed calculated according to the output of the first detection unit 54. In this case, the control device 70 sets the rotation number calculated according to the output of the second detection unit 62 as the first rotation number NA, and sets the rotation number calculated according to the output of the first detection unit 54 as the second rotation number. As the NB, the switching process described above may be performed.

  A storage unit to which the control signal SA output from the motor control unit 82 is input can be provided in the control device 70 of each embodiment, and the speed ratio γ can be detected based on the control signal SA stored in the storage unit. .

  The transmission device 24 of each embodiment can be changed to an electric exterior transmission device. The electric exterior transmission may include a front exterior transmission and a rear exterior transmission. Further, the transmission 24 can be changed to one that can be attached to the crankshaft 40. In short, any transmission device can be adopted as long as it can change the transmission gear ratio γ by the control device 70.

10 Bicycle 16 Front wheel
30 Driving force sensor 32 Crank 50 Transmission 54 First detection unit 62 Second detection unit 70 Control device

Claims (24)

A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. It is possible to switch between a second control state for controlling the transmission based on two signals and switch between the first control state and the second control state based on the first signal and the second signal. the control device for a bicycle transmission. When the rotation speed of the crank based on the first signal is equal to or greater than the maximum rotation speed of the crank based on the second signal, a control signal for controlling the transmission is output based on the first signal. The control device for a bicycle transmission according to claim 1 . When the maximum rotation speed of the crank based on the second signal is larger than the rotation speed of the crank based on the first signal, a control signal for controlling the transmission is output based on the second signal. The control device for a bicycle transmission according to claim 1 or 2 . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. It is possible to switch between a second control state for controlling the transmission based on two signals, and the first control based on the first signal, the second signal, and the manpower driving force applied to the crank. A bicycle transmission control device that switches between a state and the second control state .   When the maximum rotation speed of the crank based on the second signal is larger than the rotation speed of the crank based on the first signal and the human driving force is less than a predetermined value, based on the second signal, The bicycle transmission control device according to claim 4, wherein the control device outputs a control signal for controlling the transmission. When the maximum rotation speed of the crank based on the second signal is larger than the rotation speed of the crank based on the first signal and the human driving force is a predetermined value or more, based on the first signal, The bicycle transmission control device according to claim 4 or 5 , wherein a control signal for controlling the transmission is output. A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched , and the first control state and the second control state are switched based on a manual driving force applied to the crank; Control device for bicycle transmission. 8. The bicycle transmission control device according to claim 7 , wherein when the human driving force is equal to or greater than a predetermined value, a control signal for controlling the transmission is output based on the first signal. The bicycle transmission control apparatus according to claim 7 or 8 , wherein when the human driving force is less than a predetermined value, a control signal for controlling the transmission is output based on the second signal. The said human power driving force is calculated | required based on the said 3rd signal input from the driving force sensor which outputs a 3rd signal according to the human power driving force given to the said crank. A control device for a bicycle transmission as described in 1. A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A control for controlling the transmission based on the second signal when the first signal is abnormal can be switched between a second control state for controlling the transmission based on the two signals. Bicycle transmission control device that outputs signals . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A control for controlling the transmission based on the first signal when an abnormality has occurred in the second signal can be switched to a second control state for controlling the transmission based on the two signals. Bicycle transmission control device that outputs signals . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched ;
When controlling the transmission based on the first signal, and operating the transmission so that a gear ratio is increased when the rotation speed of the crank is equal to or greater than a first upper limit value;
When controlling the transmission based on the first signal, the transmission is operated so that the gear ratio becomes small when the rotation speed of the crank is equal to or lower than a first lower limit value,
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission is controlled so that the transmission ratio is increased. Make it work,
When controlling the transmission based on the second signal, the transmission is operated so that the gear ratio becomes small when the maximum rotation speed of the crank corresponding to the second signal is less than or equal to a second lower limit value. ,
The bicycle transmission control apparatus, wherein the second upper limit value is smaller than the first upper limit value . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched ;
When controlling the transmission based on the first signal, and when the rotational speed of the crank is equal to or greater than a first upper limit value, the transmission is operated so that a gear ratio is increased;
When controlling the transmission based on the first signal, and when the rotation speed of the crank is equal to or lower than a first lower limit value, the transmission is operated so that a gear ratio is reduced,
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission is configured so that the transmission ratio is increased. Operate
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or lower than a second lower limit value, the transmission is set so that the transmission ratio becomes small. Operate
The bicycle transmission control apparatus, wherein the second lower limit value is larger than the first lower limit value . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched ;
When controlling the transmission based on the first signal, and when the rotational speed of the crank is equal to or greater than a first upper limit value, the transmission is operated so that a gear ratio is increased;
When controlling the transmission based on the first signal, and when the rotation speed of the crank is equal to or lower than a first lower limit value, the transmission is operated so that a gear ratio is reduced,
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission is configured so that the transmission ratio is increased. Operate
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or lower than a second lower limit value, the transmission is set so that the transmission ratio becomes small. Operate
The bicycle transmission control apparatus , wherein a range from the second upper limit value to the second lower limit value is 25 to 50% of a range from the first upper limit value to the first lower limit value . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched ;
When controlling the transmission based on the first signal, and when the rotational speed of the crank is equal to or greater than a first upper limit value, the transmission is operated so that a gear ratio is increased;
When controlling the transmission based on the first signal, and when the rotation speed of the crank is equal to or lower than a first lower limit value, the transmission is operated so that a gear ratio is reduced,
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission is configured so that the transmission ratio is increased. Operate
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or lower than a second lower limit value, the transmission is set so that the transmission ratio becomes small. Operate
When controlling the transmission based on the first signal, the first waiting period is determined from when the rotation speed of the crank is equal to or higher than the first upper limit value or lower than the first lower limit value. When the crank rotation speed is within a range that is less than the first upper limit value and exceeds the first lower limit value until the time elapses, the transmission is not operated,
When controlling the transmission based on the second signal, the second waiting period from when the maximum rotation speed of the crank becomes equal to or higher than the second upper limit value or equal to or lower than the second lower limit value. Until the crank rotational speed falls within a range that is less than the second upper limit value and exceeds the second lower limit value, the transmission is not operated,
The bicycle transmission control apparatus, wherein the second standby period is equal to or shorter than the first standby period . A first control state in which the transmission is controlled based on a first signal input from a first detection unit that detects rotation of the crank, and a second control unit that is input from a second detection unit that detects a value reflecting the speed of the bicycle. A second control state for controlling the transmission based on two signals can be switched ;
When controlling the transmission based on the first signal, and when the rotational speed of the crank is equal to or greater than a first upper limit value, the transmission is operated so that a gear ratio is increased;
When controlling the transmission based on the first signal, and when the rotation speed of the crank is equal to or lower than a first lower limit value, the transmission is operated so that a gear ratio is reduced,
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or greater than a second upper limit value, the transmission is configured so that the transmission ratio is increased. Operate
When the transmission is controlled based on the second signal, and when the maximum rotation speed of the crank corresponding to the second signal is equal to or lower than a second lower limit value, the transmission is set so that the transmission ratio becomes small. Operate
When controlling the transmission based on the first signal, the first waiting period is determined from when the rotation speed of the crank is equal to or higher than the first upper limit value or lower than the first lower limit value. When the crank rotation speed is within a range that is less than the first upper limit value and exceeds the first lower limit value until the time elapses, the transmission is not operated,
When controlling the transmission based on the second signal, the second waiting period from when the maximum rotation speed of the crank becomes equal to or higher than the second upper limit value or equal to or lower than the second lower limit value. Until the crank rotational speed falls within a range that is less than the second upper limit value and exceeds the second lower limit value, the transmission is not operated,
The control device for a bicycle transmission , wherein the first standby period and the second standby period are set based on a travel load of the bicycle. 18. The bicycle transmission control device according to claim 17 , wherein when the traveling load of the bicycle is included in the same range, the second standby period is equal to or shorter than the first standby period. The bicycle transmission control according to claim 18 , wherein the first standby period and the second standby period are set based on a previous shift operation of the transmission and a traveling load of the bicycle. apparatus. When controlling the transmission based on the first signal, the transmission is controlled so that the crank rotation speed based on the first signal is a predetermined crank rotation speed or a crank rotation speed within a predetermined range. The control device for a bicycle transmission according to any one of claims 1 to 19 , which outputs a control signal for control. When controlling the transmission based on the second signal, the transmission is configured such that the maximum rotation speed of the crank based on the second signal is a predetermined crank rotation speed or a crank rotation speed within a predetermined range. The control device for a bicycle transmission according to any one of claims 1 to 20 , wherein a control signal for controlling the bicycle is output. Maximum number of revolutions of the crank based on the second signal, said second signal, and the information on the gear ratio, the bicycle wheel diameter is determined based on the information about the radius or circumference, claim 21 A control device for a bicycle transmission as described in 1. The bicycle transmission control device according to any one of claims 1 to 22, wherein the second detection unit detects rotation of a wheel of the bicycle. The minimum angle in one rotation of the crank that can be detected by the first detector is:
Smaller than the minimum angle in one rotation of the wheel that can be detected by the second detector,
24. The control device for a bicycle transmission according to claim 23 .