JP7413447B2 - Control device and transmission system - Google Patents

Description

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

2. Description of the Related Art Transmission systems for controlling transmissions of human-powered vehicles are known. A conventional transmission system controls a transmission so that the rotational speed of the crank of a human-powered vehicle is maintained within a predetermined range according to a transmission condition defined based on the rotational speed of the crank of a human-powered vehicle and a threshold value. Patent Document 1 discloses an example of a conventional transmission system.

Special Publication No. 10-511621

It is preferable to change the operating mode of the transmission depending on the running state of the human-powered vehicle.
One of the objects of the present disclosure is to provide a control device and a speed change system that can realize speed changes suitable for the driving conditions of a human-powered vehicle.

A control device according to a first aspect of the present invention includes a control section that controls a transmission of a human-powered vehicle according to a shift condition, and the control section is configured to control a transmission mechanism of the human-powered vehicle in a first state in which the traveling drive mechanism of the human-powered vehicle is not driven. When the shift condition is satisfied, the transmission is operated with a first operation amount, and when the shift condition is satisfied in a second state in which the travel drive mechanism is driven, the transmission is operated with a second operation amount. and the first amount of operation is different from the second amount of operation.
According to the control device of the first aspect, when the transmission operates while satisfying the transmission conditions, the amount of operation of the transmission differs depending on whether the travel drive mechanism is driven or not. Therefore, by setting the first operation amount and the second operation amount of the transmission according to the driving condition of the human-powered vehicle, it is possible to realize a speed change suitable for the driving condition of the human-powered vehicle.

In the control device of the second aspect according to the first aspect, the control unit operates the transmission so that the first operation amount is smaller than the second operation amount.
According to the control device of the second aspect, the amount of operation of the transmission when the traveling drive mechanism is not driven is smaller than the amount of operation of the transmission when the traveling drive mechanism is being driven, so that the amount of operation of the transmission is smaller than the amount of operation of the transmission when the traveling drive mechanism is driven. This can suppress failures and shocks during gear shifts.

A control device according to a third aspect of the present invention includes a control section that controls a transmission of a human-powered vehicle to change a gear position of the transmission according to a shift condition, and the control section is configured to control a transmission of a human-powered vehicle. If the shift condition is satisfied in a first state in which the travel drive mechanism of the human-powered vehicle is not driven, the transmission is controlled to change the gear stage by a first number of stages, and the travel drive mechanism of the human-powered vehicle is driven. When the shift condition is satisfied in the second state, the transmission is controlled to change the gear stage by a second number of stages, and the first number of stages is different from the second number of stages.
According to the control device of the third aspect, when the transmission operates with the transmission conditions satisfied, the number of gears changed by the transmission differs depending on whether the travel drive mechanism is driven or not. Therefore, by setting the first gear position and the second gear position that the transmission changes according to the driving condition of the human-powered vehicle, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the fourth aspect according to the third aspect, the control unit operates the transmission so that the first number of stages is smaller than the second number of stages.
According to the control device of the fourth aspect, the number of gears to be changed in the transmission when the traveling drive mechanism is not driven is smaller than the number of gears to be changed in the transmission when the traveling drive mechanism is being driven. This can suppress failures and shocks during gear shifts.

In the control device according to the fifth aspect according to the third or fourth aspect, the control unit may control the control unit so that, when the shift condition is satisfied in the first state, the shift stage becomes larger or smaller by the first number of stages. Controls the transmission.
According to the control device of the fifth aspect, when the gear shift condition is satisfied while the traveling drive mechanism is not being driven, the gear stage is changed by the first number of stages, which is smaller than the second number of stages, thereby causing a failure in shifting. Shock during gear shifting can be suppressed.

In the control device of the sixth aspect according to any one of the third to fifth aspects, the first stage number is one stage.
According to the control device of the sixth aspect, shift failures and shocks during shift can be further suppressed.

In the seventh aspect of the control device according to any one of the first to sixth aspects, the transmission includes an exterior transmission.
According to the control device of the seventh aspect, it is possible to realize a speed change suitable for the driving condition of the human-powered vehicle.

A control device according to an eighth aspect of the present invention includes a control section that controls a transmission of a human-powered vehicle according to a shift condition, and when starting pedaling again from a coasting state, the control section and a predetermined second period from the start of the pedaling; and a predetermined second period from the start of the pedaling. .
According to the control device of the eighth aspect, by limiting the operation of the transmission from the start of the coasting state to the predetermined second period after the start of pedaling, the speed change ratio of the human-powered vehicle is adjusted at the start of pedaling. It is possible to suppress excessive changes in Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device of the ninth aspect according to the eighth aspect, the second period is a predetermined period.
According to the control device of the ninth aspect, excessive changes in the gear ratio of the human-powered vehicle can be suppressed for a predetermined period after pedaling is started, so that a gear shift suitable for the running condition of the human-powered vehicle can be realized.

In the control device according to the tenth aspect according to the eighth or ninth aspect, the control unit does not prohibit shifting in the second period when the traveling speed of the human-powered vehicle is lower than a predetermined speed.
According to the control device of the tenth aspect, the gear ratio of the human-powered vehicle is quickly changed at the start of pedaling when the traveling speed of the human-powered vehicle is low. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the eleventh aspect according to any one of the eighth to tenth aspects, the control unit may be arranged such that when the rate of decrease in the traveling speed of the human-powered vehicle in the first period is greater than a predetermined speed, Shifting is not prohibited during the second period.
According to the control device of the eleventh aspect, when the speed difference between the traveling speed of the human-powered vehicle before entering the coasting state and the traveling speed of the human-powered vehicle in the coasting state is large, that is, when the human-powered vehicle starts pedaling, When the running speed of the driven vehicle is low, the gear ratio of the human-powered vehicle is quickly changed at the start of pedaling. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the twelfth aspect according to any one of the eighth to eleventh aspects, the shift condition includes a first reference value, and the control unit is configured such that when the first reference value becomes equal to or greater than a first threshold value, the shift condition includes a first reference value. , the controller is configured to execute a second control for controlling the transmission so that the gear ratio of the human-powered vehicle is increased, and the control unit is configured to perform the second control more than the first control in the second period. Prioritize execution.
According to the control device of the twelfth aspect, the gear ratio of the human-powered vehicle can be quickly changed by easily increasing the gear ratio of the human-powered vehicle in the second period. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the thirteenth aspect according to any one of the eighth to twelfth aspects, the shift condition includes a first reference value, and the control unit is configured to control the control device when the first reference value becomes less than a first threshold value. , the controller is configured to execute a third control for controlling the transmission so that the gear ratio of the human-powered vehicle is reduced, and the control unit is configured to perform the first control more than the third control in the second period. Prioritize execution.
According to the control device of the thirteenth aspect, the gear ratio of the human-powered vehicle becomes difficult to become small in the second period, so that excessive changes in the gear ratio of the human-powered vehicle can be suppressed. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the fourteenth aspect according to the thirteenth aspect, the control unit controls the transmission to change a gear stage of the transmission according to the shift condition, and in the first control, the control unit When the first reference value becomes less than the first threshold value in the third period, the transmission unit operates the transmission so that the number of gears to be changed is smaller than the number of gears to be changed by the third control.
According to the control device of the fourteenth aspect, the gear ratio of the human-powered vehicle becomes difficult to become small in the third period, so that excessive changes in the gear ratio of the human-powered vehicle can be suppressed. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the fifteenth aspect according to any one of the eighth to fourteenth aspects, in the first control, the control section is configured to increase or decrease the gear stage of the transmission by a predetermined number of stages. The transmission is operated.
According to the control device of the fifteenth aspect, excessive changes in the gear ratio of the human-powered vehicle can be suppressed at the start of pedaling. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the sixteenth aspect according to the fifteenth aspect, in the first control, the control section operates the transmission to increase or decrease the gear stage by one gear.
According to the control device of the sixteenth aspect, excessive changes in the gear ratio of the human-powered vehicle can be further suppressed at the start of pedaling. Therefore, it is possible to realize a gear shift suitable for the driving condition of the human-powered vehicle.

In the control device according to the seventeenth aspect according to the eighth aspect, the control section prohibits shifting during the third period.
According to the control device of the seventeenth aspect, excessive changes in the gear ratio of the human-powered vehicle can be suppressed by not changing the speed from the start of the coasting state to the predetermined second period after the start of pedaling.

In the control device according to the eighteenth aspect according to any one of the eighth to seventeenth aspects, the control unit controls rotational states of a sprocket, a front wheel, a rear wheel, and a crank of the human-powered vehicle, as well as pedal depression force. The coasting condition is detected in response to at least one.
According to the control device of the eighteenth aspect, the coasting state can be appropriately detected.

A transmission system according to a nineteenth aspect of the present invention includes a control device according to any one of the first to eighteenth aspects, and the transmission.
According to the speed change system of the nineteenth aspect, it is possible to realize a speed change suitable for the driving condition of the human-powered vehicle.

According to the control device and transmission system of the present disclosure, it is possible to realize a transmission suitable for the driving condition of a human-powered vehicle.

FIG. 1 is a side view of a human-powered vehicle including a control device and a transmission system according to a first embodiment. FIG. 2 is a block diagram showing the electrical configuration of the transmission system. 5 is a flowchart illustrating an example of a control processing procedure executed by a control unit of a control device. 5 is a flowchart illustrating an example of a control processing procedure executed by a control unit. 7 is a flowchart illustrating an example of a control processing procedure executed by a control unit of a control device regarding a control device and a transmission system according to a second embodiment. 5 is a flowchart illustrating an example of a control processing procedure executed by a control unit. 5 is a flowchart illustrating an example of a control processing procedure executed by a control unit.

(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 is a bicycle (e-bike) that includes an electric auxiliary unit E that assists in propulsion of the human-powered vehicle A using electrical energy. 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, a front wheel WF, a rear wheel WR, a handle H, and a travel drive mechanism B.

Travel drive mechanism B includes a drive train. The drive train of this embodiment is configured as a chain drive type. Traveling drive mechanism 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. Note that the drive train 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. Pedal force applied to pedal PD by a user riding in human-powered vehicle A is transmitted to rear wheel WR via front sprocket D1, chain D3, and rear sprocket D2.

A one-way clutch is provided between the rear sprocket D2 and the rear wheel WR. The one-way clutch transmits the rotation of the rear sprocket D2 in the traveling direction to the rear wheel WR. The one-way clutch does not transmit the rotation of the rear wheel WR in the traveling direction to the rear sprocket D2. When the rotational speed of the rear wheel WR is higher than the rotational speed of the rear sprocket D2, the rotation of the rear sprocket D2 is not transmitted to the rear wheel WR by the one-way clutch. In one example, the one-way clutch includes an engagement member that is engaged by a member that rotates integrally with the rear sprocket D2 rotating in one direction with respect to a member that rotates integrally with the rear wheel WR. Thereby, when a member that rotates integrally with the rear sprocket D2 rotates in one direction relative to a member that rotates integrally with the rear wheel WR, the rear sprocket D2 rotates integrally with the rear wheel WR. The engagement of the engagement member is released when the member that rotates integrally with the rear sprocket D2 rotates in the other direction with respect to the member that rotates integrally with the rear wheel WR. Thereby, when a member that rotates integrally with the rear sprocket D2 rotates in the other direction than a member that rotates integrally with the rear wheel WR, the rear sprocket D2 can rotate relative to the rear wheel WR.

The electric auxiliary unit E operates to assist the propulsion of the human-powered vehicle A. The electric auxiliary unit E operates, for example, in response to pedal depression 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.

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 20 includes an exterior transmission. The transmission 20 includes a derailleur provided near the sprocket of the human-powered vehicle A, and an electric motor that operates the derailleur. The transmission 20 includes at least one of a front transmission 22 and a rear transmission 24. The front transmission 22 includes, for example, a front derailleur 22A provided near the front sprocket D1 and an electric motor that operates the front derailleur 22A. As the front transmission 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 rear transmission 24 includes, for example, a rear derailleur 24A provided at a rear end A3 of the frame A1, and an electric motor that operates the rear derailleur 24A. As the rear transmission device 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 operates with power supplied from the battery BT or with power supplied from a dedicated power source installed in the transmission 20. Note that the transmission 20 may include an internal transmission instead of the 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.

Transmission device 20 has a plurality of gear stages. Front transmission 22 has one or more gear stages. The number of gear stages that the front transmission 22 has is based on the number of front sprockets D1. The rear transmission 24 has one or more gear stages. The number of gear stages that the rear transmission 24 has is based on the number of rear sprockets D2. The number of gears that the transmission 20 has is determined by the product of the number of gears that the front transmission 22 has and the number of gears that the rear transmission 24 has. The ratio of the rotational speed of the rear sprocket D2 to the rotational speed of the front sprocket D1 is determined by the relationship between the number of teeth corresponding to the gear position of the front transmission 22 and the number of teeth corresponding to the gear position of the rear transmission 24. The gear ratio of drive vehicle A is determined.

Transmission device 20 is electrically driven in response to operation of operating device SL. The operating device SL is provided on the right side of the handle H and on the left side of the handle H, respectively. In one example, the front derailleur 22A of the front transmission 22 is operated by an electric motor in response to the operation of one operating device SL, and the rear derailleur 24A of the rear transmission 24 is operated by the electric motor in response to the operation of the other operating device SL. do. The operating device SL includes a first shift lever SL1 for upshifting and a second shift lever SL2 for downshifting. When the first shift lever SL1 is operated, the transmission 20 is driven to a gear position that is one or more gears higher than the current gear position, for example. When the second shift lever SL2 is operated, the transmission 20 is driven, for example, to a gear position one or more gears lower than the current gear position.

A specific configuration of the control device 12 will be described with reference to FIGS. 1 and 2.
The control device 12 includes a control unit 14 that controls the transmission 20 of the human-powered vehicle A according to the transmission conditions. In one example, the control unit 14 controls the transmission 20 of the human-powered vehicle A so as to change the gear position of the transmission 20 according to the shift conditions. The control unit 14 automatically controls the transmission 20 according to the transmission conditions. In one example, the shift condition is defined based on the first reference value of the human-powered vehicle A and the threshold value TH. The gears of the transmission 20 include either the gears of the front transmission 22 or the gears of the rear transmission 24. In the following description, changing the gear position of the transmission 20 means changing the gear position of the front transmission 22 or changing the gear position of the rear transmission 24.

The first reference value includes vehicle information regarding the human-powered vehicle A. The vehicle information includes at least one of driving information regarding the driving state of the human-powered vehicle A and environmental information regarding the driving environment of the human-powered vehicle A. The driving information includes at least one of cadence, torque given to the human-powered vehicle A, vehicle speed, acceleration, and power. The torque includes the torque acting on the crank C. Power is the product of cadence and torque. The environmental 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 road surface information includes at least one of resistance information regarding the resistance of the road surface and gradient information regarding the gradient of the road surface. Road surface resistance varies depending on scree, gravel, asphalt, etc. The air resistance information includes information regarding air resistance that acts on the user and the human-powered vehicle A when the human-powered vehicle A travels. In one example, the air resistance information includes wind force information regarding wind power, such as wind speed, wind pressure, and wind direction.

The threshold TH includes an upper threshold THU and a lower threshold THL. The control unit 14 controls the transmission 20 so that the gear ratio of the human-powered vehicle A increases according to the relationship between the first reference value and the upper limit threshold THU, and controls the transmission 20 so that the gear ratio of the human-powered vehicle A increases according to the relationship between the first reference value and the lower limit threshold THL. Accordingly, the transmission 20 is controlled so that the gear ratio becomes smaller. In one example, the control unit 14 controls the transmission 20 so that the gear ratio increases when the first reference value exceeds the upper limit threshold THU, and so that the gear ratio decreases when the first reference value falls below the lower threshold THL. The transmission 20 is controlled to.

In one example, the shift conditions are defined based on an input to the operating device SL of the human-powered vehicle A. The control unit 14 controls the transmission 20 in accordance with input to the operating device SL. The control unit 14 controls the transmission 20 so that the gear ratio increases when the first shift lever SL1 is operated, and controls the transmission 20 so that the gear ratio decreases when the second shift lever SL2 is operated. Control 20. The control unit 14 is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

The control device 12 further includes a storage unit 16 that stores 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. In one example, the storage unit 16 stores information regarding a plurality of control modes.

The human-powered vehicle A further includes a detection device 18 that detects various types of information. The detection device 18 includes a first detection section 18A and a second detection section 18B. The first detection unit 18A includes a sensor that detects the rotational speed (cadence) of the crank C, for example. The second detection unit 18B includes a sensor that detects the traveling speed of the human-powered vehicle A, for example. Existing sensors can be used as the sensor of the first detection section 18A and the sensor of the second detection section 18B, respectively. The detection device 18 may further include sensors other than the first detection section 18A and the second detection section 18B. In one example, the sensors include a sensor that detects the rotational speed of the front sprocket D1, a sensor that detects the rotational speed of the rear sprocket D2, a sensor that detects the rotational speed of the front wheel WF, a sensor that detects the rotational speed of the rear wheel WR, and a pedal. It includes at least one of a sensor that detects pedal depression force, which is a force applied to the PD, and a sensor that detects acceleration of the human-powered vehicle A. Existing sensors can also be used for these sensors.

Next, detailed contents of control of the transmission 20 by the control unit 14 will be explained.
The control unit 14 controls the transmission 20 by executing either the following first process or second process in addition to the control to change the gear ratio according to the first reference value and the threshold value TH. The control unit 14 repeats the first process or the second process at predetermined time intervals, for example, during a period from the start of power supply to the control unit 14 from the battery BT until the end of power supply to the control unit 14. Execute.

In the first process, if the shift condition is satisfied in the first state in which the travel drive mechanism B of the human-powered vehicle A is not driven, the control unit 14 operates the transmission 20 at the first operation amount, and controls the travel drive mechanism B When the shift condition is satisfied in the second state in which the transmission device 20 is driven, the transmission device 20 is operated at the second operation amount. The first amount of operation is different from the second amount of operation. In one example, the control unit 14 controls the transmission 20 so that the first amount of operation is smaller than the second amount of operation. The first state in which the traveling drive mechanism B is not driven includes a state in which the rotation of the crank C is stopped and a state in which the chain D3 is not rotated in the forward direction due to the crank C rotating backward. The second state in which the traveling drive mechanism B is driven includes a state in which the chain D3 is rotating in the forward direction as the crank C rotates forward. A first example of the first operation amount and the second operation amount is the amount of movement of the front derailleur 22A when the front derailleur 22A operates to transfer the chain D3 to one of the plurality of front sprockets D1. A second example of the first operation amount and the second operation amount is the amount of movement of the rear derailleur 24A when the rear derailleur 24A operates to change the chain D3 to one of the plurality of rear sprockets D2. The first operation amount and the second operation amount are each defined by, for example, the rotation amount of the electric motor of the transmission 20. The control unit 14 may obtain the first operation amount and the second operation amount according to the detection results of the sensor that detects the movement amount of the front derailleur 22A, and the control unit 14 may obtain the first movement amount and the second movement amount according to the detection results of the sensor that detects the movement amount of the rear derailleur 24A. The first amount of motion and the second amount of motion may be obtained respectively.

The first operation amount is, for example, an operation amount that increases or decreases the gear position of the transmission 20 by one gear. The second operation amount is, for example, an operation amount that increases or decreases the gear stage of the transmission 20 by a predetermined number of stages (two or more stages). The first amount of operation may be an amount of operation in which the number of gears of the transmission 20 is two or more, within a range smaller than the second amount of operation.

When the first reference value is equal to or greater than the first threshold TH1 in the first state, or when receiving a signal for a shift command for upshifting from the operating device SL, the control unit 14 controls the transmission with the first operation amount. The transmission device 20 is controlled so that the gear stage 20 becomes larger. In one example, the shift command signal for upshifting from the operating device SL is a shift command signal for upshifting two or more gears. When the first reference value becomes less than the first threshold value TH1 in the first state, or when receiving a signal of a shift command for downshifting from the operating device SL, the control unit 14 controls the transmission with the first operation amount. The transmission device 20 is controlled so that the gear stage 20 becomes smaller. In one example, the signal of a shift command for downshifting from the operating device SL is a signal of a shift command for downshifting of two or more gears.

When the first reference value is equal to or greater than the first threshold TH1 in the second state, or when receiving a signal for a shift command for upshifting from the operating device SL, the control unit 14 controls the transmission using the second operation amount. The transmission device 20 is controlled so that the gear stage 20 becomes larger. In one example, the shift command signal for upshifting from the operating device SL is a shift command signal for upshifting two or more gears. When the first reference value becomes less than the first threshold value TH1 in the second state, or when receiving a signal of a shift command for downshifting from the operating device SL, the control unit 14 controls the transmission with the second operation amount. The transmission device 20 is controlled so that the gear stage 20 becomes smaller. In one example, the signal of a shift command for downshifting from the operating device SL is a signal of a shift command for downshifting of two or more gears.

FIG. 3 is a flowchart illustrating an example of the procedure of the first process.
The control unit 14 determines whether a shift condition is satisfied in step S11. The shift conditions in step S11 are that the first reference value exceeds the upper limit threshold THU, that the first reference value falls below the lower limit threshold THL, and that there is an input to the operating device SL of the human-powered vehicle A. It is to satisfy one. The control unit 14 determines whether or not there is an input to the operating device SL of the human-powered vehicle A, depending on whether a signal related to a shift command is received from the operating device SL. The control unit 14 performs processing when the shift condition is not satisfied, that is, when the first reference value is between the upper limit threshold THU and the lower limit threshold THL, or when a signal related to the shift command is not received from the operating device SL. end once.

If the shift condition is satisfied, the control unit 14 moves to step S12. The control unit 14 determines whether it is in the first state in step S12. In one example, the control unit 14 makes the determination in step S12 depending on the detection result of the first detection unit 18A, that is, whether or not the crank C is rotating forward. When determining that the control unit 14 is in the first state, the control unit 14 moves to step S13. The control unit 14 operates the transmission 20 at the first operation amount in step S13, and temporarily ends the process. When the control unit 14 determines that the state is not the first state, that is, when the state is the second state, the process proceeds to step S14. The control unit 14 operates the transmission 20 at the second operation amount in step S14, and temporarily ends the process.

In the second process, the control unit 14 controls the transmission device 20 to change the gear position by the first number of gears when the gear change condition is satisfied in the first state in which the travel drive mechanism B of the human-powered vehicle A is not driven. However, when the shift condition is satisfied in the second state in which the traveling drive mechanism B of the human-powered vehicle A is driven, the transmission device 20 is controlled to change the gear stage by the second number of stages. The first number of stages is different from the second number of stages. Specifically, when the shift condition is satisfied in the first state, the control unit 14 controls the transmission 20 so that the gear stage becomes larger or smaller by the first number of stages. In one example, the control unit 14 operates the transmission 20 so that the first number of stages is smaller than the second number of stages. In this case, the first stage number and the second stage number are each larger than zero. Specifically, the first stage number is one stage. The second stage number is two or more stages. In this embodiment, the first number of stages and the second number of stages are each determined in advance and stored in the storage unit 16. At least one of the first number of stages and the second number of stages may be changed by the user.

When the first reference value becomes equal to or higher than the first threshold value TH1 in the first state, or when receiving a signal for a shift command for upshifting from the operating device SL, the control unit 14 controls the gear position of the transmission device 20 to be set to the first gear position. The transmission 20 is controlled so that the number of gears increases by one gear. In one example, the shift command signal for upshifting from the operating device SL is a shift command signal for upshifting for the second number of gears. When the first reference value becomes less than the first threshold TH1 in the first state, or when receiving a shift command signal for downshifting from the operating device SL, the control unit 14 sets the gear position of the transmission device 20 to the first gear position. The transmission 20 is controlled so that the number of gears is reduced by one gear. In one example, the signal for a shift command for downshifting from the operating device SL is a signal for a shift command for downshifting for the second number of gears.

When the first reference value becomes equal to or higher than the first threshold value TH1 in the second state, or when receiving a signal of a shift command for upshifting from the operating device SL, the control unit 14 causes the transmission 20 to shift to the first gear position. The transmission 20 is controlled so that the number of gears increases by two stages. In one example, the shift command signal for upshifting from the operating device SL is a shift command signal for upshifting for the second number of gears. When the first reference value becomes less than the first threshold TH1 in the second state, or when receiving a shift command signal for downshifting from the operating device SL, the control unit 14 sets the gear stage of the transmission device 20 to the first gear position. The transmission 20 is controlled so that the number of gears is reduced by two stages. In one example, the signal for a shift command for downshifting from the operating device SL is a signal for a shift command for downshifting for the second number of gears.

FIG. 4 is a flowchart illustrating an example of the procedure of the second process. In the flowchart of FIG. 4, the determinations in step S21 and step S22 are the same as the determinations in step S11 and step S12 in the flowchart of FIG.

When the control unit 14 makes a negative determination in step S21, it temporarily ends the process. When the control unit 14 makes an affirmative determination in step S21 and step S22, the process proceeds to step S23. The control unit 14 controls the transmission device 20 to change the gear position by the first number of gears in step S23, and temporarily ends the process. When the control unit 14 makes an affirmative determination in step S21 and makes a negative determination in step S22, the process proceeds to step S24. The control unit 14 controls the transmission device 20 to change the gear position by the second number of gears in step S24, and temporarily ends the process.

The control unit 14 executes either the first process or the second process, so that when the user is not rotating the crank C forward, for example, when the shift condition is satisfied and multi-speed shifting is requested, the first process is executed. By operating the transmission 20 with the operating amount, the chain D3 is replaced with a sprocket corresponding to, for example, one gear stage. Thereafter, when the user rotates the crank C forward, the transmission 20 operates to reach the target number of gears in the multi-stage transmission. For example, when the user is rotating the crank C forward and a multi-speed shift is required by satisfying the shift condition, the transmission 20 operates at the second operation amount so that, for example, the target number of speeds in the multi-speed shift is achieved. Transmission device 20 operates.

(Second embodiment)
A transmission system 10 according to a second embodiment will be described with reference to FIGS. 5 to 7. Compared to the transmission system 10 of the first embodiment, the transmission system 10 of the present embodiment operates in a manner in which the transmission 20 operates in the coasting state and within a predetermined period after starting pedaling from the coasting state. are different. In the following description, the same reference numerals are given to the same components as in the first embodiment, and the description thereof will be omitted.

The control unit 14 detects the coasting state according to at least one of the rotational states of the sprocket, front wheel WF, rear wheel WR, and crank C of the human-powered vehicle A, and the pedal depression force. The sprocket of the human-powered vehicle A includes at least one of a front sprocket D1 and a rear sprocket D2. In one example, the control unit 14 detects the coasting state when the rotational speed of the rear wheel WR in the forward rotational direction is higher than the rotational speed of the rear sprocket D2 in the forward rotational direction.

The control unit 14 detects the coasting state according to the rotational state of at least one of the sprocket, front wheel WF, and rear wheel WR of the human-powered vehicle A, and at least one of the rotational state of the crank C and the pedal depression force. You may. That is, the control unit 14 detects the coasting state when the human-powered vehicle A is running and the traveling drive mechanism B is not driving. In this case, for example, the control unit 14 detects the coasting state according to the cadence that can be obtained from the detection result of the first detection unit 18A and the traveling speed of the human-powered vehicle A that can be obtained from the detection result of the second detection unit 18B. You may.

The control unit 14 may detect the coasting state according to the degree of change in the rotational speed of the front wheel WF, or may detect the coasting state according to the degree of change in the rotational speed of the rear wheel WR. In one example, the control unit 14 detects the coasting state when the degree of change in the rotational speed of the front wheel WF is less than the threshold value X1. The control unit 14 detects the coasting state when the degree of change in the rotational speed of the rear wheel WR is less than the threshold value X1. The threshold value X1 is a value for determining that the rotational speed of the front wheel WF or the rear wheel WR is not changing due to pedaling, and is set in advance through a test or the like. The control unit 14 may detect that the human-powered vehicle A is in a coasting state when the rotation speed of the sprocket is 0 or less than a predetermined threshold value X2. The threshold value X2 is a value for determining that the sprocket is not substantially rotating, and is determined in advance through a test or the like. The control unit 14 may detect the coasting state when the rotational speed of the crank C is 0 or less than a predetermined threshold value X3. The threshold value X3 is a value for determining that the crank C is not substantially rotating forward, and is determined in advance by a test or the like. The control unit 14 may detect the coasting state when the pedal depression force is less than a predetermined threshold value X4. The threshold value X4 is the minimum value of the pedal depression force applied to the pedal PD in order to pedal the pedal PD, and is determined in advance by a test or the like.

The control unit 14 controls the transmission 20 to change the gear position of the transmission 20 according to the shifting conditions. The shift conditions of this embodiment are, for example, the same as the shift conditions of the first embodiment. Similar to the first embodiment, the shift condition includes the first reference value. The first reference value in this embodiment is the traveling speed of the human-powered vehicle A. The control unit 14 changes the gear stage of the transmission 20 according to the traveling speed of the human-powered vehicle A. In one example, the control unit 14 is configured to execute second control to control the transmission 20 so that the gear ratio of the human-powered vehicle A increases when the first reference value becomes equal to or greater than the first threshold TH1. . In one example, the control unit 14 is configured to perform third control to control the transmission 20 so that the gear ratio of the human-powered vehicle A becomes smaller when the first reference value becomes less than the first threshold TH1. . The control unit 14 controls the transmission 20 so that the speed ratio of the human-powered vehicle A decreases as the traveling speed of the human-powered vehicle A decreases.

When starting pedaling again from the coasting state, the control unit 14 sets a third period TM3 that is the sum of a first period TM1 from the start of the coasting state to the start of pedaling and a predetermined second period TM2 from the start of pedaling. The transmission device 20 is configured to execute first control that limits the operation of the transmission 20 over the entire period. The second period TM2 is a predetermined period. The second period TM2 can be changed by the user. An example of the second period TM2 is 3 seconds.

An example of the first control is as follows. That is, in the first control, the control unit 14 controls the transmission 20 so that when the first reference value becomes equal to or greater than the first threshold TH1 in the third period TM3, the number of gears to be changed is smaller than the number of gears to be changed by the second control. make it work. In the first control, the control unit 14 controls the transmission 20 so that when the first reference value becomes less than the first threshold TH1 in the third period TM3, the number of gears to be changed is smaller than the number of gears to be changed by the third control. make it work.

The control unit 14 selects one of the first control, the second control, and the third control depending on the running state of the human-powered vehicle A. FIG. 5 shows an example of control processing for selecting one of the first control, the second control, and the third control.

The control unit 14 determines whether or not the vehicle is in a coasting state in step S31. If the control unit 14 determines that the vehicle is in the coasting state, the process proceeds to step S32. The control unit 14 executes the first control in step S32, and proceeds to step S33. In one example, in the first control, the control unit 14 operates the transmission device 20 so that the gear stage becomes larger or smaller by a predetermined number of stages. The predetermined number of stages can be changed by the user. In this embodiment, the predetermined number of stages is one stage. That is, in the first control, the control unit 14 operates the transmission 20 to increase or decrease the gear position by one gear.

The control unit 14 determines whether or not the third period TM3 has elapsed in step S33. If the third period TM3 has not elapsed, the control unit 14 returns to the determination in step S33. In this case, the control unit 14 maintains the first control. If the third period TM3 has elapsed, the control unit 14 moves to step S34. The control unit 14 ends the first control in step S34, and temporarily ends the process. In other words, the control unit 14 releases the restriction on the operation of the transmission 20 after the third period TM3 has elapsed.

If the control unit 14 determines that the coasting state is not present, the process proceeds to step S35. The control unit 14 executes the second control or the third control in step S35, and temporarily ends the process. In other words, the control unit 14 does not restrict the operation of the transmission 20 when the coasting state is not present. The control unit 14 executes the second control when the first reference value is greater than or equal to the first threshold TH1, and executes the third control when the first reference value is less than the first threshold TH1.

Next, control of the transmission 20 during the second period TM2 will be explained.
The control unit 14 executes at least one of the first process and the second process to control the transmission 20 during the second period TM2. The control unit 14 repeatedly executes at least one of the first process and the second process in the second period TM2.

In the first process, if the traveling speed of the human-powered vehicle A is lower than the predetermined speed V1, the control unit 14 does not prohibit shifting during the second period TM2. The control unit 14 does not prohibit shifting in the second period TM2 when the decreasing speed of the traveling speed of the human-powered vehicle A in the first period TM1 is greater than the predetermined speed V2. The control unit 14 can obtain the traveling speed of the human-powered vehicle A from the detection result of the second detection unit 18B. The predetermined speed V1 is a traveling speed of the human-powered vehicle A at which the gear position of the transmission device 20 is equal to or lower than the predetermined value SX, and is determined in advance through a test or the like. An example of the predetermined speed V1 is 11 km/h. The predetermined value SX is a gear position at which the gear position of the transmission device 20 needs to be quickly increased at the start of pedaling in order for the human-powered vehicle A to run comfortably, and is determined in advance through tests or the like.

The speed at which the traveling speed of the human-powered vehicle A decreases is, for example, the traveling speed of the human-powered vehicle A immediately before entering the coasting state, and the traveling speed of the human-powered vehicle A at the time when the first period TM1 has elapsed, that is, at the start of the second period TM2. It is calculated by the difference between the travel speed and the travel speed. Note that the speed at which the traveling speed of the human-powered vehicle A decreases is, for example, the difference between the traveling speed of the human-powered vehicle A immediately before the coasting state and the minimum value of the traveling speed of the human-powered vehicle A in the first period TM1. It may be calculated by The predetermined speed V2 is a speed at which the traveling speed of the human-powered vehicle A is decreased at which the gear position of the transmission 20 is likely to be lower than the predetermined value SX, and is determined in advance through a test or the like. An example of the predetermined speed V2 is 10 km/h.

FIG. 6 is a flowchart illustrating an example of the procedure of the first process.
The control unit 14 determines whether it is the second period TM2 in step S41. The control unit 14 includes, for example, a counter, starts counting when a coasting state is detected, and determines that the second period TM2 is in effect when the count is within a range that defines the second period TM2.

When determining that it is not the second period TM2, the control unit 14 temporarily ends the process. When the control unit 14 determines that it is the second period TM2, the process moves to step S42. The control unit 14 determines whether the traveling speed of the human-powered vehicle A is smaller than the predetermined speed V1 in step S42. The control unit 14 makes the determination in step S42 in accordance with the comparison between the traveling speed of the human-powered vehicle A obtained from the detection result of the second detection unit 18B and the predetermined speed V1.

When the traveling speed of the human-powered vehicle A is smaller than the predetermined speed V1, the control unit 14 moves to step S43. In step S43, the control unit 14 sets a state in which shifting is not prohibited during the second period TM2, and temporarily ends the process. As an example of the process in step S43, the control unit 14 executes the second control or the third control instead of the first control.

When the traveling speed of the human-powered vehicle A is equal to or higher than the predetermined speed V1, the control unit 14 moves to step S44. In step S44, the control unit 14 determines whether the rate of decrease in the traveling speed of the human-powered vehicle A during the first period TM1 is greater than a predetermined speed V2. When detecting a coasting state, the control unit 14 controls a predetermined speed and a decreasing speed that is the difference between the traveling speed of the human-powered vehicle A immediately before the detection and the traveling speed of the human-powered vehicle A at the end of the first period TM1. The determination in step S44 is made in accordance with the comparison with V2. If the rate of decrease in the traveling speed of the human-powered vehicle A during the first period TM1 is greater than the predetermined speed V2, the control unit 14 proceeds to step S43. The control unit 14 temporarily ends the process when the rate of decrease in the traveling speed of the human-powered vehicle A during the first period TM1 is equal to or less than the predetermined speed V2.

In the second process, the control unit 14 executes the second control with priority over the first control in the second period TM2. The control unit 14 executes the first control with priority over the third control in the second period TM2. In the second period TM2, the control unit 14 controls the transmission 20 so as to make it easier to increase the gear position and to reduce the amount of decrease in the gear position or to make it difficult to decrease the gear position.

FIG. 7 is a flowchart illustrating an example of the procedure of the second process.
The control unit 14 determines whether it is the second period TM2 in step S51. The determination in step S51 is the same as the determination in step S41 in FIG. When the control unit 14 determines that it is the second period TM2, the process moves to step S52. The control unit 14 determines whether the first reference value is greater than or equal to the first threshold TH1 in step S52. If the first reference value is greater than or equal to the first threshold TH1, the control unit 14 moves to step S53. The control unit 14 controls the transmission 20 to increase the gear ratio of the human-powered vehicle A in step S53, and temporarily ends the process. The control unit 14 temporarily ends the process when the first reference value is less than the first threshold TH1. In this case, the control unit 14 maintains the first control. In the case of the second period TM2, the control unit 14 selects either the second control or the first control through the processes of steps S52 and S53. If it is not the second period TM2, the control unit 14 temporarily ends the process.

(Modified example)
The descriptions regarding each of the above embodiments are illustrative of the forms that the control device and transmission system according to the present disclosure can take, and are not intended to limit the forms. A control device and a transmission system according to the present disclosure may take a form in which, for example, the following modifications of each of the above embodiments are combined, and at least two mutually consistent modifications. In the following modified examples, parts that are common to the forms of each embodiment are given the same reference numerals as those of each embodiment, and the description thereof will be omitted.

- In the first embodiment, the control unit 14 may change the speed change conditions according to the second reference value that changes as the speed change of the transmission device 20 occurs. The second reference value includes at least one of vehicle information regarding the human-powered vehicle A and user information regarding the user riding in the human-powered vehicle A. The user information includes at least one of heart rate, myoelectric potential, sweat amount, and body temperature.

The control unit 14 changes the threshold TH depending on the magnitude of the second reference value. The control unit 14 changes the threshold TH according to the difference between the second reference value after the shift is completed and the second reference value before the shift is completed (hereinafter referred to as "reference value difference"). Specifically, when controlling the transmission 20, the control unit 14 changes the threshold TH according to the speed change condition defined based on the second reference value. In one example, the shift condition is defined based on the absolute value of the reference value difference and a predetermined difference. That is, when controlling the transmission 20, the control unit 14 changes the threshold TH according to the relationship between the absolute value of the reference value difference and the predetermined difference. The predetermined difference is set, for example, based on a predetermined width that defines a predetermined range of the upper limit threshold THU and the lower limit threshold THL. The predetermined difference includes at least one of a first predetermined difference, a second predetermined difference, a third predetermined difference, and a fourth predetermined difference. The predetermined difference may be updated according to the changed threshold TH every time the threshold TH is changed, or may be a fixed value.

The control unit 14 increases the upper limit threshold THU when controlling the transmission 20 so as to increase the gear ratio and when the absolute value of the reference value difference is greater than or equal to the first predetermined difference. The control unit 14 maintains the upper limit threshold THU when controlling the transmission 20 to increase the gear ratio and when the absolute value of the reference value difference is less than the second predetermined difference. The second predetermined difference is set to a value less than or equal to the first predetermined difference. In one example, the second predetermined difference is set to the same value as the first predetermined difference. When controlling the transmission 20 to increase the gear ratio, the control unit 14 may reduce the upper limit threshold THU when the first condition is satisfied, and change the upper limit threshold THU to the initial upper threshold when the first condition is satisfied. You may return to THU. The control unit 14 may determine that the first condition is satisfied when a state in which the absolute value of the reference value difference is less than the second predetermined difference continues for a predetermined number of times, and the absolute value of the reference value difference is less than the second predetermined difference. It may be determined that the first condition is satisfied when the difference is less than a predetermined difference smaller than .

When controlling the transmission 20 so that the gear ratio is reduced, and when the absolute value of the reference value difference is greater than or equal to the third predetermined difference, the control unit 14 reduces the lower limit threshold THL. The control unit 14 maintains the lower limit threshold THL when controlling the transmission 20 so that the gear ratio becomes smaller and when the absolute value of the reference value difference is less than the fourth predetermined difference. The fourth predetermined difference is set to a value equal to or less than the third predetermined difference. In one example, the fourth predetermined difference is set to the same value as the third predetermined difference. When controlling the transmission 20 so that the gear ratio becomes smaller, the control unit 14 may increase the lower limit threshold THL when the second condition is satisfied, and change the lower limit threshold THL to the initial lower limit threshold when the second condition is satisfied. You may return to THL. In one example, the control unit 14 may determine that the second condition is satisfied when the absolute value of the reference value difference is less than the fourth predetermined difference for a predetermined number of times, and the absolute value of the reference value difference is less than the fourth predetermined difference. It may be determined that the second condition is satisfied when the difference is less than a predetermined difference that is smaller than the fourth predetermined difference.

- In the second embodiment, when the human-powered vehicle A is traveling uphill, it is not necessary to prohibit shifting during the second period TM2. In one example, when the inclination angle of the human-powered vehicle A is equal to or greater than the threshold value AX, the control unit 14 does not prohibit shifting during the second period TM2. The inclination angle of the human-powered vehicle A includes, for example, a pitch angle. The threshold value AX is a value for determining that the human-powered vehicle A is traveling uphill, and is determined in advance through a test or the like.

- In the second embodiment, the control unit 14 may prohibit shifting during the third period TM3. In this case, when the control unit 14 executes the first process shown in FIG. 6, if the traveling speed of the human-powered vehicle A is smaller than the predetermined speed V1, or If the decreasing speed is greater than the predetermined speed V2, the prohibition of shifting is canceled. When the control unit 14 executes the second process shown in FIG. 7, if the first reference value is equal to or greater than the first threshold TH1 in the second period TM2, the control unit 14 cancels the prohibition of the gear change and changes the gear ratio of the human-powered vehicle A. The transmission 20 is controlled so that the speed increases. If the first reference value is less than the first threshold value TH1 in the second period TM2, the control unit 14 maintains prohibition of shifting.

- In the second embodiment, one of the process of step S42 and the process of step S44 may be omitted from the flowchart of FIG. If the process of step S42 is omitted, if the control unit 14 determines that it is the second period TM2, the process proceeds to step S44. If step S44 is omitted, the control unit 14 temporarily ends the process if the traveling speed of the human-powered vehicle A is lower than the predetermined speed V1.

- In the second embodiment, both the first process shown in FIG. 6 and the second process shown in FIG. 7 may be omitted. In this case, the control unit 14 executes the first control in the third period TM3. The first control limits the operation of the transmission 20 or prohibits shifting.

DESCRIPTION OF SYMBOLS 10...Transmission system, 12...Control device, 14...Control unit, 20...Transmission device, A...Human powered vehicle, B...Traveling drive mechanism, C...Crank, D1...Front sprocket (sprocket), D2...Rear sprocket (sprocket) ), WF...Front wheel, WR...Rear wheel.

Claims (9)

Equipped with a control unit that controls the transmission of the human-powered vehicle according to the transmission conditions,
The control unit includes:
When pedaling is started again from the coasting state, the transmission is operated for a third period, which is the sum of a first period from the start of the coasting state to the start of the pedaling, and a predetermined second period from the start of the pedaling. configured to perform a first control that limits the operation ;
A control device configured to not prohibit shifting in the second period when the traveling speed of the human-powered vehicle is lower than a predetermined speed . Equipped with a control unit that controls the transmission of the human-powered vehicle according to the transmission conditions,
The control unit includes:
When pedaling is started again from the coasting state, the transmission is operated for a third period, which is the sum of a first period from the start of the coasting state to the start of the pedaling, and a predetermined second period from the start of the pedaling. configured to perform a first control that limits the operation ;
A control device configured to not prohibit shifting in the second period if a reduction rate of the traveling speed of the human-powered vehicle in the first period is greater than a predetermined speed . comprising a control unit that controls the transmission to change the gear position of the transmission of the human-powered vehicle according to the shifting conditions;
When starting pedaling again from the coasting state, the control unit controls a third period that is the sum of a first period from the start of the coasting state to the start of the pedaling and a predetermined second period from the start of the pedaling. configured to execute a first control that limits the operation of the transmission over a period of time ,
The shift condition includes a first reference value,
The control unit includes:
When the first reference value becomes less than a first threshold value, a third control is executed to control the transmission so that the gear ratio of the human-powered vehicle becomes smaller;
When the first reference value becomes less than the first threshold value in the third period, the first control operates the transmission so that the number of gears to be changed is smaller than the number of gears to be changed by the third control. A control device configured to execute . Equipped with a control unit that controls the transmission of the human-powered vehicle according to the transmission conditions,
When starting pedaling again from the coasting state, the control unit controls a third period that is the sum of a first period from the start of the coasting state to the start of the pedaling and a predetermined second period from the start of the pedaling. configured to execute a first control that limits the operation of the transmission over a period of time ,
The second period is a predetermined period,
In the control device , the predetermined period is a predetermined time . comprising a control unit that controls the transmission to change the gear position of the transmission of the human-powered vehicle according to the shifting conditions;
When starting pedaling again from the coasting state, the control unit controls a third period that is the sum of a first period from the start of the coasting state to the start of the pedaling and a predetermined second period from the start of the pedaling. configured to execute a first control that limits the operation of the transmission over a period of time ,
The shift condition includes a first reference value,
The control unit includes:
When the first reference value becomes equal to or greater than a first threshold value, a second control is executed to control the transmission so that the gear ratio of the human-powered vehicle increases;
When the first reference value becomes equal to or greater than the first threshold value in the second period, the second control operates the transmission so that the number of gears to be changed is greater than the number of gears to be changed by the first control. A control device configured to execute . Equipped with a control unit that controls the transmission of the human-powered vehicle according to the transmission conditions,
The control unit includes:
When pedaling is started again from the coasting state, the transmission is operated for a third period, which is the sum of a first period from the start of the coasting state to the start of the pedaling, and a predetermined second period from the start of the pedaling. configured to perform a first control that limits the operation ;
A control device configured to perform the first control to operate the transmission so that the gear stage of the transmission becomes larger or smaller by a predetermined number of stages . 7. The control device according to claim 6 , wherein in the first control, the control unit operates the transmission to increase or decrease the gear position by one gear. Any one of claims 1 to 7 , wherein the control unit detects the coasting state according to at least one of a rotational state of a sprocket, a front wheel, a rear wheel, and a crank of the human-powered vehicle, and a pedal depression force. The control device according to item 1. A transmission system comprising the control device according to claim 1 and the transmission device.