JP6759436B2 - Bicycle control device and bicycle control system including this - Google Patents

Description

The present invention relates to a bicycle control device and a bicycle control system including the same.

The bicycle control device disclosed in Patent Document 1 controls the transmission in response to a shift request for shifting the gear ratio of the bicycle.

Japanese Patent No. 5496158

In the bicycle control device, predetermined control is executed regardless of the content of the shift request for changing the gear ratio. Therefore, there is a demand for a bicycle control device that can control the transmission according to the content of the change in the gear ratio.

An object of the present invention is to provide a bicycle control device and a bicycle control system capable of controlling a transmission according to the content of a shift request for changing a gear ratio.

The bicycle control device according to the first aspect of the present disclosure includes a control unit that operates a transmission capable of stepwise changing the gear ratio of the bicycle in response to a shift request for changing the gear ratio. When the gear ratio is changed in a plurality of steps in response to the shift request, one of the first shift and the second shift is selectively executed, and in the first shift, the rotation of the crank of the bicycle is performed. When the angle reaches the first angle, the operation of the transmission is started, the transmission is operated until the gear ratio corresponding to the shift request is reached, and in the second shift, the rotation angle of the crank of the bicycle is changed. When the first angle is reached, the operation of the transmission is started, the transmission is operated until the gear ratio becomes an intermediate gear ratio up to the gear ratio corresponding to the shift request, and the rotation angle of the crank is the second angle. Then, the operation of the transmission is restarted so as to change the gear ratio from the intermediate gear ratio to the gear ratio corresponding to the gear shift request.

According to the bicycle control device, the control unit can control the transmission according to the content of the shift request for changing the gear ratio. Since the control unit limits the output of the motor in both the case of executing the first shift and the case of executing the second shift, the shift performance can be improved. Further, the control unit can start the operation of the transmission at a crank rotation angle suitable for starting the operation of the transmission.

In the bicycle control device on the second side according to the first side of the present disclosure, the first angle is the first rotation in which one crank arm of the crank corresponds to one of top dead center and bottom dead center. From the angle, it is included in the range up to 45 degrees upstream of the first rotation angle in the first direction in which the crank is rotated to propel the bicycle.

According to the bicycle control device, the control unit can start the operation of the transmission in the range of the rotation angle most suitable for starting the operation of the transmission.

In the bicycle control device of the third side according to the second side of the present disclosure, the second angle is the second rotation angle at which the crank arm corresponds to the other of the top dead center and the bottom dead center. Therefore, it is included in the range up to 45 degrees upstream of the second rotation angle in the first direction, or is equal to the first angle.

According to the bicycle control device, the control unit can resume the operation of the transmission in the range of the rotation angle most suitable for starting the operation of the transmission.

In the bicycle control device of the fourth side according to the second or third side surface of the present disclosure, the control unit uses the number of gear ratio stages up to the gear ratio corresponding to the shift request, and the shift corresponding to the shift request. One of the first shift and the second shift is performed depending on at least one of the second time required to move the transmission to the ratio.

According to the bicycle control device, the control unit can appropriately select whether to perform the first shift or the second shift.

In the bicycle control device of the fifth side according to the fourth aspect of the present disclosure, the control unit executes the first shift when the predetermined first time is equal to or longer than the second time, and the first shift is performed. If the time is less than the second time, the second shift is executed.

According to the above bicycle control device, if the transmission can be moved to the gear ratio corresponding to the shift request within the first time, the first shift is executed and the shift request is met within the first time. If the transmission cannot be moved to the desired gear ratio, a second shift is performed.

In the bicycle control device on the sixth side according to any one of the first to fifth sides of the present disclosure, the control unit receives an output signal from the operation unit that can be operated by the rider as the shift request.

According to the bicycle control device, the control unit can control the transmission in response to the request for manual shifting.

In the bicycle control device on the seventh side according to the sixth aspect of the present disclosure, the control unit is operated by the operation unit continuously for a first predetermined time or longer, or the operation unit is a second predetermined operation unit. When operated a plurality of times within the time, one of the first shift and the second shift is selectively executed.

According to the bicycle control device, the rider operates the operation unit continuously for a first predetermined time or longer, or operates the operation unit a plurality of times within a second predetermined time to cover a plurality of stages. It is possible to request a change in the gear ratio.

The bicycle control system according to the eighth aspect of the present disclosure includes the bicycle control device according to any one of the first to seventh aspects and the transmission.

According to the bicycle control system, the bicycle control system can control the transmission according to the content of the shift request for changing the gear ratio.

(Examples of bicycle control devices, etc.)
The bicycle control device according to the first aspect A1 controls a transmission capable of stepwise changing the gear ratio of the bicycle and a motor assisting the propulsion of the bicycle in response to a shift request for changing the gear ratio. When the control unit changes the gear ratio over a plurality of steps in response to the shift request, the control unit selectively executes one of the first shift and the second shift, and the first shift Then, the output of the motor is limited and the transmission is operated until the shift ratio corresponding to the shift request is reached. In the second shift, the output of the motor is limited and the shift corresponding to the shift request is reached. The transmission is operated until the gear ratio reaches an intermediate ratio up to the ratio, the limitation of the output of the motor is once relaxed, and then the output of the motor is limited again to operate the transmission.

According to the bicycle control device, the control unit can control the transmission according to the content of the shift request for changing the gear ratio. Since the control unit limits the output of the motor in both the case of executing the first shift and the case of executing the second shift, the shift performance can be improved.

In the bicycle control device on the second side surface according to the first A1 side surface, the control unit limits the output of the motor and limits the output of the motor when the rotation angle of the crank of the bicycle becomes the first angle in response to the shift request. Start the operation of the transmission.

According to the bicycle control device, the control unit can start the operation of the transmission at a crank rotation angle suitable for starting the operation of the transmission.

In the bicycle control device on the A3 side according to the A2 side, the first angle is from the first rotation angle at which one crank arm of the crank corresponds to one of the top dead center and the bottom dead center. It is included in the range up to 45 degrees upstream of the first rotation angle in the first direction in which the crank is rotated to propel the bicycle.

According to the bicycle control device, the control unit can start the operation of the transmission in the range of the rotation angle most suitable for starting the operation of the transmission.

In the bicycle control device on the fourth side according to any one of the A1 to A3 sides, the control unit once relaxes the limitation on the output of the motor in the second shift, and then cranks the bicycle. When the rotation angle of the motor reaches the second angle, the output of the motor is limited and the operation of the transmission is started.

According to the above bicycle control device, in the second shift, the decrease in the output of the motor is suppressed during the period unsuitable for the operation of the transmission from the relaxation of the limitation on the output of the motor to the second angle. The operation of the transmission can be restarted at a crank rotation angle suitable for starting the operation of the transmission.

In the bicycle control device on the A5 side according to the A3 side, the control unit once relaxes the limitation of the output of the motor in the second shift, and then the rotation angle of the crank of the bicycle is the second angle. At that time, the output of the motor is limited and the operation of the transmission is started. The second angle corresponds to one crank arm of the crank corresponding to the other of the top dead center and the bottom dead center. It is included in the range from the second rotation angle to 45 degrees upstream of the second rotation angle in the first direction.

According to the above bicycle control device, in the second shift, the decrease in the output of the motor is suppressed during the period unsuitable for the operation of the transmission from the relaxation of the limitation on the output of the motor to the second angle. It is possible to start the operation of the transmission at the rotation angle of the crank most suitable for starting the operation of the transmission.

In the bicycle control device on the A6 side according to the second A2 or A3 side, the control unit once relaxes the limitation of the output of the motor in the second shift, and then the rotation angle of the crank of the bicycle is the second. When the angle reaches 2, the output of the motor is limited and the operation of the transmission is started, and the second angle is equal to the first angle.

According to the above bicycle control device, by equalizing the first angle and the second angle, the output of the motor is first limited, and the crank is started from the position of the crank when the operation of the transmission is started. When is rotated 180 ° and / or 360 °, the output of the motor is limited again and the operation of the transmission can be restarted.

In the bicycle control device on the side A7 according to the side surface A2, A3, or A6, the control unit responds to the shift request received before the rotation angle of the crank reaches the first angle. , The first shift and the second shift are selectively executed.

According to the bicycle control device, the control unit can execute an appropriate one of the first shift and the second shift.

In the bicycle control device on the A8 side according to the A2, A3, A6, or A7 side, the control unit has a first time from when the rotation angle of the crank becomes the first angle. The output of the motor is limited until

According to the above-mentioned bicycle control device, by managing the output limit of the motor by time, it is possible to suppress the complicated control of the control unit, and the assist force becomes low for a long period of time during shifting. Can be suppressed.

In the bicycle control device on the A9 side surface according to the A2, A3, A6, or A7 side surface, the control unit rotates the crank from the time when the rotation angle of the crank becomes the first angle. The output of the motor is limited until the angle reaches the third angle.

According to the above bicycle control device, by managing the motor output limit by the crank rotation angle, the motor output can be accurately limited according to the crank rotation angle, and assists for a long period of time during shifting. It is possible to prevent the force from becoming low.

In the bicycle control device on the A10 side according to any one of the A1 to A9 side surfaces, the control unit corresponds to the number of gear ratio stages up to the gear ratio corresponding to the shift request and the shift request. One of the first shift and the second shift is executed according to at least one of the second time required to move the transmission to the desired shift ratio.

According to the bicycle control device, the control unit can appropriately select whether to perform the first shift or the second shift.

In the bicycle control device on the A11 side according to the A8 side, the control unit performs the first shift according to the second time required to move the transmission to the shift ratio corresponding to the shift request. And when one of the second shifts is executed and the first time is equal to or longer than the second time, the first shift is executed and the first time is less than the second time. , The second shift is executed.

According to the above bicycle control device, if the transmission can be moved to the gear ratio corresponding to the shift request within the first time, the first shift is executed and the shift request is met within the first time. If the transmission cannot be moved to the desired gear ratio, a second shift is performed.

In the bicycle control device on the A12 side according to the A9 side, the control unit performs the first shift and the first shift according to the second time required to move the transmission to the shift ratio corresponding to the shift request. When one of the second shifts is executed and the predicted time from when the rotation angle of the crank reaches the first angle to when the rotation angle reaches the third angle is equal to or longer than the second time, the said The second shift is executed, and when the predicted time is less than the second time, the first shift is executed.

According to the above bicycle control device, if the transmission can be moved to a gear ratio corresponding to the shift request from the first angle to the third angle, the first shift is executed. If the transmission cannot be moved to the gear ratio corresponding to the shift request by the time the crank rotation angle changes from the first angle to the third angle, the second shift is executed.

In the bicycle control device on the A13 side surface according to any one of the A1 to A12 side surfaces, the control unit receives an output signal from the operation unit that can be operated by the rider as the shift request.

According to the bicycle control device, the control unit can control the transmission in response to the request for manual shifting.

In the bicycle control device on the A14 side surface according to the A13 side surface, the control unit is operated by the operation unit continuously for a first predetermined time or longer, or the operation unit is operated within a second predetermined time. When operated a plurality of times, one of the first shift and the second shift is selectively executed.

According to the bicycle control device, the rider operates the operation unit continuously for a first predetermined time or longer, or operates the operation unit a plurality of times within a second predetermined time to cover a plurality of stages. It is possible to request a change in the gear ratio.

The bicycle control system according to the A15th side surface includes the bicycle control device according to the A13 or A14 side surface, the transmission, the motor, and the operation unit.

According to the bicycle control system, the bicycle control system can control the transmission according to the content of the shift request for changing the gear ratio.

The bicycle control device according to the A16th side surface controls a transmission that can change the gear ratio of the bicycle stepwise and a motor that assists the propulsion of the bicycle in response to a shift request for changing the gear ratio. In response to the shift request, the control unit rotates the crank of the bicycle to propel the bicycle from a rotation angle corresponding to the top dead point or the bottom dead point. At the first angle on the upstream side in the direction of, the output of the motor is limited and the transmission is started to operate, and the gear ratio is changed to the transmission in a plurality of steps in response to the shift request. In this case, the first angle is changed to the upstream side in the first direction, as compared with the case where the transmission is changed to the gear ratio by only one step in response to the shift request.

According to the bicycle control device, the transmission can be controlled according to the content of the shift request for changing the gear ratio. Even when the gear ratio is changed over a plurality of steps, the gear shift can be performed in a region where the torque input to the crank is as small as possible.

The bicycle control device of the present disclosure and the bicycle control system including the same can control the transmission according to the content of the shift request for changing the gear ratio.

FIG. 3 is a block diagram showing an electrical configuration of a bicycle including the bicycle control device and the bicycle control system of the first embodiment. The flowchart of the first control executed by the control unit of FIG. The flowchart of the second control when the first angle and the second angle executed by the control part of FIG. 1 are equal. The flowchart of the second control when the first angle and the second angle executed by the control part of FIG. 1 are not equal. The timing chart which shows an example of the 2nd control in the 1st shift. The timing chart which shows an example of the 2nd control in the 2nd shift. FIG. 3 is a flowchart of a third control executed by the control unit of the second embodiment. The flowchart of the fourth control executed by the control unit of the third embodiment. A timing chart showing an example of the fifth control of the first modification. A timing chart showing an example of the sixth control of the second modification.

(First Embodiment)
A bicycle equipped with the bicycle control device and the bicycle control system according to the first embodiment will be described with reference to FIG.

The bicycle 10 includes a drive mechanism 12 and a bicycle control system 20.
The drive mechanism 12 includes a crank 12A and a pedal 12D. The crank 12A includes a crankshaft 12B and a crank arm 12C. The drive mechanism 12 transmits the human-powered driving force applied to the pedal 12D to the rear wheels (not shown). The drive mechanism 12 is configured to transmit the rotation of the crank 12A to the rear wheels, for example, via a chain, belt, or shaft (all not shown). The drive mechanism 12 includes a front rotating body 12E that is coupled to the crankshaft 12B via a one-way clutch (not shown). The one-way clutch is configured so that the front rotating body 12E is rotated forward when the crank 12A is rotated forward, and the front rotating body 12E is not rotated backward when the crank 12A is rotated backward. The front rotating body 12E includes a sprocket, a pulley or a bevel gear (all not shown). The front rotating body 12E may be coupled to the crankshaft 12B without using a one-way clutch.

The bicycle control system 20 includes a bicycle control device 40, a transmission 22, a motor 24, and an operation unit 26. In one example, the bicycle control system 20 further includes an actuator 28 of the transmission 22, a drive circuit 30 of the motor 24, a battery 32, a torque sensor 34, a rotation angle sensor 36, and a shift state detection device 38.

The transmission 22 and the actuator 28 constitute the transmission S. The transmission 22 can change the gear ratio r of the bicycle 10 step by step. In one example, the transmission 22 shifts the rotation input to the crankshaft 12B and transmits it to the rear wheels. In this case, the transmission 22 includes an internal transmission. The internal transmission is provided around the crankshaft 12B or on the hub of the rear axle. The internal transmission may be provided in the power transmission path between the crank 12A and the front rotating body 12E. In another example, the transmission 22 shifts the rotation input to the crankshaft 12B and transmits it to the rear wheels by changing the chain between the plurality of front sprockets or the plurality of rear sprockets. In this case, the transmission 22 includes an external transmission (derailleur). The external derailleur includes at least one of a front derailleur that changes the chain between a plurality of front sprockets (not shown) and a rear external derailleur that changes a chain between a plurality of rear sprockets (not shown). The actuator 28 includes an electric motor. When the actuator 28 is driven, the transmission 22 performs a shifting operation to stepwise change the gear ratio r of the bicycle 10. When the transmission 22 is an internal transmission, the shifting operation includes an operation of changing the connected state of the gears constituting the planetary gear mechanism inside the transmission 22. When the transmission 22 is an external transmission, the shifting operation includes the operation of changing the chain between the sprockets. The internal transmission may include a CVT (Continuously Variable Transmission) mechanism. In one example, the CVT mechanism is composed of an input body, an output body, and a planetary mechanism including a transmitter, and the gear ratio r is continuously changed by rotating the transmitter. The transmission S may include configurations other than the transmission 22 and the actuator 28.

The motor 24 and the drive circuit 30 constitute an assist device A. The drive circuit 30 controls the electric power supplied from the battery 32 to the motor 24. The motor 24 assists the propulsion of the bicycle 10. The motor 24 includes an electric motor. The motor 24 is provided so as to transmit rotation to a transmission path of human-powered driving force from the pedal 12D to the rear wheels or to the front wheels (not shown). The motor 24 is provided on the frame (not shown), rear wheel, or front wheel of the bicycle 10. In one example, the motor 24 is coupled to a power transmission path from the crankshaft 12B to the front rotating body 12E. A one-way clutch (not shown) is provided in the power transmission path between the motor 24 and the crankshaft 12B so that the motor 24 does not rotate due to the rotational force of the crank when the crankshaft 12B is rotated in the direction in which the bicycle 10 advances. Is preferably provided. The assist device A may include a configuration other than the motor 24 and the drive circuit 30, and may include, for example, a speed reducer that decelerates and outputs the rotation of the motor 24.

The operation unit 26 can be operated by the rider. The operation unit 26 is attached to the handlebar (not shown) of the bicycle 10. The operation unit 26 can communicate with the control unit 42 of the bicycle control device 40. The operation unit 26 is communicably connected to the control unit 42 by wire or wirelessly. The operation unit 26 can communicate with the control unit 42 by, for example, PCL (Power Line Communication). When the operation unit 26 is operated by the rider, the operation unit 26 transmits an output signal to the control unit 42. The output signal includes a shift-up signal that increases the gear ratio r of the bicycle 10 or a shift-down signal that decreases the gear ratio r of the bicycle 10. The operation unit 26 includes, for example, an operation member, a sensor that detects the movement of the operation member, and an electric circuit that communicates with the control unit 42 in response to an output signal of the sensor.

The operation unit 26 may be configured to output an output signal corresponding to a shift over a plurality of steps. In one example, when an operation for increasing the gear ratio r is continuously performed on the operation unit 26 for a first predetermined time TX1 or more, the operation unit 26 outputs an output signal including a shift-up signal a plurality of times. Send to 42. The number of transmissions of the output signal may be increased as the operation time for increasing the gear ratio r input to the operation unit 26 becomes longer. Further, when the operation unit 26 continuously performs an operation for reducing the gear ratio r for a first predetermined time TX1 or more, the operation unit 26 transmits an output signal including a downshift signal a plurality of times to the control unit 42. Send to. The number of transmissions of the output signal may be increased as the operation time for reducing the gear ratio r input to the operation unit 26 becomes longer. The operation unit 26 can also transmit an output signal to the control unit 42 according to the time when the operation unit 26 is operated within the first predetermined time TX1. In this case, the control unit 42 updates the required shift according to the number of steps of the shift ratio r to be changed corresponding to the output signal according to the time when the operation unit 26 is operated.

In another example, when the operation unit 26 is operated to increase the gear ratio r a plurality of times within the second predetermined time TX2, the operation unit 26 operates the output signal including the shift-up signal. Each time it is performed, it is transmitted to the control unit 42. Further, when the operation unit 26 is operated a plurality of times within the second predetermined time TX2 for reducing the gear ratio r, the operation unit 26 operates the output signal including the downshift signal each time. Is transmitted to the control unit 42. The control unit 42 executes the first control of changing the required gear ratio rA each time the output signal is received. The operation unit 26 can also transmit an output signal to the control unit 42 according to the number of times the operation unit 26 has been operated within the second predetermined time TX2. In this case, the control unit 42 updates the required gear ratio rA according to the number of steps of the gear ratio r to be changed corresponding to the output signal corresponding to the number of times the operation unit 26 is operated.

The output signal of the operation unit 26 may include a request to change the gear ratio r in a plurality of steps. For example, the operation unit 26 is provided with a switch for changing the gear ratio r over a plurality of steps. When the control unit 42 receives the output signal of the operation unit 26, the control unit 42 may set a shift request for changing the gear ratio r in a plurality of steps according to the content of the signal, the control state of the bicycle 10, and the like.

The battery 32 includes one or more battery cells. The battery cell includes a rechargeable battery. The battery 32 supplies power to other electrical components (eg, motor 24, actuator 28, and bicycle control device 40) mounted on the bicycle 10 and electrically connected to the battery 32 by wire.

The torque sensor 34 outputs a signal corresponding to the human-powered driving force T. The torque sensor 34 detects the human-powered driving force T applied to the crankshaft 12B. The torque sensor 34 may be provided between the crankshaft 12B and the front rotating body 12E, may be provided on the crankshaft 12B or the front rotating body 12E, or may be provided on the crankarm 12C or the pedal 12D. .. The torque sensor 34 can be realized by using, for example, a strain sensor, a magnetostriction sensor, an optical sensor, a pressure sensor, or the like, and outputs a signal corresponding to a human-powered driving force T applied to the crank arm 12C or the pedal 12D. Any sensor can be adopted as long as it is a sensor.

The rotation angle sensor 36 detects the rotation angle CA of the crank. The rotation angle sensor 36 is attached to the frame of the bicycle 10 (not shown) or the housing of the assist device A (not shown). The rotation angle sensor 36 includes a first element 36A that detects the magnetic field of the first magnet M1 and a second element 36B that outputs a signal according to the positional relationship with the second magnet M2. The first magnet M1 is provided on the crankshaft 12B or the crankarm 12C and is arranged coaxially with the crankshaft 12B. The first magnet M1 is an annular magnet, and a plurality of magnetic poles are arranged alternately in the circumferential direction. The first element 36A detects the rotation angle of the crank 12A with respect to the frame. When the crank 12A makes one rotation, the first element 36A outputs a signal in which the angle obtained by dividing 360 degrees by the number of magnetic poles having the same pole is one cycle. The minimum value of the rotation angle of the crank 12A that can be detected by the rotation angle sensor 36 is 180 degrees or less, preferably 15 degrees, and more preferably 6 degrees. The second magnet M2 is provided on the crankshaft 12B or the crank arm 12C. The second element 36B detects the reference angle of the crank 12A with respect to the frame (for example, the top dead center or the bottom dead center of the crank 12A). The second element 36B outputs a signal with one rotation of the crankshaft 12B as one cycle.

The rotation angle sensor 36 may be configured to include a magnetic sensor that outputs a signal according to the strength of the magnetic field instead of the first element 36A and the second element 36B. In this case, instead of the first magnet M1 and the second magnet M2, an annular magnet whose magnetic field strength changes in the circumferential direction is provided on the crankshaft 12B coaxially with the crankshaft 12B. By using a magnetic sensor that outputs a signal according to the strength of the magnetic field, it is possible to detect the rotation speed N of the crank and the rotation angle of the crank 12A with one sensor, and the configuration and assembly can be simplified. .. The rotation angle sensor 36 can also detect the rotation speed N of the crank in addition to the rotation angle CA of the crank. The rotation speed N of the crank may be detected by using any of the output of the first element 36A, the output of the second element 36B, and the output of the magnetic sensor.

The shift state detection device 38 detects the operating state of the transmission 22. In one example, the shift state detection device 38 detects the position of the moving portion (not shown) of the transmission 22 that moves with the change of the gear ratio r. In another example, the shift state detecting device 38 detects the gear ratio r according to the rotational speed of the rear wheels with respect to the rotational speed N of the crank.

The bicycle control device 40 includes a control unit 42. In one example, the bicycle control device 40 preferably further includes a storage unit 44.
The control unit 42 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 42 may include one or more microcomputers. The storage unit 44 stores various control programs and information used for various control processes. The storage unit 44 includes, for example, a non-volatile memory and a volatile memory. The control unit 42 further includes a timer.

The control unit 42 receives the output signal from the operation unit 26 as a shift request. The control unit 42 controls the transmission 22 and the motor 24 in response to a shift request for changing the gear ratio r. Specifically, when the control unit 42 receives an output signal including a shift-up signal as a shift request, the shift ratio r corresponding to the shift request stored in the storage unit 44 (hereinafter, “required shift ratio rA”). The first control is performed to reduce. When the control unit 42 receives the output signal including the downshift signal as a shift request, the control unit 42 executes the first control for increasing the required shift ratio rA stored in the storage unit 44.

The first control will be described with reference to FIG. The control unit 42 executes the first control at predetermined intervals while the power of the bicycle control device 40 is turned on.
In step S11, the control unit 42 determines whether or not the shift request has been received. When the control unit 42 receives the shift request, the control unit 42 updates the required shift ratio rA stored in the storage unit 44 in step S12, and executes the process of step S11 again after a predetermined cycle. If the control unit 42 has not received the shift request in step S11, the control unit 42 executes the process of step S11 again after a predetermined cycle.

The control unit 42 executes the second control for controlling the transmission 22 and the motor 24 according to the required gear ratio rA updated by the first control.
When the gear ratio r is changed over a plurality of steps in response to a shift request, the control unit 42 selectively executes one of the first shift and the second shift. When the operation unit 26 is continuously operated for the first predetermined time TX1 or more continuously, or the operation unit 26 is operated a plurality of times within the second predetermined time TX2, the control unit 42 performs the first shift and One of the second shifts is selectively executed. The control unit 42 selectively executes one of the first shift and the second shift according to the shift request received before the rotation angle CA of the crank becomes the first angle CA1.

Specifically, the control unit 42 performs the first shift and the second shift according to the result of comparison between the required shift ratio rA updated by the shift request and the shift ratio r detected by the shift state detection device 38. Perform one of the shifts, or do not perform either. When the required gear ratio rA updated by the shift request and the gear ratio r match, the control unit 42 does not execute either the first shift or the second shift. The control unit 42 executes the first shift when the required gear ratio rA updated by the shift request and the gear ratio r differ by one step. When the required gear ratio rA updated by the shift request and the gear ratio r are different by two or more steps, the control unit 42 obtains the required gear ratio rA and the difference between the required gear ratio rA and the gear ratio r. At least one of the first shift and the second shift is executed. Further, when the required gear ratio rA exceeds the upper limit of the gear ratio r that can be realized by the transmission 22, the control unit 42 does not perform a shift exceeding the upper limit of the gear ratio r. Further, when the required gear ratio rA is lower than the lower limit of the gear ratio r that can be realized by the transmission 22, the control unit 42 does not perform a shift exceeding the lower limit of the gear ratio r. When the control unit 42 can control a plurality of transmissions 22, the upper and lower limits of the gear ratio r indicate the upper and lower limits of the gear ratio of the bicycle 10 that can be realized by each transmission 22. Further, in the first control shown in FIG. 2, the control unit 42 can also set the required gear ratio rA so as not to exceed the upper and lower gear ratios r in step S12.

The control unit 42 executes one of the first shift and the second shift according to the second time T2 required to move the transmission 22 to the required gear ratio rA. The control unit 42 executes the first shift when the first time T1 is equal to or greater than the second time T2, and executes the second shift when the first time T1 is less than the second time T2. .. The second time T2 differs depending on the difference between the required gear ratio rA and the gear ratio r. In one example, the storage unit 44 stores the shift time required to increase the gear ratio r by one step and the shift time required to decrease the gear ratio r by one step. The control unit 42 calculates the second time T2 by adding the shift times stored in the storage unit 44 according to the current gear ratio r and the required gear ratio rA. The first time T1 is set to a time that allows shifting at any gear ratio r as long as the shifting is in one step. The shift time may be the same time or different times at each shift ratio r. The shift time may be set by the control unit 42 according to the characteristics and performance of the transmission 22. For example, the shift time may be set by connecting the control unit 42 to an external device such as a personal computer wirelessly or by wire.

In the first shift, the control unit 42 limits the output of the motor 24 and operates the transmission 22 until the required gear ratio rA is reached.
When the rotation angle CA of the crank of the bicycle 10 becomes the first angle CA1 in response to the shift request, the control unit 42 limits the output of the motor 24 and starts the operation of the transmission 22. The control unit 42 limits the output of the motor 24 from the time when the rotation angle CA of the crank becomes the first angle CA1 until the first time T1 elapses. When the first time T1 elapses, the control unit 42 relaxes the limitation on the output of the motor 24. Preferably, when the first time T1 elapses, the control unit 42 controls the motor 24 with the assist ratio immediately before ending the limitation of the output of the motor 24 and starting the limitation of the output of the motor 24.

The first angle CA1 propels the bicycle 10 more than the first rotation angle CX1 from the first rotation angle CX1 in which one crank arm 12C of the crank 12A corresponds to one of top dead center and bottom dead center. It is included in the range up to 45 degrees upstream in the first direction in which the crank 12A is rotated. The first direction is the rotation direction of the crank 12A when the bicycle 10 moves forward. When the rotation angle CA of the crank when one of the crank arms 12C of the crank 12A is the top dead center is set to 0 degrees, and the rotation angle CA of the crank of the one crank arm 12C of the crank 12A is 180 degrees at the bottom dead center. The first rotation angle CX1 is one of 0 degrees and 180 degrees. In this case, the first angle CA1 is included in one of the range from −45 degrees (215 degrees) to 0 degrees and the range from 135 degrees to 180 degrees. Assuming that the first rotation angle CX1 is 0 degrees, the first angle CA1 is included in the range from −45 degrees (215 degrees) to 0 degrees. When the first rotation angle CX1 is 180 degrees, the first angle CA1 is included in the range from 135 degrees to 180 degrees. The control unit 42 can also select whether to set the first rotation angle CX1 to 0 degrees or 180 degrees. For example, the control unit 42 sets the first rotation angle CX1 to 360 (0) degrees when the rotation angle CA of the crank when the shift request is received is in the range of 135 degrees to 215 degrees. In this case, the first angle CA1 is included in the range from 215 degrees to 360 (0) degrees of the next rotation cycle. The control unit 42 sets the first rotation angle CX1 to 180 degrees when the rotation angle CA of the crank when the shift request is received is in the range of 215 degrees to 135 degrees in the next rotation cycle. In this case, the first angle CA1 is included in the range of 135 degrees to 180 degrees of the next rotation cycle.

In the second shift, the control unit 42 limits the output of the motor 24, operates the transmission 22 until the gear ratio r is in the middle up to the required gear ratio rA, and temporarily relaxes the limitation of the output of the motor 24. After that, the output of the motor 24 is limited again to operate the transmission 22. In the second shift, the control unit 42 once relaxes the limitation on the output of the motor 24, and then limits the output of the motor 24 and the transmission when the rotation angle CA of the crank of the bicycle 10 becomes the second angle CA2. The operation of 22 is started. The control unit 42 limits the output of the motor 24 from the time when the rotation angle CA of the crank becomes the second angle CA2 until the first time T1 elapses. When the first time T1 elapses, the control unit 42 relaxes the limitation on the output of the motor 24. Preferably, when the first time T1 elapses, the control unit 42 controls the motor 24 with the assist ratio immediately before ending the limitation of the output of the motor 24 and starting the limitation of the output of the motor 24.

In one example, the second angle CA2 is equal to the first angle CA1. The second angle CA2 is the first from the second rotation angle CX2 in which one crank arm 12C of the crank 12A corresponds to one of the top dead center and the bottom dead center than the second rotation angle CX2. It is included in the range up to 45 degrees upstream in the direction. In this case, if the first rotation angle CX1 is 0 degrees, the second rotation angle CX2 is 0 degrees, and the second angle CA2 is included in the range from −45 degrees (215 degrees) to 0 degrees. Is done. When the first rotation angle CX1 is 180 degrees, the second rotation angle CX2 is 180 degrees and the second angle CA2 is included in the range from 135 degrees to 180 degrees.

In another example, the second angle CA2 is different from the first angle CA1. The second angle CA2 is upstream or downstream in the first direction from the first angle CA1. In one example, the second angle CA2 is 180 degrees downstream of the first angle CA1. The second angle CA2 is first from the second rotation angle CX2 in which one crank arm 12C of the crank 12A corresponds to the other of the top dead center and the bottom dead center. It is included in the range up to 45 degrees upstream in the direction. In this case, if the first rotation angle CX1 is 0 degrees, the second rotation angle CX2 is 180 degrees, and the second angle CA2 is included in the range from 135 degrees to 180 degrees. When the first rotation angle CX1 is 180 degrees, the second rotation angle CX2 is 0 degrees, and the second angle CA2 is included in the range from −45 degrees (215 degrees) to 0 degrees.

The second control will be described with reference to FIG. The control unit 42 executes the second control at predetermined intervals while the power of the bicycle control device 40 is turned on. Here, a case where the first angle CA1 is equal to the second angle CA2 will be described. In one example, the first rotation angle CX1 corresponds to one of 0 degrees and 180 degrees, and the second rotation angle CX2 corresponds to one of 0 degrees and 180 degrees. In this case, the second control is executed only once while the crank 12A makes one rotation.

The control unit 42 detects the gear ratio r in step S21 and proceeds to step S22. In step S22, the control unit 42 determines whether or not the required gear ratio rA and the gear ratio r match. Specifically, the control unit 42 compares the required gear ratio rA updated in the first control shown in FIG. 2 with the gear ratio r detected by the shift state detection device 38. When the required gear ratio rA and the gear ratio r match, the control unit 42 ends the process. When the required gear ratio rA and the gear ratio r are different, the control unit 42 proceeds to step S23.

In step S23, the control unit 42 calculates the second time T2, and when the second time T2 is less than the first time T1, the required gear ratio rA is set as the target gear ratio rX. When the second time T2 is equal to or greater than the first time T1, the control unit 42 between the current gear ratio r and the required gear ratio rA at which the transmission 22 can shift within the first time T1. The gear ratio r is set as the target gear ratio rX. The target gear ratio rX set when the second time T2 is equal to or greater than the first time T1 corresponds to the intermediate gear ratio r.

The control unit 42 determines in step S24 whether or not the first angle CA1 has been reached. When the control unit 42 determines that the first angle CA1 has not been reached, the control unit 42 ends the process, and after a predetermined cycle, executes the process from step S21 again. If the required gear ratio rA is changed in the first control by step S22 of the control cycle of the next second control, the control unit 42 determines in step S22 using the changed required gear ratio rA. I do. Therefore, the control unit 42 executes the processes after step S22 in response to the shift request received before the rotation angle CA of the crank becomes the first angle CA1. When the control unit 42 determines in step S24 that the first angle CA1 has been reached, the control unit 42 starts limiting the output of the motor 24 in step S25 and proceeds to step S26. The control unit 42 executes the shifting operation of the transmission 22 so that the shifting ratio r is changed up to the target shifting ratio rX set in step S23 in step S26. When there is a difference of two or more steps between the current gear ratio r and the target gear ratio rX, the control unit 42 continuously operates the transmission 22.

Next, the control unit 42 determines whether or not the first time T1 has elapsed in step S27. Specifically, the control unit 42 determines whether or not the time after reaching the first angle CA1 is equal to or greater than the first time T1. In another example, the control unit 42 determines whether or not the time from the start of limiting the output of the motor 24 in step S27 is equal to or greater than the first time T1. The control unit repeats the determination in step S27 until the first time T1 elapses. When the control unit 42 determines that the first time T1 has elapsed, the control unit 42 relaxes the limitation on the output of the motor 24 in step S28 and ends the process. In one example, the control unit 42 controls the output of the motor 24 using the same conditions as before limiting the output of the motor 24 in step S25, and ends the limitation of the output of the motor 24.

When the target gear ratio rX set in step S23 is not the required gear ratio rA, the control unit 42 determines whether the required gear ratio rA is updated in the period up to step S22 of the next second control control cycle. When the difference between the current gear ratio r and the required gear ratio rA becomes large, the second control is executed so as to approach the required gear ratio rA in the control cycle of the next second control. Therefore, when the limit of the output of the motor 24 relaxed in step S28 of the control cycle of the second control immediately before becomes the first angle CA1 again, the limit of the output of the motor 24 is restarted.

The second control when the first angle CA1 and the second angle CA2 are different will be described with reference to FIG. The control unit 42 executes the processes from steps S21 to S28 in the same procedure as the second control when the first angle CA1 shown in FIG. 3 is equal to the second angle CA2.

After relaxing the output of the motor 24 in step S28, the control unit 42 proceeds to step S62, and in step S62, performs the same processing as in step S22 to determine whether or not the required gear ratio rA and gear ratio r match. judge. When the required gear ratio rA and the gear ratio r are different, the control unit 42 proceeds to step S63.

In step S63, the control unit 42 calculates the fourth time T4 required to move the transmission 22 to the required gear ratio rA, and the fourth time T4 is stored in the storage unit 44 in advance for the third time. If it is less than T3, the required gear ratio rA is set as the target gear ratio rX. In one example, the third time T3 is equal to the first time T1. When the fourth time T4 is equal to or greater than the third time T3, the control unit 42 between the current gear ratio r and the required gear ratio rA at which the transmission 22 can shift within the third time T3. The gear ratio r is set as the target gear ratio rX. The target gear ratio rX set when the fourth time T4 is equal to or greater than the third time T3 corresponds to the intermediate gear ratio r.

In step S64, the control unit 42 determines whether or not the second angle CA2 has been reached. When the control unit 42 determines that the second angle CA2 has not been reached, the control unit 42 ends the process, and after a predetermined cycle, executes the process from step S21 of FIG. 3 again. When the control unit 42 determines in step S64 that the second angle CA2 has been reached, the control unit 42 starts limiting the output of the motor 24 in step S65 and proceeds to step S66. Since the limitation on the output of the motor 24 is relaxed in the period from step S28 to step S66, the limitation on the output of the motor 24 is restarted in step S65. The control unit 42 executes the shifting operation of the transmission 22 so that the shifting ratio r is changed up to the target shifting ratio rX set in step S63 in step S66. When there is a difference of two or more steps between the current gear ratio r and the target gear ratio rX, the control unit 42 continuously operates the transmission 22.

Next, the control unit 42 determines whether or not the third time T3 has elapsed in step S67. Specifically, the control unit 42 determines whether or not the time after reaching the second angle CA2 is equal to or greater than the third time T3. In another example, the control unit 42 determines whether or not the time from the start of limiting the output of the motor 24 in step S67 has reached the third time T3 or more. The control unit repeats the determination in step S67 until the third time T3 elapses. When the control unit 42 determines that the third time T3 has elapsed, the control unit 42 relaxes the limitation on the output of the motor 24 in step S68 and ends the process. In one example, the control unit 42 controls the output of the motor 24 using the same conditions as before limiting the output of the motor 24 in step S65, and ends the limitation of the output of the motor 24.

With reference to FIG. 5, an execution mode in which the first shift is executed by the first control and the second control will be described. The alternate long and short dash line in FIG. 5B indicates the required gear ratio rA, and the solid line indicates the gear ratio r.

The time t11 indicates the time when the operation unit 26 is operated and the output signal including the shift-up signal is transmitted to the control unit 42. The control unit 42 increases the required gear ratio rA by one step by the first control.

The time t12 indicates the time when the operation unit 26 is operated and the output signal including the shift-up signal is transmitted to the control unit 42. The control unit 42 further increases the required gear ratio rA changed at time t11 by the first control by one step.

The time t13 indicates the time when the rotation angle CA of the crank becomes the first angle CA1. The control unit 42 compares the gear ratio r with the required gear ratio rA. Since the second time T2 required to make the gear ratio r two steps larger is equal to or less than the first time T1, the control unit 42 sets the gear ratio r two steps larger than the present as the target gear ratio rX. Then, at time t13, the limitation of the output of the motor 24 is started. The control unit 42 starts limiting the output of the motor 24 and controls the transmission 22 to start changing the gear ratio r over two steps. It is preferable to operate the transmission 22 after starting the limitation of the output of the motor 24, but the limitation of the output of the motor 24 and the operation of the transmission 22 may be started at the same time, and the limitation of the output of the motor 24 is started. The operation of the transmission 22 may be started immediately before the operation.

The time t14 indicates the time when the first time T1 has elapsed from the time t13. The control unit 42 ends the limitation of the output of the motor 24.

With reference to FIG. 6, an execution mode in which the second shift is executed by the first control and the second control will be described. The alternate long and short dash line in FIG. 6B indicates the required gear ratio rA, and the solid line indicates the gear ratio r. The one-point chain line in FIG. 6B shows the change in the gear ratio r when the operation of the transmission 22 is continued until the gear ratio r reaches the required gear ratio rA without interrupting the operation of the transmission 22 at time t25. Shown.

The time t21 indicates the time when the operation unit 26 is operated and the output signal including the shift-up signal is transmitted to the control unit 42. The control unit 42 increases the required gear ratio rA by one step by the first control.

The time t22 indicates the time when the operation unit 26 is operated and the output signal including the shift-up signal is transmitted to the control unit 42. The control unit 42 further increases the required gear ratio rA changed at time t21 by the first control by one step.

The time t23 indicates the time when the operation unit 26 is operated and the output signal including the shift-up signal is transmitted to the control unit 42. The control unit 42 further increases the required gear ratio rA changed at time t22 by the first control by one step.

The time t24 indicates the time when the rotation angle CA of the crank becomes the first angle CA1. The control unit 42 compares the gear ratio r with the required gear ratio rA. The control unit 42 needs to make the gear ratio r two steps larger than the present, although the second time T2 required to make the gear ratio r three steps larger than the present is equal to or greater than the first time T1. When the second time T2 is equal to or less than the first time T1, a gear ratio r that is two steps larger than the current gear ratio r is set as the target gear ratio rX, and the output limitation of the motor 24 is started at the time t24. The control unit starts limiting the output of the motor 24 and controls the transmission 22 to start changing the gear ratio r over two steps. It is preferable to operate the transmission 22 after starting the limitation of the output of the motor 24, but the limitation of the output of the motor 24 and the operation of the transmission 22 may be started at the same time, and the limitation of the output of the motor 24 is started. The operation of the transmission 22 may be started immediately before the operation. In this case, the gear ratio r that is two steps larger than the present one corresponds to the intermediate gear ratio r.

The time t25 indicates the time when the first time T1 has elapsed from the time t24. The control unit 42 relaxes the limitation on the output of the motor 24.

The time t26 indicates the time when the rotation angle CA of the crank becomes the second angle CA2. The control unit 42 compares the current gear ratio r with the required gear ratio rA, calculates a gear ratio r one step larger than the current gear ratio r as the target gear ratio rX, and starts limiting the output of the motor 24. Further, the control unit 42 controls the transmission 22 to change the gear ratio r in one step.

The time t27 indicates the time when the first time T1 has elapsed from the time t26. The control unit 42 ends the limitation of the output of the motor 24. When the first angle CA1 and the second angle CA2 are different, the time t27 indicates the time when the third time T3 has elapsed from the time t26.

(Second Embodiment)
The bicycle control device 40 of the second embodiment will be described with reference to FIGS. 1 and 7. The parts common to the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. In the second embodiment, the third control is executed in place of the first control and the second control of the first embodiment.

The control unit 42 receives the output signal from the operation unit 26 as a shift request. The control unit 42 controls the transmission 22 and the motor 24 in response to a shift request for changing the gear ratio r. Specifically, when the control unit 42 receives the output signal including the shift-up signal as a shift request, the control unit 42 executes the third control of the required shift ratio rA for increasing the shift ratio r. When the control unit 42 receives the output signal including the downshift signal as the shift request, the control unit 42 executes the third control of the required shift ratio rA for increasing the shift ratio r.

The third control will be described with reference to FIG. 7. The control unit 42 executes the third control at predetermined intervals while the power of the bicycle control device 40 is turned on.
The control unit 42 determines in step S31 whether or not there is a shift request. If there is no shift request, the process is terminated, and the determination process of step S31 is executed again at predetermined intervals. When there is a shift request, the control unit 42 shifts to step S32.

The control unit 42 detects the gear ratio r in step S32 and proceeds to step S33. In step S33, the control unit 42 determines whether or not the required gear ratio rA and the gear ratio r match. Specifically, the control unit 42 compares the required gear ratio rA included in the output signal from the operation unit 26 with the gear ratio r detected by the shift state detection device 38. When the required gear ratio rA and the gear ratio r match, the control unit 42 ends the process. When the required gear ratio rA and the gear ratio r are different, the control unit 42 proceeds to step S34.

In step S34, the control unit 42 calculates the second time T2 required to move the transmission 22 to the required gear ratio rA, and proceeds to step S35.
The control unit 42 determines in step S35 whether or not the first angle CA1 has been reached. When the control unit 42 determines that the first angle CA1 has not been reached, the control unit 42 repeats the process of step S35 until the first angle CA1 is reached. When the control unit 42 determines that the first angle CA1 has been reached, the control unit 42 starts limiting the output of the motor 24 in step S36 and proceeds to step S37. The control unit 42 executes the shifting operation of the transmission 22 up to the required gear ratio rA in step S37. When there is a difference of two or more steps between the current gear ratio r and the required gear ratio rA, the control unit 42 continuously operates the transmission 22.

Next, the control unit 42 determines whether or not the second time T2 has elapsed in step S38. Specifically, the control unit 42 determines whether or not the time after reaching the first angle CA1 is equal to or greater than the second time T2. In another example, the control unit 42 determines whether or not the time from the start of limiting the output of the motor 24 is equal to or greater than the second time T2. The control unit repeats the determination in step S38 until the second time T2 elapses. When the control unit 42 determines that the second time T2 has elapsed, the control unit 42 ends the limitation of the output of the motor 24 in step S39, and ends the process. In one example, the control unit 42 controls the output of the motor 24 using the same conditions as before limiting the output of the motor 24 in step S36, and ends the limitation of the output of the motor 24.

(Third Embodiment)
The bicycle control device 40 of the third embodiment will be described with reference to FIGS. 1 and 8. The parts common to the second embodiment are designated by the same reference numerals as those of the second embodiment, and the description thereof will be omitted. In the third embodiment, in the third control of the second embodiment, the fourth control in which the first angle CA1 is changed in response to the shift request is executed.

When the first angle CA1 is reached, the control unit 42 limits the output of the motor 24 and causes the transmission 22 to start operation. When the control unit 42 changes the gear ratio r to the transmission 22 in a plurality of steps in response to the shift request, the control unit 42 is more than changing the gear ratio r to the transmission 22 in only one step in response to the shift request. The angle CA1 of 1 is changed to the upstream side in the first direction.

The fourth control will be described with reference to FIG. The control unit 42 executes the fourth control at predetermined intervals while the power of the bicycle control device 40 is turned on.
The control unit 42 determines in step S31 whether or not there is a shift request. If there is no shift request, the process is terminated, and the determination process of step S31 is executed again at predetermined intervals. When there is a shift request, the control unit 42 shifts to step S32.

The control unit 42 detects the gear ratio r in step S32 and proceeds to step S33. In step S33, the control unit 42 determines whether or not the required gear ratio rA and the gear ratio r match. Specifically, the control unit 42 compares the required gear ratio rA included in the output signal from the operation unit 26 with the gear ratio r detected by the shift state detection device 38. When the required gear ratio rA and the gear ratio r match, the control unit 42 ends the process. When the required gear ratio rA and the gear ratio r are different, the control unit 42 proceeds to step S41.

In step S41, the control unit 42 calculates the second time T2 required to move the transmission 22 to the required gear ratio rA, sets the first angle CA1 according to the second time T2, and sets the first angle CA1. The process proceeds to step S35. When the control unit 42 changes the gear ratio r to the transmission 22 in only one step in response to a shift request, the control unit 42 sets the initial value of the first angle CA1 stored in the storage unit 44 in advance as the first angle CA1. To do. When the control unit 42 changes the gear ratio r to the transmission 22 over a plurality of steps in response to a shift request, the longer the second time T2, the more the first angle CA1 is changed to the first angle CA1. Change to the upstream side in the direction of. The storage unit 44 may store the corresponding table of the second time T2 and the first angle CA1, or the function of the first angle CA1 and the second time T2. The control unit 42 may calculate the first angle CA1 from the second time T2 by using the corresponding table or function stored in the storage unit 44.

In step S35, the control unit 42 determines whether or not the first angle CA1 set in step S41 has been reached. When the control unit 42 determines that the first angle CA1 has not been reached, the control unit 42 repeats the process of step S35 until the first angle CA1 is reached. When the control unit 42 determines that the first angle CA1 has been reached, the control unit 42 starts limiting the output of the motor 24 in step S36 and proceeds to step S37. The control unit 42 executes the shifting operation of the transmission 22 up to the required gear ratio rA in step S37. When there is a difference of two or more steps between the current gear ratio r and the required gear ratio rA, the control unit 42 continuously operates the transmission 22.

Next, the control unit 42 determines whether or not the second time T2 has elapsed in step S38. Specifically, the control unit 42 determines whether or not the time after reaching the first angle CA1 is equal to or greater than the second time T2. In another example, the control unit 42 determines whether or not the time from the start of limiting the output of the motor 24 is equal to or greater than the second time T2. The control unit repeats the determination in step S38 until the second time T2 elapses. When the control unit 42 determines that the second time T2 has elapsed, the control unit 42 ends the limitation of the output of the motor 24 in step S39, and ends the process. In one example, the control unit 42 controls the output of the motor 24 using the same conditions as before limiting the output of the motor 24 in step S39, and ends the limitation of the output of the motor 24.

(Modification example)
The description of each of the above embodiments is an example of possible embodiments of the bicycle control device and the bicycle control system according to the present invention, and is not intended to limit the embodiments. The bicycle control device and the bicycle control system according to the present invention may take, for example, a modification of each of the above embodiments shown below, and a combination of at least two modifications that do not contradict each other. In the following modifications, the parts common to the embodiments of each embodiment are designated by the same reference numerals as those of the embodiments, and the description thereof will be omitted.

-The second control shown in FIG. 3 of the first embodiment can be changed to the fifth control shown in FIG. In this modification, only the control of the transmission 22 is executed, and the control of the motor 24 is not executed. In the fifth control shown in FIG. 9, a process in which the processes of steps S25 and S28 are omitted from the second control shown in FIG. 3 is executed. When the first angle CA1 and the second angle CA2 are different, each process of step S65 and step S68 in FIG. 4 is omitted as well as each process of step S25 and step S28. In this modification, the fifth control of FIG. 9 can be executed in the bicycle control system 20 that does not include the motor 24.

-The second control shown in FIG. 3 of the first embodiment can be changed to the sixth control shown in FIG. In this modification, the control unit 42 limits the output of the motor 24 from the time when the crank rotation angle CA becomes the first angle CA1 until the crank rotation angle CA becomes the third angle CA3. Specifically, step S51 of FIG. 10 is executed instead of step S27 of FIG. The control unit 42 starts limiting the output of the motor 24 in step S25, starts the shifting operation of the transmission in step S26, and then determines whether or not the rotation angle CA of the crank becomes the third angle CA3 in step S51. To judge. In one example, the third angle CA3 is more bicycle than the first rotation angle CX1 from the first rotation angle CX1 in which one crank arm 12C of the crank 12A corresponds to one of top dead center and bottom dead center. It is included in the range up to 45 degrees downstream in the first direction of rotating the crank 12A to propel the 10.

-The modified example shown in FIG. 10 can be further changed as follows. In this modification, when the predicted time TA from when the rotation angle CA of the crank becomes the first angle CA1 to the third angle CA3 is the second time T2 or more, the control unit 42 is the second. Perform a shift of 1. When the predicted time TA is less than the second time T2, the control unit 42 executes the second shift. Specifically, in step S23 of FIG. 10, when the predicted time TA is the second time T2 or more, the control unit 42 sets the required gear ratio rA as the target gear ratio rX. As a result, the control unit 42 executes the first shift by the processing after step S24. In step S23, when the predicted time TA is less than the second time T2, the control unit 42 between the current gear ratio r and the required gear ratio rA at which the transmission 22 can shift within the predicted time TA. The gear ratio r is set as the target gear ratio rX. As a result, the control unit 42 executes the second shift by the processing of the sixth control after step S24 and after the next time. The control unit 42 calculates the predicted time TA using the rotation speed N of the crank that can be acquired by the rotation angle sensor 36.

-The first embodiment can be changed as follows. In this modification, the control unit 42 executes one of the first shift and the second shift according to the number of steps of the shift ratio r up to the required shift ratio rA. Specifically, in step S23 of FIG. 3, when the number of gears of the gear ratio r up to the required gear ratio rA is equal to or less than a predetermined number of gears, the control unit 42 sets the required gear ratio rA as the target gear ratio rX. As a result, the control unit 42 executes the first shift by the processing after step S24. In step S23, when the number of gears of the gear ratio r up to the required gear ratio rA is larger than the predetermined number of gears, the control unit 42 sets the gear ratio r larger or smaller by a predetermined number of gears than the current gear ratio r to the target gear ratio rX. Set as. As a result, the control unit 42 executes the second shift by the processing of the second control after step S24 and after the next time. In this case, a gear ratio r that is larger or smaller than the current gear ratio r by a predetermined number of steps corresponds to an intermediate gear ratio r.

-In the third control shown in FIG. 7 of the second embodiment, only the control of the transmission 22 may be executed, and the control of the motor 24 may be omitted. In this modification, the processing in which the processing in step S36 and step S39 is omitted from the third control is executed. In this modification, the third control can be executed in the bicycle control system 20 that does not include the motor 24.

In the fourth control shown in FIG. 8 of the third embodiment, only the control of the transmission 22 may be executed, and the control of the motor 24 may be omitted. In this modification, the processing in which the processing in step S36 and step S39 is omitted from the fourth control is executed. In the bicycle control system 20 that does not include the motor 24, the fourth control can be executed.

In the third control of the second embodiment and the fourth control of the third embodiment, the rotation angle CA of the crank that ends the limitation of the motor 24 can be set instead of the second time T2. .. Specifically, the control unit 42 has a range of the rotation angle CA of the crank that executes the limitation of the output of the motor 24 in step S34 of FIG. 7 of the second embodiment or step S41 of the third embodiment. To set. The control unit 42 calculates the rotation angle CA of the crank that ends the limitation of the output of the motor 24 according to the second time T2. The longer the second time T2, the larger the range of the crank rotation angle CA that limits the output of the motor 24. Therefore, as the second time T2 becomes longer, the rotation angle CA of the crank that ends the limitation of the output of the motor 24 is changed to the downstream side in the first direction. In step S38, the control unit 42 repeats the process of step S38 until the rotation angle CA of the crank that ends the limitation of the output of the motor 24 is reached.

-In the first and second embodiments, the output signal of the operation unit 26 may include a request to change the gear ratio r in a plurality of steps. In this case, for example, the operation unit 26 is provided with a switch for changing the gear ratio r over a plurality of steps. Further, when the control unit 42 receives the output signal of the operation unit 26, even if a shift request for changing the gear ratio r is set in a plurality of steps according to the content of the signal or the control state of the bicycle 10. Good.

-In step S35 of the third control or the fourth control of the second and third embodiments, when the control unit 42 determines that the first angle CA1 has not been reached, the process is terminated and a predetermined period is determined. The determination in step S31 may be performed again later.

-In the first and second embodiments, at least one of the output limitation and the shifting operation of the motor 24 can be started even if the first angle CA1 is not reached. Specifically, the process of step S24 of the first embodiment or step S35 of the second embodiment may be omitted. In this case, for example, the vehicle may move to step S25 immediately after the step S23 is completed, or may move to step S25 when the torque detected by the torque sensor 34 becomes equal to or less than a predetermined value. Further, in the second control of FIG. 4 of the first embodiment, the process of step S64 may be omitted as in the process of step S24.

The second control, the third control, or the fourth control in the automatic shift in which the control unit 42 automatically controls the transmission 22 to execute the shift according to one or a plurality of sensors mounted on the bicycle 10. In the control of, the control of each of the above embodiments may be executed. One or more sensors mounted on the bicycle 10 include at least one of a torque sensor, a vehicle speed sensor, and a cadence sensor. The control unit 42 determines whether or not there is a shift request according to the signals from one or more sensors mounted on the bicycle 10 and the control program for automatic shift stored in the storage unit 44.

(Appendix 1)
A control unit that controls a transmission capable of stepwise changing the gear ratio of the bicycle and a motor assisting the propulsion of the bicycle in response to a shift request for changing the gear ratio is included.
The control unit
When the gear ratio is changed in a plurality of steps in response to the gear shift request, the output of the motor is limited, the transmission is operated until the gear shift ratio corresponds to the gear shift request, and the gear shift request is met. A bicycle control device that terminates the limitation of the output of the motor when the second time required to move the transmission to the gear ratio up to the gear ratio has elapsed.

(Appendix 2)
Includes a transmission that can change the gear ratio of the bicycle in stages, a motor that assists the propulsion of the bicycle, and a control unit that controls according to a shift request that changes the gear ratio.
The control unit
In response to the shift request, the first upstream side in the first direction in which the crank of the bicycle rotates the crank to propel the bicycle from a rotation angle corresponding to top dead center or bottom dead center. When the angle is reached, the output of the motor is limited and the transmission is started to operate.
When the gear ratio is changed to the transmission in a plurality of steps in response to the shift request, the output of the motor is output as compared with the case where the gear ratio is changed to the transmission in only one step in response to the shift request. A bicycle control device that increases the time limit or increases the range of rotation angles of the crank that executes the limitation of the output of the motor.

10 ... Bicycle, 12A ... Crank, 12C ... Crank arm, 20 ... Bicycle control system, 22 ... Transmission, 24 ... Motor, 26 ... Operation unit, 40 ... Bicycle control device, 42 ... Control unit.

Claims (8)

Includes a control unit that operates a transmission that can change the gear ratio of the bicycle in stages in response to a shift request that changes the gear ratio.
The control unit
When the gear ratio is changed over a plurality of steps in response to the shift request, one of the first shift and the second shift is selectively executed.
In the first shift, when the rotation angle of the crank of the bicycle reaches the first angle, the operation of the transmission is started, and the transmission is operated until the shift ratio corresponding to the shift request is reached.
In the second shift, when the rotation angle of the crank of the bicycle reaches the first angle, the operation of the transmission is started, and the shift is reached until the shift ratio is intermediate to the shift ratio corresponding to the shift request. A bicycle control device that operates a machine and restarts the operation of the transmission so as to change the gear ratio from the intermediate gear ratio to a gear ratio corresponding to the gear shift request when the rotation angle of the crank reaches the second angle. The first angle is for propelling the bicycle more than the first rotation angle from the first rotation angle at which one crank arm of the crank corresponds to one of top dead center and bottom dead center. The bicycle control device according to claim 1, which is included in a range of up to 45 degrees on the upstream side in the first direction of rotating the crank. The second angle is the upstream side of the crank arm in a first direction from the second rotation angle corresponding to the other of the top dead center and the bottom dead center. The bicycle control device according to claim 2, which is included in a range of up to 45 degrees or is equal to the first angle. The control unit responds to the number of gear ratio stages corresponding to the shift request and at least one of the second time required to move the transmission to the gear ratio corresponding to the shift request. The bicycle control device according to claim 2 or 3, which executes one of a first shift and the second shift. The control unit executes the first shift when the predetermined first time is equal to or longer than the second time, and when the first time is less than the second time, the second shift 4. The bicycle control device according to claim 4. The bicycle control device according to any one of claims 1 to 5, wherein the control unit receives an output signal from an operation unit that can be operated by the rider as the shift request. When the operation unit is continuously operated for a first predetermined time or longer, or the operation unit is operated a plurality of times within a second predetermined time, the control unit performs the first shift and the operation. The bicycle control device according to claim 6, wherein one of the second shifts is selectively executed. The bicycle control device according to any one of claims 1 to 7.
A control system for a bicycle including the transmission.