JP6990618B2 - Control and shifting system - Google Patents

Description

The present invention relates to a control device and a speed change system.

There is known a shifting system that automatically controls a shifting device on which a human-powered vehicle is mounted according to shifting conditions. The conventional transmission system controls the transmission so that the rotation speed of the crank is maintained within a predetermined range according to the shift condition defined based on the rotation speed and the threshold value of the crank of the human-powered vehicle. Patent Document 1 discloses an example of a conventional transmission system.

Special Table No. 10-51621 Gazette

In order for the driver on the human-powered vehicle to drive comfortably, it is preferable to control the transmission according to changes in the driving environment of the human-powered vehicle.
An object of the present invention is to provide a control device and a speed change system that can contribute to the comfortable running of a human-powered vehicle.

The control device according to the first aspect of the present invention includes a control unit that automatically controls the transmission of the human-powered vehicle according to the shift condition, and the control unit relates to a driving environment in which the load on the driver is reduced. The operation of the transmission is restricted according to the environmental information.
Since the operation of the transmission is restricted according to the environmental information, it is difficult for the driver to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the second side according to the first aspect, the environmental information includes the first environmental information having a relatively high load on the driver and the second environmental information having a relatively low load on the driver. Including, the control unit limits the operation of the transmission when the environmental information changes from the first environmental information to the second environmental information.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the third side according to the first or second side surface, the control unit releases the restriction on the operation of the transmission according to the first predetermined information after the restriction on the operation of the transmission.
Since the restriction on the operation of the transmission is released according to the first predetermined information, the transmission can be suitably controlled. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the fourth aspect according to the third aspect, the first predetermined information includes at least one of the vehicle information regarding the human-powered vehicle, the driver information regarding the driver, and the time information regarding the elapsed time.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the fifth side according to the fourth side surface, the vehicle information includes information on the number of rotations of the crank rotated after limiting the operation of the transmission, and the control unit has the number of rotations of the crank. When the number of times is more than a predetermined number, the restriction on the operation of the transmission is released.
When the number of rotations of the crank exceeds a predetermined number of times, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the sixth side according to the fourth or fifth side surface, the vehicle information includes information on the torque acting on the crank of the human-powered vehicle, and the control unit determines that the torque is less than a predetermined torque. , The restriction on the operation of the transmission is released.
When the torque is less than the predetermined torque, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the seventh side surface according to the sixth side surface, the control unit releases the restriction on the operation of the transmission when the first predetermined time elapses with the torque being less than the predetermined torque.
When the first predetermined time elapses when the torque is less than the predetermined torque, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the eighth side according to any one of the fourth to seventh sides, the driver information includes physical information about the driver's body.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the ninth aspect according to the eighth aspect, the physical information includes at least one of heart rate, myoelectric potential, sweating amount, and body temperature.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the tenth side according to the eighth or ninth side surface, the control unit releases the restriction on the operation of the transmission when the measured value related to the physical information is included in the predetermined range.
When the measured value is included in the predetermined range, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the eleventh side surface according to the tenth side surface, the control unit releases the restriction on the operation of the transmission when the second predetermined time elapses with the measured value included in the predetermined range.
When the second predetermined time elapses while the measured value is included in the predetermined range, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the twelfth side according to any one of the fourth to eleventh sides, the time information includes information on the elapsed time that has elapsed since the operation of the transmission was restricted, and the control unit. When the elapsed time is equal to or longer than the predetermined elapsed time, the restriction on the operation of the transmission is released.
When the elapsed time exceeds a predetermined elapsed time, the driver is less likely to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

The control device according to the thirteenth aspect of the present invention includes a control unit that automatically controls the transmission of the human-powered vehicle according to the shift condition, and the control unit relates to a driving environment in which the load on the driver increases. The operation of the transmission is restricted according to the environmental information, and the restriction on the operation of the transmission is released according to the second predetermined information different from the time information regarding the elapsed time elapsed since the operation of the transmission is restricted. do.
Since the operation of the transmission is restricted according to the environmental information, it is difficult for the driver to feel uncomfortable with the automatic shifting mode of the transmission. Further, since the restriction on the operation of the transmission is released according to the second predetermined information, the transmission can be suitably controlled. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the 14th aspect according to the 13th aspect, the environmental information includes the first environmental information having a relatively high load on the driver and the second environmental information having a relatively low load on the driver. Including, the control unit limits the operation of the transmission when the environmental information changes from the second environmental information to the first environmental information.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the fifteenth aspect according to the thirteenth or the fourteenth aspect, the second predetermined information includes at least one of the vehicle information about the human-powered vehicle and the driver information about the driver.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device of the 16th side according to any one of the 1st to 15th sides, the environmental information includes at least the slope information regarding the slope of the road surface, the road surface information regarding the state of the road surface, and the air resistance information regarding the air resistance. Includes one.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the 17th side according to any one of the 1st to 16th sides, the control unit disallows the shift of the transmission as a limitation of the operation of the transmission, or the transmission of the transmission. Set the upper limit of gear shifting that allows shifting.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

In the control device on the 18th side according to any one of the 1st to 17th sides, the control unit is input from the driver as to whether or not it is permitted to limit the operation of the transmission. Depending on the information, the operation of the transmission is restricted.
Since it is possible to arbitrarily set the permission or disapproval regarding the restriction of the operation of the transmission, it can contribute to the comfortable running of the human-powered vehicle.

The control device on the 19th side according to any one of the 1st to 18th sides further includes a storage unit for storing information.
Therefore, it can contribute to the comfortable running of the human-powered vehicle.

The speed change system according to the twentieth aspect of the present invention includes the control device and the speed change device.
Since the operation of the transmission is restricted according to the environmental information, it is difficult for the driver to feel uncomfortable with the automatic shifting mode of the transmission. Therefore, it can contribute to the comfortable running of the human-powered vehicle.

According to the control device and the speed change system of the present invention, it is possible to contribute to the comfortable running of the human-powered vehicle.

A side view of a human-powered vehicle including the shifting system of the embodiment. The block diagram which shows the connection relationship between the speed change system of FIG. 1 and various elements. A map showing an example of shifting conditions for automatically controlling the shifting device of FIG. 1. The flowchart which shows an example of the 1st control executed by the control apparatus of FIG. The flowchart which shows an example of the 2nd control executed by the control device of FIG.

(Embodiment)
A human-powered vehicle A including a speed change system 10 will be described with reference to FIG.
Here, the human-powered vehicle means a vehicle that uses human power at least partially with respect to a driving force for traveling, and includes a vehicle that electrically assists human power. Vehicles that use only driving forces other than human power are not included in human-powered vehicles. In particular, vehicles that use only an internal combustion engine as a driving force are not included in human-powered vehicles. Normally, a small light vehicle is assumed as a human-powered vehicle, and a vehicle that does not require a license to drive on a public road is assumed. The illustrated human-powered vehicle A is a bicycle (e-bike) including an electric auxiliary unit E that assists the propulsion of the human-powered vehicle A by using electric energy. Specifically, the human-powered vehicle A shown in the figure is a trekking motorcycle. The human-powered vehicle A further includes a frame A1, a front fork A2, a front wheel WF, a rear wheel WR, a steering wheel H, and a drive train B.

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

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

The manpowered vehicle A further comprises one or more component COs. The component CO includes at least one of a transmission T, a braking device BD, a suspension SU, an adjustable seatpost ASP, and an electric auxiliary unit E. The braking device BD, suspension SU, and adjustable seatpost ASP may be mechanically driven according to the operation of the corresponding operating device, or may be electrically driven according to the operation of the corresponding operating device. .. The electrically driven element of the component CO is supplied from, for example, the electric power supplied from the battery BT mounted on the human-powered vehicle A or the dedicated power supply (not shown) mounted on the individual component CO. It operates by the power that is applied.

The transmission T includes at least one of a front derailleur TF and a rear derailleur TR. The front derailleur TF is provided near the front sprocket D1. Along with the drive of the front derailleur TF, the front sprocket D1 around which the chain D3 is wound is changed, and the gear ratio of the human-powered vehicle A is changed. The rear derailleur TR is provided on the rear end A3 of the frame A1. Along with the drive of the rear derailleur TR, the rear sprocket D2 around which the chain D3 is wound is changed, and the gear ratio of the human-powered vehicle A is changed. The transmission T may be configured as an internal type such as an internal transmission hub.

The transmission T has a plurality of transmission stages. The front derailleur TF has one or more gears. The number of shift stages of the front derailleur TF is based on the number of front sprockets D1. The rear derailleur TR has one or more gears. The number of shift stages of the rear derailleur TR is based on the number of rear sprockets D2. The number of shift stages of the transmission T is determined by the product of the number of shift stages of the front derailleur TF and the number of shift stages of the rear derailleur TR. The gear ratio of the human-powered vehicle A is determined by the relationship between the gear ratio according to the shift stage of the front derailleur TF and the gear ratio according to the shift stage of the rear derailleur TR.

The braking device BD includes a braking device BD corresponding to the number of wheels. In the present embodiment, the braking device BD corresponding to the front wheel WF and the braking device BD corresponding to the rear wheel WR are provided in the human-powered vehicle A. The two braking devices BD have the same configuration as each other. The braking device BD is, for example, a rim braking device that brakes the rim R of the human-powered vehicle A. In one example, the corresponding braking device BD is mechanically or electrically driven in response to the operation of the brake lever BL (operating device). The braking device BD may be a disc brake device that brakes a disc brake rotor (not shown) mounted on the human-powered vehicle A.

Suspension SU includes at least one of front suspension SF and rear suspension (not shown). The front suspension SF operates so that the impact that the front wheel WF receives from the ground is alleviated. The rear suspension operates so that the impact that the rear wheel WR receives from the ground is mitigated. The adjustable seatpost ASP operates so that the height of the saddle SD with respect to the frame A1 is changed. The electric auxiliary unit E operates so that the propulsive force of the human-powered vehicle A is assisted. The electric auxiliary unit E operates according to, for example, a driving force applied to the pedal PD. The electric auxiliary unit E includes an electric motor E1.

The configuration of the speed change system 10 will be described with reference to FIG.
The speed change system 10 includes a control device 12 and a speed change device T. The shifting system 10 is operated by, for example, the electric power supplied from the battery BT. The control device 12 includes a control unit 14 that automatically controls the transmission T of the human-powered vehicle A according to the shifting conditions. The control unit 14 is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 14 can also control the transmission T according to, for example, the operation of the shift lever SL (see FIG. 1). In this case, an operation unit (not shown) for switching between a state in which the transmission T is automatically controlled according to the shift condition and a state in which the transmission T is manually operated according to the operation of the shift lever SL is provided. It may be provided in the human-powered vehicle A. In addition to the transmission T, the control unit 14 may control various electrically driven component COs.

As shown in FIG. 3, the shift conditions are defined based on the reference value and the threshold TH. The reference value includes at least one of the information regarding the traveling state of the human-powered vehicle A and the information regarding the traveling environment of the human-powered vehicle A. The information regarding the running state of the human-powered vehicle A includes at least one of cadence, torque acting on the crank C of the human-powered vehicle A, vehicle speed, acceleration, and power. Power is the product of cadence and torque. The information regarding the traveling environment of the human-powered vehicle A includes at least one of gradient information regarding the slope of the road surface, road surface information regarding the condition of the road surface, air resistance information regarding air resistance, weather information regarding the weather, and temperature information regarding the temperature. The road surface information includes, for example, resistance information regarding the resistance of the road surface. Road surface resistance depends on peeling, gravel, asphalt, and the like. The air resistance information includes information on the air resistance acting on the driver and the human-powered vehicle A when the human-powered vehicle A travels. In one example, air resistance information includes wind information about wind such as wind speed, wind pressure, and wind direction.

The threshold TH includes a first threshold TH1 and a second threshold TH2. The control unit 14 controls the transmission T so that the gear ratio increases according to the relationship between the reference value and the first threshold value TH1, and the gear ratio decreases according to the relationship between the reference value and the second threshold value TH2. The transmission T is controlled in such a manner. In this embodiment, the first threshold TH1 is larger than the second threshold TH2. That is, the threshold values TH1 and TH2 that define the shifting conditions have a hysteresis characteristic. In one example, the control unit 14 controls the transmission T so that the gear ratio becomes large when the reference value exceeds the first threshold value TH1, and shifts so that the gear ratio becomes small when the reference value falls below the second threshold TH2. Control the device T.

As shown in FIG. 2, the control device 12 further includes a storage unit 16 for storing information. The storage unit 16 includes a non-volatile memory and a volatile memory. The storage unit 16 stores, for example, various programs for control, preset information, and the like. In one example, the storage unit 16 stores information about various conditions including shift conditions.

The control unit 14 executes at least one of the first control and the second control when the transmission T is automatically controlled according to the shift condition. The control unit 14 executes the first control as follows, for example. The control unit 14 limits the operation of the transmission T according to the environmental information regarding the driving environment such that the load on the driver is reduced. The traveling environment of the human-powered vehicle A is an environment related to the traveling of the human-powered vehicle A. The environmental information includes a first environmental information having a relatively high load on the driver and a second environmental information having a relatively low load on the driver. In one example, the environmental information includes at least one of gradient information regarding the slope of the road surface, road surface information regarding the condition of the road surface, and air resistance information regarding air resistance. The control unit 14 limits the operation of the transmission T, for example, when it is determined that the first environmental condition relating to the environmental information is satisfied. In one example, the control unit 14 determines that the first environmental condition is satisfied when the environmental information changes from the first environmental information to the second environmental information. That is, the control unit 14 limits the operation of the transmission T when the environmental information changes from the first environmental information to the second environmental information. The first environmental information includes, for example, information on an uphill where the slope of the road surface is equal to or higher than a predetermined slope. The second environmental information includes, for example, information on a flat ground where the slope of the road surface is less than a predetermined slope.

As a limitation of the operation of the transmission T, the control unit 14 disallows the shift of the transmission T or sets the upper limit of the shift stage in which the transmission T can shift. The control unit 14 does not control the transmission T according to the shift conditions, for example, when the transmission disallowance of the transmission T is executed. For example, when the control unit 14 executes the setting of the upper limit gear shift capable of shifting the transmission gear T, the control unit 14 automatically controls the transmission gear T so that the shift gear T becomes a shift gear lower than the upper limit shift gear. .. The upper limit gear is set in advance, for example. The upper limit shift stage may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED of the human-powered vehicle A. The input device SC includes, for example, a cycle computer mounted on the human-powered vehicle A. The external device ED includes at least one of a smart device and a personal computer (not shown). The smart device includes at least one of a wearable device such as a smart watch, a smartphone, and a tablet computer.

After limiting the operation of the transmission T, the control unit 14 releases the restriction on the operation of the transmission T according to the first predetermined information. The first predetermined information includes at least one of vehicle information regarding the human-powered vehicle A, driver information regarding the driver, and time information regarding the elapsed time. The vehicle information includes at least one of the first vehicle information and the second vehicle information. The first vehicle information includes information regarding the number of rotations of the crank C that has been rotated after limiting the operation of the transmission T. The number of rotations of the crank C is the number of times that the crank arm C2 makes one rotation around the crank shaft C1. The second vehicle information includes information regarding the torque acting on the crank C of the human-powered vehicle A. The driver information includes physical information about the driver's body. Physical information includes at least one of heart rate, myoelectric potential, sweat volume, and body temperature. The time information includes information on the elapsed time that has elapsed since the operation of the transmission T was restricted. In one example, the control unit 14 releases the restriction on the operation of the transmission T when the first predetermined condition regarding the first predetermined information is satisfied. The control unit 14 automatically controls the transmission T according to the shifting conditions after releasing the restriction on the operation of the transmission T.

When the control unit 14 determines that the first predetermined condition is satisfied according to at least one of the following first to sixth examples, for example, the control unit 14 releases the restriction on the operation of the transmission T.
In the first example, the control unit 14 determines that the first predetermined condition is satisfied when the number of rotations of the crank C is equal to or greater than the predetermined number of rotations. That is, when the number of rotations of the crank C is equal to or greater than the predetermined number of rotations, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined number of times is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined number of times may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the second example, the control unit 14 determines that the first predetermined condition is satisfied when the torque is less than the predetermined torque. That is, when the torque is less than the predetermined torque, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined torque is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined torque may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the third example, the control unit 14 determines that the first predetermined condition is satisfied when the first predetermined time elapses while the torque is less than the predetermined torque. That is, when the first predetermined time elapses with the torque being less than the predetermined torque, the control unit 14 releases the restriction on the operation of the transmission T. The first predetermined time is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The first predetermined time may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the fourth example, the control unit 14 determines that the first predetermined condition is satisfied when the measured value related to the physical information is included in the predetermined range. That is, the control unit 14 releases the restriction on the operation of the transmission T when the measured value related to the physical information is included in the predetermined range. Measurements relating to physical information include, for example, measurements relating to at least one of heart rate, myoelectric potential, sweat volume, and body temperature. The predetermined range is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined range may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the fifth example, the control unit 14 determines that the first predetermined condition is satisfied when the second predetermined time elapses while the measured value is included in the predetermined range. That is, when the second predetermined time elapses with the measured value included in the predetermined range, the control unit 14 releases the restriction on the operation of the transmission T. The second predetermined time is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The second predetermined time may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the sixth example, the control unit 14 determines that the first predetermined condition is satisfied when the elapsed time is equal to or longer than the predetermined elapsed time. That is, when the elapsed time is equal to or longer than the predetermined elapsed time, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined elapsed time is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined elapsed time may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED. As described above, in the first control, the control unit 14 limits the operation of the transmission T according to the environmental information, and releases the restriction on the operation of the transmission T according to the first predetermined information.

The control unit 14 executes the second control as follows, for example. The control unit 14 limits the operation of the transmission T according to the environmental information regarding the driving environment in which the load on the driver increases, and what is the time information regarding the elapsed time since the operation of the transmission T is restricted? The restriction on the operation of the transmission T is released according to the different second predetermined information. The control unit 14 limits the operation of the transmission T, for example, when it is determined that the second environmental condition regarding the environmental information is satisfied. In one example, the control unit 14 determines that the second environmental condition is satisfied when the environmental information changes from the second environmental information to the first environmental information. That is, the control unit 14 limits the operation of the transmission T when the environmental information changes from the second environmental information to the first environmental information. As a limitation of the operation of the transmission T, the control unit 14 disallows the shift of the transmission T or sets the upper limit of the shift stage in which the transmission T can shift.

The second predetermined information includes at least one of the vehicle information regarding the human-powered vehicle A and the driver information regarding the driver. In one example, the control unit 14 releases the restriction on the operation of the transmission T when the second predetermined condition regarding the second predetermined information is satisfied. The control unit 14 automatically controls the transmission T according to the shifting conditions after releasing the restriction on the operation of the transmission T.

When the control unit 14 determines that the second predetermined condition is satisfied according to at least one of the following 7th to 11th examples, for example, the control unit 14 releases the restriction on the operation of the transmission T.
In the seventh example, the control unit 14 determines that the second predetermined condition is satisfied when the number of rotations of the crank C is equal to or greater than the predetermined number of rotations. That is, when the number of rotations of the crank C is equal to or greater than the predetermined number of rotations, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined number of times is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined number of times may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED. The predetermined number of times for the seventh example may be different from the predetermined number of times for the first example.

In the eighth example, the control unit 14 determines that the second predetermined condition is satisfied when the torque is equal to or higher than the predetermined torque. That is, when the torque is equal to or higher than the predetermined torque, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined torque is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined torque may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED. The predetermined torque according to the eighth example may be a torque different from the predetermined torque according to the second example.

In the ninth example, the control unit 14 determines that the second predetermined condition is satisfied when the third predetermined time elapses while the torque is equal to or higher than the predetermined torque. That is, when the third predetermined time elapses while the torque is equal to or higher than the predetermined torque, the control unit 14 releases the restriction on the operation of the transmission T. The third predetermined time is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The third predetermined time may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED.

In the tenth example, the control unit 14 determines that the second predetermined condition is satisfied when the measured value related to the physical information is not included in the predetermined range. That is, when the measured value related to the physical information is not included in the predetermined range, the control unit 14 releases the restriction on the operation of the transmission T. The predetermined range is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The predetermined range may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED. The predetermined range for the tenth example may be different from the predetermined range for the fourth example.

In the eleventh example, the control unit 14 determines that the second predetermined condition is satisfied when the fourth predetermined time elapses in a state where the measured value is not included in the predetermined range. That is, when the fourth predetermined time elapses in a state where the measured value is not included in the predetermined range, the control unit 14 releases the restriction on the operation of the transmission T. The fourth predetermined time is set in advance in consideration of suppressing the driver's discomfort regarding the automatic shifting mode of the transmission T, for example. The fourth predetermined time may be stored in the storage unit 16 so as to be changeable by at least one of the input device SC and the external device ED. As described above, in the second control, the control unit 14 limits the operation of the transmission T according to the environmental information, and releases the restriction on the operation of the transmission T according to the second predetermined information.

The control unit 14 limits the operation of the transmission T according to the information input from the driver regarding whether or not the operation of the transmission T is permitted to be restricted. In one example, the control unit 14 determines whether or not to allow the operation of the transmission device T to be restricted according to the input to at least one of the input device SC and the external device ED. The control unit 14 executes at least one of the first control and the second control when it is permitted to limit the operation of the transmission T. If the control unit 14 does not allow the operation of the transmission T to be restricted, the control unit 14 does not execute the first control and the second control. In this case, the control unit 14 may execute only the control of the transmission T according to the shift condition, or may not execute all the control related to the transmission T.

The human-powered vehicle A further includes a detection device 18 that detects various types of information. The detection device 18 has a first detection unit 18A for detecting environmental information, a second detection unit 18B for detecting first predetermined information, a third detection unit 18C for detecting second predetermined information, and a second detection unit for detecting reference values. 4 Includes detection unit 18D. The first detection unit 18A includes at least one of a sensor for detecting gradient information, a sensor for detecting road surface information, and a sensor for detecting air resistance information (not shown). The second detection unit 18B has a sensor for detecting the number of rotations of the crank C, a sensor for detecting the torque acting on the crank C, a sensor for detecting the heart rate, a sensor for detecting the myoelectric potential, a sensor for detecting the amount of sweating, and a body temperature. It includes at least one sensor for detecting the elapsed time and a sensor for detecting the elapsed time (not shown). The third detection unit 18C has a sensor that detects the number of rotations of the crank C, a sensor that detects the torque acting on the crank C, a sensor that detects the heart rate, a sensor that detects the myoelectric potential, a sensor that detects the amount of sweating, and a body temperature. It includes at least one sensor for detecting the elapsed time and a sensor for detecting the elapsed time (not shown). The fourth detection unit 18D has a sensor for detecting cadence, a sensor for detecting torque acting on the crank C, a sensor for detecting vehicle speed, a sensor for detecting acceleration, a sensor for detecting road surface information, and a sensor for detecting air resistance information. , A receiver that receives weather information from the outside, and at least one sensor that detects temperature information (not shown). The sensor that detects the torque may be, for example, a sensor used for controlling the electric auxiliary unit E. When the detection devices 18 have detection units 18A to 18D having the same detection target, the detection device 18 may omit the other detection units 18A to 18D while leaving one.

An example of the first control executed by the control device 12 will be described with reference to FIG.
The control unit 14 executes the first control while automatically controlling the transmission T according to the shifting conditions, for example, when permitting the operation of the transmission T to be restricted. In step S11, the control unit 14 determines whether or not the first environmental condition is satisfied. Specifically, the control unit 14 determines whether or not the first environmental condition is satisfied according to the detection result of the first detection unit 18A. When the control unit 14 determines in step S11 that the first environmental condition is not satisfied, the control unit 14 repeats the process of step S11. On the other hand, when the control unit 14 determines in step S11 that the first environmental condition is satisfied, the control unit 14 shifts to the process of step S12. The control unit 14 limits the operation of the transmission T in step S12.

In step S13, the control unit 14 determines whether or not the first predetermined condition is satisfied. Specifically, the control unit 14 determines whether or not the first predetermined condition is satisfied according to the detection result of the second detection unit 18B. When the control unit 14 determines in step S13 that the first predetermined condition is not satisfied, the control unit 14 repeats the process of step S13. On the other hand, when the control unit 14 determines in step S13 that the first predetermined condition is satisfied, the control unit 14 shifts to the process of step S14. In step S14, the control unit 14 releases the restriction on the operation of the transmission T. When the control unit 14 finishes the process of step S14, the control unit 14 resumes the control of the transmission device T according to the shift condition. After the above processing, the processing of steps S11 to S14 is completed. The control unit 14 repeats the processes of steps S11 to S14.

An example of the second control executed by the control device 12 will be described with reference to FIG.
The control unit 14 executes the second control while automatically controlling the transmission T according to the shifting conditions, for example, when permitting the operation of the transmission T to be restricted. In step S21, the control unit 14 determines whether or not the second environmental condition is satisfied. Specifically, the control unit 14 determines whether or not the second environmental condition is satisfied according to the detection result of the first detection unit 18A. When the control unit 14 determines in step S21 that the second environmental condition is not satisfied, the control unit 14 repeats the process of step S21. On the other hand, when the control unit 14 determines in step S21 that the second environmental condition is satisfied, the control unit 14 shifts to the process of step S22. The control unit 14 limits the operation of the transmission T in step S22.

In step S23, the control unit 14 determines whether or not the second predetermined condition is satisfied. Specifically, the control unit 14 determines whether or not the second predetermined condition is satisfied according to the detection result of the third detection unit 18C. When the control unit 14 determines in step S23 that the second predetermined condition is not satisfied, the control unit 14 repeats the process of step S23. On the other hand, when the control unit 14 determines in step S23 that the second predetermined condition is satisfied, the control unit 14 shifts to the process of step S24. In step S24, the control unit 14 releases the restriction on the operation of the transmission T. When the control unit 14 finishes the process of step S24, the control unit 14 resumes the control of the transmission device T according to the shift condition. After the above processing, the processing of steps S21 to S24 is completed. The control unit 14 repeats the processes of steps S21 to S24.

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

The control content of the control unit 14 can be arbitrarily changed. In the first example, the control unit 14 executes only one of the first control and the second control when the transmission device T is automatically controlled according to the shift condition. In the second example, after the operation of the transmission T is restricted, the control unit 14 releases the restriction on the operation of the transmission T according to the information input from the driver. In the third example, the control unit 14 continues to allow the operation of the transmission T to be restricted. Specifically, the control unit 14 permits the operation of the transmission T to be restricted regardless of the information input from the driver.

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

10 ... transmission system, 12 ... control device, 14 ... control unit, 16 ... storage unit, A ... human-powered vehicle, C ... crank, T ... transmission unit.

Claims (22)

Equipped with a control unit that automatically controls the transmission of a human-powered vehicle according to the shifting conditions.
The control unit limits the operation of the transmission according to environmental information regarding the driving environment such that the load on the driver is reduced.
The environmental information includes a first environmental information having a relatively high load on the driver and a second environmental information having a relatively low load on the driver.
The control unit
When the environmental information changes from the first environmental information to the second environmental information, the operation of the transmission is restricted.
When the environmental information changes from the first environmental information to the second environmental information, the operation of the transmission is restricted more than when the environmental information changes from the second environmental information to the first environmental information. Control device. The control device according to claim 1, wherein the control unit releases the restriction on the operation of the transmission according to the first predetermined information after the restriction on the operation of the transmission. The control device according to claim 2, wherein the first predetermined information includes at least one of vehicle information regarding the human-powered vehicle, driver information regarding the driver, and time information regarding elapsed time. Equipped with a control unit that automatically controls the transmission of a human-powered vehicle according to the shifting conditions.
The control unit
The operation of the transmission is restricted according to the environmental information regarding the driving environment such that the load on the driver is reduced.
After limiting the operation of the transmission, the restriction on the operation of the transmission is released according to the first predetermined information.
The first predetermined information is a control device including driver information regarding the driver. The environmental information includes a first environmental information having a relatively high load on the driver and a second environmental information having a relatively low load on the driver.
The control device according to claim 4, wherein the control unit limits the operation of the transmission when the environmental information changes from the first environmental information to the second environmental information. The control device according to claim 4 or 5, wherein the first predetermined information includes at least one of vehicle information regarding the human-powered vehicle and time information regarding elapsed time. The vehicle information includes information regarding the number of rotations of the crank rotated after limiting the operation of the transmission.
The control device according to claim 3 or 6, wherein the control unit releases the restriction on the operation of the transmission when the number of rotations of the crank is equal to or more than a predetermined number of times. The vehicle information includes information regarding the torque acting on the crank of the human-powered vehicle.
The control device according to any one of claims 3, 6, and 7, wherein the control unit releases the restriction on the operation of the transmission when the torque is less than a predetermined torque. The control device according to claim 8, wherein the control unit releases the restriction on the operation of the transmission when the first predetermined time elapses while the torque is less than the predetermined torque. The time information includes information on the elapsed time that has elapsed since the operation of the transmission was restricted.
The control device according to claim 3, wherein the control unit releases the restriction on the operation of the transmission when the elapsed time is equal to or longer than a predetermined elapsed time. The control device according to any one of claims 3 to 10, wherein the driver information includes physical information about the driver's body. The control device according to claim 11, wherein the physical information includes at least one of heart rate, myoelectric potential, sweating amount, and body temperature. The control device according to claim 11 or 12, wherein the control unit releases a restriction on the operation of the transmission when the measured value related to the physical information is included in a predetermined range. The control device according to claim 13, wherein the control unit releases the restriction on the operation of the transmission when the second predetermined time elapses while the measured value is included in the predetermined range. Equipped with a control unit that automatically controls the transmission of a human-powered vehicle according to the shifting conditions.
The control unit limits the operation of the transmission according to environmental information regarding the driving environment in which the load on the driver increases, and what is the time information regarding the elapsed time since the operation of the transmission is restricted? The restriction on the operation of the transmission is released according to the different second predetermined information, and the operation is released.
The second predetermined information is a control device including driver information regarding the driver. The environmental information includes a first environmental information having a relatively high load on the driver and a second environmental information having a relatively low load on the driver.
The control device according to claim 15, wherein the control unit limits the operation of the transmission when the environmental information changes from the second environmental information to the first environmental information. The control device according to claim 15, wherein the second predetermined information includes vehicle information regarding the human-powered vehicle. The control device according to any one of claims 1 to 17, wherein the environmental information includes at least one of gradient information regarding a slope of a road surface, road surface information regarding a road surface condition, and air resistance information regarding air resistance. Any of claims 1 to 18, wherein the control unit executes the disapproval of shifting of the transmission or the setting of the upper limit of the shift possible for the transmission as a limitation of the operation of the transmission. The control device according to one item. Any of claims 1 to 19, wherein the control unit limits the operation of the transmission according to the information input from the driver regarding whether or not the control unit permits the operation of the transmission to be restricted. The control device according to one item. The control device according to any one of claims 1 to 20, further comprising a storage unit for storing information. The control device according to any one of claims 1 to 21 and the control device.
A speed change system including the speed change device.

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