TW202248082A - Control device for manpower-driven vehicle which can drive a motor optimally so that a derailleur can suitably perform a gear shift operation - Google Patents

Abstract

A control device for a manpower-driven vehicle is provided that can drive a motor optimally so that a derailleur can suitably perform a gear shift operation. A control device is equipped with a control part for controlling gear shift, comprising: a transmission configured to transmit driving force, a derailleur, and a motor configured to drive the transmission, wherein the transmission is driven under the control of the motor when a first condition regarding pedaling is satisfied, controlling the derailleur to operate the transmission to change the gear ratio. The control part comprises the following control states: a first control state that changes the number of gears by the first number within a first time period if the first condition is satisfied, and a second control state that changes the number of gears by the first number within a second time period that is shorter than the first time period if the first condition is satisfied, wherein in the second control state, the motor is controlled such that the rotational speed of the motor is higher than in the first control state.

Description

Control devices for human-powered vehicles

The present invention relates to a control device for a human-powered vehicle.

For example, the control device for a human-powered vehicle in Patent Document 1 controls a motor to drive a conveying body. The control device for human-powered vehicles in Patent Document 1 is capable of driving the transmission body by the motor when the rotation of the crankshaft is stopped, and changing the transmission ratio by operating the transmission body by the derailleur. shifting action. The derailleur operates the transmission body to change the transmission ratio. [Prior Art Literature] [Patent Document]

[Patent Document 1] Japanese Patent No. 5686876

[Problem to be solved by the invention]

One of the objects of the present invention is to provide a control device for a human-powered vehicle, which can drive the motor optimally so that the derailleur can optimally perform the shifting action. [Technical means to solve problems]

A control device according to a first aspect of the present invention is a control device for a human-driven vehicle, wherein the human-driven vehicle includes: a crankshaft to which a human-powered driving force is input, a first rotating body connected to the crankshaft, and A wheel, a second rotating body connected to the wheel, and a transmission device engaged with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body body, and a derailleur for operating the transmission body in order to change the speed change ratio of the rotation speed of the aforementioned wheel with respect to the rotation speed of the crankshaft, and a motor for driving the transmission body. When the first condition related to stepping is satisfied, the speed change control is performed, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the speed change ratio is changed, and the control unit is Including the following control states: when the aforementioned first condition is satisfied, the first control state in which the number of shifting stages of the first stage is changed within the first time; and when the aforementioned first condition is satisfied, in the second The second control state in which the number of shifting stages of the first stage is changed within a certain time; in the second control state, the motor is controlled so that the rotation speed of the motor is greater than that in the first control state, and the second time , is shorter than the aforementioned first time. According to the control device of the first aspect, in the second control state, since the motor is controlled to increase the rotation speed of the motor, the number of shifting stages of the first stage can be changed within the second time shorter than the first time, Therefore, the speed change control can be performed more quickly than in the case of the first control state. Therefore, the motor can be optimally driven, and the derailleur can optimally perform the shifting operation.

The control device of the second aspect of the present invention is attached to the first aspect, and the control unit shifts the control state to the second control state when the first condition is satisfied and the second condition is satisfied. The condition that satisfies the second condition is at least one of: the acceleration of the human-powered vehicle is greater than the first acceleration, and the deceleration of the human-driven vehicle is greater than the first deceleration. According to the control device of the second aspect, when at least one of the first condition is satisfied and the acceleration of the human-powered vehicle is greater than the first acceleration, and the deceleration of the human-driven vehicle is greater than the first deceleration , since the control state can be shifted to the second control state, the speed change control can be performed earlier.

The control device of the third aspect of the present invention is attached to the second aspect, and the control unit, when the first condition is satisfied, the second condition is satisfied, and the third condition is further satisfied, In the second control state, changing the number of the shifting stages of the plurality of steps and satisfying the third condition is a case where it is determined that the change of the number of the shifting stages of the plurality of steps is necessary. According to the control device of the third aspect, when the first condition is satisfied and the second condition is satisfied, when it is judged that it is necessary to change the number of shifting stages of a plurality of stages, in the second control state, it is possible to Change the number of shifting stages of multiple stages.

A control device according to a fourth aspect of the present invention is attached to any one of the first to third aspects, wherein the human-driven vehicle further includes an electric actuator capable of operating the derailleur to operate the transmission body. , and change the above-mentioned transmission ratio, the above-mentioned control part is to control the above-mentioned electric actuator, when the above-mentioned first condition is satisfied, by controlling the above-mentioned electric actuator, and through the above-mentioned derailleur. Body operation, in the second control state, the electric actuator is controlled so that the operating speed of the derailleur is higher than that in the first control state. According to the control device of the fourth aspect, in the second control state, the electric actuator is controlled so that the operating speed of the derailleur is higher than in the first control state. Therefore, the speed change control can be carried out earlier.

A control device of a fifth aspect of the present invention is attached to any one of the first to fourth aspects, and when the height of the seat post of the human-powered vehicle is less than or equal to the first height, the control unit The control state shifts to the aforementioned second control state. According to the control device of the fifth aspect, when the height of the seat post of the human-powered vehicle is below the first height, the speed change control can be started earlier.

The control device of the sixth aspect of the present invention is attached to any one of the first to fifth aspects, the aforementioned human-driven vehicle further includes a suspension device, and the stroke length of the aforementioned suspension device is repeatedly increased and decreased at a frequency When the frequency is equal to or higher than a predetermined frequency, the control unit shifts the control state to the second control state. According to the control device of the sixth aspect, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or higher than a predetermined frequency, the speed change control can be started earlier.

A control device according to a seventh aspect of the present invention is attached to any one of the first to sixth aspects. When the slope of the walking path is greater than or equal to the first angle, the control unit moves the control state to the above-mentioned 2nd control state. According to the control device of the seventh aspect, when the gradient of the walking path is greater than or equal to the first angle, the speed change control can be started earlier.

The control device of the 8th aspect of the present invention is attached to any one of the 1st to 7th aspects. The aforementioned human-driven vehicle is traveling downhill, and the front curve in the direction of travel of the aforementioned human-driven vehicle is drawn In the case of detection, the control unit shifts the control state to the second control state. According to the control device of the eighth aspect, when the human-powered vehicle is traveling downhill and the front curve in the traveling direction of the human-powered vehicle is detected, the speed change control can be started earlier.

A control device according to a ninth aspect of the present invention is subordinate to the eighth aspect, and the aforementioned curve is a curve having a bending angle of 90° or less. According to the control device of the ninth aspect, when a curve with a front bending angle of 90° or less is detected, the speed change control can be started earlier.

The control device of the tenth aspect of the present invention is attached to the eighth or ninth aspect, and the aforementioned human-driven vehicle is further equipped with a front detection unit capable of detecting the driving environment ahead of the aforementioned human-driven vehicle in the traveling direction. out. According to the control device of the tenth aspect, the traveling environment ahead of the traveling direction of the human-powered vehicle can be optimally detected by the front detecting unit.

A control device according to an eleventh aspect of the present invention is a control device for a human-driven vehicle, wherein the human-driven vehicle includes: a crankshaft to which a human-powered driving force is input, a first rotating body connected to the crankshaft, and A wheel, a second rotating body connected to the wheel, and a transmission device engaged with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body body, and a derailleur for operating the transmission body in order to change the speed change ratio of the rotation speed of the aforementioned wheel with respect to the rotation speed of the crankshaft, and a motor for driving the transmission body. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission ratio is changed. The control of the control unit The state further includes: when the above-mentioned first condition is satisfied, the third control state in which the number of shifting stages of the first stage is changed within the first time; and when the above-mentioned first condition is satisfied, in the above-mentioned first The fourth control state in which the number of shifting stages of the second stage higher than that of the first stage is changed within a certain period of time. According to the control device of the eleventh aspect, when the first condition is satisfied, in the fourth control state, the number of shifting stages of the second stage higher than that of the first stage can be changed within the first time. Therefore, the motor can be optimally driven, and the derailleur can optimally perform the shifting operation.

A control device according to a twelfth aspect of the present invention is attached to the eleventh aspect, wherein the control unit shifts the control state to the fourth control state when the first condition is satisfied and the fourth condition is satisfied. The condition that satisfies the fourth condition is at least one of: the acceleration of the human-powered vehicle is greater than or equal to the second acceleration, and the condition of deceleration of the human-driven vehicle is greater than or equal to the second deceleration. According to the control device of the twelfth aspect, when at least one of the first condition is satisfied and the acceleration of the human-powered vehicle is equal to or greater than the second acceleration, and the deceleration of the human-driven vehicle is equal to or greater than the second deceleration , because the control state can be moved to the fourth control state, so the number of shifting stages of the second stage can be changed.

A control device according to a thirteenth aspect of the present invention is attached to the twelfth aspect, wherein the control unit satisfies the first condition, satisfies the fourth condition, and further satisfies the fifth condition, In the fourth control state, changing the number of shifting stages of the plurality of steps to satisfy the fifth condition is a case where it is determined that the number of shifting stages of the plurality of steps is necessary. According to the control device according to the thirteenth aspect, when the first condition is satisfied, and the fourth condition is satisfied, and it is judged that it is necessary to change the number of the above-mentioned shifting stages of a plurality of stages, in the fourth control state, The number of shifting stages of multiple stages can be changed.

A control device according to a fourteenth aspect of the present invention is attached to any one of the eleventh to thirteenth aspects, wherein the human-driven vehicle further includes an electric actuator capable of operating the derailleur and operating the transmission body. , and change the above-mentioned transmission ratio, the above-mentioned control part is to control the above-mentioned electric actuator, when the above-mentioned first condition is satisfied, by controlling the above-mentioned electric actuator, and through the above-mentioned derailleur. In the body operation, the control unit controls the electric actuator so that the operation speed of the derailleur is higher than that in the third control state in the fourth control state. According to the control device of the fourteenth aspect, in the fourth control state, the electric actuator is controlled so that the operating speed of the derailleur is higher than in the second control state. Therefore, the speed change control can be carried out earlier.

A control device according to a fifteenth aspect of the present invention is attached to any one of the eleventh to fourteenth aspects. When the height of the seat post of the human-powered vehicle is less than or equal to the first height, the control unit The control state moves to the aforementioned fourth control state. According to the control device of the fifteenth aspect, when the height of the seat post of the human-powered vehicle is below the first height, the speed change control can be started earlier.

The control device of the 16th aspect of the present invention is attached to any one of the 11th to 15th aspects, the aforementioned human-powered vehicle further includes a suspension device, and the frequency of the stroke length of the aforementioned suspension device is repeatedly increased and decreased When the frequency is equal to or higher than a predetermined frequency, the control unit shifts the control state to the fourth control state. According to the control device of the sixteenth aspect, when the frequency of the stroke length of the suspension device repeatedly increasing and decreasing is equal to or higher than the predetermined frequency, the speed change control can be started earlier.

A control device of a seventeenth aspect of the present invention is attached to any one of the eleventh to sixteenth aspects. When the slope of the walking path is greater than or equal to the first angle, the control unit moves the control state to the above-mentioned 4th control state. According to the control device of the seventeenth aspect, when the gradient of the walking path is greater than or equal to the first angle, the speed change control can be started earlier.

The control device of the 18th aspect of the present invention is attached to any one of the 11th to 17th aspects. When the aforementioned human-driven vehicle is walking downhill, and the front curve of the aforementioned human-driven vehicle's walking direction is drawn In the case of detection, the control unit shifts the control state to the fourth control state. According to the control device of the eighteenth aspect, when the human-powered vehicle is traveling downhill and the front curve in the traveling direction of the human-powered vehicle is detected, the speed change control can be started earlier.

A control device according to a nineteenth aspect of the present invention is subordinate to the eighteenth aspect, and the aforementioned curve is a curve having a bending angle of 90° or less. According to the control device of the nineteenth aspect, when a curve with a front bending angle of 90° or less is detected, the speed change control can be started earlier.

The control device of the twentieth aspect of the present invention is attached to the eighteenth or nineteenth aspect, and the aforementioned human-driven vehicle is further equipped with a front detection unit capable of detecting the running environment ahead of the traveling direction of the aforementioned human-powered vehicle. . According to the control device of the twentieth aspect, the traveling environment ahead of the traveling direction of the human-powered vehicle can be optimally detected by the front detecting unit.

A control layer device according to a twenty-first aspect of the present invention is a control device for a human-driven vehicle, wherein the human-driven vehicle includes: a crankshaft to which a human-powered driving force is input, and a first rotating body connected to the crankshaft, And the wheel, and the second rotating body connected to the wheel, and the second rotating body engaged with the first rotating body and the second rotating body to transmit the driving force between the first rotating body and the second rotating body a transmission body, and a derailleur for operating the transmission body in order to change the gear ratio of the rotation speed of the wheel to the rotation speed of the crankshaft, and a motor for driving the transmission body, and the control device includes a control unit, It is possible to perform speed change control. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission ratio is changed. The control unit, It is a control state including the following: when the aforementioned first condition is satisfied, the fifth control state in which the driving of the aforementioned motor is started within the third time after receiving the shift instruction; and when the aforementioned first condition is satisfied, The sixth control state of starting the driving of the motor within a fourth time after receiving the shift instruction; the fourth time is shorter than the third time. According to the control device of the twenty-first aspect, when the first condition is satisfied, the speed change can be performed by either of the fifth control state and the sixth control state in which the time until the drive of the motor is started is different from each other. control. Therefore, the motor can be optimally driven, and the derailleur can optimally perform the shifting operation.

The control device of the 22nd aspect of the present invention is attached to the 21st aspect. The aforementioned human-driven vehicle further includes an electric actuator, which can operate the aforementioned derailleur, operate the aforementioned transmission body, and change the aforementioned speed change ratio. In a modification, the control unit controls the electric actuator, and when the first condition is satisfied, operates the transmission body through the derailleur by controlling the electric actuator. According to the control device of the twenty-second aspect, when the first condition is satisfied, the carrier can be operated by controlling the electric actuator.

A control device according to a twenty-third aspect of the present invention is attached to the twenty-first or twenty-second aspect, wherein the control unit moves the control state to the aforementioned condition when the first condition is satisfied and the sixth condition is satisfied. In the sixth control state, when the sixth condition is satisfied, at least one of: the acceleration of the human-driven vehicle is greater than or equal to the third acceleration and the deceleration of the human-driven vehicle is greater than or equal to the third deceleration. According to the control device of the twenty-third aspect, when the first condition is satisfied, and at least one of the cases where the acceleration of the human-driven vehicle is equal to or greater than the third acceleration and the case where the deceleration of the human-driven vehicle is equal to or greater than the third deceleration , since the control state can be shifted to the sixth control state, the speed change control can be started earlier.

The control device of the 24th aspect of the present invention is attached to the 23rd aspect, and the control unit, when the aforementioned 1st condition is satisfied, the aforementioned 6th condition is satisfied, and the aforementioned 7th condition is satisfied, in the aforementioned 6th condition In the control state, changing the number of shifting steps of the plurality of steps and satisfying the seventh condition is a case where it is determined that the change of the number of shifting steps of the plurality of steps is necessary. According to the control device of the twenty-fourth aspect, when the first condition is satisfied, and when the sixth condition is satisfied, it is judged that it is necessary to change the number of shifting stages of a plurality of stages, in the sixth control state, the Change the number of shifting stages for multiple stages. Therefore, the speed change control can be started earlier.

The control device of the 25th aspect of the present invention is attached to any one of the 21st to 24th aspects, and when the height of the seat post of the human-powered vehicle is less than or equal to the first height, the control unit The control state moves to the aforementioned sixth control state. According to the control device of the twenty-fifth aspect, when the height of the seat post of the human-powered vehicle is below the first height, the speed change control can be started earlier.

The control device of the 26th aspect of the present invention is attached to any one of the 21st to 25th aspects. The aforementioned human-powered vehicle further includes a suspension device. When the stroke length of the aforementioned suspension device increases and decreases repeatedly When the frequency is equal to or higher than a predetermined frequency, the control unit shifts the control state to the sixth control state. According to the control device of the twenty-sixth aspect, when the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or higher than a predetermined frequency, the speed change control can be started earlier.

A twenty-seventh aspect of the present invention is a control device that is attached to any one of the twenty-first to twenty-sixth aspects. When the slope of the walking path is greater than or equal to the first angle, the control unit shifts the control state to The aforementioned sixth control state. According to the control device according to the twenty-seventh aspect, when the gradient of the walking path is greater than or equal to the first angle, the speed change control can be started earlier.

The control device of the 28th aspect of the present invention is attached to any one of the 21st to 27th aspects. When the aforementioned human-driven vehicle is walking downhill, and the front curve in the direction of travel of the aforementioned human-driven vehicle is When detected, the control unit shifts the control state to the sixth control state. According to the control device of the twenty-eighth aspect, when the human-powered vehicle is traveling downhill and the front curve in the traveling direction of the human-powered vehicle is detected, the speed change control can be started earlier.

A control device according to a twenty-ninth aspect of the present invention is subordinate to the twenty-eighth aspect, and the aforementioned curve is a curve having a bending angle of 90° or less. According to the control device of the twenty-ninth aspect, when a curve with a front bending angle of 90° or less is detected, the speed change control can be started earlier.

A control device according to a thirtieth aspect of the present invention is attached to the twenty-eighth or twenty-ninth aspect, wherein the human-driven vehicle further includes a front detection unit capable of detecting a running environment ahead of the human-driven vehicle in the traveling direction. . According to the control device of the thirtieth aspect, the traveling environment ahead of the traveling direction of the human-powered vehicle can be optimally detected by the front detecting unit.

A control device according to a thirty-first aspect of the present invention is a control device for a human-driven vehicle, wherein the human-driven vehicle includes: a crankshaft to which a human-powered driving force is input, a first rotating body connected to the crankshaft, and A wheel, a second rotating body connected to the wheel, and a transmission device engaged with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body body, and a derailleur for operating the transmission body in order to change the speed change ratio of the rotation speed of the aforementioned wheel with respect to the rotation speed of the crankshaft, and a motor for driving the transmission body. When the first condition related to stepping is satisfied, the speed change control is performed, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the speed change ratio is changed, and the control unit is Including the following control states: when the aforementioned first condition is satisfied, the operation of the aforementioned transmitter can be performed within the fifth time and at the first frequency, or the seventh control status in which the aforementioned transmitter cannot be operated; and When the aforementioned first condition is satisfied, the eighth control state of the operation of the aforementioned conveyer can be implemented within the aforementioned fifth time and at the second frequency; the aforementioned second frequency is higher than the aforementioned first frequency. According to the control device according to the thirty-first aspect, when the first condition is satisfied, any one of the seventh control state and the eighth control state in which the frequency of the operation of the conveying body is different from each other in the fifth time can be used. And implement variable speed control. Therefore, the motor can be optimally driven, and the derailleur can optimally perform the shifting operation.

A control device according to a 32nd aspect of the present invention is attached to the 31st aspect, wherein the control unit moves the control state to the 8th condition when the 1st condition is satisfied and the 8th condition is satisfied. The control state that satisfies the eighth condition is at least one of: the acceleration of the human-powered vehicle is greater than or equal to the fourth acceleration, and the condition of the deceleration of the human-driven vehicle is greater than or equal to the fourth deceleration. According to the control device according to the thirty-second aspect, when the first condition is satisfied, and at least one of the cases where the acceleration of the human-powered vehicle is greater than or equal to the fourth acceleration and the case where the deceleration of the human-powered vehicle is greater than or equal to the fourth deceleration , to move the control state to the 8th control state. Therefore, the motor can be optimally driven, and the derailleur can optimally perform the shifting operation.

The control device of the 33rd aspect of the present invention is attached to the 31st or 32nd aspect, and when the vehicle speed of the aforementioned human-driven vehicle fluctuates within a predetermined vehicle speed range within the aforementioned fifth time period, the aforementioned control unit, It is to move the aforementioned control state to the aforementioned 7th control state. According to the control device of the thirty-third aspect, when the speed of the human-powered vehicle fluctuates within the predetermined speed range, the control state can be shifted to the seventh control state.

The control device of the 34th aspect of the present invention is attached to any one of the 31st to 33rd aspects, and in the aforementioned fifth time period, the gradient of the walking path of the human-powered vehicle changes within a predetermined angle range. , the control unit shifts the control state to the seventh control state. According to the control device of the thirty-fourth aspect, when the gradient of the travel path of the human-powered vehicle varies within a predetermined angle range, the control state can be shifted to the seventh control state.

A thirty-fifth aspect of the present invention is a control device that is attached to any one of the thirty-first to thirty-fourth aspects, wherein the control unit controls the motor and starts driving the motor after receiving a shift instruction. The period in the aforementioned eighth control state is shorter than the period in the aforementioned seventh control state. According to the control device according to the thirty-fifth aspect, the period in the eighth control state may be shorter than the period in the seventh control state for the period from the receipt of the shift instruction to the start of the motor control. . Therefore, the frequency at which the carrier can be operated within the fifth time can be increased.

A 36th aspect of the present invention is a control device that is attached to any one of the 31st to 34th aspects, wherein the human-powered vehicle further includes an electric actuator capable of operating the derailleur and operating the transmission body. , and change the above-mentioned transmission ratio, the above-mentioned control part is to control the above-mentioned electric actuator, when the above-mentioned first condition is satisfied, by controlling the above-mentioned electric actuator, and through the above-mentioned derailleur. Body operation, for the period from the receipt of the shift instruction to the control of the electric actuator to start the operation of the derailleur, the period in the eighth control state is shorter than the period in the seventh control state. The period is shorter. According to the control device according to the thirty-sixth aspect, the period in the eighth control state can be compared with that in the seventh control state for the period from the receipt of the shift instruction to the control of the electric actuator to start the operation of the derailleur. The period in is shorter. Therefore, the frequency at which the carrier can be operated within the fifth time can be increased.

A thirty-seventh aspect of the present invention is a control device that is attached to the thirty-sixth aspect, wherein the control unit controls the electric actuator so as not to operate the transmission body in the seventh control state. According to the control device according to the thirty-seventh aspect, the first frequency may be zero because the electric actuator is controlled so as not to operate the conveying body in the seventh control state.

A control device according to a thirty-eighth aspect of the present invention is attached to any one of the thirty-first to thirty-seventh aspects, wherein the control unit does not drive the motor in the seventh control state. According to the control device of the thirty-eighth aspect, since the motor is not driven in the seventh control state, power consumption of the motor can be suppressed.

A control device according to a 39th aspect of the present invention is attached to any one of the 1st to 38th aspects, and when the aforementioned first condition is satisfied, the aforementioned human driving force is equal to or less than the first driving force, and the aforementioned crank The rotation speed of the shaft is at least one of the first rotation speed or lower, and the crankshaft swings. According to the control device according to the thirty-ninth aspect, the first condition is when the human driving force is equal to or less than the first driving force, when the rotational speed of the crankshaft is equal to or less than the first rotational speed, and when the aforementioned crankshaft swings , variable speed control is possible. [Effect of the invention]

The control device for a human-powered vehicle of the present invention can optimally drive the motor and optimally perform the shifting operation by the derailleur.

<First Embodiment> A control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 5 . The human-powered vehicle 10 is a vehicle having at least one wheel, and can be driven by at least human driving force H. As shown in FIG. The human-powered vehicle 10 includes various types of bicycles such as mountain bikes, road bicycles, city bicycles, cargo bicycles, hand-held bicycles, and recumbent bicycles. The number of wheels that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes a vehicle having, for example, one wheel or three or more wheels. The human-powered vehicle 10 includes not only the human-powered driving force H, but also an electric bicycle (e-bike) that is propelled by the driving force of an electric motor. An electric bicycle is an electrically assisted bicycle including an electric motor that assists in propulsion. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as an electrically assisted mountain bike.

The human-powered vehicle 10 includes a crankshaft 12 , a first rotating body 14 , a wheel 16 , a second rotating body 18 , a transmission body 20 , a derailleur 22 , and a motor 24 . The human-powered cart 10 further includes a pair of crank arms 26 . The crankshaft 12 and the crank arm 26 constitute a crank 28 . The human driving force H is input to the crankshaft 12 . The human-powered vehicle 10 further includes a vehicle body 30 . The wheels 16 include rear wheels 16R and front wheels 16F. The vehicle body 30 includes a vehicle frame 32 . The crank 28 is rotatable with respect to the frame 32 . The pair of crank arms 26 includes a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is provided at one end portion of the crankshaft 12 in the axial direction. The second crank arm 26B is provided at the other end portion of the crankshaft 12 in the axial direction. The human-powered vehicle 10 further includes a pedal 34 . The human-powered vehicle 10 includes a first pedal 34A and a second pedal 34B connected to the crankshaft 12 . The pedals 34 include a first pedal 34A and a second pedal 34B. The first pedal 34A is connected to the first crank arm 26A. The second pedal 34B is connected to the second crank arm 26B. The rear wheel 16R is driven by the rotation of the crank 28 . The rear wheel 16R is supported by the frame 32 . The crank 28 and the rear wheel 16R are connected by a drive mechanism 36 .

The drive mechanism 36 includes the first rotating body 14 , the second rotating body 18 , and the transmission body 20 . The first rotating body 14 is connected to the crankshaft 12 . The second rotating body 18 is connected to the wheels 16 . The transmission body 20 is engaged with the first rotating body 14 and the second rotating body 18 and transmits the driving force between the first rotating body 14 and the second rotating body 18 . The transmission body 20 transmits the rotational force of the first rotation body 14 to the second rotation body 18 . In the present embodiment, the first rotating body 14 and the crankshaft 12 are arranged coaxially, but the first rotating body 14 and the crankshaft 12 may be arranged non-coaxially. When the first rotator 14 and the crankshaft 12 are non-coaxially arranged, the first rotator 14 and the crankshaft 12 pass through at least one of gears, pulleys, chains, shafts, and belts. convey the body while being connected. In this embodiment, the second rotating body 18 and the rear wheel 16R are arranged coaxially, but the second rotating body 18 and the rear wheel 16R may be arranged non-coaxially. When the second rotating body 18 and the rear wheel 16R are arranged non-coaxially, the second rotating body 18 and the rear wheel 16R are the second rotating body passing through at least one of a gear, a pulley, a chain, a shaft, and a belt. convey the body while being connected.

The front wheel 16F is attached to the body frame 32 via a front fork 38 . In the front fork 38 , the handle bar 42 is connected through the tap 40 . In this embodiment, the rear wheel 16R is connected to the crank 28 by the drive mechanism 36 , but at least one of the rear wheel 16R and the front wheel 16F may be connected to the crank 28 by the drive mechanism 36 .

For example, the human-powered vehicle 10 further includes a braking device 43A. The brake device 43A is, for example, to apply a braking force to the front wheels 16F. The brake device 43A may apply a braking force to the rear wheel 16R. The brake device 43A includes, for example, a disc brake system. The braking device 43A may be a V brake system or a drum brake system. For example, the human-powered vehicle 10 further includes a brake operating device 43B. The brake operating device 43B is provided, for example, on the handlebar 42 . The rider operates the brake device 43A by operating the brake operation device 43B. The braking device 43A may be mechanically connected to the brake operating device 43B. The braking device 43A may include an electric actuator, be communicably connected to the brake operating device 43B, and be operable in response to a signal from the brake operating device 43B.

The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. When the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes a plurality of sprockets, and the transmission body 20 includes a chain. When the derailleur 22 includes a rear derailleur, the derailleur 22 is to move one chain among the plurality of sprockets engaged in the second rotating body 18 to the other chain among the plurality of sprockets. 1 move. When the derailleur 22 includes a front derailleur, the first rotating body 14 includes a plurality of sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain. When the derailleur 22 includes the front derailleur, the derailleur 22 is to move one chain among the plurality of sprockets engaged in the first rotating body 14 to the other chain among the plurality of sprockets. 1 move. The derailleur 22 changes the engagement state of at least one of the first rotating body 14 and the second rotating body 18 with the transmitting body 20 by operating the transmitting body 20 , thereby changing the gear ratio R.

The first rotating body 14 and the second rotating body 18 may be provided in a gear box. The gear box is, for example, provided near the crankshaft 12 . When the first rotating body 14 and the second rotating body 18 are provided in a gear box, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the derailleur 22 is provided in The gear box changes the state of engagement between at least one of the first rotating body 14 and the second rotating body 18 and the transmission body 20 .

The derailleur 22 operates the transmission body 20 to change the speed change ratio R of the rotational speed W of the wheel 16 with respect to the rotational speed C of the crankshaft 12 . The relationship between the gear ratio R, the rotation speed W, and the rotation speed C is represented by Equation (1). For example, the derailleur 22 can change the transmission ratio R in stages. For example, the derailleur 22 operates the transmission body 20 in order to change the number of shifting stages. For example, when the derailleur 22 includes a rear derailleur, the number of shifting stages is equivalent to the number of shifting stages of the rear sprocket. For example, when the number of shift stages of the rear sprocket is plural, a different shift ratio R is set for each shift number. The rear sprocket with the fewest teeth corresponds to the highest number of gears. The rear sprocket with the highest number of teeth corresponds to the lowest number of gears. The higher the number of shifting stages, the greater the shifting ratio R. Formula (1): Gear ratio R=rotational speed W/rotational speed C

For example, the human-powered vehicle 10 further includes an operating device 44 for operating the derailleur 22 . The operating device 44 is, for example, provided on the handlebar 42 . The operating device 44 is operated by a hand including a user's fingers. The operating device 44 includes at least a first operating portion 44A and a second operating portion 44B.

The first operation unit 44A and the second operation unit 44B include, for example, push button switches or lever switches. If the first operation part 44A and the second operation part 44B are configured to be able to switch between at least two states by being operated by the user, they are not limited to push button switches or lever switches, and any configuration may be used.

The first operation part 44A and the second operation part 44B operate the derailleur 22 . The operating device 44 outputs a shift operation signal to the control unit 72 of the control device 70 in response to a user's operation. The operating device 44 may further include a third operating part in addition to the first operating part 44A and the second operating part 44B, or may be replaced by a third operating part. Human-powered vehicles are operated with components. The components for the human-powered vehicle include, for example, at least one of a cyclocomputer, a suspension device 46 , an adjustable seat post device 48 , a light bulb, or a drive unit 50 . The speed change operation signal includes, for example, a first operation signal and a second operation signal. The first operation signal includes a speed change instruction to operate the derailleur 22 to increase the speed change ratio R, and the second operation signal includes to reduce the speed change. The mode of ratio R will dictate the shifting in which the derailleur 22 is operated.

The operation device 44 outputs a first operation signal when the first operation part 44A is operated, and outputs a second operation signal when the second operation part 44B is operated. In this embodiment, the rear derailleur is operated by the first operation part 44A and the second operation part 44B. For example, the front derailleur may be operated by the first operation part 44A and the second operation part 44B. For example, both the rear derailleur and the front derailleur may be operated by the first operation part 44A and the second operation part 44B. The operating device 44 may further include a fourth operating unit and a fifth operating unit in addition to the first operating unit 44A and the second operating unit 44B. The fourth operation part and the fifth operation part are, for example, configured similarly to the first operation part 44A and the second operation part 44B. The rear derailleur is operated by one of the first operation part 44A, the second operation part 44B, and the fourth operation part and the fifth operation part, and the front derailleur is operated by the first operation part 44A and the second operation part. 2 The operation part 44B, and the other of the 4th operation part and the 5th operation part may be operated.

For example, the human-powered vehicle 10 further includes an electric actuator 52 for operating the derailleur 22 . The electric actuator 52 includes, for example, an electric motor. The electric actuator 52 may further include, for example, a reduction gear coupled to the output shaft of the electric motor. The electric actuator 52 may be provided on the derailleur 22 or may be provided in a position away from the derailleur 22 in the human-powered vehicle 10 . By driving the electric actuator 52, the derailleur 22 operates the transmission body 20 and performs a shifting operation. The derailleur 22 includes, for example, a base member, a moving member, and a link member that movably couples the moving member to the base member. The moving member includes a guide member that guides the connecting member. The guide member includes, for example, a guide pallet and pulleys. The electric actuator 52 may be, for example, directly drive a link member. The electric actuator 52 may drive the link member through a cable.

For example, the human-powered vehicle 10 further includes a battery 54 . The battery 54 includes 1 or a plurality of battery elements. The battery element is to contain the rechargeable battery. The battery 54 supplies electric power to the control device 70 . For example, the battery 54 also supplies electric power to the electric actuator 52 . The battery 54 is, for example, communicably connected to the control unit 72 of the control device 70 by wire or wirelessly. The battery 54 is, for example, via power line communication (PLC: Power Line Communication, Power Line Communication), CAN (Controller Area Network, Controller Area Network), or UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter), On the other hand, it can communicate with the control unit 72 .

The motor 24 drives the conveying body 20 . For example, the motor 24 applies a propulsion force to the human-driven vehicle 10 in response to the human-powered driving force H. As shown in FIG. The motor 24 includes one or a plurality of electric motors. The electric motor included in the motor 24 is, for example, a brushless motor. The motor 24 transmits the rotational force through the power transmission path of the human driving force H from the pedal 34 to the second rotating body 18 . In the present embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and transmits a rotational force to the first rotating body 14 . The motor 24 drives the transmission body 20 through the first rotating body 14 . The human-driven vehicle 10 further includes a casing 56 provided with the motor 24 . The drive unit 50 is constituted by the motor 24 and the housing 56 . The casing 56 is attached to the frame 32 . The housing 56 rotatably supports the crankshaft 12 . For example, the motor 24 may transmit the rotational force to the transmission body 20 without passing through the first rotating body 14 . In this case, for example, the output shaft of the motor 24 or the transmission member through which the force of the output shaft is transmitted is provided with a sprocket engaged with the transmission body 20 .

Between the motor 24 and the power transmission path of the human driving force H, a speed reducer 58 may be provided. The speed reducer 58 includes, for example, a plurality of gears. Between the motor 24 and the power transmission path of the human-powered driving force H, for example, a third one-way clutch 60 may be provided. The rotational force is transmitted to the motor 24. The third one-way clutch 60 includes, for example, at least one of a roller clutch, a sprag clutch, and a dog clutch.

The drive unit 50 includes an output unit 62 . The output unit 62 is, for example, connected to the crankshaft 12 and also connected to the speed reducer 58 . The human driving force H and the output of the motor 24 are input to the output unit 62 . The first rotating body 14 is connected to the output unit 62 so as to rotate integrally with the output unit 62 .

For example, the power transmission system 64 includes a control device 70 and a first one-way clutch 66 . The first one-way clutch 66 is a first power transmission path provided between the crankshaft 12 and the first rotating body 14, transmits a rotational force in the first rotating direction from the crankshaft 12 to the first rotating body 14, and suppresses The rotational force in the first rotational direction is transmitted from the first rotational body 14 to the crankshaft 12 . The first one-way clutch 66 rotates the first rotating body 14 forward when the crank 28 rotates forward, and allows relative rotation between the crank 28 and the first rotating body 14 when the crank 28 rotates backward. The first one-way clutch 66 is, for example, provided on the housing 56 of the drive unit 50 . The first one-way clutch 66 is, for example, provided between the crankshaft 12 and the output portion 62 . The first one-way clutch 66 includes, for example, at least one of a roller clutch, a sprag clutch, and a dog clutch.

The crankshaft 12 and the first rotating body 14 may be connected to rotate integrally. When the crankshaft 12 and the first rotating body 14 are coupled to rotate integrally, the first one-way clutch 66 is omitted.

For example, the power transmission system 64 further includes a second one-way clutch 68 . The second one-way clutch 68 is a second power transmission path provided between the second rotating body 18 and the wheels 16, from the second rotating body 18 to the wheels 16, and rotates in the second direction corresponding to the first rotating direction. The transmission of the rotational force in the second rotational direction is suppressed from being transmitted from the wheels 16 to the second rotating body 18 . The second one-way clutch 68 rotates the rear wheel 16R forward if the second rotating body 18 is rotating forward, and allows the second rotating body 18 and the rear wheel 16R to rotate if the second rotating body 18 is rotating backward. relative rotation. The second one-way clutch 68 is, for example, a hub shaft provided on the rear wheel 16R. The second one-way clutch 68 includes, for example, at least one of a roller clutch, a sprag clutch, and a dog clutch.

The second rotating body 18 and the rear wheel 16R may be connected to rotate integrally. When the second rotating body 18 and the rear wheel 16R are connected to rotate integrally, the second one-way clutch 68 is omitted.

For example, the power transmission system 64 further includes a power storage device. The power storage device stores the electric power generated by the motor 24 . For example, the control unit 72 controls the motor 24 using the electric power of the power storage device. The power storage device may include the battery 54 , may include a battery different from the battery 54 , or may include a capacitor. The power storage device is, for example, provided in casing 56 of drive unit 50 .

The control device 70 includes a control unit 72 . The control unit 72 is an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the control unit 72 includes, for example, a CPU (Central Processing Unit, Central Processing Unit) or an MPU (Micro Processing Unit, Micro Processing Unit). The arithmetic processing devices included in the control unit 72 may be installed in a plurality of places separated from each other. For example, a part of the arithmetic processing device may be installed in the human-powered vehicle 10, and the other part of the arithmetic processing device may be installed in a server connected to the Internet. In the case where the arithmetic processing device is installed in a plurality of places far away from each other, each part of the arithmetic processing device is communicably connected to each other through a wireless communication device. The control unit 72 may include one or a plurality of microcomputers.

For example, the control device 70 further includes a memory unit 74 . In the storage unit 74, control programs and information used for control processing are stored. The memory unit 74 includes, for example, a non-volatile memory and a volatile memory. Non-volatile memory includes, for example: ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory, Erasable Programmable Read Only Memory), EEPROM (Electronic Erasable Programmable At least one of overwrite read-only memory, Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Dynamic Random Access Memory, Random Access Memory).

The control device 70 is, for example, further provided with a drive circuit 76 for the motor 24 . The drive circuit 76 and the control unit 72 are provided, for example, on the casing 56 of the drive unit 50 . The drive circuit 76 and the control unit 72 may be provided, for example, on the same circuit board. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the electric power supplied from the battery 54 to the motor 24 . The drive circuit 76 is connected to the control unit 72 through a conductive wire, a power cable, or a wireless communication device. The drive circuit 76 drives the motor 24 in response to the control signal from the control unit 72 .

For example, the control device 70 further includes a vehicle speed sensor 78 , a crank rotation sensor 80 , a human driving force detection unit 82 , and an acceleration detection unit 84 .

The vehicle speed sensor 78 detects information corresponding to the rotation speed W of the wheel 16 of the human-driven vehicle 10 . The vehicle speed sensor 78 is, for example, to detect a magnet provided on the wheel 16 of the human-powered vehicle 10 . The vehicle speed sensor 78 outputs, for example, a signal that detects a predetermined number of times during one rotation of the wheel 16 . The predetermined number of times is, for example, one time. The vehicle speed sensor 78 outputs a signal corresponding to the rotation speed W of the wheel 16 . The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed W of the wheel 16 . The vehicle speed V can be calculated according to: the rotation speed W of the wheel 16 and the information about the circumference of the wheel 16 . Information about the circumference of the wheel 16 is memorized in the memory unit 74 .

The vehicle speed sensor 78 includes, for example, a magnetic reed constituting a reed switch or a Hall element. The vehicle speed sensor 78 is installed on the chain stay of the vehicle frame 32 of the human-powered vehicle 10 to detect the magnet installed on the rear wheel 16R, and is installed on the front fork 38 to detect the magnet installed on the front wheel 16R. 16F magnets are also available. In the present embodiment, the vehicle speed sensor 78 detects the magnet once when the wheel 16 rotates once. If the vehicle speed sensor 78 can detect the information corresponding to the rotation speed W of the wheel 16 of the human-driven vehicle 10, any structure can be used, for example, an optical sensor or an acceleration sensor can be included. The vehicle speed sensor 78 is connected to the control unit 72 through a wireless communication device or a power cable.

The crank rotation sensor 80 detects information corresponding to the rotation speed C of the crankshaft 12 of the human-driven vehicle 10 . The crank rotation sensor 80 is provided, for example, on the frame 32 of the human-powered vehicle 10 or the drive unit 50 . The crank rotation sensor 80 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The ring-shaped magnet whose strength of the magnetic field changes in the circumferential direction is installed on the crankshaft 12, a member rotating in conjunction with the crankshaft 12, or a power transmission between the crankshaft 12 and the first rotating body 14. path. The member rotating in conjunction with the crankshaft 12 may be the output shaft of the motor 24 . The crank rotation sensor 80 outputs a signal corresponding to the rotation speed C of the crankshaft 12 .

The magnet may be provided in a member that rotates integrally with the crankshaft 12 in the power transmission path of the human driving force H from the crankshaft 12 to the first rotating body 14 . For example, when the first one-way clutch 66 is not provided between the crankshaft 12 and the first rotating body 14 , the magnet may be provided on the first rotating body 14 . If the crank rotation sensor 80 can detect the information corresponding to the rotational speed C of the crankshaft 12 of the manpower-driven vehicle 10, any structure is also possible, and the magnetic sensor can be replaced by an optical sensor, an acceleration sensor, etc. Measuring device, or torque sensor, etc. can also be used. The crank rotation sensor 80 is connected to the control unit 72 through a wireless communication device or a power cable.

The human driving force detection unit 82 detects information on the human driving force H. The human-powered driving force detection unit 82 is provided, for example, on the frame 32 of the human-powered vehicle 10 , the drive unit 50 , the crank 28 , or the pedal 34 . The human driving force detection unit 82 may be provided on the casing 56 of the drive unit 50 . The human driving force detection unit 82 includes, for example, a torque sensor. The torque sensor outputs a signal corresponding to the torque applied to the crank 28 by the human driving force H. For example, when the first one-way clutch 66 is provided on the power transmission path, the torque sensor is provided, for example, on the upstream side of the first one-way clutch 66 on the power transmission path. The torque sensor includes: a strain sensor, a magnetostrictive sensor, or a pressure sensor. A strain sensor is comprised of strain gauges.

The torque sensor is provided near the power transmission path or a member included in the power transmission path. The members included in the power transmission path are, for example, the crankshaft 12 , a member that transmits the human driving force H between the crankshaft 12 and the first rotating body 14 , the crank arm 26 , or the pedal 34 . The human driving force detection unit 82 is connected to the control unit 72 through a wireless communication device or a power cable. If the human driving force detection unit 82 can obtain information about the human driving force H, any structure is also possible, for example, including: a sensor for detecting the pressure applied to the pedal 34, or a sensor for detecting the chain pressure. Sensors for tension, etc. are also available.

The acceleration detection unit 84 outputs a signal corresponding to the acceleration AR in the direction in which the human-powered vehicle 10 advances. The acceleration detection unit 84 may include an acceleration sensor, or may include the vehicle speed sensor 78 . The acceleration detection unit 84 is connected to the control unit 72 through a wireless communication device or a power cable. When the acceleration detection unit 84 includes the vehicle speed sensor 78, the control unit 72 obtains information on the acceleration AR in the forward direction of the human-powered vehicle 10 by differentiating the vehicle speed V.

The control unit 72 controls the motor 24 . The control unit 72 controls the motor 24 so that the assist level A by the motor 24 becomes a predetermined assist level A, for example. For example, the assist level A includes the ratio of the output of the motor 24 to the human-powered driving force H input to the human-powered vehicle 10, the maximum value of the output of the motor 24, and the value of the motor 24 when the output of the motor 24 decreases. At least one of the suppression levels L of fluctuations is output. The ratio of the assisting force of the motor 24 to the human driving force H is sometimes described as an assisting ratio. For example, the control unit 72 controls the motor 24 so that the ratio of the assist force of the motor 24 to the human driving force H becomes a predetermined ratio. The human-powered driving force H corresponds to the propulsion force of the human-powered vehicle 10 generated by the rider rotating the crankshaft 12 . The assist force corresponds to the propulsion force of the human-powered vehicle 10 generated by the rotation of the motor 24 . The predetermined ratio may not be fixed, but may vary according to the human driving force H, for example. The predetermined ratio is not fixed, but may be changed according to the rotation speed C of the crankshaft 12, for example. The predetermined ratio is not fixed, but may be changed according to the vehicle speed V, for example. The predetermined ratio is not fixed, but may be changed according to any two or all of the human driving force H, the rotational speed C of the crankshaft 12, and the vehicle speed V, for example.

When the human driving force H and the assisting force are represented by torque, the human driving force H is described as the human torque HT, and the assisting force is described as the assisting torque MT. When the human driving force H and the assisting force are represented by a work rate, the human driving force H is described as a manpower work rate HW, and the assisting force is described as an assist work rate MW. The ratio may be the torque ratio of the assist torque MT to the human power torque HT of the human-powered vehicle 10, or the ratio of the assist duty ratio MW of the motor 24 to the human labor ratio HW.

In the drive unit 50 of the present embodiment, the crankshaft 12 is connected to the first rotating body 14 without passing through the transmission, and the output of the motor 24 is input to the first rotating body 14 . When the crankshaft 12 is not connected to the first rotating body 14 through the transmission, and the output of the motor 24 is input to the first rotating body 14, the human driving force H corresponds to the rotation of the crankshaft 12 by the user. And the driving force input to the first rotating body 14 . When the crankshaft 12 is not connected to the first rotating body 14 through the speed changer, and the output of the motor 24 is input to the first rotating body 14, the auxiliary force is input to the first rotating body 14 corresponding to the rotation of the motor 24. The driving force of the rotating body 14. When the output of the motor 24 is input to the first rotating body 14 through the speed reducer 58 , the assist force corresponds to the output of the speed reducer 58 .

When the rear wheel 16R is provided with the motor 24, the human driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the rear wheel 16R, the assist force is an output corresponding to only the rear wheel 16R driven by the motor 24 . When the front wheel 16F is provided with the motor 24, the human driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the front wheel 16F, the assist force corresponds to the output of the front wheel 16F driven only by the motor 24 .

The control unit 72 controls the motor 24 so that the assist force becomes equal to or less than the maximum value MX. When the output of the motor 24 is input to the first rotating body 14 and the assist force is represented by torque, the control unit 72 controls the motor 24 so that the assist torque MT becomes equal to or less than the maximum value MTX. For example, the maximum value MTX is a value in the range of 20 Nm to 200 Nm. The maximum value MTX is determined, for example, by the output characteristics of the motor 24 . When the output of the motor 24 is input to the first rotating body 14 and the assist force is represented by the duty ratio, the control unit 72 controls the motor 24 so that the assist duty ratio MW becomes equal to or less than the maximum value MWX.

For example, the control unit 72 can change the suppression level L for suppressing fluctuations in the output of the motor 24 . The larger the suppression level L of the output fluctuation of the motor 24 is, the smaller the change amount per unit time of the output of the motor 24 is than the change amount per unit time of the control parameter of the motor 24 . The smaller the suppression level L of the output fluctuation of the motor 24 is, the larger the change amount per unit time of the output of the motor 24 is than the change amount per unit time of the control parameter of the motor 24 . The control parameter of the motor 24 is the human driving force H or the rotation speed C of the crankshaft 12 . The suppression level L of the output fluctuation of the motor 24 is inversely proportional to the response speed of the motor 24 . The response speed of the motor 24 is represented by the change amount per unit time of the output of the motor 24 with respect to the change amount per unit time of the control parameter of the motor 24 . If the suppression level L of the output fluctuation of the motor 24 increases, the response speed of the motor 24 decreases.

The control unit 72 changes the suppression level L by using a filter, for example. The filter, for example, includes a low-pass filter with a time constant. The control unit 72 changes the suppression level L by changing the time constant of the filter. The control unit 72 may change the suppression level L by changing the gain amount for calculating the output of the motor 24 from the human driving force H. The filter is constituted, for example, by executing predetermined software on an arithmetic processing device.

For example, the control unit 72 controls the electric actuator 52 . For example, the control unit 72 controls the electric actuator 52 in response to a shift speed instruction. For example, the control unit 72 judges that when the first operation signal is output from the first operation unit 44A, when the second operation signal is output from the second operation unit 44B, and when the shift condition is satisfied, With variable speed indicator. When the speed change condition is satisfied, for example, at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 is satisfied. Satisfaction of the speed change condition is, for example, independent of the operation to the first operation part 44A and the second operation part 44B, the running state of the human-powered vehicle 10 , and the running environment of the human-powered vehicle 10 .

For example, when the first operation signal is output from the first operation portion 44A and the second operation signal is output from the second operation portion 44B, the control unit 72 determines that there is a shift instruction, and changes the shift speed. The speed change control signal for the ratio R is output to the electric actuator 52 . The electric actuator 52 operates so as to operate the derailleur 22 when a shift control signal is input. The shift control signal includes, for example, electric power for driving the electric actuator 52 . For example, the speed change control signal includes: a first speed change control signal and a second speed change control signal. The signal includes a shift instruction to operate the derailleur 22 so that the shift ratio R is decreased.

The control unit 72 controls the electric actuator 52 to operate the derailleur 22 to change the speed change ratio R when the speed change condition is satisfied. For example, when the shift condition is satisfied, the control unit 72 determines that there is a shift instruction, and outputs a shift control signal for changing the shift ratio R to the electric actuator 52 . The control unit 72 transmits a first speed change control signal to the electric actuator 52 when the speed change condition for increasing the speed change ratio R is satisfied. The electric actuator 52 operates the derailleur 22 to increase the speed change ratio R by the first speed change control signal. The control unit 72 transmits a second speed change control signal to the electric actuator 52 when the speed change condition for reducing the speed change ratio R is satisfied. The electric actuator 52 operates the derailleur 22 by the second shift control signal to decrease the shift ratio R.

The shift condition is, for example, at least one of the rotational speed C of the crankshaft 12 , the vehicle speed V, the human driving force H, and the gradient of the travel path of the human driven vehicle 10 . For example, the shift condition for reducing the shift ratio R is satisfied when the vehicle speed V is equal to or lower than a predetermined vehicle speed.

The control unit 72 controls the motor 24 to drive the transmission body 20 , controls the derailleur 22 to operate the transmission body 20 to change the transmission ratio R when the first condition related to pedaling is satisfied, and performs transmission control. For example, when the first condition is satisfied, the control unit 72 controls the electric actuator 52 and operates the transmission body 20 through the derailleur 22 .

For example, the first condition is met when the human driving force H is equal to or less than the first driving force H1, when the rotational speed C of the crankshaft 12 is equal to or less than the first rotational speed C1, and when the crankshaft 12 swings. At least 1. When the crankshaft 12 swings, the crankshaft 12 is not completely stopped, and the rotation angle CA of the crankshaft 12 is maintained within a predetermined angle range. The predetermined angle range is, for example, not less than 1° and not more than 20°.

The control state of the control part 72 has a 1st control state and a 2nd control state. The control unit 72 changes the number of shifting stages of the first stage ST1 within the first time T1 in the first control state when the first condition is satisfied. The control unit 72 changes the number of shifting stages of the first stage ST1 within the second time T2 in the second control state when the first condition is satisfied. The control unit 72 controls the motor 24 so that the rotation speed of the motor 24 is higher in the second control state than in the first control state. The second time T2 is shorter than the first time T1.

For example, the control unit 72 shifts the control state to the second control state when the first condition is satisfied and the second condition is satisfied. The case where the second condition is satisfied is at least one of: the acceleration AR of the human-powered vehicle 10 is greater than or equal to the first acceleration AR1, and the case of the deceleration DR of the human-driven vehicle 10 is greater than or equal to the first deceleration DR1. The deceleration DR of the human-powered vehicle 10 is, for example, calculated by the control unit 72 in response to the output of the acceleration detection unit 84 . The deceleration DR of the human-powered vehicle 10 may be calculated from the deceleration rate of the vehicle speed V, for example.

For example, when the first condition is satisfied, the second condition is satisfied, and the third condition is further satisfied, in the second control state, the control unit 72 changes the number of shifting stages of the plurality of stages. For example, when the third condition is satisfied, it is determined that a change in the number of shifting stages of a plurality of stages is necessary. The case where it is determined that a change in the number of shifting steps of a plurality of steps is necessary is, for example, a case where the number of shifting steps is less than or equal to a predetermined number of steps.

For example, the control unit 72 controls the electric actuator 52 so that the operating speed of the derailleur 22 is higher in the second control state than in the first control state. For example, when the electric actuator 52 includes an electric motor, the control unit 72, in the second control state, makes the rotation speed of the electric motor included in the electric actuator 52 faster than that in the first control state. The situation is even greater to increase the speed of action of the derailleur 22 .

In the present embodiment, when the first condition is satisfied, the control unit 72 is in the second control state, and by quickly performing the shift control, it is possible to prepare in time for the next stepping on the optimal shift. number of segments.

For example, the case where the first condition is satisfied and the acceleration AR of the human-powered vehicle 10 is greater than or equal to the first acceleration AR1 includes the case where the rider accelerates the human-powered vehicle 10 on a downhill without stepping on the pedal 34 . In this case, the control unit 72 can be ready in time for the next pedaling by quickly performing the gear shift control at a relatively high gear shift number.

For example, when the first condition is satisfied, and the deceleration DR of the human-powered vehicle 10 is greater than or equal to the first deceleration DR1, it includes the case where the rider operates the brake operating device 43B to stop the human-powered vehicle 10 without stepping on the pedal 34. , or when the human-powered vehicle 10 stops while waiting for a red light or the like. In this case, the control unit 72 can be prepared in time for the next pedaling by quickly performing the speed change control, which is at a relatively low speed change stage number, generally the lowest speed change stage number.

For example, when the acceleration AR or the deceleration DR of the human-powered vehicle 10 is greater than or equal to a predetermined value, it is effective for the control unit 72 to perform a plurality of gear shifts at a time in order to quickly perform gear shift control.

Referring to FIG. 5 , the process of executing the shift control by the control unit 72 will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 5 . The control unit 72 repeats the processing from step S11 after a predetermined cycle until the supply of electric power is stopped, for example, after the flowchart of FIG. 5 is terminated.

In step S11, the control unit 72 judges whether or not the first condition is satisfied. When the control unit 72 satisfies the first condition, it proceeds to step S12. The control unit 72 terminates the processing when the first condition is not satisfied.

In step S12, the control unit 72 determines whether or not there is a shift instruction. The control unit 72 proceeds to step S13 when there is no shift instruction. The control unit 72 terminates the process when there is no shift instruction.

In step S13, the control unit 72 judges whether or not the second condition is satisfied. When the control unit 72 does not satisfy the second condition, it proceeds to step S14. When the control unit 72 does not satisfy the second condition, it proceeds to step S15.

The control unit 72 changes the control state to the second control state in step S14, and then moves to step S16.

In step S16, the control unit 72 judges whether or not the third condition is satisfied. When the control unit 72 satisfies the third condition, it proceeds to step S17. When the control unit 72 does not satisfy the third condition, it proceeds to step S18.

In step S17, the control unit 72 controls the electric actuator 52 to change the number of shifting stages of a plurality of stages, and ends the process. The control part 72 may start the drive of the motor 24 in step S14, and may start the drive of the motor 24 in step S17.

In step S18, the control unit 72 controls the electric actuator 52 so as to change the number of shifting stages of the first stage ST1 within the second time T2, and ends the process. The control part 72 may start the drive of the motor 24 in step S14, and may start the drive of the motor 24 in step S18.

The control unit 72 changes the control state to the first control state in step S15, and then moves to step S19.

In step S19, the control unit 72 controls the electric actuator 52 to change the number of shifting stages of the first stage ST1 within the first time T1, and ends the process. The control part 72 may start the drive of the motor 24 in step S15, and may start the drive of the motor 24 in step S19.

The control unit 72 may stop the drive of the motor 24 after the change of the number of shifting stages is completed. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S17. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S18. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S19.

<Second Embodiment> Referring to FIG. 6 , a control device 70 according to a second embodiment will be described. The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment except that the control unit 72 executes the processing of the flowchart of FIG. 6 instead of the processing of the flowchart of FIG. 5 . In the control device 70 of the second embodiment, the same reference numerals as those of the first embodiment are assigned to the same configurations as those of the first embodiment, and overlapping descriptions are omitted.

In this embodiment, the control state of the control part 72 has a 3rd control state and a 4th control state. The control unit 72 changes the number of shifting stages of the first stage ST1 within the first time T1 in the third control state when the first condition is satisfied. When the first condition is satisfied, the control unit 72 changes the number of shift stages of the second stage ST2, which is higher than that of the first stage ST1, within the first time T1 in the fourth control state. The first segment ST1 is, for example, the first segment.

For example, the control unit 72 shifts the control state to the fourth control state when the first condition is satisfied and the fourth condition is satisfied. The case where the fourth condition is satisfied is at least one of: the acceleration AR of the human-powered vehicle 10 is greater than or equal to the second acceleration AR2, and the case of the deceleration DR of the human-driven vehicle 10 is greater than or equal to the second deceleration DR2. The second acceleration AR2 may be the same as or different from the first acceleration AR1. The second deceleration DR2 may be the same as or different from the first deceleration DR1.

For example, when the first condition is satisfied, the fourth condition is satisfied, and the fifth condition is further satisfied, in the fourth control state, the control unit 72 changes the number of shifting stages of the plurality of stages. When the fifth condition is satisfied, it is determined that a change in the number of shifting stages of a plurality of stages is necessary.

For example, the control unit 72 controls the electric actuator 52 so that the operating speed of the derailleur 22 is higher in the fourth control state than in the third control state. For example, when the electric actuator 52 includes an electric motor, the control unit 72, in the fourth control state, makes the rotation speed of the electric motor in the electric actuator 52 faster than that in the third control state. Largely increase the operating speed of the derailleur 22.

In the present embodiment, when the first condition is satisfied, the control unit 72 changes the number of gears in the fourth control state by changing the number of gears in the number of gears and changing the number of gears in one gear at a time. The driving time of the motor 24 can be shortened compared to the case where the number of stages is changed. Therefore, power consumption can be suppressed.

For example, when the first condition is satisfied, and the acceleration AR or deceleration DR of the human-powered vehicle 10 is more than a predetermined value, the possibility that a plurality of stages of shifting becomes necessary becomes higher, so the number of plural shift stages is increased. Change is better.

Referring to FIG. 6 , the process of executing the shift control by the control unit 72 will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 6 . The control unit 72 repeats the processing from step S21 after a predetermined period until the supply of electric power is stopped, for example, after the flowchart of FIG. 6 is terminated.

In step S21, the control unit 72 judges whether or not the first condition is satisfied. The control unit 72 proceeds to step S22 when the first condition is not satisfied. The control unit 72 terminates the processing when the first condition is not satisfied.

In step S22, the control unit 72 determines whether or not there is a shift instruction. The control unit 72 proceeds to step S23 when there is no shift instruction. The control unit 72 terminates the process when there is no shift instruction.

In step S23, the control unit 72 judges whether or not the fourth condition is satisfied. The control unit 72 proceeds to step S24 when the fourth condition is not satisfied. If the fourth condition is not satisfied, the control unit 72 proceeds to step S25.

The control unit 72 changes the control state to the fourth control state in step S24, and then moves to step S26.

In step S26, the control unit 72 judges whether or not the fifth condition is satisfied. The control unit 72 proceeds to step S27 when the fifth condition is satisfied. The control unit 72 proceeds to step S28 when the fifth condition is not satisfied.

In step S27, the control unit 72 controls the electric actuator 52 to change the number of shifting stages of a plurality of stages, and ends the processing. The control part 72 may start the drive of the motor 24 in step S24, and may start the drive of the motor 24 in step S27.

In step S28, the control unit 72 controls the electric actuator 52 to change the number of shifting stages of the second stage ST2 within the first time T1, and ends the process. The control part 72 may start the drive of the motor 24 in step S24, and may start the drive of the motor 24 in step S28.

The control unit 72 changes the control state to the third control state in step S25, and then moves to step S29.

In step S29, the control unit 72 controls the electric actuator 52 so as to change the number of shifting stages of the first stage ST1 within the first time T1, and ends the processing. The control part 72 may start the drive of the motor 24 in step S25, and may start the drive of the motor 24 in step S29.

The control unit 72 may stop the drive of the motor 24 after the change of the number of shifting stages is completed. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S27. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S28. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S29.

<Third Embodiment> Referring to FIG. 7 , a control device 70 according to a third embodiment will be described. The control device 70 of the third embodiment is the same as the control device 70 of the first embodiment except that the control unit 72 executes the processing of the flowchart of FIG. 7 instead of the processing of the flowchart of FIG. 5 . In the control device 70 of the third embodiment, the same reference numerals as those of the first embodiment are assigned to the same configurations as those of the first embodiment, and overlapping descriptions are omitted.

In this embodiment, the control state of the control part 72 has a 5th control state and a 6th control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within the third time T3 after receiving the shift instruction in the fifth control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within the fourth time T4 after receiving the shift instruction in the sixth control state. The fourth time T4 is shorter than the third time T3.

For example, when the first condition is satisfied and the sixth condition is satisfied, the control unit 72 shifts the control state to the sixth control state. The sixth condition is satisfied at least one of: the acceleration AR of the human-driven vehicle 10 is greater than or equal to the third acceleration AR3, and the deceleration DR of the human-driven vehicle 10 is greater than or equal to the third deceleration DR3. The third acceleration AR3 may be the same as at least one of the first acceleration AR1 and the second acceleration AR2. The third acceleration AR3 may be different from at least one of the first acceleration AR1 and the second acceleration AR2. The third deceleration DR3 may be the same as at least one of the first deceleration DR1 and the second deceleration DR2. The third deceleration DR3 may be different from at least one of the first deceleration DR1 and the second deceleration DR2.

For example, when the first condition is satisfied, the sixth condition is satisfied, and the seventh condition is satisfied, the control unit 72 changes the number of shifting stages of the plurality of stages in the sixth control state. When the seventh condition is satisfied, it is determined that a change in the number of shift stages of a plurality of stages is necessary.

In this embodiment, when the first condition is satisfied, the control unit 72 is in the sixth control state, and by performing the shift control earlier, it is possible to prepare in time for the next stepping on the optimal shift. number of segments.

For example, when the first condition is satisfied, and when the acceleration AR or deceleration DR of the human-powered vehicle 10 is greater than or equal to a predetermined value, that is, in the specific case described in the first embodiment, the control unit 72 is By performing the speed change control earlier, it is possible to prepare in time the number of shift stages suitable for each situation for the next pedaling.

On the other hand, in the present embodiment, when the first condition is satisfied, the control unit 72 delays the shift control in the fifth control state, especially in the case of changing the number of shift stages once. , the driving time of the motor 24 can be shortened. Therefore, power consumption can be suppressed.

Referring to FIG. 7 , the process of executing the shift control by the control unit 72 will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 7 . The control unit 72 repeats the processing from step S31 after a predetermined period until the supply of electric power is stopped, for example, after the flowchart of FIG. 7 is terminated.

In step S31, the control unit 72 judges whether or not the first condition is satisfied. When the control unit 72 satisfies the first condition, it proceeds to step S32. The control unit 72 terminates the processing when the first condition is not satisfied.

In step S32, the control unit 72 determines whether or not there is a shift instruction. The control unit 72 proceeds to step S33 when there is no shift instruction. The control unit 72 terminates the process when there is no shift instruction.

In step S33, the control unit 72 judges whether or not the sixth condition is satisfied. When the control unit 72 satisfies the sixth condition, it proceeds to step S34. The control unit 72 proceeds to step S35 when the sixth condition is not satisfied.

The control unit 72 changes the control state to the sixth control state in step S34, and then moves to step S36.

In step S36, the control unit 72 judges whether or not the seventh condition is satisfied. The control unit 72 proceeds to step S37 when the seventh condition is satisfied. The control unit 72 proceeds to step S38 when the seventh condition is not satisfied.

In step S37, the control unit 72 starts driving the motor 24 within a fourth time T4 after receiving the shift instruction, controls the electric actuator 52 to change the number of shift stages of the plurality of stages, and ends the process. For example, in step S37 , the control unit 72 starts the control of the electric actuator 52 after starting the driving of the motor 24 .

In step S38, the control unit 72 starts driving the motor 24 within a fourth time T4 after receiving the shift instruction, controls the electric actuator 52 to change the number of shift steps by a predetermined number, and ends the process. The number of shifting stages of the predetermined number of stages is, for example, one stage. For example, in step S38 , the control unit 72 starts the control of the electric actuator 52 after starting the driving of the motor 24 .

The control unit 72 changes the control state to the fifth control state in step S35, and then moves to step S29.

In step S39, the control unit 72 starts driving the motor 24 within a third time T3 after receiving the shift instruction, controls the electric actuator 52 to change the number of shift steps by a predetermined number, and ends the process. The number of shifting stages of the predetermined number of stages is, for example, one stage. For example, in step S39 , the control unit 72 starts the control of the electric actuator 52 after starting the driving of the motor 24 .

The control unit 72 may stop the drive of the motor 24 after the change of the number of shifting stages is completed. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S37. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S38. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S39.

<Fourth embodiment> Referring to FIG. 8 , a control device 70 according to a fourth embodiment will be described. The control device 70 of the fourth embodiment is the same as the control device 70 of the first embodiment except that the control unit 72 executes the processing of the flowchart of FIG. 8 instead of the processing of the flowchart of FIG. 5 . In the control device 70 of the fourth embodiment, the same reference numerals as those of the first embodiment are assigned to the same configurations as those of the first embodiment, and overlapping descriptions are omitted.

In the present embodiment, the control state of the control unit 72 has a seventh control state and an eighth control state. When the first condition is satisfied, the control unit 72 can operate the conveyer 20 at the first frequency F1 within the fifth time T5 or not operate the conveyer 20 in the seventh control state. When the first condition is satisfied, the control unit 72 can operate the carrier 20 at the second frequency F2 within the fifth time T5 in the eighth control state. The second frequency F2 is higher than the first frequency F1.

For example, the control unit 72 shifts the control state to the eighth control state when the first condition is satisfied and the eighth condition is satisfied. The case where the eighth condition is satisfied is at least one of the case where the acceleration AR of the human-powered vehicle 10 is equal to or greater than the fourth acceleration AR4, and the case where the deceleration DR of the human-powered vehicle 10 is equal to or greater than the fourth deceleration DR4. The fourth acceleration AR4 may be the same as at least one of the first acceleration AR1 , the second acceleration AR2 , and the third acceleration AR3 . The fourth acceleration AR4 may be different from at least one of the first acceleration AR1 , the second acceleration AR2 , and the third acceleration AR3 . The fourth deceleration DR4 may be the same as at least one of the first deceleration DR1 , the second deceleration DR2 , and the third deceleration DR3 . The fourth deceleration DR4 may be different from at least one of the first deceleration DR1 , the second deceleration DR2 , and the third deceleration DR3 .

For example, the control unit 72 controls the motor 24 to start driving the motor 24 after receiving the shift instruction, and the period in the eighth control state is shorter than the period in the seventh control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within the sixth time T6 after receiving the shift instruction in the seventh control state. When the first condition is satisfied, the control unit 72 starts driving the motor 24 within the seventh time T7 after receiving the shift instruction in the eighth control state. For example, the seventh time T7 is shorter than the sixth time T6. For example, the control unit 72 controls the electric actuator 52 to start the operation of the derailleur 22 after receiving the shift instruction, and the period in the eighth control state is longer than that in the seventh control state. period is shorter.

In this embodiment, when the first condition is satisfied, in the eighth control state, by increasing the frequency of the speed change control, it is possible to control the speed change when the speed change control is necessary, for example, in an unstable running environment. , to perform variable speed control in a timely manner.

For example, when the first condition is satisfied, and when the acceleration AR or deceleration DR of the human-powered vehicle 10 is greater than or equal to a predetermined value, that is, in the specific case described in the first embodiment, the control unit 72 is By timely performing the speed change control, the human-powered vehicle 10 can be driven at the number of speed changes suitable for each situation.

On the other hand, in the present embodiment, when the first condition is satisfied, the control unit 72 is in the seventh control state, and when the speed change control is unnecessary, the control unit 72 reduces the frequency of the speed change control, The number of times of speed change control can be reduced. Therefore, power consumption can be suppressed. The case where the speed change control is unnecessary is, for example, the case where the human-powered vehicle 10 is in a stable running environment.

For example, when the first condition is satisfied, and the acceleration AR or deceleration DR of the human-powered vehicle 10 is less than a predetermined value, for example, when walking on a level ground where the rider does not need to step on the pedal 34, the speed change can be reduced. number of controls. Therefore, power consumption can be suppressed.

Referring to FIG. 8 , the process of executing the shift control by the control unit 72 will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S41 of the flowchart shown in FIG. 8 . The control unit 72 repeats the processing from step S41 after a predetermined period until the supply of electric power is stopped, for example, when the flowchart of FIG. 8 is terminated.

In step S41, the control unit 72 judges whether or not the first condition is satisfied. When the control unit 72 satisfies the first condition, it proceeds to step S42. The control unit 72 terminates the processing when the first condition is not satisfied.

In step S42, the control unit 72 determines whether or not there is a shift instruction. The control unit 72 proceeds to step S43 if there is a shift instruction. The control unit 72 terminates the process when there is no shift instruction.

In step S43, the control unit 72 judges whether or not the eighth condition is satisfied. When the control unit 72 satisfies the eighth condition, it proceeds to step S44. When the control unit 72 does not satisfy the eighth condition, it proceeds to step S45.

The control unit 72 changes the control state to the eighth control state in step S44, and then moves to step S46.

In step S46, the control unit 72 starts driving the motor 24 within a seventh time T7 after receiving the shift instruction, starts controlling the electric actuator 52, and ends the process. For example, in step S46 , the control unit 72 starts the control of the electric actuator 52 after starting the drive of the motor 24 .

In step S45, the control unit 72 changes the control state to the seventh control state, and then moves to step S47.

In step S47, the control unit 72 starts driving the motor 24 within a sixth time period T6 after receiving the shift instruction, starts controlling the electric actuator 52, and ends the process. For example, in step S47 , the control unit 72 starts the control of the electric actuator 52 after starting the drive of the motor 24 .

The control unit 72 may stop the drive of the motor 24 after the change of the number of shifting stages is completed. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S46. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S47.

<Fifth Embodiment> Referring to FIG. 9 , a control device 70 according to a fifth embodiment will be described. The control device 70 of the fifth embodiment is the same as the control device 70 of the fourth embodiment except that the control unit 72 executes the processing of the flowchart of FIG. 9 instead of the processing of the flowchart of FIG. 8 . In the control device 70 of the fifth embodiment, the same reference numerals as those of the fourth embodiment are assigned to the same configurations as those of the fourth embodiment, and overlapping descriptions are omitted.

In the present embodiment, the control unit 72 controls the electric actuator 52 so that the transmission body 20 is not operated in the seventh control state. In the present embodiment, the control unit 72 does not drive the motor 24 in the seventh control state.

The process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIG. 9 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S51 of the flowchart shown in FIG. 9 . The control unit 72 repeats the processing from step S51 after a predetermined period, for example, until the supply of electric power is stopped when the flowchart of FIG. 9 is terminated.

In step S51, the control unit 72 judges whether or not the first condition is satisfied. When the control unit 72 satisfies the first condition, it proceeds to step S52. When the first condition is not satisfied, the control unit 72 ends the processing.

In step S52, the control unit 72 judges whether or not there is a shift instruction. The control unit 72 proceeds to step S53 if there is a shift instruction. The control unit 72 terminates the process when there is no shift instruction.

In step S53, the control unit 72 judges whether or not the eighth condition is satisfied. The control unit 72 proceeds to step S54 when the eighth condition is satisfied. The control unit 72 proceeds to step S55 when the eighth condition is not satisfied.

The control unit 72 changes the control state to the eighth control state in step S54, and then moves to step S46.

In step S56, the control unit 72 starts driving the motor 24 within a seventh time T7 after receiving the shift instruction, starts controlling the electric actuator 52, and ends the processing. For example, in step S56 , the control unit 72 starts the control of the electric actuator 52 after starting the drive of the motor 24 . The control unit 72 may stop the drive of the motor 24 after the change of the number of shifting stages is completed. For example, the control unit 72 stops the drive of the motor 24 after executing the process of step S56.

In step S55, the control unit 72 changes the control state to the seventh control state and ends the processing. The control unit 72 does not drive the motor 24 in the seventh control state. The control unit 72 controls the electric actuator 52 so that the conveyance body 20 is not operated in the seventh control state. For example, the control unit 72 does not drive the electric actuator 52 in the seventh control state. For example, in the seventh control state, the control unit 72 may not issue a shift instruction even if the shift satisfies necessary predetermined conditions, or ignore the shift instruction even if issued.

＜Modifications＞ The descriptions of the respective embodiments are merely examples of possible forms of the control device for human-powered vehicles according to the present invention, and are not intended to limit the forms. The control device for a human-powered vehicle according to the present invention may be, for example, a modified example of each embodiment shown below and a combination of at least two modified examples that do not contradict each other. In the following modified examples, the same reference numerals as those in the embodiment are assigned to the parts that are in common with the embodiment, and description thereof will be omitted.

- In each embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is less than or equal to the first height, the control unit 72 may move the control state. Hereinafter, this modification is referred to as a first modification. In the first modification, for example, as shown in FIG. 10 , the human-powered vehicle 10 may be provided with an adjustable seat post device 48 . For example, adjustable seat post device 48 is mounted to seat post 48A. The adjustable seat post assembly 48 includes electric actuators for raising and lowering the seat post 48A relative to the frame 32 . The control device 70 may include a height detection unit that detects the height of the seat post 48A. The height detection unit may be a sensor that outputs a signal corresponding to the height of the seat post 48A. For example, in the first modified example of the first embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is less than or equal to the first height, the control unit 72 may shift the control state to the second control state. The process of shifting the control state of the motor 24 by the control unit 72 in the first modified example of the first embodiment will be described with reference to FIGS. 5 and 11 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 5 . The control unit 72 repeats the processing from step S11 after a predetermined period after the flow charts in FIGS. 5 and 11 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S61 when the second condition is satisfied in step S13. In step S61, the control part 72 judges whether the height of the seat post 48A is more than 1st height. When the height of the seat post 48A is equal to or greater than the first height, the control unit 72 proceeds to step S14. When the height of the seat post 48A is less than the first height, the control unit 72 proceeds to step S15. For example, the control unit 72 may execute the processing of step S61 instead of executing the processing of step S13. When the control unit 72 executes the processing of step S13 and step S61, the processing order of step S13 and step S61 may be executed instead. When replacing the processing order of step S13 and step S61, the control unit 72 moves to step S13 when the height of the seat post 48A is greater than or equal to the first height in step S61. For example, in the first modified example of the second embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is less than or equal to the first height, the control unit 72 may shift the control state to the fourth control state. In the first modified example of the second embodiment, the process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIGS. 6 and 12 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 6 . The control unit 72 repeats the processing from step S21 after a predetermined period after the flow charts in FIGS. 6 and 12 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S62 when the fourth condition is satisfied in step S23. In step S62, the control part 72 judges whether the height of the seat post 48A is more than 1st height. When the height of the seat post 48A is equal to or greater than the first height, the control unit 72 proceeds to step S24. When the height of the seat post 48A is less than the first height, the control unit 72 proceeds to step S25. For example, the control unit 72 may execute the processing of step S62 instead of executing the processing of step S23. When the control unit 72 executes the processing of step S23 and step S62, the processing order of step S23 and step S62 may be executed instead. When replacing the processing order of step S23 and step S62, the control unit 72 moves to step S23 when the height of the seat post 48A is greater than or equal to the first height in step S62. For example, in the first modified example of the third embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is less than or equal to the first height, the control unit 72 may shift the control state to the sixth control state. Referring to FIG. 7 and FIG. 13 , the process of shifting the control state of the motor 24 by the control unit 72 in the first modified example of the third embodiment will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 7 . The control unit 72 repeats the processing from step S31 after a predetermined period after the flow charts in FIGS. 7 and 13 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S63 when the sixth condition is satisfied in step S33. In step S63, the control part 72 judges whether the height of the seat post 48A is more than 1st height. When the height of the seat post 48A is equal to or greater than the first height, the control unit 72 proceeds to step S34. When the height of the seat post 48A is less than the first height, the control unit 72 proceeds to step S35. For example, the control unit 72 may execute the processing of step S63 instead of executing the processing of step S33. When the control unit 72 executes the processing of step S33 and step S63, the processing order of step S33 and step S63 may be executed instead. When replacing the processing order of step S33 and step S63, the control unit 72 moves to step S33 when the height of the seat post 48A is equal to or greater than the first height in step S63. For example, in the fourth embodiment and the first modified example of the fifth embodiment, when the height of the seat post 48A of the human-powered vehicle 10 is below the first height, the control unit 72 shifts the control state to the eighth height. Control state is also available.

- In each embodiment, when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit 72 may shift the control state. Hereinafter, this modification is referred to as a second modification. As shown in FIG. 14 , in the second modified example, the human-powered vehicle 10 further includes a suspension device 46 . The suspension device 46 is, for example, the front fork 38 provided on the human-powered vehicle 10 . The suspension device 46 operates to moderate the impact received by the front wheels 16F from the ground. The control device 70 further includes a stroke frequency detection unit 86 . The stroke frequency detection unit 86 can detect the stroke frequency of the suspension device 46 . For example, in the second modified example of the first embodiment, when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit 72 shifts the control state to the second control state. also can. The process of shifting the control state of the motor 24 by the control unit 72 in the second modified example of the first embodiment will be described with reference to FIGS. 5 and 15 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 5 . The control unit 72 repeats the processing from step S11 after a predetermined period after the flow charts in FIGS. 5 and 15 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S71 when the second condition is satisfied in step S13. In step S71, the control unit 72 judges whether or not the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. The control unit 72 proceeds to step S14 when the frequency at which the stroke length B repeatedly increases and decreases is equal to or higher than a predetermined frequency. The control unit 72 proceeds to step S15 when the frequency at which the stroke length B is repeatedly increased and decreased is less than the predetermined frequency. For example, the control unit 72 may execute the processing of step S71 instead of executing the processing of step S13. When the control unit 72 executes the processing of step S13 and step S71, the processing order of step S13 and step S71 may be executed instead. When replacing the processing order of step S13 and step S71, the control unit 72 moves to step S13 when the frequency at which the stroke length B is repeatedly increased and decreased in step S71 is equal to or greater than a predetermined frequency. For example, in the second modified example of the second embodiment, when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit 72 shifts the control state to the fourth control state. also can. The process of shifting the control state of the motor 24 by the control unit 72 in the second modified example of the second embodiment will be described with reference to FIGS. 6 and 16 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 6 . The control unit 72 repeats the processing from step S21 after a predetermined period after the flow charts in FIGS. 6 and 16 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S72 when the fourth condition is satisfied in step S23. In step S72, the control unit 72 determines whether or not the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. The control unit 72 proceeds to step S24 when the frequency at which the stroke length B repeatedly increases and decreases is equal to or higher than a predetermined frequency. The control unit 72 proceeds to step S25 when the frequency at which the stroke length B is repeatedly increased and decreased is less than the predetermined frequency. For example, the control unit 72 may execute the processing of step S72 instead of executing the processing of step S23. When the control unit 72 executes the processing of step S23 and step S72, the processing order of step S23 and step S72 may be executed instead. When replacing the processing order of steps S23 and S72, the control unit 72 proceeds to step S23 when the frequency at which the stroke length B is repeatedly increased and decreased in step S72 is equal to or greater than a predetermined frequency. For example, in the second modified example of the third embodiment, when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit 72 shifts the control state to the sixth control state. also can. The process of shifting the control state of the motor 24 by the control unit 72 in the second modified example of the third embodiment will be described with reference to FIGS. 7 and 17 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 7 . The control unit 72 repeats the processing from step S31 after a predetermined period after the flow charts in FIGS. 7 and 17 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S73 when the sixth condition is satisfied in step S33. In step S73, the control unit 72 determines whether or not the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or greater than a predetermined frequency. The control unit 72 proceeds to step S34 when the frequency at which the stroke length B repeatedly increases and decreases is equal to or higher than a predetermined frequency. The control unit 72 proceeds to step S35 when the frequency at which the stroke length B is repeatedly increased and decreased is less than the predetermined frequency. For example, the control unit 72 may execute the processing of step S73 instead of executing the processing of step S33. When the control unit 72 executes the processing of step S33 and step S73, the processing order of step S33 and step S73 may be executed instead. When replacing the processing order of steps S33 and S73, the control unit 72 proceeds to step S33 when the frequency at which the stroke length B is repeatedly increased and decreased in step S73 is equal to or greater than a predetermined frequency. For example, in the fourth embodiment and the second modified example of the fifth embodiment, when the frequency at which the stroke length B of the suspension device 46 repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit 72 shifts the control state to Up to the eighth control state is also possible.

- In each embodiment, when the slope of the walking path is greater than or equal to the first angle, the control unit 72 may shift the control state. This modified example is hereinafter referred to as a third modified example. As shown in FIG. 18 , in the third modified example, the control device 70 further includes a gradient detection unit 88 . The gradient detection unit 88 includes, for example, at least one of an inclination sensor and a GPS (Global Positioning System, Global Positioning System) receiver. The tilt sensor includes, for example, at least one of a rotation sensor and an acceleration sensor. When the inclination detection unit includes a GPS receiver, the memory unit 74 stores map information including information on the road gradient in advance, and the control unit 72 obtains the current road gradient of the human-powered vehicle 10 as the pitch. angle. For example, in the third modified example of the first embodiment, when the gradient of the walking path is greater than or equal to the first angle, the control unit 72 may shift the control state to the second control state. In the third modified example of the first embodiment, the process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIGS. 5 and 19 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 5 . The control unit 72 repeats the processing from step S11 after a predetermined period after the flow charts in FIGS. 5 and 19 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S81 when the second condition is satisfied in step S13. In step S81, the control unit 72 determines whether or not the slope of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S14 when the gradient of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S15 when the gradient of the walking path is less than the first angle. For example, the control unit 72 may execute the processing of step S81 instead of executing the processing of step S13. When the control unit 72 executes the processing of step S13 and step S81, the processing order of step S13 and step S81 may be executed instead. When replacing the processing order of step S13 and step S81, the control unit 72 moves to step S13 when the slope of the walking path is equal to or greater than the first angle in step S81. For example, in the third modified example of the second embodiment, when the gradient of the walking path is greater than or equal to the first angle, the control unit 72 may shift the control state to the fourth control state. The process of shifting the control state of the motor 24 by the control unit 72 in the third modified example of the second embodiment will be described with reference to FIGS. 6 and 20 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 6 . The control unit 72 repeats the processing from step S21 after a predetermined period after the flow charts in FIGS. 6 and 20 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S82 when the fourth condition is satisfied in step S23. In step S82, the control unit 72 determines whether or not the slope of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S24 when the gradient of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S25 when the gradient of the walking path is less than the first angle. For example, the control unit 72 may execute the processing of step S82 instead of executing the processing of step S23. When the control unit 72 executes the processing of step S23 and step S82, the processing order of step S23 and step S82 may be executed instead. When replacing the processing order of step S23 and step S82, the control unit 72 moves to step S23 when the slope of the walking path is equal to or greater than the first angle in step S82. For example, in the third modified example of the third embodiment, when the gradient of the walking path is greater than or equal to the first angle, the control unit 72 may shift the control state to the sixth control state. In the third modified example of the third embodiment, the process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIGS. 7 and 21 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 7 . The control unit 72 repeats the processing from step S31 after a predetermined period after the flow charts in FIGS. 7 and 21 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S83 when the sixth condition is satisfied in step S33. In step S83, the control unit 72 determines whether or not the slope of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S34 when the gradient of the walking path is greater than or equal to the first angle. The control unit 72 proceeds to step S35 when the gradient of the walking path is less than the first angle. For example, the control unit 72 may execute the processing of step S83 instead of executing the processing of step S33. When the control unit 72 executes the processing of step S33 and step S83, the processing order of step S33 and step S83 may be executed instead. When replacing the processing order of step S33 and step S83, the control unit 72 moves to step S33 when the gradient of the walking path is equal to or greater than the first angle in step S83. For example, in the fourth embodiment and the third modification of the fifth embodiment, when the gradient of the walking path is greater than or equal to the first angle, the control unit 72 may shift the control state to the eighth control state.

‧In each embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10, the control unit 72 may shift the control state. Hereinafter, this modification is referred to as a fourth modification. In the fourth modification, for example, the curved line is a curved line with a bending angle of 90° or less. For example, a curve with a bending angle of 90° or less is a curve in which the angle formed by the intersection of the extending direction of the walking path before the curve and the extending direction of the walking path after the curve is 90° or less. As shown in FIG. 22 , in the fourth modified example, the human-powered vehicle 10 further includes a front detection unit 90 capable of detecting the running environment ahead of the human-powered vehicle 10 in the traveling direction. For example, the control device 70 further includes a front detection unit 90 . The front detection unit 90 includes at least one of a GPS receiver, a camera, and a laser device. When the front detection unit 90 includes a GPS receiver, the storage unit 74 stores map information including information on road gradients in advance. The control unit 72 predicts the gradient of the road ahead based on the current location information of the human-driven vehicle 10 and the pre-stored map information. When the front detection unit 90 includes a camera, the control unit 72 detects the front situation from the image captured by the camera. When the front detection unit 90 includes a laser device, the control unit 72 detects the situation ahead based on obstacles detected by the laser. The control unit 72 may also include an artificial intelligence processing unit, and may output the state of the front in response to the input from the front detection unit 90 . The artificial intelligence processing unit is, for example, provided with a storage device storing software, and an arithmetic processing device that executes the software stored in the storage device. The arithmetic processing device includes, for example, a CPU or an MPU. The arithmetic processing device includes, for example, a GPU (Graphics Processing Unit, Graphics Processing Unit) in addition to a CPU or an MPU. The calculation processing device may include an FPGA (Field-Programmable Gate Array, Field-Programmable Gate Array). The artificial intelligence processing part may include 1 or a complex arithmetic processing device. The artificial intelligence processing unit may also include a plurality of arithmetic processing devices, which are respectively arranged in plural places far away from each other. The memory device includes, for example, non-volatile memory and volatile memory. The memory device is memory: control program, learning program, and learning model. The learning model may be a learned model that is learned by a predetermined learning rule, or a model that may be updated depending on the learning rule. Learning rules, including: machine learning, deep learning, or deep reinforcement learning. The learning rule is, for example, at least one of teacher learning, teacher-less learning, and reinforcement learning. If the learning rule is to update the learning model using a method belonging to the field of artificial intelligence, a method other than the method described in this specification may be used. The learning process used for updating the learning model is performed, for example, by a GPU. Learning rules can also be done by using a neural network (NN; Neural Network). For the learning rules, it is also possible to use a recurrent neural network (RNN; Recurrent Neural Network). For example, in the fourth modified example of the first embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 sets The control state may be shifted to the second control state. Referring to FIG. 5 and FIG. 23 , the process of shifting the control state of the motor 24 by the control unit 72 in the fourth modified example of the first embodiment will be described. For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S11 of the flowchart shown in FIG. 5 . The control unit 72 repeats the processing from step S11 after a predetermined period after the flow charts in FIGS. 5 and 23 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S91 when the second condition is satisfied in step S13. In step S91, the control unit 72 determines whether the human-powered vehicle 10 is traveling downhill, and a curve is detected ahead of the human-powered vehicle 10 in the traveling direction. The control unit 72 proceeds to step S14 when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10 . The control unit 72 proceeds to step S15 when the determination is negative in step S91. For example, the control unit 72 may execute the processing of step S91 instead of executing the processing of step S13. When the control unit 72 executes the processing of step S13 and step S91, the processing order of step S13 and step S91 may be executed instead. When replacing the situation of executing the processing sequence of step S13 and step S91, the control unit 72 is in step S91, when the human-powered vehicle 10 is walking on a downhill situation, and the front of the walking direction of the human-powered vehicle 10 is detected as a curve In the case of , go to step S13. For example, in the fourth modified example of the second embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 sets The control state may be shifted to the fourth control state. The process of shifting the control state of the motor 24 by the control unit 72 in the fourth modified example of the second embodiment will be described with reference to FIGS. 6 and 24 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S21 of the flowchart shown in FIG. 6 . The control unit 72 repeats the processing from step S21 after a predetermined period after the flow charts in FIGS. 6 and 24 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S92 when the fourth condition is satisfied in step S23. The control unit 72 judges in step S92 whether the human-powered vehicle 10 is traveling downhill, and a curve is detected ahead of the human-powered vehicle 10 in the traveling direction. The control unit 72 proceeds to step S24 when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10 . The control unit 72 proceeds to step S25 when the determination is negative in step S92. For example, the control unit 72 may execute the processing of step S92 instead of executing the processing of step S23. When the control unit 72 executes the processing of step S23 and step S92, the processing order of step S23 and step S92 may be executed instead. When replacing the situation of executing the processing order of step S23 and step S92, the control unit 72 is in step S92, when the human-powered vehicle 10 is walking on a downhill situation, and the front of the walking direction of the human-powered vehicle 10 is detected as a curve In the case of , go to step S23. For example, in the fourth modified example of the third embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the direction of travel of the human-powered vehicle 10, the control unit 72 sets The control state may be shifted to the sixth control state. The process of shifting the control state of the motor 24 by the control unit 72 in the fourth modified example of the third embodiment will be described with reference to FIGS. 7 and 25 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S31 of the flowchart shown in FIG. 7 . The control unit 72 repeats the processing from step S31 after a predetermined period after the flow charts in FIGS. 7 and 25 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S93 when the sixth condition is satisfied in step S33. The control unit 72 judges in step S93 whether the human-powered vehicle 10 is traveling downhill, and a curve is detected ahead of the human-powered vehicle 10 in the traveling direction. The control unit 72 proceeds to step S34 when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead in the traveling direction of the human-powered vehicle 10 . When the control unit 72 makes a negative determination in step S93, it proceeds to step S35. For example, instead of executing the processing of step S33, the control unit 72 may execute the processing of step S93. When the control unit 72 executes the processing of step S33 and step S93, the processing order of step S33 and step S93 may be executed instead. When replacing the situation of executing the processing order of step S33 and step S93, the control unit 72 is in step S93, when the human-powered vehicle 10 is walking on a downhill situation, and the front of the walking direction of the human-powered vehicle 10 is detected as a curve In the case of , go to step S33. For example, in the fourth embodiment and the fourth modified example of the fifth embodiment, when the human-powered vehicle 10 is traveling downhill and a curve is detected ahead of the human-powered vehicle 10 in the direction of travel, the control The unit 72 may shift the control state to the sixth control state.

- In the fourth embodiment, when the vehicle speed V of the human-powered vehicle 10 fluctuates within a predetermined vehicle speed range during the fifth time T5, the control unit 72 may shift the control state to the seventh control state. The process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIGS. 8 and 26 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S41 of the flowchart shown in FIG. 8 . The control unit 72 repeats the processing from step S41 after a predetermined period after the flow charts in FIGS. 8 and 26 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S101 when the eighth condition is satisfied in step S43. In step S101, the control unit 72 judges whether or not the vehicle speed V of the human-powered vehicle 10 fluctuates within a predetermined vehicle speed range during the fifth time period T5. The control unit 72 proceeds to step S44 when the vehicle speed V of the human-powered vehicle 10 does not vary within the predetermined vehicle speed range within the fifth time period T5. The control unit 72 proceeds to step S45 when the vehicle speed V of the human-powered vehicle 10 fluctuates within the predetermined vehicle speed range within the fifth time period T5. For example, the control unit 72 may execute the processing of step S101 instead of executing the processing of step S43. The control part 72 may replace and execute the processing order of step S43 and step S101. When replacing the processing sequence of step S43 and step S101, the control unit 72 moves to step S43 when the vehicle speed V of the human-powered vehicle 10 does not vary within the predetermined vehicle speed range in step S101.

‧In the fourth embodiment, when the gradient of the walking path of the human-powered vehicle 10 fluctuates within a predetermined angle range within the fifth time T5, the control unit 72 shifts the control state to the seventh control state also can. In this case, the control device 70 further includes, for example, a gradient detection unit 88 . The process of shifting the control state of the motor 24 by the control unit 72 will be described with reference to FIGS. 8 and 27 . For example, when power is supplied to the control unit 72 , the control unit 72 starts processing and proceeds to step S41 of the flowchart shown in FIG. 8 . The control unit 72 repeats the processing from step S41 after a predetermined period after the flow charts in FIGS. 8 and 27 are terminated, for example, until the supply of electric power is stopped. The control unit 72 proceeds to step S111 when the eighth condition is satisfied in step S43. In step S111, the control unit 72 judges whether or not the gradient of the travel path of the human-powered vehicle 10 varies within a predetermined angle range within the fifth time period T5. The control unit 72 proceeds to step S44 when the gradient of the travel path of the human-powered vehicle 10 does not vary within the predetermined angle range within the fifth time period T5. The control unit 72 proceeds to step S45 when the gradient of the travel path of the human-powered vehicle 10 varies within a predetermined angle range within the fifth time period T5. For example, the control unit 72 may execute the processing of step S111 instead of executing the processing of step S43. When the control unit 72 executes the processing of step S43 and step S111, the processing order of step S43 and step S111 may be executed instead. When replacing the processing order of step S43 and step S111, the control unit 72 is in step S111, and within the fifth time T5, the gradient of the walking path of the human-powered vehicle 10 does not change within a predetermined angle range. , move to step S44.

The expression "at least one" used in this specification means "more than one" among the options listed. In one example, the expression "at least one" used in this specification means "select only one of them" or "select both" if the number of selectable items is only two. For other examples, the expression "at least one" used in this specification means "select only one of them" or "arbitrary combination of two or more" if the number of selection items is three or more.

10:Human-driven car 12: Crankshaft 14: The first rotating body 16: Wheel 16F: Front wheel 16R: rear wheel 18: The second rotating body 20: Conveyor 22: derailleur 24: motor 26: crank arm 26A: 1st crank arm 26B: 2nd crank arm 28: crank 30: car body 32: frame 34: Pedal 34A: 1st pedal 34B: 2nd pedal 36: Driving mechanism 38: front fork 40: Faucet 42: Handlebar 43A: brake device 43B: Brake operating device 44: Operating device 44A: The first operation department 44B: The second operation department 46: Suspension device 48:Adjustable seat post device 48A: Cushion Post 50: drive unit 52: Electric actuator 54: battery 56: shell 58: reducer 60: The third one-way clutch 62: output part 64: Power transmission system 66: The first one-way clutch 68: The second one-way clutch 70: Control device 72: Control Department 74: memory department 76: Drive circuit 78: Vehicle speed sensor 80: Crank rotation sensor 82:Human driving force detection department 84: Acceleration detection unit 86: Stroke frequency detection unit 88: Slope detection unit 90: Front detection part

[ Fig. 1 ] A side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [ Fig. 2 ] A sectional view of a drive unit in the human-powered vehicle of Fig. 1 . [ Fig. 3 ] A schematic diagram of a power transmission path of the power transmission system of the human-powered vehicle in Fig. 1 . [ Fig. 4 ] A block diagram showing the electric power structure of the human-powered vehicle, including the control device for the human-powered vehicle according to the first embodiment. [ Fig. 5] Fig. 5 is a flow chart of a process in which gear shift control is executed by the control unit in Fig. 4 . [ Fig. 6] Fig. 6 is a flow chart of processing performed by the control unit of the second embodiment of the shift control. [ Fig. 7] Fig. 7 is a flow chart of processing performed by the control unit of the third embodiment for shift control. [ Fig. 8] Fig. 8 is a flow chart of processing performed by the control unit of the fourth embodiment of the present invention. [ Fig. 9] Fig. 9 is a flow chart of processing performed by the control unit of the fifth embodiment in which gear shift control is performed. [ Fig. 10 ] A block diagram showing the electric power structure of a human-powered vehicle, including a control device for a human-powered vehicle according to a first modification. [ Fig. 11] Fig. 11 is a flowchart showing a part of the processing performed by the control unit according to the first modified example of the first embodiment. [ Fig. 12] Fig. 12 is a flowchart showing a part of the process of shift control executed by the control unit in the first modification of the second embodiment. [ Fig. 13] Fig. 13 is a flowchart showing a part of the process of shift control performed by the control unit in the first modification of the third embodiment. [ Fig. 14 ] A block diagram showing the electric power structure of a human-powered vehicle, including a control device for a human-driven vehicle according to a second modified example. [ Fig. 15] Fig. 15 is a flow chart showing a part of the process of shift control executed by the control unit of the second modified example of the first embodiment. [ Fig. 16] Fig. 16 is a flowchart showing a part of the process of shift control performed by the control unit in the second modification example of the second embodiment. [ Fig. 17] Fig. 17 is a flowchart showing a part of the processing performed by the control unit according to the second modification of the third embodiment. [ Fig. 18 ] A block diagram showing a configuration of electric power of a human-powered vehicle including a control device for a human-powered vehicle according to a third modification. [ Fig. 19] Fig. 19 is a flowchart showing a part of the process of shift control executed by the control unit in the third modification of the first embodiment. [ Fig. 20] Fig. 20 is a flowchart showing a part of the processing performed by the control unit in the third modified example of the second embodiment. [ Fig. 21] Fig. 21 is a flowchart showing a part of the process of shift control performed by the control unit in the third modification example of the third embodiment. [ Fig. 22 ] A block diagram showing the electric power structure of a human-powered vehicle, including a control device for a human-powered vehicle according to a fourth modification. [ Fig. 23] Fig. 23 is a flowchart showing a part of the processing performed by the control unit in the fourth modified example of the first embodiment. [ Fig. 24] Fig. 24 is a flowchart showing a part of the process of shift control performed by the control unit according to the fourth modification of the second embodiment. [ Fig. 25] Fig. 25 is a flowchart showing a part of the processing performed by the control unit according to the fourth modification of the third embodiment. [ Fig. 26 ] A flow chart of processing performed by the control unit of the fifth modification. [FIG. 27] A flow chart of processing performed by the control unit of the sixth modification. [FIG.

10:Human-driven car

24: motor

44: Operating device

44A: The first operation department

44B: The second operation department

50: drive unit

52: Electric actuator

54: battery

70: Control device

72: Control Department

74: memory department

76: Drive circuit

78: Vehicle speed sensor

80: Crank rotation sensor

82:Human driving force detection department

84: Acceleration detection unit

Claims (39)

A control device is a control device for a human-driven vehicle, The aforementioned human-powered vehicle includes: a crankshaft into which human driving force is input, a first rotating body connected to the crankshaft, and wheels, a second rotating body connected to the aforementioned wheels, and a second rotating body engaged with the aforementioned first rotating body. The rotating body and the second rotating body, a transmission body for transmitting driving force between the first rotating body and the second rotating body, and a gear ratio for changing the rotational speed of the wheel to the rotational speed of the crankshaft The derailleur for operating the transmission body and the motor for driving the transmission body are modified, The control device has a control unit capable of speed change control. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission body is changed. gear ratio, The aforementioned control section includes the following control states: When the above-mentioned first condition is satisfied, the first control state is to change the number of shifting stages of the first stage within the first time; and when the above-mentioned first condition is satisfied, within the second time, the above-mentioned first The second control state of changing the number of the aforementioned shifting stages of the stage; In the second control state, the motor is controlled so that the rotation speed of the motor is higher than that in the first control state, The aforementioned second time is shorter than the aforementioned first time. The control device of claim 1, wherein, The control unit shifts the control state to the second control state when the first condition is satisfied and the second condition is satisfied, The case where the second condition is satisfied is at least one of: the acceleration of the human-powered vehicle is greater than the first acceleration, and the deceleration of the human-driven vehicle is greater than the first deceleration. The control device of claim 2, wherein, The control unit changes the number of shifting stages of the plurality of stages in the second control state when the first condition is satisfied, the second condition is satisfied, and the third condition is further satisfied, The case where the above-mentioned third condition is satisfied is a case where it is judged that the change of the number of the above-mentioned speed change steps of a plurality of steps is necessary. The control device according to any one of claims 1 to 3, wherein, The aforementioned human-powered vehicle further includes an electric actuator, which can operate the aforementioned transmission body by operating the aforementioned derailleur, thereby changing the aforementioned speed change ratio, The aforementioned control unit controls the aforementioned electric actuator, When the aforementioned first condition is satisfied, by controlling the aforementioned electric actuator and operating the aforementioned transmitting body through the aforementioned derailleur, In the second control state, the electric actuator is controlled such that the operating speed of the derailleur is higher than in the first control state. The control device according to any one of claims 1 to 3, wherein, When the height of the seat post of the human-powered vehicle is equal to or less than the first height, the control unit shifts the control state to the second control state. The control device according to any one of claims 1 to 3, wherein, The aforementioned human-driven vehicle further comprises a suspension device, When the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or greater than a predetermined frequency, the control unit shifts the control state to the second control state. The control device according to any one of claims 1 to 3, wherein, When the gradient of the walking path is greater than or equal to the first angle, the control unit shifts the control state to the second control state. The control device according to any one of claims 1 to 3, wherein, When the human-powered vehicle is traveling downhill and a forward curve in the traveling direction of the human-powered vehicle is detected, the control unit shifts the control state to the second control state. The control device of claim 8, wherein, The aforementioned curve is a curve having a bending angle of 90° or less. The control device of claim 8, wherein, The human-powered vehicle further includes a front detection unit capable of detecting the running environment ahead in the traveling direction of the human-powered vehicle. A control device is a control device for a human-driven vehicle, The aforementioned human-powered vehicle includes: a crankshaft into which human driving force is input, a first rotating body connected to the crankshaft, and wheels, a second rotating body connected to the aforementioned wheels, and a second rotating body engaged with the aforementioned first rotating body. The rotating body and the second rotating body, a transmission body for transmitting driving force between the first rotating body and the second rotating body, and a gear ratio for changing the rotational speed of the wheel to the rotational speed of the crankshaft The derailleur for operating the transmission body and the motor for driving the transmission body are modified, The control device has a control unit capable of speed change control. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission body is changed. gear ratio, The control state of the aforementioned control unit further includes: when the aforementioned first condition is satisfied, a third control state in which the number of shifting stages of the first stage is changed within the first time; and when the aforementioned first condition is satisfied, A fourth control state in which the number of shift stages of the second stage higher than that of the first stage is changed within the first time period. The control device of claim 11, wherein, The control unit shifts the control state to the fourth control state when the first condition is satisfied and the fourth condition is satisfied, The case where the fourth condition is satisfied is at least one of: the acceleration of the human-powered vehicle is equal to or greater than the second acceleration, and the case in which the deceleration of the human-driven vehicle is equal to or greater than the second deceleration. The control device of claim 12, wherein, The control unit changes the number of shifting stages of the plurality of stages in the fourth control state when the first condition is satisfied, the fourth condition is satisfied, and the fifth condition is further satisfied, The case where the aforementioned fifth condition is satisfied is a case where it is judged that the change of the aforementioned number of shifting steps of a plurality of steps is necessary. The control device according to any one of claims 11 to 13, wherein, The aforementioned human-powered vehicle further includes an electric actuator, which can operate the aforementioned transmission body by operating the aforementioned derailleur, thereby changing the aforementioned speed change ratio, The aforementioned control unit controls the aforementioned electric actuator, When the aforementioned first condition is satisfied, by controlling the aforementioned electric actuator and operating the aforementioned transmitting body through the aforementioned derailleur, The control unit controls the electric actuator so that the operating speed of the derailleur is higher in the fourth control state than in the third control state. The control device according to any one of claims 11 to 13, wherein, When the height of the seat post of the human-powered vehicle is equal to or less than the first height, the control unit shifts the control state to the fourth control state. The control device according to any one of claims 11 to 13, wherein, The aforementioned human-driven vehicle further comprises a suspension device, When the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit shifts the control state to the fourth control state. The control device according to any one of claims 11 to 13, wherein, When the gradient of the walking path is greater than or equal to the first angle, the control unit shifts the control state to the fourth control state. The control device according to any one of claims 11 to 13, wherein, When the human-powered vehicle is traveling downhill and a forward curve in the traveling direction of the human-powered vehicle is detected, the control unit shifts the control state to the fourth control state. The control device of claim 18, wherein, The aforementioned curve is a curve having a bending angle of 90° or less. The control device of claim 18, wherein, The human-powered vehicle further includes a front detection unit capable of detecting the running environment ahead in the traveling direction of the human-powered vehicle. A control device is a control device for a human-driven vehicle, The aforementioned human-powered vehicle includes: a crankshaft into which human driving force is input, a first rotating body connected to the crankshaft, and wheels, a second rotating body connected to the aforementioned wheels, and a second rotating body engaged with the aforementioned first rotating body. The rotating body and the second rotating body, a transmission body for transmitting driving force between the first rotating body and the second rotating body, and a gear ratio for changing the rotational speed of the wheel to the rotational speed of the crankshaft The derailleur for operating the transmission body and the motor for driving the transmission body are modified, The control device has a control unit capable of speed change control. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission body is changed. gear ratio, The aforementioned control unit is a control state including the following: when the aforementioned first condition is satisfied, a fifth control state in which the drive of the aforementioned motor is started within a third time after receiving the shift instruction; and when the aforementioned first condition is satisfied, In the case of , start the sixth control state of driving the motor within the fourth time after receiving the shift instruction; The aforementioned fourth time is shorter than the aforementioned third time. The control device of claim 21, wherein, The aforementioned human-powered vehicle further includes an electric actuator, which can operate the aforementioned transmission body by operating the aforementioned derailleur, thereby changing the aforementioned speed change ratio, The aforementioned control unit controls the aforementioned electric actuator, When the aforementioned first condition is satisfied, the aforementioned transmission body is operated by the aforementioned derailleur by controlling the aforementioned electric actuator. The control device of claim 21 or 22, wherein, The control unit shifts the control state to the sixth control state when the first condition is satisfied and the sixth condition is satisfied, The case where the sixth condition is satisfied is at least one of: the acceleration of the human-powered vehicle is equal to or greater than the third acceleration, and the case in which the deceleration of the human-powered vehicle is equal to or greater than the third deceleration. The control device of claim 23, wherein, The control unit changes the number of shifting stages of the plurality of stages in the sixth control state when the first condition is satisfied, the sixth condition is satisfied, and the seventh condition is satisfied, The case where the seventh condition is satisfied is a case where it is determined that the change of the number of the shifting steps of the plurality of steps is necessary. The control device of claim 21 or 22, wherein, When the height of the seat post of the human-powered vehicle is equal to or less than the first height, the control unit shifts the control state to the sixth control state. The control device of claim 21 or 22, wherein, The aforementioned human-driven vehicle further comprises a suspension device, When the frequency at which the stroke length of the suspension device repeatedly increases and decreases is equal to or higher than a predetermined frequency, the control unit shifts the control state to the sixth control state. The control device of claim 21 or 22, wherein, When the gradient of the walking path is greater than or equal to the first angle, the control unit shifts the control state to the sixth control state. The control device of claim 21 or 22, wherein, When the human-powered vehicle is traveling downhill and a forward curve in the traveling direction of the human-powered vehicle is detected, the control unit shifts the control state to the sixth control state. The control device of claim 28, wherein, The aforementioned curve is a curve having a bending angle of 90° or less. The control device of claim 28, wherein, The human-powered vehicle further includes a front detection unit capable of detecting the running environment ahead in the traveling direction of the human-powered vehicle. A control device is a control device for a human-driven vehicle, The aforementioned human-powered vehicle includes: a crankshaft into which human driving force is input, a first rotating body connected to the crankshaft, and wheels, a second rotating body connected to the aforementioned wheels, and a second rotating body engaged with the aforementioned first rotating body. The rotating body and the second rotating body, a transmission body for transmitting driving force between the first rotating body and the second rotating body, and a gear ratio for changing the rotational speed of the wheel to the rotational speed of the crankshaft The derailleur for operating the transmission body and the motor for driving the transmission body are modified, The control device has a control unit capable of speed change control. When the first condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, the derailleur is controlled to operate the transmission body, and the transmission body is changed. gear ratio, The aforementioned control unit includes the following control states: when the aforementioned first condition is satisfied, the operation of the aforementioned transmitter can be performed within the fifth time and at the first frequency, or the second condition that the operation of the aforementioned transmitter is not performed. 7. The control state; and when the aforementioned first condition is satisfied, the eighth control state in which the operation of the aforementioned transmitting body can be implemented within the aforementioned fifth time period and at the second frequency; The second frequency is higher than the first frequency. The control device of claim 31, wherein, The control unit shifts the control state to the eighth control state when the first condition is satisfied and the eighth condition is satisfied, The case where the eighth condition is satisfied is at least one of: the acceleration of the human-powered vehicle is equal to or greater than the fourth acceleration, and the case in which the deceleration of the human-powered vehicle is equal to or greater than the fourth deceleration. The control device of claim 31 or 32, wherein, When the speed of the human-powered vehicle fluctuates within a predetermined speed range during the fifth time period, the control unit shifts the control state to the seventh control state. The control device of claim 31 or 32, wherein, In the fifth time period, when the gradient of the walking path of the human-powered vehicle fluctuates within a predetermined angle range, the control unit shifts the control state to the seventh control state. The control device of claim 31 or 32, wherein, The control unit controls the motor to start driving the motor after receiving the shift instruction, and the period in the eighth control state is shorter than the period in the seventh control state. The control device of claim 31 or 32, wherein, The aforementioned human-powered vehicle further includes an electric actuator, which can operate the aforementioned transmission body by operating the aforementioned derailleur, thereby changing the aforementioned speed change ratio, The aforementioned control unit controls the aforementioned electric actuator, When the aforementioned first condition is satisfied, by controlling the aforementioned electric actuator and operating the aforementioned transmitting body through the aforementioned derailleur, Regarding the period from the receipt of the shift instruction to the start of the derailleur by controlling the electric actuator, the period in the eighth control state is shorter than the period in the seventh control state . The control device of claim 36, wherein, The control unit is configured to control the electric actuator so that the operation of the transmitting body is not performed in the seventh control state. The control device of claim 31 or 32, wherein, The control unit does not drive the motor in the seventh control state. The control device according to any one of claims 1 to 3, 11 to 13, 21, 22, 31, 32, wherein, The case where the first condition is satisfied is at least one of: the case where the human driving force is equal to or lower than the first driving force, the case where the rotational speed of the crankshaft is equal to or less than the first rotational speed, and the case where the aforementioned crankshaft is oscillating. .

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