JP7497214B2 - Control device and transmission system - Google Patents

Description

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

For example, Patent Document 1 discloses a control device for a human-powered vehicle. The control device for a human-powered vehicle in Patent Document 1 controls the transmission in accordance with predetermined conditions and changes the gear ratio.

Japanese Patent Application Laid-Open No. 10-511621

The object of the present invention is to provide a control device for a human-powered vehicle that can suitably change the gear ratio.

A control device according to a first aspect of the present invention is a control device for a human-powered vehicle, and includes a control unit that controls a transmission that changes a gear ratio, which is the ratio of the rotational speed of the wheels to the rotational speed of the crankshaft of the human-powered vehicle, and the control unit controls the transmission to change the gear ratio in response to a parameter related to the human-powered vehicle going from within a first range to outside the first range, and the control unit controls the transmission to suppress change in the gear ratio for a predetermined period of time after controlling the transmission to change the gear ratio, and the predetermined period varies depending on information related to the human-powered vehicle.
According to the control device of the first aspect, the predetermined period for suppressing a change in the gear ratio varies depending on the information related to the human-powered vehicle. As a result, the control device of the first aspect can suppress unintended gear shifts and therefore can preferably change the gear ratio.

In the control device of a second aspect according to the first aspect, the information relating to the human-powered vehicle includes at least one of the rotational speed of the crankshaft, the torque acting on the crankshaft, the power acting on the crankshaft, the vehicle speed of the human-powered vehicle, the inclination angle of the human-powered vehicle, the direction of change of the gear ratio of the human-powered vehicle, and the output value of the motor that provides driving force to the human-powered vehicle.
According to the control device of the second aspect, the predetermined period during which a change in the gear ratio can be suppressed can be set using suitable information about the human-powered vehicle, thereby suppressing unintended gear changes.

In the control device of a third aspect according to the second aspect, the first range includes a first threshold value and a second threshold value smaller than the first threshold value, and the control unit controls the transmission in a first shift direction so that the gear ratio becomes larger when the parameter is equal to or greater than the first threshold value, and controls the transmission in a second shift direction so that the gear ratio becomes smaller when the parameter is equal to or less than the second threshold value.
According to the control device of the third aspect, the gear ratio of the human-powered vehicle can be suitably changed.

In the control device of a fourth aspect according to the third aspect, the parameters include at least one of the rotational speed of the crankshaft, the torque acting on the crankshaft, the power acting on the crankshaft, the vehicle speed of the human-powered vehicle, the inclination angle of the human-powered vehicle, the direction of change of the gear ratio of the human-powered vehicle, and the output mode of the motor that provides driving force to the human-powered vehicle.
According to the control device of the fourth aspect, the gear ratio of the human-powered vehicle can be suitably changed by suitable parameters.

In a control device of a fifth aspect according to the third or fourth aspect, the information about the human-powered vehicle includes a torque acting on the crankshaft, the parameters include a rotational speed of the crankshaft, and the control unit, after controlling the transmission in the second shifting direction, inhibits control of the transmission in the first shifting direction for the predetermined period of time, and the greater the torque, the longer the predetermined period.
According to the control device of the fifth aspect, the greater the torque acting on the crankshaft, the longer the predetermined period is set, thereby preventing unintended changes in the gear ratio of the human-powered vehicle.

In a control device of a sixth aspect according to any one of the third to fifth aspects, the information relating to the human-powered vehicle includes a torque acting on the crankshaft, the parameters include a rotational speed of the crankshaft, and after controlling the transmission in the second shifting direction, the control unit inhibits control of the transmission in the second shifting direction for the predetermined period of time, and the greater the torque, the longer the predetermined period.
According to the control device of the sixth aspect, the greater the torque acting on the crankshaft, the longer the predetermined period is set, thereby preventing unintended changes in the gear ratio of the human-powered vehicle.

In a control device of a seventh aspect according to any one of the third to sixth aspects, the predetermined period includes a first predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a rotational speed of the crankshaft, and when the torque is equal to or greater than a first predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the first predetermined period after controlling the transmission in the second shifting direction.
According to the control device of the seventh aspect, when the torque acting on the crankshaft is equal to or greater than the first predetermined value, the gear shift in the first gear shift direction is suppressed for a first predetermined period of time, thereby suppressing unintended changes in the gear ratio of the human-powered vehicle.

In the control device of an eighth aspect according to any one of the third to seventh aspects, the predetermined period includes a second predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a rotational speed of the crankshaft, and when the torque is less than a second predetermined value, the control unit, after controlling the transmission in the second shifting direction, inhibits control of the transmission in the first shifting direction for the second predetermined period.
According to the control device of the eighth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a ninth aspect according to any one of the third to eighth aspects, the predetermined period includes a third predetermined period, the information about the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a rotational speed of the crankshaft, and when the torque is equal to or greater than a third predetermined value, after controlling the transmission in the second shifting direction, the control unit inhibits control of the transmission in the second shifting direction for the third predetermined period.
According to the control device of the ninth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In a control device of a tenth aspect according to any one of the third to ninth aspects, the predetermined period includes a fourth predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a rotational speed of the crankshaft, and when the torque is less than a fourth predetermined value, after controlling the transmission in the second shifting direction, the control unit inhibits control of the transmission in the second shifting direction for the fourth predetermined period.
According to the control device of the tenth aspect, unintended changes in the gear ratio of the human-powered vehicle are suppressed.

In the control device of an eleventh aspect according to any one of the third to tenth aspects, the predetermined period includes a fifth predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a vehicle speed of the human-powered vehicle, and when the torque is equal to or greater than a fifth predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the fifth predetermined period after controlling the transmission in the second shifting direction.
According to the control device of the eleventh aspect, unintended changes in the gear ratio of the human-powered vehicle are suppressed.

In a control device of a twelfth aspect according to any one of the third to eleventh aspects, the predetermined period includes a sixth predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a vehicle speed of the human-powered vehicle, and when the torque is less than a sixth predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the sixth predetermined period after controlling the transmission in the second shifting direction.
According to the control device of the twelfth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a thirteenth aspect according to any one of the third to twelfth aspects, the predetermined period includes a seventh predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a vehicle speed of the human-powered vehicle, and when the torque is equal to or greater than a seventh predetermined value, after controlling the transmission in the second shifting direction, the control unit suppresses control of the transmission in the second shifting direction for the seventh predetermined period.
According to the control device of the thirteenth aspect, unintended changes in the gear ratio of the human-powered vehicle are suppressed.

In a control device of a fourteenth aspect according to any one of the third to thirteenth aspects, the predetermined period includes an eighth predetermined period, the information related to the human-powered vehicle includes a torque acting on the crankshaft, the parameter includes a vehicle speed of the human-powered vehicle, and when the torque is less than an eighth predetermined value, after controlling the transmission in the second shifting direction, the control unit inhibits control of the transmission in the second shifting direction for the eighth predetermined period.
According to the control device of the fourteenth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a fifteenth aspect according to any one of the third to fourteenth aspects, the predetermined period includes a ninth predetermined period and a tenth predetermined period, the information about the human-powered vehicle includes a rotational speed of the crankshaft, the parameter includes the rotational speed of the crankshaft, and the control unit, when the rotational speed of the crankshaft is equal to or greater than a third threshold value that is greater than the first threshold value, suppresses control of the transmission in the first shift direction for the ninth predetermined period after controlling the transmission in the first shift direction, and when the rotational speed of the crankshaft is greater than the first threshold value and less than the third threshold value, suppresses control of the transmission in the first shift direction for the tenth predetermined period after controlling the transmission in the first shift direction, and the ninth predetermined period is shorter than the tenth predetermined period.
According to the control device of the fifteenth aspect, unintended changes in the gear ratio of the human-powered vehicle are suppressed.

In the control device of a sixteenth aspect according to the fifteenth aspect, the information about the human-powered vehicle further includes a torque acting on the crankshaft, and the larger the torque, the smaller the third threshold value.
According to the control device of the sixteenth aspect, an appropriate third threshold value is set, so that unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In a control device of a 17th aspect which follows any one of the third to sixteenth aspects, the information relating to the human-powered vehicle includes a torque acting on the crankshaft, the parameters include a rotational speed of the crankshaft, and after controlling the transmission in the first shifting direction, the control unit suppresses control of the transmission in the first shifting direction for the predetermined period, and the greater the torque, the longer the predetermined period.
According to the control device of the seventeenth aspect, by determining the predetermined period, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of an 18th aspect according to any one of the third to seventeenth aspects, the specified period includes an eleventh specified period, and the control unit suppresses control of the transmission in the second shifting direction for the eleventh specified period after controlling the transmission to change the gear ratio in response to an operation signal from an operation device operated by a user of the human-powered vehicle.
According to the control device of the eighteenth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a 19th aspect according to any one of the third to eighteenth aspects, the specified period includes a 12th specified period, and the control unit suppresses control of the transmission in the first gear shifting direction for the 12th specified period after controlling the transmission to change the gear ratio in response to an operation signal from an operation device operated by a user of the human-powered vehicle.
According to the control device of the nineteenth aspect, unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a 20th aspect according to any one of the third to nineteenth aspects, the predetermined period includes an eleventh predetermined period and a twelfth predetermined period, and the control unit, after controlling the transmission to change the gear ratio by an operation signal from an operation device operated by a user of the human-powered vehicle, suppresses control of the transmission in the second gear shifting direction for the eleventh predetermined period, and the control unit, after controlling the transmission to change the gear ratio by the operation signal, suppresses control of the transmission in the first gear shifting direction for the twelfth predetermined period, and the twelfth predetermined period is longer than the eleventh predetermined period.
According to the control device of the twentieth aspect, unintended changes to the gear ratio of the human-powered vehicle after the user has changed the gear ratio are suppressed.

In the control device of a 21st aspect according to any one of the third to 20th aspects, the control unit controls the transmission device with a first control state and a second control state different from the first control state, and the first control state and the second control state differ in at least one of the predetermined periods.
According to the control device of the twenty-first aspect, the predetermined period can be set for each control state, so that unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a twenty-second aspect according to the twenty-first aspect, an output mode of a motor that provides driving force to the human-powered vehicle includes a first output mode in the first control state and a second output mode in the second control state, and the first output mode is different from the second output mode.
According to the control device of the twenty-second aspect, an appropriate predetermined period is set according to the output mode of the motor, so that unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a twenty-third aspect according to the twenty-first or twenty-second aspect, the control unit controls the transmission in a third control state and a fourth control state different from the third control state, the third control state and the fourth control state differ in at least one of the predetermined periods, and in the third control state, when the gear ratio is less than a first upper limit gear ratio, the control unit controls the transmission in a first gear shift direction so that the gear ratio becomes larger when the parameter becomes equal to or greater than the first threshold value, and In this case, even if the parameter becomes equal to or greater than the first threshold value, the transmission is not controlled in the first gear shift direction so as to increase the gear ratio, and in the fourth control state, if the gear ratio is less than a second upper limit gear ratio that is greater than the first upper limit gear ratio, when the parameter becomes equal to or greater than the first threshold value, the transmission is controlled in the first gear shift direction so as to increase the gear ratio, and when the gear ratio is equal to or greater than the second upper limit gear ratio, even if the parameter becomes equal to or greater than the first threshold value, the transmission is not controlled in the first gear shift direction so as to increase the gear ratio.
According to the control device of the twenty-third aspect, the predetermined period can be set for each control state, so that unintended changes to the gear ratio of the human-powered vehicle are suppressed.

In the control device of a 24th aspect according to any one of the 21st to 23rd aspects, the control unit controls the transmission in a third control state and a fourth control state different from the third control state, the third control state and the fourth control state differ in at least one of the predetermined periods, and the control unit controls the transmission so that the gear ratio becomes a first starting gear ratio when the vehicle speed of the human-powered vehicle becomes equal to or lower than a predetermined vehicle speed in the third control state, and controls the transmission so that the gear ratio becomes a second starting gear ratio different from the first starting gear ratio when the vehicle speed becomes equal to or lower than the predetermined vehicle speed in the fourth control state.
According to the control device of the twenty-fourth aspect, the gear ratio of the human-powered vehicle is appropriately set.

In the control device of a 25th aspect according to any one of the first to 24th aspects, the control unit further controls a suspension of the human-powered vehicle and at least one of an adjustable seat post of the human-powered vehicle based on the first range and the parameter.
The control device of the twenty-fifth aspect can contribute to the optimal running of a human-powered vehicle.

A control device according to a twenty-sixth aspect of the present invention is a transmission system including a control device and the transmission device.
The speed change system of the twenty-sixth aspect can contribute to the optimal running of a human-powered vehicle.

The control device and gear shift system of the present invention allow for optimal control of the gear shift device.

1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. 1 is a block diagram showing an electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment; 6 is a graph showing an example of a relationship between a parameter detected by a detection unit and a threshold value. 4 is a flowchart showing an example of a procedure of shift suppression control executed by a control unit of the first embodiment.

First Embodiment
A shifting system S including the control device 50 and the transmission 38 of the first embodiment will be described with reference to FIG. 1 to FIG. 4. In the following, the control device 50 for the human-powered vehicle 10 will be simply referred to as the control device 50. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven at least by human-powered driving force. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes, for example, one-wheeled vehicles and vehicles with three or more wheels. The human-powered vehicle 10 is not limited to vehicles that can be driven only by human-powered driving force. The human-powered vehicle 10 includes not only human-powered driving force but also E-bikes that use the driving force of an electric motor for propulsion. The E-bike includes an electrically assisted bicycle whose propulsion is assisted by an electric motor. In the following embodiment, the human-powered vehicle 10 will be described as a bicycle.

The human-powered vehicle 10 includes a crank 12 to which a human-powered driving force is input. The human-powered vehicle 10 further includes wheels 14 and a vehicle body 16. The wheels 14 include a rear wheel 14A and a front wheel 14B. The vehicle body 16 includes a frame 18. The crank 12 includes a crank shaft 12A that can rotate relative to the frame 18, and a pair of crank arms 12B that are respectively provided at the axial ends of the crank shaft 12A. A pair of pedals 20 are respectively connected to each crank arm 12B. The rear wheel 14A is driven by the rotation of the crank 12. The rear wheel 14A is supported by the frame 18. The crank 12 is connected to the rear wheel 14A by a drive mechanism 22. The drive mechanism 22 includes a first rotating body 24 that is connected to the crank shaft 12A. The crankshaft 12A may be connected to the first rotating body 24 so as to rotate integrally with it, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 24 forward when the crank 12 rotates forward, and to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes a sprocket, a pulley, or a bevel gear. The drive mechanism 22 further includes a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain, a belt, or a shaft.

The second rotating body 26 is connected to the rear wheel 14A. The second rotating body 26 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 26 and the rear wheel 14A. The second one-way clutch is configured to rotate the rear wheel 14A forward when the second rotating body 26 rotates forward, and to allow relative rotation between the second rotating body 26 and the rear wheel 14A when the second rotating body 26 rotates backward.

A front wheel 14B is attached to the frame 18 via a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In this embodiment, the rear wheel 14A is connected to the crank 12 by the drive mechanism 22, but at least one of the rear wheel 14A and the front wheel 14B may be connected to the crank 12 by the drive mechanism 22.

Preferably, the human-powered vehicle 10 further includes a battery 36. The battery 36 includes one or more battery elements. The battery elements include a rechargeable battery. The battery 36 is configured to supply power to the control device 50. The battery 36 is preferably connected to the control unit 52 of the control device 50 so as to be able to communicate with the control unit 52 via wired or wireless communication. The battery 36 can communicate with the control unit 52, for example, via power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver/transmitter (UART).

The human-powered vehicle 10 is equipped with a transmission 38. The transmission 38 changes the gear ratio, which is the ratio of the rotational speed of the wheel 14 to the rotational speed of the crankshaft 12A of the human-powered vehicle 10. In this embodiment, the drive wheel is the rear wheel 14A. The transmission 38 includes at least one of a front derailleur, a rear derailleur, and an internal gearbox. When the transmission 38 includes an internal gearbox, the internal gearbox is provided, for example, in the hub of the rear wheel 14A. The transmission 38 is configured to be operated by an actuator 38A. The actuator 38A includes an electric actuator. The actuator 38A includes, for example, an electric motor.

The human-powered vehicle 10 further includes a detection unit 40. The detection unit 40 is configured to detect information about the human-powered vehicle 10 and a parameter P. The information about the human-powered vehicle 10 includes at least one of the rotation speed of the crankshaft 12A, the torque acting on the crankshaft 12A, the power acting on the crankshaft 12A, the vehicle speed of the human-powered vehicle 10, the tilt angle of the human-powered vehicle 10, the direction of change in the gear ratio of the human-powered vehicle 10, and the output value of the motor 58 that provides driving force to the human-powered vehicle 10. The parameter P includes at least one of the rotation speed of the crankshaft 12A, the torque acting on the crankshaft 12A, the power acting on the crankshaft 12A, the vehicle speed of the human-powered vehicle 10, the tilt angle of the human-powered vehicle 10, the direction of change in the gear ratio of the human-powered vehicle 10, and the output mode of the motor 58 that provides driving force to the human-powered vehicle 10. When the information or parameter P related to the human-powered vehicle 10 includes the rotation speed of the crankshaft 12A, the detection unit 40 includes a crank rotation sensor 42. When the information or parameter P related to the human-powered vehicle 10 includes the vehicle speed, the detection unit 40 includes a vehicle speed sensor 44. When the information or parameter P related to the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, the detection unit 40 includes a human-powered driving force detection unit 46. When the information or parameter P related to the human-powered vehicle 10 includes the power, the detection unit 40 includes the crank rotation sensor 42 and a human-powered driving force detection unit 46. When the information or parameter P related to the human-powered vehicle 10 includes the tilt angle, the detection unit 40 includes an tilt detection unit 48. When the information or parameter P related to the human-powered vehicle 10 includes the direction of change of the gear ratio, the detection unit 40 is configured to be able to detect the direction of change of the gear ratio by the transmission 38. When the information about the human-powered vehicle 10 includes the output value of the motor 58 that provides driving force to the human-powered vehicle 10, the detection unit 40 is configured to be able to detect the output of the motor 58.

Preferably, the detection unit 40 is configured to detect the parameter P two or more times in a predetermined period TA. The predetermined period TA is, for example, the period for one rotation of the crank 12, the period for one rotation of the wheel 14, and a predetermined time TB. The predetermined time TB is set to, for example, a time shorter than the time it takes for the crank 12 to rotate once when a typical rider drives the human-powered vehicle 10 on a flat road. The detection unit 40 may be configured to detect the parameter P once in the predetermined period TA.

The crank rotation sensor 42 is configured to detect information corresponding to the rotation speed of the crankshaft 12A. The crank rotation sensor 42 is provided, for example, on the frame 18 of the human-powered vehicle 10. The crank rotation sensor 42 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet whose magnetic field strength changes in the circumferential direction is provided on the crankshaft 12A, a member that rotates in conjunction with the crankshaft 12A, or a power transmission path between the crankshaft 12A and the first rotating body 24. The crank rotation sensor 42 outputs a signal corresponding to the rotation speed of the crank 12. The magnet may be provided on a member that rotates integrally with the crankshaft 12A in the power transmission path of the human-powered driving force from the crankshaft 12A to the first rotating body 24. For example, the magnet may be provided on the first rotating body 24 when a first one-way clutch is not provided between the crankshaft 12A and the first rotating body 24. The crank rotation sensor 42 may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 42 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the crank rotation sensor 42 is configured to output a predetermined number of detection signals during one rotation of the crank 12. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. The predetermined number is preferably a multiple of 4. Preferably, the predetermined number is 8, 12, or 16. The crank rotation sensor 42 may be configured to include a vehicle speed sensor. When the crank rotation sensor 42 includes a vehicle speed sensor, for example, the control unit 52 is configured to calculate the rotation speed of the crank 12 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio.

The vehicle speed sensor 44 is configured to detect information corresponding to the rotation speed of the wheels 14 of the human-powered vehicle 10. The vehicle speed sensor 44 is configured to detect, for example, a magnet provided on the wheels 14 of the human-powered vehicle 10. The vehicle speed sensor 44 outputs a signal corresponding to the rotation speed of the wheels 14. The control unit 52 can calculate the vehicle speed of the human-powered vehicle 10 based on the rotation speed of the wheels 14 and information related to the circumference of the wheels 14. Information related to the circumference of the wheels 14 is stored in the memory unit 54. The vehicle speed sensor 44 includes, for example, a magnetic reed constituting a reed switch, or a Hall element. The vehicle speed sensor 44 may be attached to the chain stay of the frame 18 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 14A, or may be provided on the front fork 30 and configured to detect a magnet attached to the front wheel 14B. The vehicle speed sensor 44 is not limited to a configuration that detects a magnet provided on the wheels 14, and may be configured to include, for example, an optical sensor. The vehicle speed sensor 44 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the vehicle speed sensor 44 is configured to output a detection signal a predetermined number of times, for example, during one rotation of the wheel 14. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. The predetermined number is preferably a multiple of 4. Preferably, the predetermined number is 8, 12, or 16. In this embodiment, the vehicle speed sensor 44 is configured so that the reed switch detects the magnet two or more times when the wheel 14 rotates once.

The human-powered driving force detection unit 46 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the human-powered driving force. For example, when a first one-way clutch is provided in the power transmission path, the torque sensor is preferably provided upstream of the first one-way clutch in the power transmission path. The torque sensor includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The torque sensor is provided in the power transmission path or in a member included in the power transmission path in the vicinity of a member included in the power transmission path. The member included in the power transmission path is, for example, the crankshaft 12A, a member that transmits the human-powered driving force between the crankshaft 12A and the first rotating body 24, the crank arm 12B, or the pedal 20. The torque sensor is connected to the control unit 52 via a wireless communication device or an electric cable. The human-powered driving force detection unit 46 may have any configuration as long as it can acquire information about the human-powered driving force, and may include, for example, a sensor that detects the pressure applied to the pedal 20 or a sensor that detects the tension of the chain. Preferably, the torque sensor is configured to output a predetermined number of detection signals during one rotation of the crank 12. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. The predetermined number is preferably a multiple of 4. Preferably, the predetermined number is 8, 12, or 16.

The inclination detection unit 48 is configured to detect the inclination angle of the road surface on which the human-powered vehicle 10 runs. The inclination angle of the road surface on which the human-powered vehicle 10 runs can be detected by the inclination angle in the traveling direction of the human-powered vehicle 10. The inclination angle of the road surface on which the human-powered vehicle 10 runs corresponds to the inclination angle of the human-powered vehicle 10. In one example, the inclination detection unit 48 includes an inclination sensor. An example of the inclination sensor is a gyro sensor or an acceleration sensor. In another example, the inclination detection unit 48 includes a GPS (Global positioning system) receiving unit. The control unit 52 may calculate the inclination angle of the road surface on which the human-powered vehicle 10 runs according to the GPS information acquired by the GPS receiving unit and the road surface gradient included in the map information previously recorded in the memory unit 54. The inclination detection unit 48 is connected to the control unit 52 via a wireless communication device or an electric cable. Preferably, the inclination detection unit 48 is configured to output a predetermined number of detection signals at a predetermined time TB. The predetermined number is, for example, 2 or more. Preferably, the predetermined number is 4 or more. Preferably, the predetermined number is a multiple of 4. Preferably, the predetermined number is 8, 12, or 16.

The control device 50 includes a control unit 52. The control unit 52 controls the transmission 38. The control unit 52 includes a calculation processing unit that executes a predetermined control program. The calculation processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The calculation processing unit may be provided in multiple locations that are separated from each other. The control unit 52 may include one or multiple microcomputers. Preferably, the control device 50 further includes a memory unit 54. The memory unit 54 stores various control programs and information used in various control processes. The memory unit 54 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random access memory). The memory unit 54 stores the output mode of the motor 58.

The human-powered vehicle 10 further includes an alarm unit 56 that displays information related to the human-powered vehicle 10. The control unit 52 controls the alarm unit 56. The alarm unit 56 includes, for example, a display unit. The display unit includes, for example, a display panel. The display unit includes, for example, at least one of a portable electronic device, a display, a smartphone, a tablet computer, and a cycle computer. The alarm unit 56 may include a speaker. The information related to the human-powered vehicle 10 includes the vehicle speed of the human-powered vehicle 10 and the gear ratio of the human-powered vehicle 10.

The human-powered vehicle 10 further includes a motor 58 that provides driving force to the human-powered vehicle 10. The motor 58 provides propulsive force to the human-powered vehicle 10. The motor 58 includes one or more electric motors. The electric motor is, for example, a brushless motor. The motor 58 is configured to transmit rotational force to at least one of the power transmission path of the human-powered driving force from the pedals 20 to the rear wheel 14A and the front wheel 14B. The power transmission path of the human-powered driving force from the pedals 20 to the rear wheel 14A also includes the rear wheel 14A.

The human-powered vehicle 10 further includes an operating device 60 that receives operations from the user and outputs a predetermined signal to at least the control unit 52. The operating device 60 outputs an operating signal that changes at least the gear ratio of the transmission 38. The operating signal includes a first operating signal that changes the gear ratio in a first gear shift direction, and a second operating signal that changes the gear ratio in a second gear shift direction. Preferably, the operating device 60 is composed of multiple operating units, and outputs the first gear shift signal or the second gear shift signal when the user operates the corresponding operating unit.

The gear shift control executed by the control unit 52 will be described with reference to FIG. 3. In the gear shift control, the control unit 52 controls the transmission 38 to change the gear ratio in response to a parameter related to the human-powered vehicle 10 going from within a first range to outside the first range. The first range includes a first threshold value TH1 and a second threshold value TH2 that is smaller than the first threshold value TH1. When the parameter P is equal to or greater than the first threshold value TH1, the control unit 52 controls the transmission 38 in the first gear shift direction to increase the gear ratio, and when the parameter P is equal to or less than the second threshold value TH2, the control unit 52 controls the transmission 38 in the second gear shift direction to decrease the gear ratio of the human-powered vehicle 10.

The shift suppression control executed by the control unit 52 will be described. The control unit 52 controls the transmission 38 to suppress the change in the gear ratio for a predetermined period of time after controlling the transmission 38 to change the gear ratio. The predetermined period differs depending on the information about the human-powered vehicle 10. In one example, when the information about the human-powered vehicle 10 includes the rotation speed of the crankshaft 12A, the predetermined period is set based on the magnitude of the rotation speed of the crankshaft 12A. When the information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, the predetermined period is set based on the magnitude of the torque. When the information about the human-powered vehicle 10 includes the power acting on the crankshaft 12A, the predetermined period is set based on the magnitude of the power. The power is defined as the product of the rotation speed and the torque of the crankshaft 12A. When the information about the human-powered vehicle 10 includes the vehicle speed of the human-powered vehicle 10, the predetermined period is set based on the value of the vehicle speed. When the information about the human-powered vehicle 10 includes the tilt angle of the human-powered vehicle 10, the predetermined period is set based on the value of the tilt angle. If the information about the human-powered vehicle 10 includes the direction of change in the gear ratio of the human-powered vehicle 10, the predetermined period is set based on whether the gear change direction is the first gear change direction or the second gear change direction. If the information about the human-powered vehicle 10 includes the output value of the motor 58 that provides driving force to the human-powered vehicle 10, the predetermined period is set according to the output value of the motor 58.

In one example, the information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the rotational speed of the crankshaft 12A. After controlling the transmission 38 in the second shift direction, the control unit 52 suppresses control of the transmission 38 in the first shift direction for a predetermined period, and the larger the torque, the longer the predetermined period. After controlling the transmission 38 in the second shift direction, the control unit 52 suppresses control of the transmission 38 in the second shift direction for a predetermined period, and the larger the torque, the longer the predetermined period. The predetermined period is set arbitrarily. In a first example, the predetermined period is set depending on whether the value of the torque, which is information about the human-powered vehicle 10, is equal to or greater than a predetermined value. The length of the predetermined period when the torque value is equal to or greater than the predetermined value is longer than the length of the predetermined period when the torque value is less than the predetermined value. In a second example, the predetermined period changes continuously depending on the value of the torque. The control unit 52 references, for example, a conversion table or a conversion formula stored in the memory unit 54 that indicates the correspondence between the torque value and the predetermined period, and sets the length of the predetermined period according to the torque value.

The first shift suppression control executed by the control unit 52 will be described. The first shift suppression control is a control that suppresses a shift in the first shift direction after changing the gear ratio. In the first shift suppression control, the predetermined period includes a first predetermined period. The information about the human-powered vehicle 10 includes a torque acting on the crankshaft 12A, and the parameter P includes the rotation speed of the crankshaft 12A. When the torque is equal to or greater than a first predetermined value, the control unit 52 controls the transmission 38 in the second shift direction and then suppresses control of the transmission 38 in the first shift direction for the first predetermined period. In the first shift suppression control, the predetermined period includes a second predetermined period. The information about the human-powered vehicle 10 includes a torque acting on the crankshaft 12A, and the parameter P includes the rotation speed of the crankshaft 12A. When the torque is less than a second predetermined value, the control unit 52 controls the transmission 38 in the second shift direction and then suppresses control of the transmission 38 in the first shift direction for the second predetermined period. The first and second predetermined periods may be the same length or different lengths. The first and second predetermined values may be the same value or the first predetermined value may be greater than the second predetermined value.

The second shift suppression control executed by the control unit 52 will be described. The second shift suppression control is a control that suppresses a shift in the second shift direction after changing the gear ratio. In the second shift suppression control, the predetermined period includes a third predetermined period. The information about the human-powered vehicle 10 includes a torque acting on the crankshaft 12A, and the parameter P includes the rotational speed of the crankshaft 12A. When the torque is equal to or greater than a third predetermined value, the control unit 52 controls the transmission 38 in the second shift direction and then suppresses control of the transmission 38 in the second shift direction for a third predetermined period. In the second shift suppression control, the predetermined period includes a fourth predetermined period. The information about the human-powered vehicle 10 includes a torque acting on the crankshaft 12A, and the parameter P includes the rotational speed of the crankshaft 12A. When the torque is less than a fourth predetermined value, the control unit 52 controls the transmission 38 in the second shift direction and then suppresses control of the transmission 38 in the second shift direction for a fourth predetermined period. The third and fourth predetermined periods may be the same length or different lengths. The third and fourth predetermined values may be the same value or the third predetermined value may be greater than the fourth predetermined value.

The third shift suppression control executed by the control unit 52 will be described. The third shift suppression control is a control in which the parameter P and the predetermined value to be referenced are different from those of the first shift suppression control. In the third shift suppression control, the predetermined period includes a fifth predetermined period. The information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the vehicle speed of the human-powered vehicle 10. When the torque is equal to or greater than a fifth predetermined value, the control unit 52 controls the transmission 38 in the second shift direction, and then suppresses control of the transmission 38 in the first shift direction for a fifth predetermined period. In the third shift suppression control, the predetermined period includes a sixth predetermined period. The information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the vehicle speed of the human-powered vehicle 10. When the torque is less than a sixth predetermined value, the control unit 52 controls the transmission 38 in the second shift direction, and then suppresses control of the transmission 38 in the first shift direction for a sixth predetermined period. The fifth and sixth predetermined periods may be the same length or different lengths. The fifth and sixth predetermined values may be the same value or the fifth predetermined value may be greater than the sixth predetermined value.

The control unit 52 estimates the rotational speed of the crankshaft 12A of the human-powered vehicle 10 from the vehicle speed of the human-powered vehicle 10. The control unit 52 refers to the estimated rotational speed of the crankshaft 12A as a parameter P. Hereinafter, the estimated rotational speed of the crankshaft 12A may be simply referred to as the estimated rotational speed. The estimated rotational speed is calculated, for example, from the circumference of the wheels 14 of the human-powered vehicle 10 and the gear ratio of the transmission 38.

The fourth shift inhibition control executed by the control unit 52 will be described. The fourth shift inhibition control is a control in which the parameter P and the predetermined value to be referenced are different from those of the second shift inhibition control. In the fourth shift inhibition control, the predetermined period includes a seventh predetermined period. The information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the vehicle speed of the human-powered vehicle 10. When the torque is equal to or greater than the seventh predetermined value, the control unit 52 controls the transmission 38 in the second shift direction, and then inhibits control of the transmission 38 in the second shift direction for the seventh predetermined period. In the fourth shift inhibition control, the predetermined period includes an eighth predetermined period. The information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the vehicle speed of the human-powered vehicle 10. When the torque is less than the eighth predetermined value, the control unit 52 controls the transmission 38 in the second shift direction, and then inhibits control of the transmission 38 in the second shift direction for the eighth predetermined period. The seventh and eighth predetermined periods may be the same length or different lengths. The seventh and eighth predetermined values may be the same value or the seventh predetermined value may be greater than the eighth predetermined value.

Preferably, when the parameter P is the estimated rotation speed, the length of the predetermined period is shorter than when the parameter P is the rotation speed of the crankshaft 12A detected by the detection unit 40. The fifth predetermined period is shorter than the first predetermined period. In one example, the fifth predetermined period is 2 seconds, and the first predetermined period is 5 seconds. The sixth predetermined period is shorter than the second predetermined period. In one example, the sixth predetermined period is 1 second, and the second predetermined period is 3 seconds. The seventh predetermined period is shorter than the third predetermined period. In one example, the seventh predetermined period is 1 second, and the third predetermined period is 2 seconds. The eighth predetermined period is shorter than the fourth predetermined period. In one example, the eighth predetermined period is 0 seconds, and the fourth predetermined period is 1 second.

The fifth shift suppression control executed by the control unit 52 will be described. In the fifth shift suppression control, the predetermined period includes a ninth predetermined period and a tenth predetermined period. The information on the human-powered vehicle 10 includes the rotation speed of the crankshaft 12A, and the parameter P includes the rotation speed of the crankshaft 12A. When the rotation speed of the crankshaft 12A is equal to or greater than the third threshold TH3 that is greater than the first threshold TH1, the control unit 52 controls the transmission 38 in the first shift direction and then suppresses control of the transmission 38 in the first shift direction for a ninth predetermined period. When the rotation speed of the crankshaft 12A is greater than the first threshold TH1 and less than the third threshold TH3, the control unit 52 controls the transmission 38 in the first shift direction and then suppresses control of the transmission 38 in the first shift direction for a tenth predetermined period. The ninth predetermined period is shorter than the tenth predetermined period. In the fifth shift suppression control, the information about the human-powered vehicle 10 further includes the torque acting on the crankshaft 12A, and the larger the torque, the smaller the third threshold value. In one example, the first threshold value is 80 rpm. The third threshold value is 100 rpm. When the information about the human-powered vehicle 10 further includes the torque acting on the crankshaft 12A, the third threshold value is reduced according to the value of the torque. In one example, when the value of the torque is equal to or greater than a predetermined value, the third threshold value is 90 rpm. In another example, the control unit 52 sets the third threshold value to an arbitrary value greater than 80 rpm and less than 100 rpm according to the value of the torque.

The sixth shift suppression control executed by the control unit 52 will be described. The sixth shift suppression control is a control that suppresses changes in the gear ratio in the first shift direction and the second shift direction for a predetermined period after changing the gear ratio in the first shift direction. In the sixth shift suppression control, the information about the human-powered vehicle 10 includes the torque acting on the crankshaft 12A, and the parameter P includes the rotation speed of the crankshaft 12A. After controlling the gear shift device 38 in the first shift direction, the control unit 52 suppresses control of the gear shift device 38 in the first shift direction for a predetermined period, and the larger the torque, the longer the predetermined period. The predetermined period is set arbitrarily. In a first example, the predetermined period is set depending on whether the value of the torque, which is information about the human-powered vehicle 10, is equal to or greater than a predetermined value. The length of the predetermined period when the torque value is equal to or greater than the predetermined value is longer than the length of the predetermined period when the torque value is less than the predetermined value. In a second example, the predetermined period changes continuously depending on the torque value. The control unit 52 references, for example, a conversion table or a conversion formula stored in the memory unit 54 that indicates the correspondence between the torque value and the predetermined period, and sets the length of the predetermined period according to the torque value.

The seventh shift suppression control executed by the control unit 52 will be described. In the seventh shift suppression control, in a first example, the predetermined period includes an eleventh predetermined period. The control unit 52 controls the transmission 38 to change the gear ratio by an operation signal from the operation device 60 operated by the user of the human-powered vehicle 10, and then suppresses control of the transmission 38 in the second shift direction for an eleventh predetermined period. The operation signal includes either the first operation signal or the second operation signal. In the seventh shift suppression control, in a second example, the predetermined period includes a twelfth predetermined period. The control unit 52 controls the transmission 38 to change the gear ratio by an operation signal from the operation device 60 operated by the user of the human-powered vehicle 10, and then suppresses control of the transmission 38 in the first shift direction for a twelfth predetermined period. In the seventh shift suppression control, in a third example, the predetermined period includes the eleventh predetermined period and the twelfth predetermined period. The control unit 52 controls the transmission 38 to change the gear ratio in response to an operation signal from the operation device 60 operated by the user of the human-powered vehicle 10, and then suppresses control of the transmission 38 in the second gear shifting direction for an eleventh predetermined period. The control unit 52 controls the transmission 38 to change the gear ratio in response to an operation signal, and then suppresses control of the transmission 38 in the first gear shifting direction for a twelfth predetermined period. The twelfth predetermined period is longer than the eleventh predetermined period. In one example, the eleventh predetermined period is five seconds, and the twelfth predetermined period is ten seconds.

The control unit 52 executes at least one of the first gear shift inhibiting control to the seventh gear shift inhibiting control while power is being supplied from the battery 36 of the human-powered vehicle 10. In a first example, the control unit 52 executes the first gear shift inhibiting control and the second gear shift inhibiting control. In a second example, the control unit 52 executes the third gear shift inhibiting control and the fourth gear shift inhibiting control. In a third example, the control unit 52 executes the fifth gear shift inhibiting control. In a fourth example, the control unit 52 executes the sixth gear shift inhibiting control. In a fifth example, the control unit 52 executes the seventh gear shift inhibiting control. In a sixth example, the control unit 52 executes two or more of the first to fifth examples. In a seventh example, the control unit 52 executes any one of the first gear shift inhibiting control to the seventh gear shift inhibiting control. In an eighth example, the control unit 52 executes all of the first gear shift inhibiting control to the seventh gear shift inhibiting control.

Each of the predetermined periods will be described. The first predetermined period is different in length from at least one of the second predetermined period, the third predetermined period, the fourth predetermined period, the fifth predetermined period, the sixth predetermined period, the seventh predetermined period, the eighth predetermined period, the ninth predetermined period, the tenth predetermined period, the eleventh predetermined period, and the twelfth predetermined period. The second predetermined period is different in length from at least one of the third predetermined period, the fourth predetermined period, the fifth predetermined period, the sixth predetermined period, the seventh predetermined period, the eighth predetermined period, the ninth predetermined period, the tenth predetermined period, the eleventh predetermined period, and the twelfth predetermined period. The third predetermined period is different in length from at least one of the fourth predetermined period, the fifth predetermined period, the sixth predetermined period, the seventh predetermined period, the eighth predetermined period, the ninth predetermined period, the tenth predetermined period, the eleventh predetermined period, and the twelfth predetermined period. The fourth predetermined period is different in length from at least one of the fifth, sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth predetermined periods. The fifth predetermined period is different in length from at least one of the sixth, seventh, eighth, ninth, tenth, eleventh, and twelfth predetermined periods. The sixth predetermined period is different in length from at least one of the seventh, eighth, ninth, tenth, eleventh, and twelfth predetermined periods. The seventh predetermined period is different in length from at least one of the eighth, ninth, tenth, eleventh, and twelfth predetermined periods. The eighth predetermined period is different in length from at least one of the ninth, tenth, eleventh, and twelfth predetermined periods. The ninth predetermined period has a different length from at least one of the tenth, eleventh, and twelfth predetermined periods. The tenth predetermined period has a different length from at least one of the eleventh and twelfth predetermined periods. The eleventh predetermined period has a different length from the twelfth predetermined period.

The procedure for the shift suppression control executed by the control unit 52 will be described with reference to FIG. 4. The control unit 52 executes the shift suppression control at predetermined intervals while power is being supplied from the battery 36.

In step S11, the control unit 52 determines whether the value of the parameter P is outside the first range. If the determination is positive, the control unit 52 executes the process of step S13. If the determination is negative, the control unit 52 executes the process of step S12.

In step S12, the control unit 52 determines whether or not an operation signal has been received. If the determination is positive, the control unit 52 executes the process of step S13. If the determination is negative, the control unit 52 ends the shift suppression control.

In step S13, the control unit 52 changes the gear ratio. After step S13 is completed, in step S14, the control unit 52 sets a predetermined period during which a change in the gear ratio is suppressed. The predetermined period differs depending on whether the first to seventh gear shift suppression controls are being executed. After step S14 is completed, the control unit 52 suppresses control of the transmission 38 for a predetermined period. After step S15 is completed, the control unit 52 ends the gear shift suppression control.

Second Embodiment
The control device 50 of the second embodiment will be described. The control device 50 of the second embodiment is similar to the control device 50 of the first embodiment, except that the control device 50 of the second embodiment controls the transmission 38 in the first control state and the second control state. Configurations common to the first embodiment are given the same reference numerals as the first embodiment, and duplicated descriptions will be omitted.

The control unit 52 controls the transmission 38 in a first control state and a second control state different from the first control state. The first control state and the second control state differ in at least one of the predetermined periods. In one example, the first control state and the second control state differ in at least one of the first and second predetermined periods in the first shift suppression control. In one example, the first control state and the second control state differ in at least one of the third and fourth predetermined periods in the second shift suppression control. In one example, the first control state and the second control state differ in at least one of the fifth and sixth predetermined periods in the third shift suppression control. In one example, the first control state and the second control state differ in at least one of the seventh and eighth predetermined periods in the fourth shift suppression control. In one example, the first control state and the second control state differ in at least one of the ninth and tenth predetermined periods in the fifth shift suppression control. In one example, the first control state and the second control state differ in the predetermined period in the sixth shift suppression control. In one example, the first control state and the second control state differ in at least one of the eleventh and twelfth predetermined periods in the seventh shift suppression control.

The first control state and the second control state have different output modes of the motor 58 that provide driving force to the human-powered vehicle 10. The output modes of the motor 58 that provide driving force to the human-powered vehicle 10 include a first output mode in the first control state and a second output mode in the second control state, and the first output mode is different from the second output mode. The first output mode and the second output mode have different assist ratios, which are the ratio of the output of the motor 58 to the human torque input to the human-powered vehicle 10. In the first control state, the control unit 52 controls the motor 58 to have a first assist ratio. In the second control state, the control unit 52 controls the motor 58 to have a second assist ratio. In one example, the second assist ratio is greater than the first assist ratio. The specified period in the second control state is longer than the specified period in the first control state.

Third Embodiment
The control device 50 of the third embodiment will be described. The control device 50 of the third embodiment is similar to the control device 50 of the first and second embodiments, except that the control device 50 controls the transmission 38 in the third control state and the fourth control state. Configurations common to the first and second embodiments are given the same reference numerals, and duplicated descriptions will be omitted.

The control unit 52 controls the transmission 38 in a third control state and a fourth control state different from the third control state. The third control state and the fourth control state differ in at least one of the predetermined periods. In the third control state, when the gear ratio is less than the first upper limit gear ratio, the control unit 52 controls the transmission 38 in the first gear shift direction so that the gear ratio becomes larger when the parameter P becomes equal to or greater than the first threshold value TH1, and when the gear ratio is equal to or greater than the first upper limit gear ratio, the control unit 52 does not control the transmission 38 in the first gear shift direction so that the gear ratio becomes larger even if the parameter P becomes equal to or greater than the first threshold value TH1. In the fourth control state, when the gear ratio is less than a second upper limit gear ratio that is greater than the first upper limit gear ratio, if the parameter P becomes equal to or greater than the first threshold value TH1, the control unit 52 controls the gear device 38 in the first shift direction so that the gear ratio becomes larger, and when the gear ratio is equal to or greater than the second upper limit gear ratio, even if the parameter P becomes equal to or greater than the first threshold value TH1, the control unit 52 does not control the gear device 38 in the first shift direction so that the gear ratio becomes larger. In one example, the first upper limit gear ratio is 2.5. In another example, the first upper limit gear ratio is 2.0. The first upper limit gear stage corresponding to the first upper limit gear ratio is different from the second upper limit gear stage corresponding to the second upper limit gear ratio. In one example, the first upper limit gear stage is 8th gear, assuming that the gear stage with the smallest gear ratio is 1st gear. In one example, the second upper limit gear stage is the gear stage with the largest gear ratio. When the control unit 52 receives an operation signal from the operating device 60 while controlling the transmission 38 in the third control state, the control unit 52 controls the transmission 38 so that the gear ratio becomes greater than the first upper limit gear ratio. In one example, the third control state and the fourth control state differ in at least one of the first and second predetermined periods in the first shift suppression control. In one example, the third control state and the fourth control state differ in at least one of the third and fourth predetermined periods in the second shift suppression control. In one example, the third control state and the fourth control state differ in at least one of the fifth and sixth predetermined periods in the third shift suppression control. In one example, the third control state and the fourth control state differ in at least one of the seventh and eighth predetermined periods in the fourth shift suppression control. In one example, the third control state and the fourth control state differ in at least one of the ninth and tenth predetermined periods in the fifth shift suppression control. In one example, the third control state and the fourth control state differ in the predetermined period in the sixth shift suppression control. In one example, the third control state and the fourth control state differ in at least one of the eleventh and twelfth predetermined periods in the seventh shift suppression control.

The control unit 52 controls the transmission 38 in a third control state and a fourth control state different from the third control state, and the third control state and the fourth control state differ in at least one of the predetermined periods, and the control unit 52 controls the transmission 38 so that the gear ratio becomes a first start gear ratio when the vehicle speed of the human-powered vehicle 10 becomes equal to or lower than a predetermined vehicle speed in the third control state, and controls the transmission 38 so that the gear ratio becomes a second start gear ratio different from the first start gear ratio when the vehicle speed becomes equal to or lower than the predetermined vehicle speed in the fourth control state. The first start gear ratio is smaller than the second start gear ratio. The first start gear ratio corresponding to the first start gear ratio is different from the second start gear ratio corresponding to the second start gear ratio. If the gear ratio with the smallest gear ratio is 1st gear, in one example, the first start gear ratio is any one of 1st gear to 5th gear. For example, the first start gear ratio is the gear ratio with the smallest gear ratio. If the gear with the smallest gear ratio is 1st gear, then in one example, the second start gear is any one of 5th to 9th gears. For example, the second start gear is 6th gear. The predetermined vehicle speed is, for example, 10 km/h.

Fourth Embodiment
The control device 50 of the fourth embodiment will be described. The control device 50 of the fourth embodiment is similar to the control device 50 of the first to third embodiments, except that the control device 50 controls the transmission 38 to change the gear ratio when the parameter P is within the first range. Configurations common to the first to third embodiments are given the same reference numerals, and duplicated descriptions will be omitted.

When the control unit 52 determines that the predetermined condition is met, it controls the transmission 38 to change the gear ratio when the parameter P is within a first range. The predetermined condition includes a plurality of met conditions. In one example, the met conditions include the amount of change in the vehicle speed of the human-powered vehicle 10, the amount of change in the torque acting on the crankshaft 12A of the human-powered vehicle 10, and the amount of change in the rotational speed of the crankshaft 12A of the human-powered vehicle 10. The control unit 52 determines that the met condition is met when the amount of change is equal to or greater than the predetermined amount.

The predetermined conditions include a first predetermined condition for shifting in a first shift direction and a second predetermined condition for shifting in a second shift direction. In one example, the first predetermined condition includes an increase in the vehicle speed of the human-powered vehicle 10 during a predetermined period, an increase in the torque acting on the crankshaft 12A of the human-powered vehicle 10, and an increase in the rotational speed of the crankshaft 12A of the human-powered vehicle 10. In one example, the second predetermined condition includes an increase in the vehicle speed of the human-powered vehicle 10 during a predetermined period, an increase in the torque acting on the crankshaft 12A of the human-powered vehicle 10, and an increase in the rotational speed of the crankshaft 12A of the human-powered vehicle 10. The predetermined period is, for example, the time during which the parameter P is detected by the detection unit 40.

The control unit 52 determines that the first predetermined condition is satisfied when, for example, more than half of the conditions are satisfied among the multiple conditions satisfied in the first predetermined condition. For example, when the first predetermined condition includes three conditions satisfied, if two of the conditions are satisfied, the control unit 52 determines that the first predetermined condition is satisfied even if one of the conditions is not satisfied. When the first predetermined condition is satisfied, the control unit 52 controls the transmission 38 to shift in the first shift direction. When, for example, more than half of the conditions are satisfied among the multiple conditions satisfied in the second predetermined condition, the control unit 52 determines that the second predetermined condition is satisfied. For example, when the second predetermined condition includes three conditions satisfied, if two of the conditions are satisfied, the control unit 52 determines that the second predetermined condition is satisfied even if one of the conditions is not satisfied. When the second predetermined condition is satisfied, the control unit 52 controls the transmission 38 to shift in the second shift direction.

<Modification>
The explanations of each embodiment are merely examples of forms that the control device and the gear shift system according to the present invention can take, and are not intended to limit the forms. The control device and the gear shift system according to the present invention can take, for example, modified versions of the embodiments shown below, or a combination of at least two mutually compatible modified versions. In the following modified versions, parts that are common to the embodiments are given the same reference numerals as the embodiments, and their explanations are omitted.

The control unit 52 further controls at least one of the suspension of the human-powered vehicle 10 and the adjustable seat post of the human-powered vehicle 10 based on the first range and the parameter P. In one example, when the value of the parameter P is equal to or greater than the first threshold value TH1, the control unit 52 changes the suspension so that the amount of sinking is reduced. When the value of the parameter P is equal to or greater than the first threshold value TH1, the control unit 52 changes the height of the adjustable seat post relative to the frame 18 so that the height is increased.

- In the control device 50 of the second embodiment, the first control state and the second control state may be configured such that at least one of the first threshold, the second threshold, and the third threshold is further different.

At least one of the predetermined periods may be set according to the characteristics of the user. In one example, the characteristics of the user are the exercise level of the user who uses the human-powered vehicle 10. In a first example, the control unit 52 determines the exercise level of the user based on the power acting on the crankshaft 12A of the human-powered vehicle 10. In a second example, the user determines the exercise level by, for example, operating the operating device 60.

The predetermined period may be set according to at least one of the travel distance of the human-powered vehicle 10, the number of revolutions of the crankshaft 12A, and the rotation angle of the crankshaft 12A. When the predetermined period is set according to at least one of the number of revolutions of the crankshaft 12A and the rotation angle of the crankshaft 12A, the predetermined period may be set according to the number of strokes corresponding to the number of half revolutions of the crankshaft 12A. When the predetermined period is set according to the number of strokes, preferably, the number of strokes corresponding to the predetermined period differs according to the gear ratio and the gear shift direction of the human-powered vehicle 10. In one example, when the gear shift direction is the first gear shift direction and the gear shift stage with the smallest gear ratio is the first gear, the number of strokes corresponding to the predetermined period is seven times. In this case, the control unit 52 controls the transmission 38 so as to suppress the change in the gear ratio until the number of strokes has passed seven times. When the gear shift stage is the fourth gear or higher, the number of strokes corresponding to the predetermined period is five times. More preferably, the predetermined period set by the number of strokes differs according to the rotation speed of the crankshaft 12A. When the rotation speed of the crankshaft 12A is equal to or higher than a third threshold value that is greater than the first threshold value and the gear is third gear or lower, the number of strokes corresponding to the predetermined period is 5. When the gear is fourth gear or higher, the number of strokes corresponding to the predetermined period is 3.

When the shift direction is the second shift direction and the gear is 3rd gear or lower, the number of strokes corresponding to the specified period is 7. When the gear is 4th gear or higher and 8th gear or lower, the number of strokes corresponding to the specified period is 5. When the gear is 9th gear or higher, the number of strokes corresponding to the specified period is 3.

The number of strokes corresponding to a predetermined period may be set according to the torque acting on the crankshaft 12A. In one example, if the torque acting on the crankshaft 12A is equal to or greater than a predetermined value, the shift direction is the first shift direction, and the gear is third gear or lower, the number of strokes corresponding to the predetermined period is seven. If the gear is fourth gear or higher, the number of strokes corresponding to the predetermined period is five. If the torque acting on the crankshaft 12A is less than a predetermined value, the shift direction is the first shift direction, and the gear is third gear or lower, the number of strokes corresponding to the predetermined period is five. If the gear is fourth gear or higher and eighth gear or lower, the number of strokes corresponding to the predetermined period is three. If the shift direction is the second shift direction and the gear is ninth gear or higher, the number of strokes corresponding to the predetermined period is five.

In the control device 50 of the fourth embodiment, the control unit 52 may be configured to determine whether or not a predetermined condition is satisfied a plurality of times, and control the transmission 38. In one example, the control unit 52 controls the transmission 38 to change the gear ratio when the predetermined condition is satisfied at least one time among the plurality of determinations. In another example, the control unit 52 controls the transmission 38 to change the gear ratio when the predetermined condition is satisfied in all cases among the plurality of determinations.

- In the control device 50 of the fourth embodiment, the conditions to be met may include the amount of change in the tilt angle of the human-powered vehicle 10. The first predetermined condition includes the amount of decrease in the tilt angle of the human-powered vehicle 10 over a predetermined period of time. The second predetermined condition includes the amount of increase in the tilt angle of the human-powered vehicle 10 over a predetermined period of time.

- The control device 50 of the fourth embodiment may be configured to correct the relationship between the amount of change and the predetermined amount using a technique such as machine learning. The corrected relationship between the amount of change and the predetermined amount may be stored in the memory unit 54, or may be saved in an external server or the like and configured to be accessed by the control unit 52 using a communication device.

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

10... human-powered vehicle, 12A... crankshaft, 14... wheels, 38... transmission, 50... control device, 52... control unit, 58... motor, 60... operating device, P... parameters, S... transmission system.

Claims (27)

A control device for a human-powered vehicle,
a control unit for controlling a transmission that changes a gear ratio, which is a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle;
A control device, wherein the control unit controls the transmission to change the gear ratio in response to a parameter related to the human-powered vehicle going from within a first range to outside the first range, and the control unit controls the transmission to suppress a change in the gear ratio when a gear shift condition based on a predetermined parameter related to the human-powered vehicle is satisfied for a predetermined period of time after controlling the transmission to change the gear ratio, the predetermined period of time differing depending on information related to the human-powered vehicle. 2. The control device according to claim 1, wherein the information relating to the human-powered vehicle includes at least one of a rotational speed of the crankshaft, a torque acting on the crankshaft, a power acting on the crankshaft, a vehicle speed of the human-powered vehicle, an inclination angle of the human-powered vehicle, a direction of change of the gear ratio, and an output value of a motor that provides driving force to the human-powered vehicle. A control device for a human-powered vehicle,
a control unit for controlling a transmission that changes a gear ratio, which is a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle;
The control unit is
controlling the transmission so as to change the gear ratio to either a first gear-changing direction in which the gear ratio becomes larger or a second gear-changing direction in which the gear ratio becomes smaller in response to a parameter related to the human-powered vehicle changing from within a first range to outside the first range;
controlling the transmission to suppress a change in the gear ratio in the other of the first shift direction and the second shift direction for a predetermined period of time after the transmission is controlled to change the gear ratio in one of the first shift direction and the second shift direction;
The predetermined period of time varies depending on information relating to the human-powered vehicle. the first range includes a first threshold and a second threshold that is less than the first threshold;
4. The control device according to claim 2 or 3, wherein the control unit controls the transmission in a first shift direction so that the gear ratio becomes larger when the parameter is equal to or greater than the first threshold, and controls the transmission in a second shift direction so that the gear ratio becomes smaller when the parameter is equal to or less than the second threshold. 5. The control device according to claim 4, wherein the parameters include at least one of a rotational speed of the crankshaft, a torque acting on the crankshaft, a power acting on the crankshaft, a vehicle speed of the human-powered vehicle, a tilt angle of the human-powered vehicle, a direction of change of the gear ratio, and an output mode of a motor that provides driving force to the human - powered vehicle. The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
the control unit inhibits control of the transmission in the first shift direction for the predetermined period after controlling the transmission in the second shift direction,
The control device according to claim 4 or 5 , wherein the greater the torque, the longer the predetermined period. The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
the control unit, after controlling the transmission in the second shifting direction, inhibits control of the transmission in the second shifting direction for the predetermined period of time;
The control device according to claim 4 , wherein the greater the torque, the longer the predetermined period. the predetermined period includes a first predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
8. The control device according to claim 4, wherein when the torque is equal to or greater than a first predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the first predetermined period after controlling the transmission in the second shifting direction. the predetermined period includes a second predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
9. The control device according to claim 4, wherein when the torque is less than a second predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the second predetermined period after controlling the transmission in the second shifting direction. the predetermined period includes a third predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
10. The control device according to claim 4, wherein, when the torque is equal to or greater than a third predetermined value, the control unit suppresses control of the transmission in the second shifting direction for the third predetermined period after controlling the transmission in the second shifting direction. the predetermined period includes a fourth predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
11. The control device according to claim 4, wherein when the torque is less than a fourth predetermined value, after controlling the transmission in the second shifting direction, the control unit inhibits control of the transmission in the second shifting direction for the fourth predetermined period. the predetermined period includes a fifth predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameters include a vehicle speed of the human-powered vehicle;
12. The control device according to claim 4, wherein when the torque is equal to or greater than a fifth predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the fifth predetermined period after controlling the transmission in the second shifting direction. the predetermined period includes a sixth predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameters include a vehicle speed of the human-powered vehicle;
13. The control device according to claim 4, wherein when the torque is less than a sixth predetermined value, the control unit suppresses control of the transmission in the first shifting direction for the sixth predetermined period after controlling the transmission in the second shifting direction. the predetermined period includes a seventh predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameters include a vehicle speed of the human-powered vehicle;
14. The control device according to claim 4, wherein when the torque is equal to or greater than a seventh predetermined value, after controlling the transmission in the second shifting direction, the control unit suppresses control of the transmission in the second shifting direction for the seventh predetermined period. the predetermined period includes an eighth predetermined period,
The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameters include a vehicle speed of the human-powered vehicle;
15. The control device according to claim 4, wherein, when the torque is less than an eighth predetermined value, the control unit suppresses control of the transmission in the second shifting direction for the eighth predetermined period after controlling the transmission in the second shifting direction. The predetermined period includes a ninth predetermined period and a tenth predetermined period,
The information about the human-powered vehicle includes a rotation speed of the crankshaft,
the parameter includes a rotational speed of the crankshaft;
when the rotation speed of the crankshaft is equal to or greater than a third threshold value that is greater than the first threshold value, the control unit controls the transmission in the first shifting direction, and then inhibits control of the transmission in the first shifting direction for the ninth predetermined period;
when the rotation speed of the crankshaft is greater than the first threshold value and less than the third threshold value, the control unit controls the transmission in the first shifting direction, and then inhibits control of the transmission in the first shifting direction for the tenth predetermined period;
The control device according to claim 4 , wherein the ninth predetermined period is shorter than the tenth predetermined period. The information about the human-powered vehicle further includes a torque acting on the crankshaft,
The control device according to claim 16 , wherein the third threshold value is smaller as the torque increases. The information about the human-powered vehicle includes a torque acting on the crankshaft,
the parameter includes a rotational speed of the crankshaft;
the control unit, after controlling the transmission in the first shifting direction, inhibits control of the transmission in the first shifting direction for the predetermined period;
The control device according to claim 4 , wherein the greater the torque, the longer the predetermined period. The predetermined period includes an eleventh predetermined period,
19. The control device according to claim 4, wherein the control unit suppresses control of the transmission in the second gear shifting direction for the eleventh predetermined period after controlling the transmission to change the gear ratio in response to an operation signal from an operation device operated by a user of the human - powered vehicle. the predetermined period includes a twelfth predetermined period,
20. The control device according to claim 4, wherein the control unit suppresses control of the transmission in the first gear shifting direction for the twelfth predetermined period after controlling the transmission to change the gear ratio in response to an operation signal from an operation device operated by a user of the human - powered vehicle. The predetermined period includes an eleventh predetermined period and a twelfth predetermined period,
the control unit controls the transmission to change the gear ratio in response to an operation signal from an operation device operated by a user of the human-powered vehicle, and then suppresses control of the transmission in the second gear shifting direction for the eleventh predetermined period;
the control unit controls the transmission to change the gear ratio in response to the operation signal, and then suppresses control of the transmission in the first gear shifting direction for the twelfth predetermined period;
The control device according to claim 4 , wherein the twelfth predetermined period is longer than the eleventh predetermined period. the control unit controls the transmission in a first control state and a second control state different from the first control state;
The control device according to claim 4 , wherein the first control state and the second control state differ in at least one of the predetermined periods. The control device according to claim 22, wherein the output mode of the motor that provides driving force to the human-powered vehicle includes a first output mode in the first control state and a second output mode in the second control state, and the first output mode is different from the second output mode. the control unit controls the transmission in a third control state and a fourth control state different from the third control state;
The third control state and the fourth control state are different in at least one of the predetermined periods,
The control unit is
In the third control state, when the gear ratio is less than a first upper limit gear ratio, if the parameter becomes equal to or greater than the first threshold value, the gear change device is controlled in a first gear shift direction so as to increase the gear ratio, and when the gear ratio is equal to or greater than the first upper limit gear ratio, the gear change device is not controlled in the first gear shift direction so as to increase the gear ratio even if the parameter becomes equal to or greater than the first threshold value;
24. The control device according to claim 22 or 23, wherein, in the fourth control state, when the gear ratio is less than a second upper limit gear ratio that is greater than a first upper limit gear ratio, if the parameter becomes equal to or greater than the first threshold value, the gear device is controlled in a first gear shift direction so as to increase the gear ratio, and when the gear ratio is equal to or greater than the second upper limit gear ratio, the control device does not control the gear device in the first gear shift direction so as to increase the gear ratio even if the parameter becomes equal to or greater than the first threshold value. the control unit controls the transmission in a third control state and a fourth control state different from the third control state;
The third control state and the fourth control state are different in at least one of the predetermined periods,
25. The control device according to any one of claims 22 to 24, wherein the control unit controls the transmission so that the gear ratio becomes a first starting gear ratio when the vehicle speed of the human-powered vehicle becomes equal to or lower than a predetermined vehicle speed in the third control state, and controls the transmission so that the gear ratio becomes a second starting gear ratio different from the first starting gear ratio when the vehicle speed becomes equal to or lower than the predetermined vehicle speed in the fourth control state. 26. The control device according to claim 1, wherein the control unit further controls at least one of a suspension of the human-powered vehicle and an adjustable seat post of the human-powered vehicle based on the first range and the parameter. A control device according to any one of claims 1 to 26 ;
and the transmission.