Control device for human-powered vehicle

Abstract

The present application provides a control device for a human-powered vehicle capable of properly controlling a motor. The control device is a control device for a human-powered vehicle, and has a control section, the human-powered vehicle including: a crank shaft configured to input a human-powered driving force; a first rotating body connected to the crank shaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit a driving force between the first rotating body and the second rotating body; a motor configured to drive the transmission body; and a first operation section configured to be operable by a user of the human-powered vehicle and independent of a gear shift operation of the human-powered vehicle, the control section being configured to control the motor in accordance with an operation of the first operation section by the user to drive the transmission body by the motor and propel the human-powered vehicle without the driving force of the motor.

Description

Technical Field

[0001] This disclosure relates to a control device for a human-powered vehicle. Background Technology

[0002] The control device for a human-powered vehicle disclosed in Patent Document 1 is configured to, for example, control a motor that is configured to drive a transmission body.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5686876. Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] One of the purposes of this disclosure is to provide a control device for a manually driven vehicle that can properly control the motor.

[0008] Means for solving technical problems

[0009] The control device according to the first aspect of this disclosure is a control device for a human-powered vehicle, wherein the control device includes a control unit, the human-powered vehicle includes: a crankshaft configured to receive human driving force input; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a motor configured to drive the transmission body; and a first operating unit configured to be operable by a user of the human-powered vehicle without participating in the gear shifting operation of the human-powered vehicle, the control unit being configured to control the motor according to the user's operation of the first operating unit, so as to drive the transmission body by the motor and propel the human-powered vehicle without the driving force of the motor.

[0010] According to the control device of the first aspect, since the motor is driven according to the user's operation of the first operating unit, so as to propel the human-powered vehicle without the driving force of the motor, the control unit can appropriately control the motor according to the user's will.

[0011] In the control device according to the second aspect of the first aspect of the present disclosure, the control unit is configured to drive the transmission body by the motor to propel the manually driven vehicle without the driving force of the motor, based on the user's operation of the first operation unit when a first condition is met, wherein the first condition includes the condition that the rotation of the crankshaft stops.

[0012] According to the control device of the second aspect, when the crankshaft rotation stops, the motor can be appropriately controlled according to the user's operation of the first operating unit so as to propel the human-powered vehicle without the driving force of the motor.

[0013] In a control device according to a first, second, or third aspect of this disclosure, the control unit is configured to stop the motor if the user finishes operating the first operation unit.

[0014] According to the control device of the third aspect, since the motor stops upon the user's completion of the operation on the first operating unit, the user can stop the motor with a simple operation. Therefore, the control device can improve usability.

[0015] In the control device according to any one of the first to third aspects of this disclosure, the control unit is configured to stop the motor if, when the motor is driven according to the user's operation of the first operation unit, the user operates the first operation unit again after the operation of the first operation unit has ended.

[0016] According to the control device in the fourth aspect, if the user operates the first operating unit again after the operation of the first operating unit has ended, the motor will stop. Therefore, the user can stop the motor with a simple operation. Thus, the control device improves usability.

[0017] In the control device of the fifth aspect according to any one of the first to fourth aspects of this disclosure, the human-powered vehicle further includes a second operating unit configured to be operable by the user and different from the first operating unit, and the control unit is configured to stop the motor if the user operates the second operating unit when the motor is driven by the user's operation of the first operating unit.

[0018] According to the control device in the fifth aspect, since the motor is driven according to the user's operation of the first operating unit, the motor is stopped if the user operates the second operating unit. Therefore, the user can stop the motor with a simple operation. Thus, the control device improves usability.

[0019] In the control device of the sixth aspect according to any one of the first to fifth aspects of the present disclosure, the control unit is configured to stop the motor if a stopping condition of the motor is met when the motor is driven according to the user's operation of the first operation unit. The stopping condition includes at least one of a first stopping condition after a predetermined period since the start of the motor's drive and a second stopping condition in which the load of the motor is above a first threshold.

[0020] According to the control device of the sixth aspect, the motor can be stopped in at least one of the following situations: the motor is driven according to the user's operation of the first operating unit; a predetermined period has elapsed since the start of motor driving; and the motor load is above a first threshold. Therefore, the control device can drive the motor appropriately.

[0021] In the control device according to the seventh aspect of the second aspect of this disclosure, the control unit is configured to drive the transmission body by the motor according to the user's operation on the first operation unit when the first condition and the second condition are met, so as to propel the human-powered vehicle by the driving force of the motor, wherein the second condition includes the condition that the speed of the human-powered vehicle is less than a predetermined speed.

[0022] According to the control device in the seventh aspect, when the crankshaft stops rotating and the vehicle speed is lower than the predetermined vehicle speed, the motor can be driven according to the user's operation of the first operating unit, so as to propel the human-powered vehicle by the driving force of the motor.

[0023] In the control device according to the second or seventh aspect of this disclosure, the control unit is configured to control a derailleur configured to operate the transmission body to change the gear ratio of the wheel's rotational speed relative to the crankshaft's rotational speed. When the first condition and the gear ratio change condition by the derailleur are satisfied, the transmission body is driven by the motor and operated by the derailleur.

[0024] According to the control device in the eighth aspect, since the motor is controlled to drive the transmission body through the motor when the crankshaft rotation stops and the shifting conditions are met, the derailleur can appropriately change the shifting ratio.

[0025] The control device according to the ninth aspect of this disclosure is a control device for a human-powered vehicle, wherein the control device includes a control unit, the human-powered vehicle includes: a crankshaft configured to receive human-powered driving force input; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; and a motor configured to drive the transmission body, the control unit being configured to control the motor to drive the transmission body by the motor and propel the human-powered vehicle without the driving force of the motor when a third condition is met, the third condition including a condition related to at least one of the tilt of the human-powered vehicle and the load of the human-powered vehicle.

[0026] According to the control device of the ninth aspect, when conditions related to at least one of the tilt and load of the human-powered vehicle are met, the motor can be driven to propel the human-powered vehicle without the driving force of the motor.

[0027] In the control device of the ninth and tenth aspects of this disclosure, the third condition includes at least one of the following: a condition corresponding to the road on which the human-powered vehicle travels is a downhill slope with a predetermined gradient or greater, and a condition that the pitch angle of the human-powered vehicle is a predetermined angle less than or equal to 0.

[0028] According to the control device of the tenth aspect, the motor can be driven to propel the human-powered vehicle without the driving force of the motor when at least one of the following conditions is met: the road for which the human-powered vehicle travels is a downhill slope with a predetermined gradient or greater, and the pitch angle of the human-powered vehicle is a predetermined angle less than or equal to 0.

[0029] In the control device according to the ninth or eleventh aspect of the present disclosure, the control unit is configured to stop the motor if a stopping condition of the motor is met when the third condition is satisfied and the motor is driven, the stopping condition includes at least one of a first stopping condition after a predetermined period since the start of the motor driving and a second stopping condition in which the load of the motor is above a first threshold.

[0030] According to the control device of the eleventh aspect, the motor can be stopped in at least one of the following situations: the third condition is met and the motor is driven; a predetermined period has elapsed since the start of the motor's drive; and the load on the motor is above the first threshold.

[0031] In the control device of the twelfth aspect according to any one of the ninth to eleventh aspects of this disclosure, the third condition further includes the condition that the rotation of the crankshaft stops.

[0032] According to the control device of the twelfth aspect, when conditions related to at least one of the tilting and load of the human-powered vehicle and the condition that the rotation of the crankshaft stops are met, the motor can be driven to propel the human-powered vehicle without the driving force of the motor.

[0033] In the control device of the thirteenth aspect according to any one of the ninth to twelfth aspects of this disclosure, the human-powered vehicle further includes a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and the third condition further includes the condition that the derailleur is not activated.

[0034] According to the control device of the thirteenth aspect, the motor can be driven to propel the human-powered vehicle without the driving force of the motor, provided that at least one of the conditions related to the tilt and load of the human-powered vehicle, the condition that the rotation of the crankshaft stops, and the condition that the derailleur does not operate.

[0035] In the control device according to the thirteenth and fourteenth aspects of this disclosure, the control unit is configured to control the derailleur and to operate the transmission body by the motor and the derailleur when a first condition is met and a shifting condition for changing the gear ratio by the derailleur is met, wherein the first condition includes a condition that the rotation of the crankshaft stops.

[0036] According to the control device of the fourteenth aspect, when the crankshaft rotation stops and the shifting conditions are met, the derailleur can appropriately change the shifting ratio because the control motor drives the transmission body through the motor.

[0037] In the control device according to the sixth or eleventh aspect of this disclosure, the predetermined period includes at least one of a predetermined time, a period during which the output shaft of the motor rotates by a first rotation angle, and a period during which the first rotating body rotates by a second rotation angle via the motor.

[0038] According to the control device of the fifteenth aspect, the motor can be stopped if at least one of the following has elapsed: a predetermined time since the start of the motor drive, a period during which the output shaft of the motor rotates by a first rotation angle, and a period during which the first rotating body is rotated by a second rotation angle by the motor.

[0039] In the control device according to the eighth or fourteenth aspect of this disclosure, the gear shifting condition is related to at least one of the driving state of the manually driven vehicle, the driving environment of the manually driven vehicle, and the operating state of the gear shifting device of the manually driven vehicle.

[0040] According to the control device of the sixteenth aspect, when the crankshaft rotation stops, if at least one of the conditions related to the driving state of the manually driven vehicle, the driving environment of the manually driven vehicle, and the operating state of the transmission operation device of the manually driven vehicle is met, the motor is controlled to drive the transmission body by the motor, so that the gear ratio can be appropriately changed by the derailleur.

[0041] Invention Effects

[0042] The control device for a human-powered vehicle disclosed herein can appropriately control the motor. Attached Figure Description

[0043] Figure 1This is a side view of a human-powered vehicle, including the control device for the human-powered vehicle according to the embodiments.

[0044] Figure 2 It means Figure 1 A block diagram of the electrical structure of a human-powered vehicle;

[0045] Figure 3 yes Figure 1 A cross-sectional view of the transmission unit used in a human-powered vehicle.

[0046] Figure 4 It is by Figure 2 The flowchart of the process performed by the control unit to control the motor;

[0047] Figure 5 This is a block diagram illustrating the electrical structure of a human-powered vehicle, including a control device for a human-powered vehicle, according to the second embodiment.

[0048] Figure 6 It is by Figure 5 The flowchart of the first part of the process performed by the control unit to control the motor and derailleur;

[0049] Figure 7 It is by Figure 6 The flowchart of the second part of the process performed by the control unit to control the motor and derailleur;

[0050] Figure 8 This is a block diagram showing the electrical structure of a manually driven vehicle including the control device of the third embodiment;

[0051] Figure 9 It is by Figure 8 The flowchart of the processes executed by the control unit to control the motor and derailleur;

[0052] Figure 10 This is a flowchart of the motor control process executed by the control unit of the first variant;

[0053] Figure 11 This is a block diagram showing the electrical structure of a human-powered vehicle, including the control device of the second variation;

[0054] Figure 12 This is a flowchart of the motor control process executed by the control unit of the second variation. Detailed Implementation

[0055] <First Implementation>

[0056] Reference Figures 1 to 4The control device 70 for a human-powered vehicle will be described below. A human-powered vehicle is a means of transportation that has at least one wheel and can be driven by at least human power. For example, human-powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, freight bikes, push bikes, and recumbent bikes. The number of wheels a human-powered vehicle has is not limited. Human-powered vehicles include, for example, unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven solely by human power. Human-powered vehicles include electric bicycles (E-bikes) that are propelled not only by human power but also by the driving force of an electric motor. Electric bicycles (E-bikes) include electric-assisted bicycles that are propelled with the assistance of an electric motor. Hereinafter, in each embodiment, the human-powered vehicle will be described as a bicycle.

[0057] 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 motor 22, and a first operating unit 24. The crankshaft 12 is configured to receive human driving force input. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 and transmit driving force between the first rotating body 14 and the second rotating body 18.

[0058] The human-powered vehicle 10 also includes, for example, a body 26. The body 26 includes, for example, a frame 28. The frame 28 is provided with a seat 28A. Wheels 16 include, for example, a front wheel 16F and a rear wheel 16R. For example, a crankshaft 12 is rotatable relative to the frame 28. The human-powered vehicle 10 includes, for example, a crank 30. The crank 30 includes the crankshaft 12 and crank arms 30A and 30B.

[0059] For example, crank arm 30A is located at a first axial end of crankshaft 12, and crank arm 30B is located at a second axial end of crankshaft 12. The human-powered vehicle 10 includes, for example, pedals 32A and 32B. Crank arm 30A is connected to, for example, pedal 32A. Crank arm 30B is connected to, for example, pedal 32B. For example, the rear wheel 16R is driven by rotation of crankshaft 12. The rear wheel 16R is supported, for example, on frame 28. The front wheel 16F is mounted on frame 28 via front fork 34. Handlebar 38 is connected to front fork 34 via stem 36.

[0060] For example, the human-powered vehicle 10 also includes a drive mechanism 40. For example, at least one of the front wheel 16F and the rear wheel 16R is connected to the crank 30 via the drive mechanism 40. In this embodiment, the rear wheel 16R is connected to the crank 30 via the drive mechanism 40.

[0061] For example, the drive mechanism 40 includes a first rotating body 14, a second rotating body 18, and a transmission body 20. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 and transmit driving force between the first rotating body 14 and the second rotating body 18. For example, the transmission body 20 transmits the rotational force of the first rotating body 14 to the second rotating body 18.

[0062] For example, the first rotating body 14 is coaxially configured with the crankshaft 12. The first rotating body 14 and the crankshaft 12 may also be non-coaxially configured. In the case where the first rotating body 14 and the crankshaft 12 are non-coaxially configured, for example, the first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism. The first transmission mechanism may include multiple gears, may include sprockets and chains, may include pulleys and belts, and may also include a drive shaft and bevel gears. For example, the first rotating body 14 includes at least one first sprocket or at least one first pulley.

[0063] For example, the second rotating body 18 is coaxially configured with the rear wheel 16R. The second rotating body 18 and the rear wheel 16R may also be non-coaxially configured. In the case where the second rotating body 18 and the rear wheel 16R are non-coaxially configured, for example, the second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism. The second transmission mechanism may include multiple gears, may include sprockets and chains, may include pulleys and belts, and may also include a drive shaft and bevel gears. For example, the second rotating body 18 includes at least one second sprocket or at least one second pulley.

[0064] For example, the second rotating body 18 is connected to the rear wheel 16R via a first one-way clutch. The first one-way clutch includes, for example, at least one of a roller clutch, a wedge clutch, and a ratchet clutch. The first one-way clutch is configured to transmit driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates forward with the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the forward rotation speed of the rear wheel 16R is higher than the forward rotation speed of the second rotating body 18.

[0065] For example, the human-powered vehicle 10 also includes a battery 42. Battery 42 includes one or more battery elements. The battery elements include rechargeable batteries. For example, battery 42 is configured to supply power to control unit 70 and motor 22. For example, battery 42 is communicatively connected to control unit 70 via wired or wireless means. For example, battery 42 can communicate with control unit 70 via power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0066] For example, the human-powered vehicle 10 may also include a transmission 44. For example, the transmission 44 is configured to change the gear ratio of the human-powered drive force transmission path provided in the human-powered vehicle 10. For example, the gear ratio is the ratio of the rotational speed of the wheel 16 to the rotational speed of the crank 30. For example, the rotational speed of the wheel 16 includes the rotational speed of the drive wheel. For example, the transmission 44 includes at least one of a derailleur 44A and an internal gearbox. In the case where the transmission 44 includes an internal gearbox, for example, the internal gearbox is located at the hub of the rear wheel 16R. The internal gearbox includes a CVT (Continuously Variable Transmission). The control unit 72 may be configured to control the transmission 44.

[0067] In this embodiment, the derailleur 44 includes a derailleur 44A. The derailleur 44A is configured to operate the transmission 20 to change the gear ratio of the wheel 16's rotational speed relative to the crankshaft 12's rotational speed. For example, the derailleur 44A includes at least one of a front derailleur and a rear derailleur. When the derailleur 44A includes at least one of a front derailleur and a rear derailleur, the transmission 20 includes a chain. The transmission 20 may also include a belt.

[0068] For example, the derailleur 44A moves the transmission 20, which is engaged with one of the sprockets, to another of the sprockets.

[0069] For example, the derailleur 44A is configured to operate the transmission body 20 to change the gear ratio of the rotational speed of the wheel 16 relative to the rotational speed of the crankshaft 12. For example, the derailleur 44A is configured to provide a transmission path for the human-powered drive force in the human-powered vehicle 10 and change the gear ratio. For example, the derailleur 44A changes the engagement state of at least one of the first rotating body 14 and the second rotating body 18 with the transmission body 20 by operating the transmission body 20, thereby changing the gear ratio. The relationship between the gear ratio, the rotational speed of the wheel 16, and the rotational speed of the crankshaft 12 is expressed by equation (1). In equation (1), R represents the gear ratio. In equation (1), W represents the rotational speed of the wheel 16. In equation (1), C represents the rotational speed of the crankshaft 12.

[0070] Equation (1): R = W (rpm) / C (rpm)

[0071] For example, the derailleur 44A can change the gear ratio according to at least one gear. For example, the derailleur 44A is configured such that the transmission body 20 is operated to change at least one gear. For example, the at least one gear is set according to at least one of the first rotating body 14 and the second rotating body 18. In the case where the at least one gear includes multiple gears, for example, each of the multiple gears is set with a different gear ratio. For example, the higher the gear, the larger the gear ratio.

[0072] When the first rotating body 14 includes a plurality of first sprockets and the second rotating body 18 includes a plurality of second sprockets, for example, the gear shift is configured based on a combination of one of the first sprockets and one of the second sprockets. When the first rotating body 14 includes one first sprocket and the second rotating body 18 includes a plurality of second sprockets, for example, the gear shift is configured based on a combination of one first sprocket and one of the second sprockets. When the first rotating body 14 includes a plurality of first sprockets and the second rotating body 18 includes one second rotating body 18, for example, the gear shift is configured based on a combination of one of the first sprockets and one second sprocket.

[0073] For example, the derailleur 44A moves the chain engaged with one of the sprockets to another sprocket. For example, the sprocket with the fewest teeth among the sprockets corresponds to the smallest number of gears that can be achieved by the derailleur 44A. For example, the sprocket with the most teeth among the sprockets corresponds to the largest number of gears that can be achieved by the derailleur 44A.

[0074] When the derailleur 44A includes a front derailleur, for example, the plurality of first sprockets includes two or more but no more than three first sprockets. When the derailleur 44A includes a front derailleur, for example, the plurality of first sprockets includes two first sprockets.

[0075] When the derailleur 44A includes a rear derailleur, for example, the plurality of second sprockets includes two or more but less than 20 second sprockets. When the derailleur 44A includes a rear derailleur, for example, the plurality of second sprockets includes 12 second sprockets.

[0076] For example, the human-powered vehicle 10 also includes a gear shifting device 44B, which is configured to operate the gear shifting device 44. For example, the gear shifting device 44B is located on the handlebars 38. The gear shifting device 44B can be connected to the gear shifting device 44 via a Bowden cable or similar means, or it can be communicatively connected to the gear shifting device 44. When the gear shifting device 44B is communicatively connected to the gear shifting device 44, the gear shifting device 44 can include, for example, an electric actuator.

[0077] The first operating unit 24 is configured to be operable by the user of the manually driven vehicle 10 and does not participate in the gear shifting operation of the manually driven vehicle 10. For example, the gear shifting device 44 is configured not to operate in response to the operation of the first operating unit 24. For example, the first operating unit 24 is different from the gear shifting device 44B. For example, the first operating unit 24 and the gear shifting device 44B are respectively provided in the manually driven vehicle 10. For example, the first operating unit 24 and the gear shifting device 44B are configured such that the user can operate the first operating unit 24 and the gear shifting device 44B separately.

[0078] For example, the first operating unit 24 is located in a part of the human-powered vehicle 10 that is easily operated by the user while in motion. For example, the first operating unit 24 is located on the handlebar 38. For example, if the first operating unit 24 is operated by the user, it sends an operation signal such as the drive motor 22 to the control unit 72. For example, the first operating unit 24 includes at least one of a switch, a lever, and a disc switch.

[0079] Motor 22 is configured as a drive transmission body 20. For example, motor 22 is configured to impart propulsion to the human-powered vehicle 10 based on human driving force. For example, motor 22 includes one or more electric motors. For example, the electric motor included in motor 22 is a brushless motor. For example, motor 22 is configured to transmit rotational force to the power transmission path of human driving force from pedals 32A and 32B to the second rotating body 18.

[0080] In this embodiment, for example, the motor 22 is configured to drive the transmission body 20 via the first rotating body 14. For example, the motor 22 is configured to be mounted on the frame 28 and transmit rotational force to the first rotating body 14. The motor 22 can have any structure as long as it can drive the transmission body 20. The motor 22 can be configured to drive the transmission body 20 via the second rotating body 18. The motor 22 can be configured to be mounted on the hub of the human-powered vehicle 10 and transmit rotational force to the second rotating body 18.

[0081] The human-powered vehicle 10 may also include a housing 48 for mounting the motor 22. The transmission unit 50 is configured to include the motor 22 and the housing 48. The housing 48 is mounted on the frame 28. The housing 48 rotatably supports the crankshaft 12. The motor 22 may be configured to transmit rotational force to the transmission body 20 without passing through the first rotating body 14. In the case where the motor 22 is configured to transmit rotational force to the transmission body 20 without passing through the first rotating body 14, for example, a sprocket that engages with the transmission body 20 is provided on the output shaft 22A of the motor 22 or in the transmission component for transmitting the force of the output shaft 22A of the motor 22.

[0082] For example, the transmission unit 50 also includes an output section 52. The output section 52 is, for example, coaxially arranged with the crankshaft 12. For example, the output section 52 is configured to transmit human-powered driving force and the output of the motor 22. For example, the output section 52 is configured to transmit the rotational force of the crankshaft 12 and the output of the motor 22. For example, the output section 52 has a cylindrical shape. For example, the output section 52 is provided on the outer periphery of the crankshaft 12 about its rotational center axis C1. For example, the first rotating body 14 is connected to the first end portion 52A of the output section 52 in a manner that rotates integrally with the output section 52.

[0083] For example, the transmission unit 50 includes a speed reducer 54. For example, the speed reducer 54 is located between the motor 22 and the power transmission path of the human-powered drive. For example, the speed reducer 54 includes at least one speed reduction section. For example, the at least one speed reduction section includes a first speed reduction section 54A, a second speed reduction section 54B, and a third speed reduction section 54C. The speed reducer 54 may include one, two, or more than four speed reduction sections.

[0084] For example, the first reduction section 54A transmits the rotational torque of the motor 22. For example, the first reduction section 54A includes two meshing gears. The first reduction section 54A may include a belt and pulley instead of gears. The first reduction section 54A may also include a sprocket and chain instead of gears.

[0085] For example, the second reduction section 54B transmits the rotational torque of the motor 22 via the first reduction section 54A. For example, the second reduction section 54B includes two meshing gears. The second reduction section 54B may include a belt and pulley instead of gears. The second reduction section 54B may include a sprocket and chain instead of gears.

[0086] For example, the third reduction section 54C transmits the rotational torque of the motor 22 via the second reduction section 54B. For example, the third reduction section 54C transmits the rotational torque of the motor 22 to the output section 52. For example, the third reduction section 54C includes two meshing gears. The third reduction section 54C may include a belt and pulley instead of gears. The third reduction section 54C may also include a sprocket and chain instead of gears.

[0087] For example, the transmission unit 50 also includes a second one-way clutch 56. For example, the second one-way clutch 56 is disposed in the power transmission path from the crankshaft 12 to the first rotating body 14. For example, the second one-way clutch 56 is disposed between the crankshaft 12 and the output section 52.

[0088] For example, the second one-way clutch 56 is configured to cause the first rotating body 14 to rotate forward when the crankshaft 12 rotates forward, and to allow relative rotation between the crankshaft 12 and the first rotating body 14 when the crankshaft 12 rotates backward. For example, the second one-way clutch 56 includes at least one of a roller clutch, a wedge clutch, and a ratchet clutch.

[0089] For example, the transmission unit 50 also includes a third one-way clutch 58. For example, the third one-way clutch 58 is located in the power transmission path from the motor 22 to the first rotating body 14. For example, the third one-way clutch 58 is located in the reducer 54.

[0090] For example, the third one-way clutch 58 is configured to transmit the rotational force of the motor 22 to the output unit 52. For example, the third one-way clutch 58 is configured to suppress the transmission of the rotational force of the crankshaft 12 to the motor 22 when the crankshaft 12 rotates forward. For example, the third one-way clutch 58 includes at least one of a roller clutch, a wedge clutch, and a ratchet clutch.

[0091] For example, the manually driven vehicle 10 also includes a speed detection unit 60. For example, the speed detection unit 60 is communicatively connected to the control unit 72 via wired or wireless means. For example, the speed detection unit 60 is configured to detect information related to the speed of the manually driven vehicle 10. For example, the speed detection unit 60 is configured to detect information related to the rotational speed of the wheels 16. For example, the speed detection unit 60 is configured to detect magnets located on at least one of the front wheels 16F and the rear wheels 16R.

[0092] For example, the vehicle speed detection unit 60 is configured to output a predetermined number of detection signals during one revolution of the wheel 16. For example, the predetermined number of times is 1. For example, the vehicle speed detection unit 60 outputs a signal corresponding to the rotational speed of the wheel 16. The control unit 72 can calculate the speed of the manually driven vehicle 10 based on the signal corresponding to the rotational speed of the wheel 16 and information related to the circumference of the wheel 16. For example, the storage unit 74 stores information related to the circumference of the wheel 16.

[0093] For example, the human-powered vehicle 10 also includes a crank rotation status detection unit 62. For example, the crank rotation status detection unit 62 is communicatively connected to the control unit 72 via wired or wireless means. For example, the crank rotation status detection unit 62 detects the amount of rotation of at least one of the crankshaft 12 and the first rotating body 14.

[0094] For example, the crank rotation state detection unit 62 is configured to detect information corresponding to at least one of the rotational speed of the crankshaft 12 and the rotational speed of the first rotating body 14. For example, the information corresponding to the rotational speed of the crankshaft 12 includes the angular acceleration of the crankshaft 12. For example, the information corresponding to the rotational speed of the first rotating body 14 includes the angular acceleration of the first rotating body 14.

[0095] For example, the crank rotation state detection unit 62 is configured to output a signal corresponding to at least one of the rotational speed of the crankshaft 12 and the rotational speed of the first rotating body 14. For example, the crank rotation state detection unit 62 is configured to output a detection signal corresponding to the rotational angle of at least one of the crankshaft 12 and the first rotating body 14 during one revolution of the crankshaft 12 and the first rotating body 14.

[0096] For example, the crank rotation state detection unit 62 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. For example, the crank rotation state detection unit 62 includes a ring-shaped magnet with multiple magnetic poles arranged circumferentially. For example, the ring-shaped magnet is disposed between the crankshaft 12, the first rotating body 14, or the power transmission path from the crankshaft 12 to the first rotating body 14. For example, the ring-shaped magnet includes one S pole and one N pole. The S pole and the N pole extend continuously by 180° around the rotation center axis C1 of the crankshaft 12. The crank rotation state detection unit 62 may include an optical sensor, an accelerometer, a gyroscope sensor, or a torque sensor instead of a magnetic sensor.

[0097] For example, the crank rotation state detection unit 62 is provided on the frame 28. When the crank rotation state detection unit 62 is provided on the frame 28, it can be configured to include a vehicle speed sensor. When the crank rotation state detection unit 62 includes a vehicle speed sensor, the control unit 72 can be configured to calculate the rotational speed of the crankshaft 12 based on the vehicle speed detected by the vehicle speed sensor and the gear ratio. The crank rotation state detection unit 62 can be provided on the transmission unit 50.

[0098] The crank rotation state detection unit 62 can be configured to detect the rotational amount of the second rotating body 18. The crank rotation state detection unit 62 can also be configured to detect information corresponding to the rotational speed of the second rotating body 18. For example, the information corresponding to the rotational speed of the second rotating body 18 includes the angular acceleration of the second rotating body 18. The crank rotation state detection unit 62 can also be configured to output a signal corresponding to the rotational speed of the second rotating body 18.

[0099] For example, the human-powered vehicle 10 also includes a motor load detection unit 64, which is configured to detect the load of the motor 22. For example, the motor load detection unit 64 is communicatively connected to the control unit 72 via wired or wireless means. For example, the motor load detection unit 64 is configured to detect the load of the motor 22. For example, the motor load detection unit 64 includes a current sensor for detecting the current flowing through the motor 22 and a rotation sensor for detecting the rotational speed of the motor 22. Since the load of the motor 22 can be detected using known techniques based on the current flowing through the motor 22 and the rotational speed of the motor 22, detailed description is omitted. The motor load detection unit 64 may be included in the motor 22.

[0100] For example, the human-powered vehicle 10 also includes a human-powered driving force detection unit 66. For example, the human-powered driving force detection unit 66 is communicatively connected to the control unit 72 via wired or wireless means. For example, the human-powered driving force detection unit 66 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force includes information related to the human-powered driving force input to the human-powered vehicle 10.

[0101] For example, the human-powered drive force detection unit 66 is provided in a component included in the human-powered drive force transmission path or in a component included near a component included in the human-powered drive force transmission path. Components included in the human-powered drive force transmission path include, for example, the crankshaft 12 and a component that transmits human-powered drive force between the crankshaft 12 and the first rotating body 14. For example, the human-powered drive force detection unit 66 is provided in a power transmission unit configured to transmit human-powered drive force from the crankshaft 12 to the output unit 52. For example, the power transmission unit is provided on the outer periphery of the crankshaft 12.

[0102] The human-driven force detection unit 66 includes strain gauges, magnetostrictive sensors, or pressure sensors. Strain gauges include strain meters. The human-driven force detection unit 66 can have any structure as long as it can acquire information related to human-driven force.

[0103] For example, the manual drive force detection unit 66 may be provided in at least one of crank arms 30A and 30B, or pedals 32A and 32B. When the manual drive force detection unit 66 is provided in at least one of pedals 32A and 32B, it may include a sensor for detecting the pressure applied to at least one of pedals 32A and 32B. The manual drive force detection unit 66 may also be provided in the chain included in the transmission body 20. When the manual drive force detection unit 66 is provided in the chain, it may include a sensor for detecting the tension of the chain.

[0104] The control device 70 for a manually operated vehicle includes a control unit 72. For example, the control unit 72 includes a calculation processing device that executes a predetermined control program. The calculation processing device included in the control unit 72 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0105] The calculation processing unit included in the control unit 72 can be located in multiple, mutually separate locations. One part of the calculation processing unit is located in the manually driven vehicle 10, and another part can be located on a server connected to the Internet. When the calculation processing unit is located in multiple, mutually separate locations, the various parts of the calculation processing unit can be communicatively connected to each other via a wireless communication device. The control unit 72 may include one or more microcomputers.

[0106] For example, the control device 70 also includes a storage unit 74. For example, the storage unit 74 is communicatively connected to the control unit 72 via a wired or wireless connection. For example, the storage unit 74 stores a control program and information for control processing. For example, the storage unit 74 includes non-volatile memory and volatile memory. For example, the non-volatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, the volatile memory includes RAM (Random Access Memory).

[0107] The control device 70 may also include a drive circuit for the motor 22. For example, the control unit 72 and the drive circuit are housed in the housing 48. The control unit 72 and the drive circuit may be housed on the same circuit board. For example, the drive circuit may be communicatively connected to the control unit 72 via wired or wireless means. For example, the drive circuit drives the motor 22 according to control signals from the control unit 72.

[0108] For example, the drive circuit is electrically connected to the motor 22. For example, the drive circuit controls the power supply to the motor 22 from the battery 42. For example, the drive circuit includes an inverter circuit. For example, the inverter circuit includes multiple transistors. For example, the inverter circuit includes a structure in which multiple inverter sections, consisting of a pair of transistors connected in series, are connected in parallel. The inverter circuit may have a current sensor for detecting the current flowing through the inverter circuit. For example, the current sensor is communicatively connected to the control unit 72 via wired or wireless means.

[0109] For example, the control unit 72 is configured to control the motor 22. For example, the control unit 72 is configured to control the motor 22 according to the state of the manually driven vehicle 10. For example, the control unit 72 is configured to control the motor 22 to change the output of the motor 22 according to the human driving force input to the manually driven vehicle 10. For example, the control unit 72 is configured to control the motor 22 to change the propulsion force according to the human driving force input to the manually driven vehicle 10. For example, the control unit 72 is configured to control the motor 22 according to the human driving force detected by the human driving force detection unit 66.

[0110] For example, the control unit 72 is configured to control the motor 22 based on at least one of the rotational speed of the crankshaft 12 detected by the crank rotation state detection unit 62 and the rotational speed of the first rotating body 14. For example, the control unit 72 controls the motor 22 based on the vehicle speed of the manually driven vehicle 10 detected by the vehicle speed detection unit 60.

[0111] The control unit 72 can be configured to drive the motor 22 to provide propulsion to the manually driven vehicle 10 when the vehicle speed of the manually driven vehicle 10 is below a first speed, based on at least one of the human driving force or the rotational speed of the crankshaft 12. For example, the predetermined first speed is a speed prescribed by law. For example, the first speed is 25 km / h or 27.5 km / h.

[0112] For example, the control unit 72 is configured to control the motor 22 so that the auxiliary level of the motor 22 reaches a predetermined auxiliary level. For example, the auxiliary level includes at least one of the following: the ratio of the output of the motor 22 to the human driving force input to the human-powered vehicle 10, the maximum value of the output of the motor 22, and the suppression level of output variation of the motor 22 when the output of the motor 22 decreases.

[0113] For example, the control unit 72 is configured to control the motor 22 so that the ratio of the auxiliary force to the human driving force reaches a predetermined ratio. For example, the human driving force corresponds to the propulsion force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12. For example, the human driving force corresponds to the driving force input to the first rotating body 14 by the user rotating the crankshaft 12.

[0114] For example, the auxiliary force includes a driving force input to the first rotating body 14 in response to the output of the motor 22. For example, the auxiliary force corresponds to the propulsion force of the manually driven vehicle 10 generated by the rotation of the motor 22. In the case where the transmission unit 50 includes a reducer 54, for example, the auxiliary force corresponds to the output of the reducer 54.

[0115] The predetermined ratio is not fixed and can vary based on at least one of the human driving force, the rotational speed of the crankshaft 12, the rotational speed of the first rotating body 14, and the vehicle speed.

[0116] For example, the human-powered driving force corresponds to the propulsive force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12. For example, the human-powered driving force corresponds to the driving force input to the first rotating body 14 by the user rotating the crankshaft 12. For example, the human-powered driving force is represented by at least one of torque and power. When the human-powered driving force is represented by torque, for example, the human-powered driving force is denoted as human-powered torque. For example, the power of the human-powered driving force is the product of the torque applied to the crankshaft 12 and the rotational speed of the crankshaft 12.

[0117] For example, the auxiliary force can be represented by at least one of torque and power. When the auxiliary force is represented by torque, it may be denoted as auxiliary torque. When the auxiliary force is represented by power, it may be denoted as auxiliary power. For example, the auxiliary power is the product of the output torque of the reducer 54 and the rotational speed of the output shaft of the reducer 54. The ratio of the auxiliary force to the manual driving force can be either the ratio of the auxiliary torque to the manual torque or the ratio of the auxiliary power to the manual power.

[0118] For example, the control unit 72 is configured to control the motor 22 so that the auxiliary force is less than or equal to the maximum auxiliary force. For example, the control unit 72 is configured to control the motor 22 so that the auxiliary torque is less than or equal to the maximum auxiliary torque. For example, the maximum auxiliary torque is a value in the range of 20 Nm or more and 200 Nm or less. For example, the maximum auxiliary torque is determined by at least one of the output characteristics of the motor 22 and the control mode. The control unit 72 may be configured to control the motor 22 so that the auxiliary power is less than or equal to the maximum auxiliary power.

[0119] The control unit 72 is configured to control the motor 22 according to the user's operation of the first operation unit 24, so as to drive the transmission body 20 through the motor 22 and propel the human-powered vehicle 10 without the driving force of the motor 22.

[0120] For example, the control unit 72 is configured such that if the user operates the first operation unit 24, it controls the motor 22 to drive the transmission body 20 via the motor 22, and propels the manually driven vehicle 10 without the driving force of the motor 22. For example, the control unit 72 is configured such that if it receives an operation signal from the first operation unit 24, it controls the motor 22 to drive the transmission body 20 via the motor 22, and propels the manually driven vehicle 10 without the driving force of the motor 22.

[0121] The control unit 72 can be configured such that if the user operates the first operation unit 24, it controls the motor 22 to drive the transmission body 20, and the wheel 16 does not rotate due to the driving force of the motor 22. The control unit 72 can also be configured such that if the user operates the first operation unit 24, it controls the motor 22 to drive the transmission body 20, enabling the derailleur 44A to change gears, and the wheel 16 does not rotate due to the driving force of the motor 22.

[0122] For example, the control unit 72 is configured to stop the motor 22 when the user finishes operating the first operation unit 24. Alternatively, the control unit 72 is configured to stop the motor 22 when the user finishes operating the first operation unit 24 after the user has started operating it.

[0123] For example, the control unit 72 is configured to stop the motor 22 if a stop condition for the motor 22 is met when the motor 22 is driven according to the user's operation of the first operation unit 24. For example, the stop condition includes at least one of a first stop condition where a predetermined period has elapsed since the start of the motor 22's operation and a second stop condition where the load on the motor 22 is above a first threshold.

[0124] For example, the first threshold is a value that can be used to determine if a foreign object or the like is lodged in at least one of the transmission body 20, the first rotating body 14, and the second rotating body 18. The first threshold can be a value that can be used to determine if the relaxation of the transmission body 20 has been eliminated. The predetermined period includes at least one of a predetermined time, the period during which the output shaft 22A of the motor 22 rotates by a first rotation angle, and the period during which the first rotating body 14 rotates by a second rotation angle via the motor 22. For example, the predetermined period is set to the period required to confirm the operation of at least one of the motor 22, the transmission body 20, the first rotating body 14, and the second rotating body 18. For example, the period required to confirm the operation of at least one of the motor 22, the transmission body 20, the first rotating body 14, and the second rotating body 18 is set based on the resolution of a sensor capable of detecting the operation of at least one of the motor 22, the transmission body 20, the first rotating body 14, and the second rotating body 18. For example, the predetermined time is more than 1 second and less than 10 seconds. For example, the first rotation angle is more than 180 degrees and less than 720 degrees. For example, the second rotation angle is greater than 90 degrees and less than 360 degrees. The preset period can be set by the user.

[0125] Reference Figure 4 The processing of the motor 22 by the control unit 72 will be explained. For example, if power is supplied to the control unit 72, the control unit 72 begins processing and enters... Figure 4 Step S11 of the flowchart shown. For example, if Figure 4Once the flowchart ends, the control unit 72 will repeat the process starting from step S11 after a predetermined cycle until the power supply stops.

[0126] In step S11, the control unit 72 determines whether the first operation unit 24 has been operated. If the first operation unit 24 has been operated, the control unit 72 proceeds to step S12. If the first operation unit 24 has not been operated, the control unit 72 terminates the process. In step S12, the control unit 72 drives the motor 22 to drive the transmission body 20 through the motor 22, and propels the manually driven vehicle 10 without the driving force of the motor 22, and then proceeds to step S13.

[0127] In step S13, the control unit 72 determines whether the operation of the first operation unit 24 has ended. If the operation of the first operation unit 24 has not ended, the control unit 72 proceeds to step S14. For example, if the control unit 72 continues to receive operation signals from the first operation unit 24, it determines that the operation of the first operation unit 24 has not ended. If the operation of the first operation unit 24 has ended, the control unit 72 proceeds to step S15.

[0128] In step S14, the control unit 72 determines whether the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is met, the control unit 72 proceeds to step S15. For example, if at least one of the following conditions is met: a first stopping condition where a predetermined period has elapsed since the start of the motor 22's operation, or a second stopping condition where the load on the motor 22 is above a first threshold, the control unit 72 determines that the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is not met, the control unit 72 proceeds to step S13 and repeats the process starting from step S13. In step S15, the control unit 72 stops the motor 22 and then ends the process.

[0129] Control unit 72 can be configured to perform... Figure 4 In the process, if the human driving force becomes greater than the first driving force, then the motor 22 is driven so that the human driving force can be propelled by the motor 22. For example, the first driving force includes the driving force when the rider pedals. For example, the first driving force is greater than 0.

[0130] exist Figure 4 In the processing, step S13 can be omitted. If step S13 is omitted, the control unit 72 proceeds to step S14 after the processing in step S12. Figure 4 In the processing, step S14 can be omitted. If step S14 is omitted, and the determination in step S13 is "yes," the control unit 72 proceeds to step S15. If step S14 is omitted, and the determination in step S13 is "no," the control unit 72 repeats the processing starting from step S13. Figure 4In the process, steps S13 to S15 can be omitted. If steps S13 to S15 are omitted, the control unit 72 ends the process after the processing in step S12.

[0131] For example, the user can operate the first operation unit 24 when they want to confirm the operation of the transmission body 20, adjust the transmission device 44, increase the tension of the transmission body 20, securely engage the transmission body 20 with the second rotating body 18, suppress the reverse rotation of the transmission body 20, or securely engage the transmission body 20 with the first rotating body 14. For example, if the first operation unit 24 is operated, the control unit 72 drives the transmission body 20 via the motor 22 to propel the manually driven vehicle 10 without the driving force of the motor 22. Therefore, the user can appropriately confirm the operation of the transmission body 20.

[0132] <Second Implementation>

[0133] Reference Figures 5 to 7 The control device 70 for a manually driven vehicle according to the second embodiment will be described. For structures in the control device 70 for a manually driven vehicle according to the second embodiment that are common to those in the first embodiment, the same reference numerals as in the first embodiment will be used, and repeated descriptions will be omitted.

[0134] In this embodiment, the manually driven vehicle 10 includes a transmission 44. In this embodiment, the transmission 44 includes a derailleur 44A. The transmission 44 of this embodiment includes an electric actuator 46. For example, the electric actuator 46 is configured to actuate the derailleur 44A. For example, the control unit 72 of this embodiment controls the derailleur 44A.

[0135] In this embodiment, the control unit 72 is configured to, when the first condition is met, drive the transmission body 20 via the motor 22 according to the user's operation on the first operation unit 24, so as to propel the manually driven vehicle 10 without the driving force of the motor 22.

[0136] For example, the control unit 72 is configured such that, if the user operates the first operation unit 24 when the first condition is met, it controls the motor 22 to drive the transmission body 20 via the motor 22 and propel the manually driven vehicle 10 without the driving force of the motor 22. Alternatively, the control unit 72 is configured such that, if an operation signal is received from the first operation unit 24 when the first condition is met, it controls the motor 22 to drive the transmission body 20 via the motor 22 and propel the manually driven vehicle 10 without the driving force of the motor 22.

[0137] The control unit 72 can be configured such that, when the first condition is met, if the user operates the first operation unit 24, it controls the motor 22 to drive the transmission body 20 and prevent the wheel 16 from rotating due to the driving force of the motor 22. The control unit 72 can also be configured such that, when the first condition is met, if the user operates the first operation unit 24, it controls the motor 22 to drive the transmission body 20, enabling the derailleur 44A to change gears and preventing the wheel 16 from rotating due to the driving force of the motor 22.

[0138] The first condition includes the condition that the rotation of the crankshaft 12 stops. For example, the first condition is the condition that allows determination that the rider has stopped pedaling. For example, the state in which the rotation of the crankshaft 12 stops includes the state in which the rotational speed of the crankshaft 12 is below a predetermined speed.

[0139] For example, the control unit 72 is configured to determine that the rotation of the crankshaft 12 has stopped when the rotational speed of the crankshaft 12 is below a predetermined speed. For example, when the rotational speed of the crankshaft 12 is below a predetermined speed, the control unit 72 determines that a first condition is met. For example, the predetermined speed is 0 rpm or more and 5 rpm or less. For example, the predetermined speed is 3 rpm. The predetermined speed can be greater than 0 rpm. The predetermined speed can be set based on the rotational speed of the crankshaft 12 when it swings while the rider is not pedaling. The control unit 72 can be configured to determine that the rotation of the crankshaft 12 has stopped when the human driving force is below the stop determination driving force. For example, the stop determination driving force is a human torque of 1 Nm or more and 5 Nm or less.

[0140] For example, the control unit 72 is configured to drive the transmission body 20 via the motor 22 according to the user's operation on the first operation unit 24 when the first condition and the second condition are met, so as to propel the human-powered vehicle 10 by the driving force of the motor 22.

[0141] The second condition includes the condition that the speed of the manually driven vehicle 10 is lower than the predetermined speed. For example, the second condition is met when the rider pushes the manually driven vehicle 10. For example, the control unit 72 is configured to determine that the second condition is met when the speed of the manually driven vehicle 10 is lower than the predetermined speed. For example, the predetermined speed is between 3 km / h and 10 km / h. For example, the predetermined rotational speed is 6 rpm.

[0142] The human-powered vehicle 10 can be configured such that, when an operation unit, which is different from the first operation unit 24 and can be operated by a user, is satisfied under both a first condition and a second condition, the transmission body 20 is driven by the motor 22 to propel the human-powered vehicle 10 by the driving force of the motor 22. For example, the operation unit, which is different from the first operation unit 24 and can be operated by a user, includes an operation unit for driving the motor 22 to impart propulsion force to the human-powered vehicle 10 when the user pushes it.

[0143] For example, the control unit 72 is configured to drive the transmission body 20 via the motor 22 and operate the transmission body 20 via the derailleur 44A when the first condition and the shifting condition of changing the shift ratio via the derailleur 44A are met.

[0144] For example, the control unit 72 is configured to control the derailleur 44A when shifting conditions are met. For example, shifting conditions are related to at least one of the driving state of the manually driven vehicle 10, the driving environment of the manually driven vehicle 10, and the operating state of the shifting device 44B of the manually driven vehicle 10. For example, the driving environment of the manually driven vehicle 10 includes at least one of the road slope and road resistance. For example, the driving state of the manually driven vehicle 10 includes at least one of the vehicle speed, the rotational speed of the crankshaft 12, the manual driving force, and the tilt angle of the manually driven vehicle 10. For example, the shifting device 44B is configured to be operable by a user.

[0145] For example, when the control unit 72 receives a shift command from the shift operation device 44B, the shift conditions are met. The shift conditions are conditions related to automatic transmission; for example, the shift conditions can be met in at least one of the following situations: the driving state of the manually driven vehicle 10 reaches a predetermined state, or the driving environment of the manually driven vehicle 10 reaches a predetermined state. For example, the shift command includes a shift command for increasing the shift ratio and a shift command for decreasing the shift ratio.

[0146] For example, the control unit 72 is configured such that, when the first condition and the speed change condition are met, regardless of how the user operates the first operation unit 24, the transmission body 20 is driven by the motor 22 and the transmission body 20 is operated by the derailleur 44A.

[0147] For example, the control unit 72 is configured such that, when the human-powered bicycle 10 ridden by the rider is in motion and the crankshaft 12 has stopped rotating, and the shifting condition is met, the transmission body 20 is driven by the motor 22 and the transmission body 20 is operated by the derailleur 44A. The situation where the shifting condition is met when the human-powered bicycle 10 ridden by the rider is in motion and the crankshaft 12 has stopped rotating includes, for example, when the shifting operation device 44B is operated during the rider's stop pedaling.

[0148] Reference Figure 6 and Figure 7 The processing of the control unit 72 controlling the motor 22 in the second embodiment will be described. For example, if power is supplied to the control unit 72, the control unit 72 begins processing and enters... Figure 6 Step S21 of the flowchart shown. For example, if Figure 6 Once the flowchart ends, the control unit 72 will repeat the process starting from step S21 after a predetermined cycle until the power supply stops.

[0149] In step S21, the control unit 72 determines whether the first condition is met. For example, if the rotation of the crankshaft 12 stops, the control unit 72 determines that the first condition is met. If the first condition is met, the control unit 72 proceeds to step S22. If the first condition is not met, the control unit 72 terminates the process.

[0150] In step S22, the control unit 72 determines whether the gear shift condition is met. If the gear shift condition is not met, the control unit 72 proceeds to step S23. In step S23, the control unit 72 determines whether the first operation unit 24 has been operated. If the first operation unit 24 has been operated, the control unit 72 proceeds to step S24. If the first operation unit 24 has not been operated, the control unit 72 terminates the process.

[0151] In step S24, the control unit 72 determines whether the second condition is met. For example, if the speed of the manually driven vehicle 10 is lower than the predetermined speed, the control unit 72 determines that the second condition is met. If the second condition is not met, the control unit 72 proceeds to step S25. If the second condition is met, the control unit 72 proceeds to step S26. In step S25, the control unit 72 controls the motor 22 to drive the transmission body 20 through the motor 22, but not through the driving force of the motor 22, and proceeds to step S27. In step S26, the control unit 72 controls the motor 22 to drive the manually driven vehicle 10 through the driving force of the motor 22, and proceeds to step S27.

[0152] In step S27, the control unit 72 determines whether the operation of the first operation unit 24 has ended. If the operation of the first operation unit 24 has not ended, the control unit 72 proceeds to step S28. For example, if the control unit 72 continues to receive operation signals from the first operation unit 24, it determines that the operation of the first operation unit 24 has not ended. If the operation of the first operation unit 24 has ended, the control unit 72 proceeds to step S29.

[0153] In step S28, the control unit 72 determines whether the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is met, the control unit 72 proceeds to step S29. If the stopping condition of the motor 22 is not met, the control unit 72 proceeds to step S27 and repeats the process that started from step S27. In step S29, the control unit 72 stops the motor 22 and then ends the process.

[0154] If, in step S22, it is determined that the speed change condition is met, the control unit 72 proceeds to step S30. In step S30, the control unit 72 controls the motor 22 to drive the transmission body 20, and then proceeds to step S31.

[0155] In step S31, the control unit 72 determines whether the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is not met, the control unit 72 proceeds to step S32. In step S32, the control unit 72 controls the derailleur 44A to operate the transmission body 20 through the derailleur 44A, and then proceeds to step S33.

[0156] In step S33, the control unit 72 determines whether the gear ratio change has been completed. If the gear ratio change has been completed, the control unit 72 proceeds to step S34. If the gear ratio change has not been completed, the control unit 72 proceeds to step S31 and repeats the process that started from step S31. In step S34, the control unit 72 stops the motor 22 and then ends the process.

[0157] In step S33, for example, if a predetermined shift period has elapsed since the start of the shift ratio change, the control unit 72 determines that the shift ratio change is complete. Step S33 can be omitted. If step S33 is omitted, the control unit 72 proceeds from step S32 to step S34.

[0158] If the stop condition of motor 22 is met in step S31, the control unit 72 proceeds to step S34. For example, if at least one of the following conditions is met: a first stop condition where a predetermined period has elapsed since the start of driving motor 22, or a second stop condition where the load on motor 22 is above a first threshold, the control unit 72 determines that the stop condition of motor 22 is met.

[0159] exist Figure 6 In the processing, step S27 can be omitted. If step S27 is omitted, the control unit 72 proceeds to step S28 after the processing in step S25. Figure 6 In the processing, step S28 can be omitted. If step S28 is omitted, and the determination in step S27 is "yes," the control unit 72 proceeds to step S29. If step S28 is omitted, and the determination in step S27 is "no," the control unit 72 repeats the processing of step S27. Figure 6 In the process, steps S27 to S29 can be omitted. If steps S27 to S29 are omitted, the control unit 72 ends the process after the processing in steps S25 and S26.

[0160] <Third Implementation Method>

[0161] Reference Figure 8 and Figure 9 The control device 70 for a manually driven vehicle according to the third embodiment will be described. For structures in the control device 70 for a manually driven vehicle according to the third embodiment that are common to the first and second embodiments, the same reference numerals as in the first and second embodiments will be used, and repeated descriptions will be omitted.

[0162] like Figure 8 As shown, 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, and a motor 22. For example, the human-powered vehicle 10 of this embodiment has a structure that omits the first operating part 24 from the human-powered vehicle 10 of the second embodiment.

[0163] For example, the manually driven vehicle 10 also includes a tilt detection unit. For example, the tilt detection unit is configured to detect the road surface slope of the road on which the manually driven vehicle 10 travels. For example, the tilt detection unit detects the pitch angle of the manually driven vehicle 10. For example, the tilt detection unit detects the pitch angle of the manually driven vehicle 10 as the road surface slope of the road on which the manually driven vehicle 10 travels. For example, the road surface slope of the road on which the manually driven vehicle 10 travels can be detected by the pitch angle of the manually driven vehicle 10 in the direction of travel.

[0164] For example, the slope of the road surface on which the manually driven vehicle 10 travels corresponds to the tilt angle of the manually driven vehicle 10. For example, the tilt detection unit includes a gyroscope sensor or an accelerometer. The tilt detection unit may include a GPS (Global Positioning System) receiver. The control unit 72 can calculate the slope of the road surface on which the manually driven vehicle 10 travels based on the GPS information obtained by the GPS receiver and the road slope included in the map information pre-recorded in the storage unit 74. For example, the tilt detection unit can be communicatively connected to the control unit 72 via wired or wireless means.

[0165] The human-powered vehicle 10 also includes a load detection unit. For example, the load detection unit is located on the wheel axle of wheel 16. For example, the wheel axle of wheel 16 includes a hub axle. For example, the wheel axle of wheel 16 is configured not to rotate relative to the frame 28. The load detection unit is located on the wheel axle of at least one of the front wheel 16F and the rear wheel 16R. In this embodiment, the load detection unit is located on the wheel axle of each of the front wheel 16F and the rear wheel 16R. The load detection unit is configured to detect the load applied to the human-powered vehicle 10. For example, the load detection unit is configured to detect information related to at least one of the load of the front wheel 16F, the load of the rear wheel 16R, and the ratio of the load of the rear wheel 16R to the load of the front wheel 16F.

[0166] For example, the load detection unit has at least one detection element. For example, the at least one detection element includes at least one of a pressure sensor and a load sensor. For example, the load detection unit can be communicatively connected to the control unit 72 via wired or wireless means.

[0167] The control unit 72 is configured to control the motor 22 when the third condition is met, so as to drive the transmission body 20 through the motor 22 and propel the human-powered vehicle 10 without the driving force of the motor 22.

[0168] The third condition includes at least one of the tilt of the manually driven vehicle 10 and the load of the manually driven vehicle 10. For example, the third condition includes at least one of the following: the road on which the manually driven vehicle 10 travels is a downhill slope with a predetermined gradient or greater, and the pitch angle of the manually driven vehicle 10 is a predetermined angle less than or equal to 0. For example, the case where the pitch angle of the manually driven vehicle 10 is 0 is the case where the road on which the manually driven vehicle 10 travels is flat.

[0169] For example, the third condition includes the condition that the load of the front wheel 16F is greater than the load of the rear wheel 16R, and the condition that the ratio of the load of the rear wheel 16R to the load of the front wheel 16F is greater than a predetermined ratio. When the third condition includes a load-related condition, the control unit 72 can be configured to detect the jump of the manually driven vehicle 10 by the load, and before landing, control the motor 22 to drive the transmission body 20 through the motor 22 and propel the manually driven vehicle 10 without the driving force of the motor 22.

[0170] For example, the third condition may also include the condition that the rotation of the crankshaft 12 has stopped. For example, the third condition may also include the condition that the derailleur 44A is not activated. For example, if the electric actuator 46 is not driven, the control unit 72 determines that the derailleur 44A is not activated. For example, if the control unit 72 does not control the derailleur 44A to activate, it determines that the derailleur 44A is not activated. The third condition may include a condition that the shifting condition is not met in place of the condition that the derailleur 44A is not activated, or the third condition may include, in addition to the condition that the derailleur 44A is not activated, a condition that the shifting condition is not met.

[0171] For example, the control unit 72 is configured to stop the motor 22 if a stop condition for the motor 22 is met when the third condition is met and the motor 22 is driven. For example, when the third condition is met and the motor 22 is driven, the control unit 72 determines that the stop condition for the motor 22 is met when at least one of a first stop condition where a predetermined period has elapsed since the start of the motor 22's operation is met, or a second stop condition where the load on the motor 22 is above a first threshold, is met. For example, the stop condition for the motor 22 in this embodiment is the same as the stop condition for the motor 22 in the first embodiment.

[0172] For example, the control unit 72 is configured to control the derailleur 44A. For example, the control unit 72 is configured to drive the transmission body 20 via the motor 22 and operate the transmission body 20 via the derailleur 44A when both the first condition and the shifting condition of changing the gear ratio via the derailleur 44A are met. For example, the first condition in this embodiment is the same as the first condition in the first embodiment. For example, the control unit 72 is configured to drive the transmission body 20 via the motor 22 and operate the transmission body 20 via the derailleur 44A regardless of whether the third condition is met, when both the first condition and the shifting condition of changing the gear ratio via the derailleur 44A are met.

[0173] Reference Figure 9 The processing of the control unit 72 controlling the motor 22 in the third embodiment will be described. For example, if power is supplied to the control unit 72, the control unit 72 begins processing and enters... Figure 9 Step S41 of the flowchart shown. For example, if Figure 9 The flowchart ends, and the control unit 72 repeats the process starting from step S41 after a predetermined cycle until the power supply stops.

[0174] In step S41, the control unit 72 determines whether the first condition is met. For example, if the rotation of the crankshaft 12 stops, the control unit 72 determines that the first condition is met. If the first condition is met, the control unit 72 proceeds to step S42. If the first condition is not met, the control unit 72 terminates the process.

[0175] In step S42, the control unit 72 determines whether the gear shift condition is met. If the gear shift condition is not met, the control unit 72 proceeds to step S43. In step S43, the control unit 72 determines whether the third condition is met. If the third condition is met, the control unit 72 proceeds to step S44. If the third condition is not met, the control unit 72 terminates the process.

[0176] In step S44, the control unit 72 controls the motor 22 to drive the transmission body 20 through the motor 22 and propel the human-powered vehicle 10 without the driving force of the motor 22, and then proceeds to step S45.

[0177] In step S45, the control unit 72 determines whether the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is met, the control unit 72 proceeds to step S46. If the stopping condition of the motor 22 is not met, the control unit 72 repeats the process of step S45. In step S46, the control unit 72 stops the motor 22 and then ends the process.

[0178] In step S42, if the speed change condition is met, the control unit 72 proceeds to step S47. In step S47, the control unit 72 controls the motor 22 to drive the transmission body 20, and then proceeds to step S48.

[0179] In step S48, the control unit 72 determines whether the stopping condition of the motor 22 is met. If the stopping condition of the motor 22 is not met, the control unit 72 proceeds to step S49. In step S49, the control unit 72 controls the derailleur 44A to operate the transmission body 20 through the derailleur 44A, and then proceeds to step S50. If the stopping condition of the motor 22 is met, the control unit 72 proceeds to step S46.

[0180] In step S50, the control unit 72 determines whether the gear ratio change has been completed. If the gear ratio change has been completed, the control unit 72 proceeds to step S46. If the gear ratio change has not been completed, the control unit 72 proceeds to step S48, and then repeats the process starting from step S48.

[0181] For example, if a predetermined shift period has elapsed since the start of the gear ratio change in step S50, the control unit 72 determines that the gear ratio change has been completed. Step S50 can be omitted. If step S50 is omitted, the control unit 72 proceeds from step S49 to step S46.

[0182] exist Figure 9In the processing, steps S41, S42, S47 to S50 can be omitted. If steps S41, S42, S47 to S50 are omitted, and power is supplied to the control unit 72, then the control unit 72 begins the processing in step S43. Figure 9 In the process, steps S45 and S46 can be omitted. If steps S45 and S46 are omitted, the control unit 72 ends the process after the processing in step S44.

[0183] <Variation Example>

[0184] The descriptions of the various embodiments are examples of possible approaches for the control device for a manually operated vehicle disclosed herein, and are not intended to limit the scope of the approach. For example, the control device for a manually operated vehicle disclosed herein may take the form of variations of the embodiments shown below, as well as combinations of at least two mutually consistent variations. In the following variations, the same reference numerals as in the embodiments are added to the parts common to the embodiments, and their descriptions are omitted.

[0185] • The control unit 72 may be configured such that, when the motor 22 is driven according to the user's operation of the first operation unit 24, if the user operates the first operation unit 24 again after the operation of the first operation unit 24 has ended, the motor 22 is stopped.

[0186] Reference Figure 4 and Figure 10 The processing of the control unit 72 controlling the motor 22 in the first modified example will be described. After the processing in step S12, the control unit 72 executes the processing in step S61 instead of the processing in step S13. In step S61, the control unit 72 determines whether the first operation unit 24 has been operated again. If the first operation unit 24 has been operated again, the control unit 72 proceeds to step S15. If the first operation unit 24 has not been operated again, the control unit 72 proceeds to step S14.

[0187] ·like Figure 11 As shown, the human-powered vehicle 10 is configured to be operated by a user and may also include a second operating unit 68, different from the first operating unit 24. For example, the second operating unit 68 is located in a part of the human-powered vehicle 10 that is easily accessible to the user while in motion. For example, the second operating unit 68 is located in the handlebars 38 at a different position than the first operating unit 24. For example, if the second operating unit 68 is operated by the user, it sends an operation signal to the control unit 72 to stop the motor 22. For example, the second operating unit 68 includes at least one of a switch, a lever, and a disc switch. The control unit 72 may be configured such that if the user operates the second operating unit 68 when the motor 22 is driven by operating the first operating unit 24, the motor 22 will stop.

[0188] Reference Figure 4 and Figure 12 The processing of the control unit 72 controlling the motor 22 in the second modified example will be described. After the processing in step S12, the control unit 72 executes the processing in step S71 instead of the processing in step S13. In step S71, the control unit 72 determines whether the second operation unit 68 has been operated. If the second operation unit 68 has been operated, the control unit 72 proceeds to step S15. If the second operation unit 68 has not been operated, the control unit 72 proceeds to step S14.

[0189] • The control unit 72 may be configured not to control the derailleur 44A. When the control unit 72 is configured not to control the derailleur 44A, the derailleur 44A may be a manual derailleur without the electric actuator 46. For example, the manual derailleur may be connected to the shifting operation device 44B via a Bowden cable.

[0190] • The load detection unit in the third embodiment can be provided on the seat 28A. The load detection unit can be a sheet-like sensor capable of detecting the load on the portion of the seat 28A to which the rider's load is applied. When the load detection unit is provided on the seat 28A, at least one detection element is disposed on, for example, the surface of the seat 28A. At least one detection element can be disposed at a location other than the surface of the seat 28A, as long as it can detect information related to the distribution of the load applied to the seat 28A. For example, the control unit 72 is configured to determine that the human-powered vehicle 10 is traveling downhill when the load detection unit detects the load on the seat 28A and the rear of the seat 28A bears the load. For example, the control unit 72 is configured to determine that the human-powered vehicle 10 is traveling uphill when the load detection unit does not detect the load on the seat 28A.

[0191] The third condition may include a condition related to at least one of the state of the suspension of the manually driven vehicle 10 and vibration information related to the vibration of the manually driven vehicle 10, instead of a condition related to at least one of the tilt of the manually driven vehicle 10 and the load of the manually driven vehicle 10. Alternatively, the third condition may include, in addition to a condition related to at least one of the tilt of the manually driven vehicle 10 and the load of the manually driven vehicle 10, a condition related to the state of the suspension of the manually driven vehicle 10 and vibration information related to the vibration of the manually driven vehicle 10. When the third condition includes a condition related to the state of the suspension of the manually driven vehicle 10, for example, the manually driven vehicle 10 includes a sensor for detecting the state of the suspension. For example, the sensor for detecting the state of the suspension is configured to detect at least one of the suspension travel length and internal pressure. When the third condition includes a condition related to vibration information, the manually driven vehicle 10 includes, for example, a sensor for detecting vibration information. For example, the sensor for detecting vibration information may be a sensor for detecting the state of the suspension, and may be an acceleration sensor. For example, the suspension absorbs the impact applied to the wheel 16. For example, the suspension includes an electric suspension. For example, the suspension includes at least one of a rear suspension and a front suspension. The suspension can be a coil suspension, a hydraulic suspension, or a pneumatic suspension. For example, the state of the suspension includes the state of suspension operation.

[0192] For example, if at least one of the suspension travel length and internal pressure changes, the control unit 72 determines that the third condition is met. For example, if the rear suspension travel length decreases and then increases, the control unit 72 determines that the third condition is met. For example, if the front suspension travel length decreases and then increases, the control unit 72 determines that the third condition is met. When the third condition includes at least one of a condition related to the state of the suspension and vibration information related to the vibration of the manually driven vehicle 10, for example, when the third condition is met, the control unit 72 drives the motor 22 to suppress at least one of the following: loss of control of the transmission body 20 caused by the reaction of suspension movement leading to relaxation of the transmission body 20; relaxation of the transmission body 20 caused by suspension movement due to the impact of landing; and relaxation of the transmission body 20 caused by the vibration of the manually driven vehicle 10.

[0193] The control device 70 for the human-powered vehicle in the first and second embodiments includes a control unit 72. The human-powered vehicle 10 includes: a crankshaft 12 configured to provide human driving force input; a first rotating body 14 connected to the crankshaft 12; a wheel 16; a second rotating body 18 connected to the wheel 16; a transmission body 20 configured to engage with the first rotating body 14 and the second rotating body 18 and transmit driving force between the first rotating body 14 and the second rotating body 18; a motor 22 configured to drive the transmission body 20; and a first operating unit 24 configured to be operable by the user of the human-powered vehicle 10 and not involved in the gear shifting operation of the human-powered vehicle 10. The control unit 72 only needs to be configured to control the motor 22 according to the user's operation of the first operating unit 24, so as to drive the transmission body 20 through the motor 22 and propel the human-powered vehicle 10 without the driving force of the motor 22. Other structures can be omitted.

[0194] The control device 70 for a human-powered vehicle according to the third embodiment includes a control unit 72. The human-powered vehicle 10 includes: a crankshaft 12 configured to receive human driving force; a first rotating body 14 connected to the crankshaft 12; a wheel 16; a second rotating body 18 connected to the wheel 16; a transmission body 20 configured to engage with the first rotating body 14 and the second rotating body 18 and transmit driving force between the first rotating body 14 and the second rotating body 18; and a motor 22 configured to drive the transmission body 20. The control unit 72 can be configured to control the motor 22 to drive the transmission body 20 without using the driving force of the motor 22 to propel the human-powered vehicle 10 when a third condition is met. The third condition includes at least one of the tilt of the human-powered vehicle 10 and the load of the human-powered vehicle 10. Other structures can be omitted.

[0195] As used in this specification, the term "at least one" refers to "more than one" of the desired options. For example, if there are two options, "at least one" as used in this specification means "only one option" or "both of the two options." As another example, if there are three or more options, "at least one" as used in this specification means "only one option" or "any combination of two or more options."

[0196] The ordinal numbers “first,” “second,” and “third,” etc., used in this specification are only for distinguishing multiple parts with the same name and have no special meaning.

[0197] Symbol explanation:

[0198] 10…human-powered vehicle, 12…crankshaft, 14…first rotating body, 16…wheel, 18…second rotating body, 20…transmission body, 22…motor, 22A…output shaft, 24…first operating unit, 44A…derailleur, 44B…speed change operating device, 68…second operating unit, 70…control device, 72…control unit.

Claims

1. A control device for a manually operated vehicle, wherein, The control device includes a control unit. The human-powered vehicle includes: a crankshaft configured to provide human driving force input; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first and second rotating bodies and transmit driving force between the first and second rotating bodies; a motor configured to drive the transmission body; and a first operating unit disposed on the handlebars of the human-powered vehicle and configured to be operable by the user of the human-powered vehicle without participating in the gear shifting operation of the human-powered vehicle. The control unit is configured to control the motor based on the user's operation of the first operating unit, so as to drive the transmission body by the motor and propel the human-powered vehicle without the driving force of the motor.

2. The control device according to claim 1, wherein, The control unit is configured to, when a first condition is met, drive the transmission body via the motor based on the user's operation of the first operating unit, thereby propelling the manually driven vehicle without the driving force of the motor. The first condition includes the condition that the rotation of the crankshaft stops.

3. The control device according to claim 1, wherein, The control unit is configured to stop the motor if the user finishes operating the first operation unit.

4. The control device according to claim 1, wherein, The control unit is configured such that, when driving the motor based on the user's operation of the first operation unit, if the user operates the first operation unit again after the operation of the first operation unit has ended, the motor will stop.

5. The control device according to claim 1, wherein, The human-powered vehicle also includes a second operating unit, which is configured to be operated by the user and is different from the first operating unit. The control unit is configured such that, when the motor is driven by the user's operation of the first operating unit, the motor is stopped if the user operates the second operating unit.

6. The control device according to claim 1, wherein, The control unit is configured to stop the motor if a stopping condition is met when the motor is driven based on the user's operation of the first operating unit. The stopping conditions include at least one of a first stopping condition where a predetermined period has elapsed since the start of the motor's operation and a second stopping condition where the load on the motor is above a first threshold.

7. The control device according to claim 2, wherein, The control unit is configured to, when the first and second conditions are met, drive the transmission body via the motor based on the user's operation of the first operating unit, thereby propelling the manually driven vehicle by the driving force of the motor. The second condition includes the condition that the speed of the human-powered vehicle is less than the predetermined speed.

8. The control device according to claim 2, wherein, The control unit is configured such that, A derailleur is configured to operate the transmission to change the gear ratio of the wheel's rotational speed relative to the crankshaft's rotational speed. When the first condition is met and the gear ratio is changed via the derailleur, the transmission body is driven by the motor and operated via the derailleur.

9. A control device for a manually operated vehicle, wherein, The control device includes a control unit. The human-powered vehicle includes: a crankshaft configured to receive human driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first and second rotating bodies and transmit driving force between the first and second rotating bodies; and a motor configured to drive the transmission body. The control unit is configured to, when a third condition is met, control the motor to drive the transmission body via the motor and propel the manually driven vehicle without relying on the driving force of the motor. The third condition includes conditions related to at least one of the tilt of the human-powered vehicle and the load of the human-powered vehicle. The conditions related to the tilting of the human-powered vehicle include at least one of the following: the condition corresponding to the road on which the human-powered vehicle is traveling is a downhill slope with a predetermined gradient or greater, and the condition that the pitch angle of the human-powered vehicle is a predetermined angle less than 0. The conditions related to the load of the human-powered vehicle include at least one of the following: the load on the front wheels is greater than the load on the rear wheels, and the ratio of the load on the rear wheels to the load on the front wheels is greater than a predetermined ratio.

10. The control device according to claim 9, wherein, The control unit is configured to stop the motor if the motor's stop condition is met when the third condition is satisfied and the motor is driven. The stopping conditions include at least one of a first stopping condition where a predetermined period has elapsed since the start of driving the motor, and a second stopping condition where the load on the motor is above a first threshold.

11. The control device according to claim 9, wherein, The third condition also includes the condition that the rotation of the crankshaft stops.

12. The control device according to claim 9, wherein, The human-powered vehicle also includes a derailleur configured to operate the transmission to change the gear ratio of the wheel's rotational speed relative to the crankshaft's rotational speed. The third condition also includes the condition that the derailleur is not activated.

13. The control device according to claim 12, wherein, The control unit Configured to control the derailleur, It is configured such that, when a first condition is met and a shifting condition is met for changing the gear ratio via the derailleur, the transmission body is driven by the motor and operated via the derailleur. The first condition includes the condition that the rotation of the crankshaft stops.

14. The control device according to claim 6 or 10, wherein, The predetermined period includes at least one of the following: a predetermined time, the period during which the output shaft of the motor rotates by a first rotation angle, and the period during which the first rotating body rotates by a second rotation angle via the motor.

15. The control device according to claim 8 or 13, wherein, The gear shifting conditions are related to at least one of the driving state of the manually driven vehicle, the driving environment of the manually driven vehicle, and the operating state of the gear shifting device of the manually driven vehicle.

Images