JP7344673B2 - Control device and transmission system - Google Patents

Description

The present invention relates to a control device and a transmission system.

2. Description of the Related Art A transmission system including a control device for controlling a transmission of a human-powered vehicle is known. The control device controls the transmission based on the rotational speed of the crank of the human-powered vehicle and a transmission condition defined by a threshold value. Patent Document 1 discloses an example of a conventional transmission system.

Japanese Patent Application Publication No. 10-95384

It is desired that passengers riding in human-powered vehicles can travel comfortably.
An object of the present invention is to provide a control device and a transmission system that can contribute to comfortable driving of a human-powered vehicle.

A control device according to a first aspect of the present invention includes a control unit that controls a transmission that changes a gear ratio of a human-powered vehicle, and the control unit includes a control unit that controls a first reference value related to human-powered driving in the human-powered vehicle. A standby time until operation of the transmission is set according to the first reference value.
According to the control device of the first aspect, the waiting time until the gear is changed by the transmission device is suitably set in accordance with the first reference value related to human-powered driving, so that it can contribute to comfortable running of the human-powered vehicle.

A control device according to a second aspect of the present invention includes a control unit that controls a transmission that changes a gear ratio of a human-powered vehicle, and the control unit includes a control unit that controls the acquisition of a first reference value related to human-powered drive in the human-powered vehicle. The transmission is controlled such that a waiting time until operation of the transmission differs depending on the first reference value.
According to the control device of the second aspect, the waiting time until the transmission is changed depending on the first reference value is set, which contributes to comfortable running of the human-powered vehicle.

In the control device according to the third aspect according to the first or second aspect, the control unit sets the waiting time according to a relationship between the first reference value and a predetermined threshold, and the control unit When the reference value is greater than or equal to a predetermined threshold, the transmission is controlled to change the gear ratio of the human-powered vehicle after the standby time has elapsed.
According to the control device of the third aspect, the transmission is controlled to change the gear ratio when the first reference value is equal to or greater than the predetermined threshold, so that it can contribute to comfortable running of the human-powered vehicle.

In the control device according to the fourth aspect according to the third aspect, the predetermined threshold includes a first predetermined threshold and a second predetermined threshold different from the first predetermined threshold, and the waiting time is longer than the first predetermined threshold. The method includes a first standby time set according to a threshold value and a second standby time set according to the second predetermined threshold value, and the second standby time is shorter than the first standby time.
According to the control device of the fourth aspect, since the second standby time is shorter than the first standby time, the speed change ratio can be quickly changed by the transmission. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device according to the fifth aspect according to the fourth aspect, the predetermined threshold further includes a third predetermined threshold different from the first predetermined threshold and the second predetermined threshold, and the waiting time is different from the third predetermined threshold. The method further includes a third standby time set according to a predetermined threshold, and the third standby time is shorter than the second standby time.
According to the control device of the fifth aspect, the third standby time is shorter than the second standby time, so that the speed change ratio can be quickly changed by the transmission. Therefore, it can contribute to the comfortable running of human-powered vehicles.

In the control device according to the sixth aspect according to any one of the first to fifth aspects, the first reference value includes at least one of a cadence, a torque acting on a crank of the human-powered vehicle, and power. .
According to the control device of the sixth aspect, the transmission can be suitably controlled based on the arbitrary first reference value.

In the control device according to the seventh aspect according to any one of the first to sixth aspects, the control unit controls the human-powered vehicle after the standby time has elapsed when the first reference value is equal to or greater than a predetermined threshold value. The transmission is controlled so that the gear ratio is reduced.
According to the control device of the seventh aspect, the gear ratio is reduced when the first reference value is equal to or greater than the predetermined threshold value, which can contribute to comfortable running of the human-powered vehicle.

In the control device according to the eighth aspect according to any one of the first to seventh aspects, the predetermined threshold value is set according to a second reference value regarding the human-powered vehicle.
According to the control device of the eighth aspect, the transmission can be suitably controlled.

In the control device according to the ninth aspect according to the eighth aspect, the second reference value includes a cadence, a torque acting on a crank of the human-powered vehicle, power, a vehicle speed of the human-powered vehicle, an acceleration of the human-powered vehicle, the The information includes at least one of information regarding the gear ratio of the human-powered vehicle and a passenger of the human-powered vehicle.
According to the control device of the ninth aspect, the transmission can be suitably controlled based on the arbitrary second reference value.

In the control device according to the tenth aspect according to the ninth aspect, the second reference value includes the acceleration, and the predetermined threshold value is such that when the acceleration is a predetermined value or more, the acceleration is less than the predetermined value. is set to be larger than the case.
According to the control device of the tenth aspect, the predetermined threshold value is appropriately set, so that the transmission can be suitably controlled.

In the control device according to the eleventh aspect according to the ninth aspect, the second reference value includes the acceleration, and the predetermined threshold value is not set when the acceleration is equal to or greater than a predetermined value.
According to the control device of the eleventh aspect, the predetermined threshold value is appropriately set, so that the transmission can be suitably controlled.

In the control device according to the twelfth aspect according to the first to eleventh aspects, the control unit controls the transmission according to a control mode, and the control mode includes a first control mode, a second control mode, The control unit sets the standby time according to the first reference value in the first control mode, and does not set the standby time in the second control mode.
According to the control device of the twelfth aspect, since it includes a plurality of control modes, it is possible to suitably control the transmission.

In the control device according to the thirteenth aspect according to the first to twelfth aspects, the control unit is configured to change the speed ratio according to a speed change condition defined based on a third reference value regarding the human-powered vehicle. The transmission is controlled based on the standby time corresponding to the first reference value even when control based on the transmission condition is not executed.
According to the control device of the thirteenth aspect, it is possible to contribute to comfortable running of a human-powered vehicle.

A control device according to a fourteenth aspect of the present invention includes a control unit that controls a transmission that changes a gear ratio of a human-powered vehicle, and the control unit is configured such that a first reference value related to the human-powered drive of the human-powered vehicle is set to a predetermined value. The transmission is controlled to fall within a range, and the predetermined range is set according to a second reference value regarding a passenger of the human-powered vehicle.
According to the control device of the fourteenth aspect, the transmission is controlled so that the first reference value related to human-powered driving falls within a predetermined range, so it can contribute to comfortable running of the human-powered vehicle.

In the control device according to the fifteenth aspect according to the fourteenth aspect, the first reference value includes a torque input to a crank of the human-powered vehicle, and the predetermined range is set between 10 Nm and 30 Nm.
According to the control device of the fifteenth aspect, since the transmission is controlled so that the torque is within a predetermined range, it can contribute to comfortable running of the human-powered vehicle.

In the control device according to the sixteenth aspect according to the fourteenth or fifteenth aspect, the second reference value is obtained by the passenger exercising for a predetermined period of time in advance.
According to the control device of the 16th aspect, since the predetermined range is set in advance for each passenger, it can contribute to comfortable driving of the human-powered vehicle.

A transmission system according to a seventeenth aspect of the present invention includes a control device according to any one of the first to sixteenth aspects, and the transmission.
According to the transmission system of the seventeenth aspect, the transmission is controlled based on the first reference value, so it can contribute to comfortable running of the human-powered vehicle.

According to the control device and transmission system of the present invention, it is possible to contribute to comfortable driving of a human-powered vehicle.

FIG. 1 is a side view of a human-powered vehicle including the transmission system of the first embodiment. FIG. 2 is a block diagram showing the electrical connection relationship between the control device and various elements of the first embodiment. 5 is a map showing an example of shift conditions used for control of the transmission executed by the control device of the first embodiment. 5 is a flowchart showing an example of control executed by the control device of the transmission system according to the first embodiment. 7 is a flowchart illustrating an example of control executed by a control device of a transmission system according to a second embodiment. 7 is a flowchart illustrating an example of control executed by a control device of a transmission system according to a third embodiment. 10 is a flowchart illustrating an example of control executed by a control device of a transmission system according to a fourth embodiment. 12 is a flowchart illustrating an example of control executed by a control device of a transmission system according to a fifth embodiment.

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

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

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

The electric auxiliary unit E operates to assist the propulsion of the human-powered vehicle A. The electric auxiliary unit E operates according to, for example, a human power driving force applied to the pedal PD. Electric auxiliary unit E includes a motor E1. The electric auxiliary unit E operates using electric power supplied from a battery BT mounted on the human-powered vehicle A.

The transmission system 10 includes a control device 12 and a transmission 20. The control device 12 is housed in a housing E2 of the electric auxiliary unit E, for example. The control device 12 operates with power supplied from the battery BT.

Transmission device 20 includes an external transmission. In one example, transmission 20 includes at least one of a front derailleur 22 and a rear derailleur 24. The front derailleur 22 is provided near the front sprocket D1. As the front derailleur 22 is driven, 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 gear ratio of the human-powered vehicle A is defined based on the relationship between the number of teeth of the front sprocket D1 and the number of teeth of the rear sprocket D2. In one example, the gear ratio of the human-powered vehicle A is defined as the ratio of the rotational speed of the rear sprocket D2 to the rotational speed of the front sprocket D1. That is, the gear ratio of the human-powered vehicle A is defined as the ratio of the number of teeth on the front sprocket D1 to the number of teeth on the rear sprocket D2. The rear derailleur 24 is provided at the rear end A3 of the frame A1. As the rear derailleur 24 is driven, 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 20 may include an internal transmission instead of an external transmission. In this case, the internal transmission is provided, for example, at the hub HR of the rear wheel WR. The transmission 20 may include a continuously variable transmission instead of the external transmission. In this case, the continuously variable transmission is provided, for example, at the hub HR of the rear wheel WR.

A specific configuration of the transmission system 10 will be described with reference to FIG. 2.
The control device 12 includes a control unit 14 that controls a transmission 20 that changes the gear ratio of the human-powered vehicle A. 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 20 in accordance with the operation of the transmission operating device SL. The control unit 14 may further control various components mounted on the human-powered vehicle A in addition to the transmission 20 of the human-powered vehicle A. The control device 12 further includes a storage unit 16 that stores various information. Storage unit 16 includes nonvolatile memory and volatile memory. The storage unit 16 stores, for example, various programs for control, information set in advance, and the like.

The human-powered vehicle A includes an operating device OD that receives input from outside the human-powered vehicle A. The operating device OD includes a speed change operating device SL. The transmission 20 is configured to be mechanically or electrically driven, for example, in accordance with the operation of the transmission operating device SL. When the transmission 20 is electrically driven, the transmission 20 operates using power supplied from the battery BT or power supplied from a dedicated power source installed in the transmission 20. When the speed change operating device SL is operated, the speed change device 20 operates so that the speed ratio of the human-powered vehicle A changes. In one example, when the speed change operation device SL is operated, the speed change device 20 operates so that the speed ratio of the human-powered vehicle A becomes smaller. In another example, when the speed change operation device SL is operated, the speed change device 20 operates so that the speed change ratio of the human-powered vehicle A becomes larger. The operating device OD is configured to be able to communicate with the control unit 14 by wire or wirelessly.

The human powered vehicle A further includes a detection device DD for detecting various information. The detection device DD detects, for example, at least one of a first reference value related to the human power drive of the human powered vehicle A, a second reference value related to the human powered vehicle A, and a third reference value related to the human powered vehicle A. For example, the first reference value is a value input via the pedal PD. The first reference value includes at least one of cadence, torque acting on the crank C of the human-powered vehicle A, and power. The second reference values include cadence, torque acting on crank C of the human-powered vehicle, power, vehicle speed of the human-powered vehicle A, acceleration of the human-powered vehicle A, gear ratio of the human-powered vehicle A, and passenger of the human-powered vehicle A. includes at least one piece of information regarding. The third reference value includes at least one of cadence, torque acting on the crank C of the human-powered vehicle A, and power. In one example, the detection device DD includes a sensor for detecting cadence, a sensor for detecting torque acting on the crank C of the human-powered vehicle A, a sensor for detecting power, and a sensor for detecting the vehicle speed of the human-powered vehicle A. and a sensor for detecting the acceleration of the human-powered vehicle A. Cadence is the same as the number of revolutions of crank C. Power is the product of cadence and torque. The detection device DD further detects the gear ratio of the human-powered vehicle A. The information regarding the passenger includes at least one of the passenger's heart rate, myoelectric potential, perspiration amount, and body temperature. The detection device DD includes a sensor for detecting at least one piece of information regarding the passenger.

The control unit 14 controls the transmission 20 so that the transmission ratio changes according to the transmission conditions defined based on the third reference value regarding the human-powered vehicle A. FIG. 3 shows shift conditions defined based on the third reference value. The shift condition defines the relationship between the third reference value and the threshold value TH. In one example, the third reference value includes cadence. The control unit 14 acquires the third reference value from the detection device DD mounted on the human-powered vehicle A. Hereinafter, controlling the transmission 20 by the control unit 14 to change the gear ratio in accordance with the shift condition defined by the third reference value may be referred to as normal shift control.

The threshold TH includes a first threshold TH1 and a second threshold TH2. The control unit 14 controls the transmission 20 to perform an upshift in which the gear ratio of the human-powered vehicle A increases, depending on the relationship between the third reference value and the first threshold TH1. The control unit 14 controls the transmission 20 to perform a downshift in which the gear ratio of the human-powered vehicle A becomes smaller, depending on the relationship between the third reference value and the second threshold TH2. The first threshold TH1 is different from the second threshold TH2. In this case, the first threshold TH1 and the second threshold TH2 have a predetermined range. In one example, the first threshold TH1 differs from the second threshold TH2 by a predetermined value PV. The predetermined value PV is a predetermined width that defines a predetermined range. The first threshold TH1 is larger than the second threshold TH2. In one example, the control unit 14 controls the transmission 20 to perform an upshift when the third reference value becomes equal to or higher than the first threshold TH1, and controls the transmission 20 to perform a downshift when the third reference value becomes less than the second threshold TH2. The transmission 20 is controlled to execute the following. The first threshold TH1 and the second threshold TH2 are arbitrarily set. In the first example, the first threshold TH1 is 80 rpm. The second threshold TH2 is 60 rpm. The predetermined value PV is 20 rpm. In the second example, the first threshold TH1 is 85 rpm. The second threshold TH2 is 55 rpm. The predetermined value PV is 30 rpm.

When the third reference value is greater than or equal to the first threshold TH1 and the current gear ratio of the human-powered vehicle A is the maximum gear ratio, the control unit 14 controls the transmission 20 to maintain the gear ratio of the human-powered vehicle A. Control. The maximum transmission ratio of the human-powered vehicle A is the maximum transmission ratio based on the relationship between the front sprocket D1 and the rear sprocket D2. When the third reference value is less than the second threshold TH2 and the current gear ratio of the human-powered vehicle A is the minimum gear ratio, the control unit 14 controls the transmission 20 to maintain the gear ratio of the human-powered vehicle A. Control. The minimum gear ratio of the human-powered vehicle A is the minimum gear ratio based on the relationship between the front sprocket D1 and the rear sprocket D2.

The control unit 14 executes the following control in addition to the normal speed change control. The control unit 14 sets a waiting time from acquisition of the first reference value regarding human power drive in the human power vehicle A to operation of the transmission 20 according to the first reference value. The waiting time until operation is the time from when the control unit 14 obtains the first reference value from the detection device DD until it controls the transmission 20 to perform at least one of upshifting and downshifting. It's time. The waiting time is set depending on whether the first reference value is cadence, the first reference value is torque acting on the crank C of the human-powered vehicle A, and the first reference value is power. be done. The control unit 14 controls the transmission 20 so that the waiting time from the acquisition of the first reference value related to the human power drive in the human powered vehicle A until the operation of the transmission 20 differs depending on the first reference value. In one example, the first reference value is the torque acting on the crank C of the human-powered vehicle A.

The control unit 14 sets the waiting time according to the relationship between the first reference value and the predetermined threshold. The predetermined threshold value is set depending on whether the first reference value is cadence, the first reference value is torque acting on the crank C of the human-powered vehicle A, and the first reference value is power. be done. The predetermined threshold includes a first predetermined threshold and a second predetermined threshold different from the first predetermined threshold. The predetermined threshold further includes a first predetermined threshold and a third predetermined threshold different from the second predetermined threshold. In one example, the second predetermined threshold is greater than the first predetermined threshold. The third predetermined threshold is greater than the second predetermined threshold. The predetermined threshold value is set according to the second reference value regarding the human-powered vehicle A. In one example, the second reference value is the same value for manual drive as the first reference value. In another example, the second reference value includes a value related to manual drive that is different from the first reference value.

The control unit 14 controls the transmission 20 to change the gear ratio of the human-powered vehicle A after the standby time has elapsed, when the first reference value is equal to or greater than the predetermined threshold. In one example, when the first reference value is greater than or equal to a predetermined threshold, the control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller after the standby time has elapsed. In another example, when the first reference value is greater than or equal to a predetermined threshold, the control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A increases after the standby time has elapsed.

Setting the standby time will be explained.
The standby time includes a first standby time set according to the first predetermined threshold and a second standby time set according to the second predetermined threshold. The second standby time is shorter than the first standby time. The standby time further includes a third standby time set according to a third predetermined threshold. The third standby time is shorter than the previous second standby time. The first predetermined threshold, the second predetermined threshold, and the third predetermined threshold are set based on the second reference value. In one example, the second reference value is the torque acting on the crank C of the human-powered vehicle A. The standby time is set based on the torque that the passenger of the human-powered vehicle A can continuously output. Specifically, the predetermined threshold value and the waiting time are set according to the magnitude of the torque value that the passenger of the human-powered vehicle A can continuously output, and the time. The standby time is shorter than the time that the passenger of the human-powered vehicle A can continuously output. In one example, the first predetermined threshold is set between 25 Nm and 30 Nm. The first waiting time is set within 10 seconds. An example of the second predetermined threshold is set between 65 Nm and 70 Nm. The second waiting time is set within 4 seconds. The third predetermined threshold is set between 95 Nm and 100 Nm. The third waiting time is set within 2 seconds. The control unit 14 sets the waiting time by referring to a reference table in which predetermined threshold values and waiting times are associated with each other. The storage unit 16 stores a reference table.

Control executed by the control unit 14 will be described with reference to FIG. 4.
In step S11, the control unit 14 acquires the first reference value from the detection device DD. In step S12, the control unit 14 determines whether the first reference value is greater than or equal to the first predetermined threshold. If it is determined that the first reference value is greater than or equal to the first predetermined threshold, the control unit 14 proceeds to the process of step S13. If it is determined that the first reference value is not greater than or equal to the first predetermined threshold, the control unit 14 ends the control.

In step S13, the control unit 14 determines whether the first reference value is greater than or equal to a second predetermined threshold. If it is determined that the first reference value is greater than or equal to the second predetermined threshold, the control unit 14 proceeds to the process of step S14. If it is determined that the first reference value is not equal to or greater than the second predetermined threshold, the control unit 14 moves to step S15.

In step S14, the control unit 14 determines whether the first reference value is greater than or equal to a third predetermined threshold. If it is determined that the first reference value is greater than or equal to the third predetermined threshold, the control unit 14 moves to step S17. If it is determined that the first reference value is not equal to or greater than the third predetermined threshold, the control unit 14 moves to step S16.

In step S15, the control unit 14 controls the transmission 20 after the first standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S15, the control unit 14 ends the control.

In step S16, the control unit 14 controls the transmission 20 after the second standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S16, the control unit 14 ends the control.

In step S17, the control unit 14 controls the transmission 20 after the third standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S17, the control unit 14 ends the control.

For example, while the human-powered vehicle A is running, the control unit 14 repeatedly executes control including the processing from steps S11 to S17. The control unit 14 controls the transmission device 20 based on the standby time corresponding to the first reference value even if control based on the transmission condition is not executed.

According to the transmission system 10 of the first embodiment, the following effects can be obtained.
The control unit 14 controls the transmission 20 to reduce the gear ratio of the human-powered vehicle A before the time period during which the occupant of the human-powered vehicle A can continuously output torque elapses, so the human-powered vehicle It can contribute to A's comfortable driving.

<Second embodiment>
The speed change system 10 of the second embodiment has the advantage that the second reference value regarding the human-powered vehicle A further includes acceleration, and that the predetermined threshold value set according to the second reference value is the same as the speed change system 10 of the first embodiment. It differs from Components that are common to the transmission system 10 of the first embodiment are given the same reference numerals and redundant explanations will be omitted.

The predetermined threshold value is set according to the second reference value regarding the human-powered vehicle A. The second reference value includes acceleration. The predetermined threshold value is set to be larger when the acceleration is equal to or greater than the predetermined value than when the acceleration is less than the predetermined value. The predetermined threshold further includes a fourth predetermined threshold, a fifth predetermined threshold, and a sixth predetermined threshold. In one example, the fifth predetermined threshold is greater than the fourth predetermined threshold. The sixth predetermined threshold is greater than the fifth predetermined threshold. The fourth predetermined threshold is greater than the first predetermined threshold. The fifth predetermined threshold is greater than the second predetermined threshold. The sixth predetermined threshold is greater than the third predetermined threshold. A fourth waiting time is set based on a fourth predetermined threshold. A fifth waiting time is set based on a fifth predetermined threshold. A sixth waiting time is set based on a sixth predetermined threshold. In one example, the first standby time and the fourth standby time, the second standby time and the fifth standby time, and the third standby time and the sixth standby time are set to have the same length of time. In another example, at least one of the first waiting time and the fourth waiting time, the second waiting time and the fifth waiting time, and the third waiting time and the sixth waiting time have different lengths of time. is set.

Control performed by the control unit 14 will be described with reference to FIG. 5.
In step S21, the control unit 14 acquires the second reference value from the detection device DD. The second reference value includes the acceleration of the human-powered vehicle A. In step S22, the control unit 14 determines whether the second reference value is greater than or equal to a predetermined value. The second reference value is the acceleration of the human-powered vehicle A. If it is determined that the reference value is greater than or equal to the predetermined value, the control unit 14 executes the process of step S23. If it is determined that the second reference value is not equal to or greater than the predetermined value, the control unit 14 moves to the process of step S11. In step S23, the control unit 14 acquires the first reference value from the detection device DD. The first reference value includes the torque acting on the crank C of the human-powered vehicle A.

In step S24, the control unit 14 determines whether the first reference value is greater than or equal to a fourth predetermined threshold. If it is determined that the first reference value is equal to or greater than the fourth predetermined threshold, the control unit 14 moves to step S25. If it is determined that the first reference value is not equal to or greater than the fourth predetermined threshold, the control unit 14 ends the control.

In step S25, the control unit 14 determines whether the first reference value is greater than or equal to the fifth predetermined threshold. If it is determined that the first reference value is equal to or greater than the fifth predetermined threshold, the control unit 14 moves to the process of step S26. If it is determined that the first reference value is not equal to or greater than the fifth predetermined threshold, the control unit 14 moves to step S27.

In step S26, the control unit 14 determines whether the first reference value is greater than or equal to the sixth predetermined threshold. If it is determined that the first reference value is equal to or greater than the sixth predetermined threshold, the control unit 14 moves to the process of step S29. If it is determined that the first reference value is not greater than or equal to the sixth predetermined threshold, the control unit 14 moves to step S28.

In step S27, the control unit 14 controls the transmission 20 after the fourth standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S27, the control unit 14 ends the control.

In step S28, the control unit 14 controls the transmission 20 after the fifth standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S28, the control unit 14 ends the control.

In step S29, the control unit 14 controls the transmission 20 after the sixth standby time has elapsed. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller. After completing step S29, the control unit 14 ends the control. For example, while the human-powered vehicle A is running, the control unit 14 repeatedly executes control including the processing from steps S21 to S29.

According to the transmission system 10 of the second embodiment, the effects described below can be further obtained.
When the acceleration is greater than or equal to the predetermined value, the control unit 14 controls the transmission 20 based on a predetermined threshold value that is larger than when the acceleration is less than the predetermined value. Therefore, even if the first reference value increases when the human-powered vehicle A accelerates, the gear ratio is unlikely to be changed. Therefore, it is possible to contribute to the comfortable running of the human-powered vehicle A.

<Third embodiment>
The transmission system 10 of the third embodiment is different from the transmission system 10 of the second embodiment in that the second reference value includes acceleration, and the predetermined threshold value is not set when the acceleration is equal to or greater than the predetermined value. Components that are common to the transmission system 10 of the first embodiment and the second embodiment are given the same reference numerals, and redundant explanations will be omitted.
The control unit 14 does not set the waiting time that is set according to the relationship between the first reference value and the predetermined threshold when the acceleration is equal to or greater than the predetermined value. In one example, the control unit 14 executes only normal speed change control. In another example, the control unit 14 does not perform normal shift control. The control unit 14 controls the transmission 20 based on the operation of the transmission operating device SL.

The control executed by the control unit 14 will be described with reference to FIG. 6.
In step S31, the control unit 14 acquires the second reference value from the detection device DD. In step S32, the control unit 14 determines whether the second reference value is greater than or equal to a predetermined value. If it is determined that the second reference value is greater than or equal to the predetermined value, the control unit 14 ends the control. If it is determined that the second reference value is not equal to or greater than the predetermined value, the control unit 14 moves to the process of step S11. For example, while the human-powered vehicle A is running, the control unit 14 repeatedly executes control including the processing of steps S31 and S32.

<Fourth embodiment>
The transmission system 10 of the fourth embodiment is different from the transmission systems 10 of the first to third embodiments in that the control unit 14 controls the transmission 20 according to the control mode. Components that are common to the transmission systems 10 of the first to third embodiments are given the same reference numerals, and redundant explanations will be omitted.

The control mode includes a first control mode and a second control mode. The control unit 14 sets the standby time according to the first reference value in the first control mode, and does not set the standby time in the second control mode. In the first control mode, the control unit 14 controls the transmission 20 to change the gear ratio of the human-powered vehicle A after the standby time has elapsed. In the second control mode, the control unit 14 does not control the transmission 20 to change the gear ratio of the human-powered vehicle A after the standby time has elapsed. In at least one of the first control mode and the second control mode, the control unit 14 may be configured not to perform normal shift control.

The operating device OD includes an operating section that receives input from the passenger. The operating section is provided on the handle H, for example, and includes at least one of a button and a lever that can be operated by the passenger. The operating device OD transmits a switching signal to the control unit 14 when the operating unit is operated. The switching signal includes at least one of a first switching signal and a second switching signal. The first switching signal is a signal for switching the control mode from the first control mode to the second control mode. The second switching signal is a signal for switching the control mode from the second control mode to the first control mode. The control unit 14 switches the control mode according to the received switching signal.

With reference to FIG. 7, the control executed by the control unit 14 will be described.
In step S41, the control unit 14 controls the transmission 20 based on the control mode. In one example, the control unit 14 controls the transmission 20 based on the first control mode.

In step S42, the control unit 14 determines whether a switching signal has been received from the operating device OD. If it is determined that the switching signal has been received, the control unit 14 moves to the process of step S43. If it is determined that the switching signal has not been received, the control unit 14 moves to the process of step S42.

In step S43, the control unit 14 switches the control mode. In one example, the control mode is switched from the first control mode to the second control mode. After completing step S43, the control unit 14 ends the control. For example, while the human-powered vehicle A is traveling, the control unit 14 repeatedly executes control including the processing from steps S41 to S43.

<Fifth embodiment>
The transmission system 10 of the fifth embodiment differs from the transmission systems 10 of the first to fourth embodiments in the content of control of the transmission 20 based on the first reference value executed by the control unit 14. Components that are common to the transmission system 10 of the first to fourth embodiments are given the same reference numerals as those of the first to fourth embodiments, and redundant explanations will be omitted.

The control unit 14 controls the transmission 20 so that the first reference value regarding the human power drive of the human power vehicle A falls within a predetermined range. Controlling the transmission 20 so that the first reference value falls within a predetermined range means that when the first reference value is not within the predetermined range, the control unit 14 performs at least an upshift and a downshift. One is to control the transmission 20 so that it is executed. The first reference value includes the torque input to the crank C of the human-powered vehicle A. The predetermined range is set depending on whether the first reference value is cadence, the first reference value is torque acting on the crank C of the human-powered vehicle A, and the first reference value is power. be done.

The predetermined range is set according to the second reference value regarding the passenger of the human-powered vehicle A. The second reference value is obtained by the passenger exercising for a predetermined period of time in advance. The predetermined range is set based on the second reference value indicating that the passenger of the human-powered vehicle A is traveling comfortably. In one example, a range of the first reference value that allows the passenger to maintain a predetermined heart rate that does not make him feel uncomfortable for a predetermined period of time is set as the predetermined range. In one example, when the first reference value is torque, the predetermined range is set between 10 Nm and 30 Nm. The predetermined range is stored in the storage unit 16, for example. The control unit 14 executes control by referring to a predetermined range stored in the storage unit 16.

With reference to FIG. 8, the control executed by the control unit 14 will be described.
In step S51, the control unit 14 acquires the first reference value from the detection device DD. In step S52, the control unit 14 determines whether the acquired first reference value is within a predetermined range. If it is determined that the first reference value is within the predetermined range, the control unit 14 ends the control. If it is determined that the first reference value is not within the predetermined range, the control unit 14 moves to the process of step S53.

In step S53, the control unit 14 controls the transmission 20 so that the first reference value falls within a predetermined range. After completing step S53, the control unit 14 proceeds to the process of step S51. For example, while the human-powered vehicle A is traveling, the control unit 14 repeatedly executes control including the processing from steps S51 to S53.

<Modified example>
The description regarding each embodiment is an illustration of the form that the control device and transmission system according to the present invention can take, and is not intended to limit the form. The control device and transmission system according to the present invention may take the form of, for example, a modification of each embodiment shown below, or a combination of at least two modifications that are not mutually contradictory. In the following modified examples, the same parts as in the embodiment are given the same reference numerals as in the embodiment, and the explanation thereof will be omitted.

- The second reference value may include driving environment information regarding the driving of the human-powered vehicle A. The driving environment information includes at least one of road surface information regarding road surface conditions, air resistance information regarding air resistance, weather information regarding weather, and temperature information regarding air temperature.

- The control unit 14 may set the waiting time based on whether the first reference value is within a predetermined area. A range equal to or greater than the first predetermined threshold and less than the second predetermined threshold is set as a first predetermined region. A range equal to or greater than the second predetermined threshold and less than the third predetermined threshold is set as a second predetermined region. The third predetermined threshold value or more is set in the third predetermined area. The first predetermined area, the second predetermined area, and the third predetermined area may overlap each other. If the first reference value is within the first predetermined range, the control unit 14 controls the transmission 20 to change the gear ratio after the first standby time. If the first reference value is within the second predetermined range, the control unit 14 controls the transmission 20 to change the gear ratio after the second standby time. If the first reference value is within the third predetermined range, the control unit 14 controls the transmission 20 to change the gear ratio after the third standby time.

- At least one of the waiting time setting and the predetermined range setting may be performed based on a learning algorithm. The learning algorithm includes machine learning, deep learning, or deep reinforcement learning. The learning algorithm includes, for example, at least one of supervised learning, unsupervised learning, and reinforcement learning. The setting based on the learning algorithm may be executed by an external device provided in the external environment, for example, or may be executed by a cycle computer installed in the human-powered vehicle A. The control unit 14 refers to the standby time and predetermined range set by the learning algorithm and executes control of the transmission 20.

- In the shift system 10 of the fourth embodiment, the standby time set according to the first reference value may be set to be different between the first control mode and the second control mode. In one example, the first control mode includes a first standby time, a second standby time, and a third standby time. In the second control mode, a seventh waiting time is set based on the first predetermined threshold, an eighth waiting time is set based on the second predetermined threshold, and a ninth waiting time is set based on the third predetermined threshold. Including waiting time. The seventh standby time is shorter than the first standby time. The eighth standby time is shorter than the second standby time. The ninth standby time is shorter than the third standby time.

- In the transmission system 10 of the fifth embodiment, the predetermined range referred to by the control unit 14 may be changed while the human-powered vehicle A is traveling. The predetermined range includes at least a first predetermined range and a second predetermined range different in range from the first predetermined range. The second predetermined range is a range in which the upper limit and lower limit of the first predetermined range are smaller by a predetermined value. The control unit 14 may be configured to switch the reference predetermined range from the first predetermined range to the second predetermined range according to the second reference value regarding the passenger of the human-powered vehicle A.

- The type of human-powered vehicle A can be changed arbitrarily. The human-powered vehicle A can be changed to at least one of a road bike, a mountain bike, a cross bike, a city bike, a cargo bike, a recumbent bike, and a kick skater. The relationship between the first reference value and the predetermined threshold value may be set for each type of human-powered vehicle A.

- The expression "at least one" as used herein means "one or more" of the desired options. As an example, the expression "at least one" as used herein means "only one option" or "both of the two options" if the number of options is two. As another example, the expression "at least one" as used herein means "only one option" or "a combination of any two or more options" if the number of options is three or more. means.

DESCRIPTION OF SYMBOLS 10... Transmission system, 12... Control device, 14... Control part, 20... Transmission device, A... Human-powered vehicle, C... Crank.

Claims (12)

Equipped with a control unit that controls a transmission that changes the gear ratio of a human-powered vehicle,
The control unit controls the transmission to change the gear ratio after a standby time has elapsed when a first reference value regarding human power drive in the human power vehicle is equal to or greater than a predetermined threshold;
The standby time is a standby time from acquisition of the first reference value equal to or greater than the predetermined threshold until operation of the transmission,
The control unit sets the waiting time according to the first reference value ,
The control device , wherein the first reference value includes at least one of a cadence, a torque acting on a crank of the human-powered vehicle, and power. Equipped with a control unit that controls a transmission that changes the gear ratio of a human-powered vehicle,
The control unit controls the transmission to change the gear ratio after a standby time has elapsed when a first reference value regarding human power drive in the human power vehicle is equal to or greater than a predetermined threshold;
The standby time is a standby time from acquisition of the first reference value equal to or greater than the predetermined threshold until operation of the transmission,
The control unit controls the transmission so that the standby time differs depending on the first reference value,
The control device , wherein the first reference value includes at least one of a cadence, a torque acting on a crank of the human-powered vehicle, and power . The control device according to claim 1 or 2, wherein the control unit sets the waiting time according to a relationship between the first reference value and the predetermined threshold. The predetermined threshold includes a first predetermined threshold and a second predetermined threshold different from the first predetermined threshold,
The waiting time includes a first waiting time set according to the first predetermined threshold and a second waiting time set according to the second predetermined threshold,
The control device according to claim 3, wherein the second standby time is shorter than the first standby time. The predetermined threshold further includes a third predetermined threshold different from the first predetermined threshold and the second predetermined threshold,
The waiting time further includes a third waiting time set according to the third predetermined threshold,
The control device according to claim 4, wherein the third standby time is shorter than the second standby time. Any one of claims 1 to 5 , wherein the control unit controls the transmission so that the gear ratio becomes smaller after the standby time has elapsed when the first reference value is greater than or equal to the predetermined threshold. The control device according to item 1. The predetermined threshold value is set according to a second reference value regarding the human-powered vehicle,
The second reference value includes the cadence, the torque, the power, the vehicle speed of the human-powered vehicle, the acceleration of the human-powered vehicle, the gear ratio of the human-powered vehicle, information regarding the passenger of the human-powered vehicle, and the road surface. The control device according to any one of claims 1 to 6 , comprising at least one of road surface information regarding the state of the vehicle, air resistance information regarding air resistance, weather information regarding weather, and temperature information regarding air temperature. the second reference value includes the acceleration;
The control device according to claim 7 , wherein the predetermined threshold value is set to be larger when the acceleration is equal to or greater than the predetermined value than when the acceleration is less than the predetermined value. the second reference value includes the acceleration;
The control device according to claim 7 , wherein the predetermined threshold value is not set when the acceleration is equal to or greater than a predetermined value. The control unit controls the transmission according to a control mode,
The control mode includes a first control mode and a second control mode,
The control unit sets the standby time according to the first reference value in the first control mode, and does not set the standby time in the second control mode. Control device as described. The control unit controls the transmission so that the transmission ratio changes according to a transmission condition defined based on a third reference value regarding the human-powered vehicle,
Even if control based on the shift condition is not executed, controlling the shift device based on the standby time corresponding to the first reference value ;
The control device according to any one of claims 1 to 10 , wherein the third reference value includes at least one of the cadence, the torque, and the power . A control device according to any one of claims 1 to 11 ,
A transmission system comprising the transmission device.