Control system for human-powered vehicle and transmission device for human-powered vehicle

Abstract

The present application relates to a control system for a human-powered vehicle and a transmission device for a human-powered vehicle, and provides a control system for a human-powered vehicle that can appropriately control a transmission device in a human-powered vehicle including an assist unit. The control system for a human-powered vehicle is provided with a transmission device and a transmission operation device configured to operate the transmission device, the transmission operation device including a transmission operation control section configured to wirelessly transmit a first instruction to an assist operation device, the transmission device including: a first communication section configured to receive a first transmission instruction transmitted from the assist operation device in accordance with reception of the first instruction by the assist operation device; an actuator that performs a transmission action; and a transmission control section configured to control the actuator to perform the transmission action in accordance with the first transmission instruction.

Description

Technical Field

[0001] This disclosure relates to a control system for manually driven vehicles and a transmission device for manually driven vehicles. Background Technology

[0002] Patent document 1 discloses an example of a control system for a manually driven vehicle, which includes a transmission device and a transmission operation device for operating the transmission device.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-089989 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] One of the purposes of this disclosure is to provide a control system for a manually operated vehicle that can appropriately control the transmission device, and a transmission device for a manually operated vehicle.

[0008] Technical solutions for solving the problem

[0009] The control system according to a first aspect of this disclosure is a control system for a manually driven vehicle, wherein the manually driven vehicle includes: an auxiliary unit configured to assist in the propulsion of the manually driven vehicle; and an auxiliary operating device having an operating unit configured to transmit an operating signal to the auxiliary unit via wired communication when the operating unit is operated by a user. The control system includes: a transmission device; and a transmission operating device configured to operate the transmission device. The transmission operating device includes a transmission operating control unit configured to wirelessly transmit a first command to the auxiliary operating device. The transmission device includes: a first communication unit configured to receive a first transmission command transmitted from the auxiliary operating device based on the reception of the first command by the auxiliary operating device; an actuator configured to perform a transmission operation; and a transmission control unit configured to control the actuator to perform the transmission operation based on the first transmission command.

[0010] According to the control system of the first aspect, the gear shifting action of the gear shifting device is executed according to the first gear shifting command sent from the auxiliary operating device, so the auxiliary operating device can grasp the gear shifting action of the gear shifting device. Therefore, the control system can appropriately control the gear shifting device.

[0011] In the control system according to the second aspect of the first aspect of the present disclosure, the speed control unit is configured to control the actuator to start the speed change operation based on the first communication unit receiving the first speed change command.

[0012] According to the control system of the second aspect, the transmission device can start the transmission action even if the transmission device and the transmission operation device do not communicate.

[0013] In a control system according to the first, second, or third aspect of this disclosure, the first communication unit is configured to wirelessly receive the first speed change command.

[0014] According to the control system of the third aspect, the transmission device wirelessly receives the first transmission command from the auxiliary operating device, thus eliminating the need for wiring for communication between the transmission device and the auxiliary operating device.

[0015] In the control system of the fourth aspect according to any one of the first to third aspects of this disclosure, the auxiliary unit is configured to reduce the auxiliary force according to the first instruction.

[0016] According to the control system of the fourth aspect, the auxiliary unit reduces the auxiliary force according to the first command, so that the transmission device can perform the transmission action appropriately.

[0017] In the control system of the fifth aspect according to any one of the first to fourth aspects of this disclosure, the first gear shifting command is sent from the auxiliary operating device according to a predetermined period when the auxiliary operating device receives the first command.

[0018] According to the control system of the fifth aspect, when the auxiliary operating device receives the first instruction, it sends the first speed change instruction from the auxiliary operating device according to a predetermined period, so that the speed change device can perform the speed change action based on the predetermined period.

[0019] In the control system according to the fifth aspect of the present disclosure, the predetermined period is a period based on at least one of the cadence of the human-powered vehicle and the crank angle of the crank of the human-powered vehicle.

[0020] According to the control system of the sixth aspect, a predetermined period can be set based on at least one of the cadence of the human-powered vehicle and the crank angle of the crank of the human-powered vehicle.

[0021] In the control system of the fifth or sixth aspect of this disclosure, the predetermined period corresponds to the period during which the auxiliary force of the auxiliary unit is reduced according to the first instruction.

[0022] According to the control system of the seventh aspect, during the period when the auxiliary force of the auxiliary unit is reduced according to the first instruction, the transmission device can perform a transmission action.

[0023] In the control system of the eighth aspect according to any one of the fifth to seventh aspects of this disclosure, the auxiliary unit includes an auxiliary control unit configured to calculate the predetermined period based on the output of the detection unit.

[0024] According to the control system of the eighth aspect, the auxiliary unit is able to calculate the predetermined period based on the parameters of the human-powered vehicle detected by the detection department.

[0025] In the control system of the ninth aspect according to any one of the first to eighth aspects of this disclosure, the gear shifting operation device is configured to wirelessly transmit a second gear shifting command to the gear shifting device, the gear shifting device including a second communication unit configured to wirelessly receive the second gear shifting command.

[0026] According to the control system of the ninth aspect, since a second shift command can be sent from the shift operation device to the shift device, the shift device can perform a shift operation even without a first shift command from the auxiliary operation device.

[0027] In the control system according to the ninth and tenth aspects of this disclosure, the first communication unit communicates with the auxiliary operating device via a first communication method, and the second communication unit communicates with the transmission operating device via a second communication method, wherein the second communication method is different from the first communication method.

[0028] According to the control system of aspect ten, the transmission device can communicate with the auxiliary operating device and the transmission operating device respectively through different communication methods.

[0029] In the control system according to the eleventh aspect of the tenth aspect of this disclosure, the transmission control unit is configured to control the first communication unit and the second communication unit according to a communication control state, and is configured to switch the communication control state from one of the first communication control state and the second communication control state to the other, and is configured to control the first communication unit in the first communication control state such that the first communication unit communicates with the auxiliary operating device through the first communication method, and is configured to control the second communication unit in the second communication control state such that the second communication unit communicates with the transmission operating device through the second communication method.

[0030] According to the control system of aspect eleven, the transmission device can communicate with either the auxiliary operating device or the transmission operating device by switching the communication control state.

[0031] In the control system according to the twelfth aspect of the tenth or eleventh aspect of this disclosure, the speed change operating device is configured to communicate with the auxiliary operating device via the first communication method.

[0032] According to the control system of the twelfth aspect, both the transmission device and the transmission operating device are able to communicate with the auxiliary operating device through the first communication method.

[0033] In the control system of the thirteenth aspect according to any one of the first to twelfth aspects of this disclosure, the first communication mode is wireless communication using a wireless signal of a first frequency, and the second communication mode is wireless communication using a wireless signal of a second frequency different from the first frequency.

[0034] According to the control system of aspect thirteen, the transmission device is able to communicate with the auxiliary operating device and the transmission operating device respectively via different frequencies.

[0035] In the control system of the fourteenth aspect according to any one of the first to thirteenth aspects of this disclosure, the transmission device further includes a cable connection portion configured to connect a cable, the cable being configured to connect to a battery, the battery being configured to supply power to the auxiliary unit and the transmission device.

[0036] According to the control system of the fourteenth aspect, the transmission device can operate by power supplied from the battery that supplies power to the auxiliary unit.

[0037] In the control system of the fifteenth aspect according to any one of the first to fourteenth aspects of this disclosure, the control system further includes the auxiliary unit and the auxiliary operating device.

[0038] According to the control system of aspect fifteen, in a control system that also has auxiliary units and auxiliary operating devices, the speed change device can be appropriately controlled.

[0039] The control system according to the sixteenth aspect of this disclosure is a control system for a manually driven vehicle, wherein the control system comprises: an auxiliary unit configured to assist in the propulsion of the manually driven vehicle; and an auxiliary operating device having an operating unit configured to transmit an operating signal to the auxiliary unit via wired communication when the operating unit is operated by a user, the auxiliary operating device being configured to transmit a first instruction received from a gear shifting operating device for operating a gear shifting device to the auxiliary unit, the auxiliary unit including an auxiliary control unit configured to, based on the receipt of the first instruction from the auxiliary operating device, cause the auxiliary operating device to send a first gear shifting instruction to the gear shifting device for causing the gear shifting device to perform a gear shifting operation.

[0040] According to the control system of the sixteenth aspect, the auxiliary unit causes the auxiliary operating device to send a first gear shift command, so the auxiliary operating device can control the gear shifting action of the gear shifting device. Therefore, the control system can appropriately control the gear shifting device.

[0041] The transmission device according to the seventeenth aspect of this disclosure is a transmission device for a manually driven vehicle, wherein the transmission device includes: a communication unit configured to communicate with an auxiliary operating device and a transmission operating device, the auxiliary operating device being configured to operate an auxiliary unit that assists in the propulsion of the manually driven vehicle, and the transmission operating device being configured to operate the transmission device; and a transmission control unit configured to control the communication unit according to a communication control state, the transmission control unit being configured to switch the communication control state from one of a first communication control state and a second communication control state to the other, and being configured to control the communication unit in the first communication control state such that the communication unit communicates with the auxiliary operating device via a first communication method, and to control the communication unit in the second communication control state such that the communication unit communicates with the transmission operating device via a second communication method different from the first communication method.

[0042] According to the seventeenth aspect of the transmission device, by switching the communication control state, the transmission device can communicate with either the auxiliary operating device or the transmission operating device, thus enabling the transmission device to perform transmission operations without relying on the other of the auxiliary operating device or the transmission operating device. Therefore, the transmission device can appropriately control the transmission.

[0043] In the transmission device according to the seventeenth and eighteenth aspects of this disclosure, the first communication method is wireless communication using a wireless signal of a first frequency, and the second communication method is wireless communication using a wireless signal of a second frequency different from the first frequency.

[0044] According to the eighteenth aspect of the transmission device, the transmission device is capable of communicating with the auxiliary operating device and the transmission operating device via different frequencies.

[0045] In the gear shifting device according to the seventeenth or eighteenth aspect of this disclosure, the communication unit includes: a first communication unit configured to wirelessly receive a first gear shifting command transmitted from the auxiliary operating device via the first communication method; and a second communication unit configured to wirelessly receive a second gear shifting command transmitted from the gear shifting operating device via the second communication method.

[0046] According to the speed change device of the nineteenth aspect, by switching the communication unit used, the communication control state can be switched from one of the first communication control state and the second communication control state to the other.

[0047] In the twentieth aspect of the transmission device according to the nineteenth aspect of the present disclosure, the transmission device further includes a substrate on which the first communication unit and the second communication unit are disposed.

[0048] According to the speed change device of aspect 20, the first communication unit and the second communication unit can be arranged on the same substrate.

[0049] In the transmission device of the twenty-first aspect according to any one of the seventeenth to twentyth aspects of this disclosure, the auxiliary operation device has an operation unit configured to send an operation signal to the auxiliary unit via wired communication based on the user's operation of the operation unit.

[0050] According to the speed change device in aspect 21, the auxiliary unit can be appropriately controlled by the operating unit.

[0051] Invention Effects

[0052] The control system and transmission device for a human-powered vehicle disclosed herein can appropriately control the transmission device. Attached Figure Description

[0053] Figure 1 This is a side view of a human-powered vehicle, including the control system for the human-powered vehicle implementation method.

[0054] Figure 2 It means Figure 1 A block diagram of the electrical components of a human-powered vehicle.

[0055] Figure 3 yes Figure 2 A schematic diagram of the auxiliary operating device.

[0056] Figure 4 It is by Figure 2 The flowchart shows the process by which the transmission control unit executes and switches the communication control state.

[0057] Figure 5 It is by Figure 2 The flowchart shows the process executed and controlled by the speed change operation control unit of the speed change operation device.

[0058] Figure 6 It is by Figure 2 The flowchart shows the process by which the auxiliary operation control unit executes and controls the auxiliary operation device.

[0059] Figure 7 It is by Figure 2 The flowchart shows the process by which the auxiliary control unit executes and controls the auxiliary device.

[0060] Figure 8 It is by Figure 2 The flowchart shows the process by which the transmission control unit executes and controls the transmission device.

[0061] Figure 9 This is a block diagram illustrating the electrical configuration of a modified human-powered vehicle.

[0062] Explanation of reference numerals in the attached figures

[0063] 10: Human-powered vehicle; 18: Crank; 40: Battery; 40A, 40B: Cables; 42: Auxiliary unit; 44: Auxiliary operating device; 48: Auxiliary control unit; 52: Detection unit; 56: Operating unit; 60: Control system; 62: Gearbox; 64: Gearbox operating device; 66: Communication unit; 66A: First communication unit; 66B: Second communication unit; 68: Actuator; 70: Gearbox control unit; 72: Baseboard; 74: Cable connection unit; 78: Gearbox operation control unit. Detailed Implementation

[0064] <Implementation Method>

[0065] Reference Figures 1 to 8 The control system 60 and the transmission device 62 for a human-powered vehicle will be described below. A human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human power. Human-powered vehicles include, for example, various types of bicycles such as mountain bikes, road bikes, city bikes, freight bikes, manual bicycles, and recumbent bikes. The number of wheels in a human-powered vehicle is not limited. Human-powered vehicles also include, for example, one-wheeled vehicles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles capable of being driven solely by human power. Human-powered vehicles include not only vehicles that utilize human power for propulsion but also e-bikes that utilize the driving force of an electric motor for propulsion. E-bikes include electric-assisted bicycles that use an electric motor for assisted propulsion. Hereinafter, in various embodiments, the human-powered vehicle will be described as an electric-assisted bicycle.

[0066] like Figure 1 As shown, the human-powered vehicle 10 includes wheels 12 and a body 14. The wheels 12 include front wheels 12F and rear wheels 12R. The body 14 includes a frame 16. The frame 16 includes, for example, a downtube 16A, a top tube 16B, and a seat tube 16C.

[0067] The human-powered vehicle 10 also includes, for example, a crank 18 for inputting human driving force. The crank 18 includes, for example, a crankshaft 20 rotatable relative to the frame 16, a first crank arm 22A, and a second crank arm 22B. The first crank arm 22A is, for example, axially disposed at a first end of the crankshaft 20. The second crank arm 22B is, for example, axially disposed at a second end of the crankshaft 20 opposite to the first end. Pedals 24 are connected, for example, to the first crank arm 22A and the second crank arm 22B.

[0068] A front fork 26 is attached to the frame 16. A front wheel 12F is mounted on the front fork 26. The handlebars 28 are connected to the front fork 26 via a rod 30. The rear wheel 12R is supported on the frame 16.

[0069] In this embodiment, crank 18 is connected to rear wheel 12R via drive mechanism 32. Rear wheel 12R is driven by rotation of crankshaft 20. At least one of front wheel 12F and rear wheel 12R can also be connected to crank 18 via drive mechanism 32. Drive mechanism 32 includes at least one first rotating body 34 connected to crankshaft 20.

[0070] At least one first rotating element 34 includes, for example, a front sprocket. At least one first rotating element 34 may also include a pulley or a bevel gear. The crankshaft 20 may also be connected to the front sprocket via a one-way clutch.

[0071] The drive mechanism 32 also includes at least one second rotating body 36 and a transmission body 38. The transmission body 38 is configured to transmit the rotational force of at least one first rotating body 34 to at least one second rotating body 36. The transmission body 38 may include, for example, a chain. The transmission body 38 may also include a belt or a shaft.

[0072] At least one second rotating body 36 includes, for example, a rear sprocket. At least one second rotating body 36 may include a pulley or a bevel gear. A chain is wound around, for example, the front and rear sprockets. At least one second rotating body 36 is, for example, connected to a rear wheel 12R. The rear wheel 12R is, for example, configured to rotate with the rotation of at least one second rotating body 36.

[0073] At least one second rotating body 36 is connected to the rear wheel 12R, for example, 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 at least one second rotating body 36 to the rear wheel 12R when at least one second rotating body 36 rotates forward with at least one first rotating body 34. The first one-way clutch is also configured to allow relative rotation between the rear wheel 12R and at least one second rotating body 36 when the forward rotation speed of the rear wheel 12R is higher than the forward rotation speed of at least one second rotating body 36.

[0074] The human-powered vehicle 10 also includes, for example, a battery 40. The battery 40 includes one or more battery elements, including rechargeable batteries. The battery 40 is configured to supply power to the human-powered vehicle's electric components disposed on the human-powered vehicle 10. The battery 40 is configured, for example, to supply power to the auxiliary unit 42 and the transmission 62. The battery 40 can communicate with the auxiliary unit 42, for example, via power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter). The battery 40 can also communicate with the auxiliary operating device 44, for example, via power line communication (PLC), CAN, or UART. The battery 40 is connected to the transmission 62, for example, via cable 40A. The cable used for communication between the battery 40 and the auxiliary unit 42 can be the same cable as cable 40A or a different cable. In the case where the cable used for communication between the battery 40 and the auxiliary unit 42 is the same cable as cable 40A, for example, cable 40A is a power communication line.

[0075] Battery 40 may be disposed, for example, in frame 16. Battery 40 may be built into frame 16. Battery 40 may be built into lower tube 16A. Battery 40 may be built into top tube 16B or base tube 16C. Battery 40 may also be housed in a battery casing mounted inside or on the outer surface of frame 16. When battery 40 includes multiple battery elements, battery 40 may also be arranged in multiple locations with each battery element configured in a different location.

[0076] like Figure 1 and Figure 2 As shown, the manually driven vehicle 10 includes an auxiliary unit 42 and an auxiliary operating device 44. The auxiliary unit 42 is configured to assist in the propulsion of the manually driven vehicle 10. The auxiliary unit 42 includes, for example, a motor 46. The motor 46 is configured to output driving force to the drive mechanism 32. The motor 46 rotates by being powered by a battery 40. In this embodiment, the motor 46 outputs driving force to the first rotating body 34. The motor 46 outputs driving force to the drive mechanism 32, thereby the auxiliary unit 42 assists in the propulsion of the manually driven vehicle 10. The motor 46 may also be configured to output driving force to the front wheel 12F or the rear wheel 12R.

[0077] The auxiliary unit 42 includes, for example, an auxiliary control unit 48. The auxiliary control unit 48 includes, for example, a processing unit that executes a predetermined control program. The processing unit included in the auxiliary control unit 48 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The processing unit included in the auxiliary control unit 48 can also be located in multiple mutually separate locations. One part of the processing unit can be located in the manually driven vehicle 10, and another part can be located in a server connected to the Internet. When the processing unit is located in multiple mutually separate locations, the parts of the processing unit are connected to each other via a wireless communication device in a manner capable of communication. The auxiliary control unit 48 can also include one or more microcomputers.

[0078] The auxiliary unit 42 includes an auxiliary storage unit 50. The auxiliary storage unit 50 is connected to the auxiliary control unit 48 in a communicative manner, for example, via a wired or wireless connection. The auxiliary storage unit 50 stores, for example, a control program and information used for control processing. The auxiliary storage unit 50 includes, for example, non-volatile memory and volatile memory. The non-volatile memory includes, for example, at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. The volatile memory includes, for example, RAM (Random Access Memory).

[0079] The manually driven vehicle 10 includes, for example, a detection unit 52. The detection unit 52 detects the status of the manually driven vehicle 10. The detection unit 52 is communicatively connected to at least one of the auxiliary unit 42 and the auxiliary operating device 44 via wired or wireless means. The detection unit 52 outputs a detection signal to at least one of the auxiliary unit 42 and the auxiliary operating device 44. The auxiliary control unit 48 controls the motor 46, for example, based on the detection signal from the detection unit 52.

[0080] The detection unit 52 includes, for example, a cadence detection unit 52A. The cadence detection unit 52A is configured, for example, to detect information related to the cadence of the human-powered vehicle 10. The cadence detection unit 52A is configured, for example, to detect information related to the rotational speed of the wheel 12. The cadence detection unit 52A is disposed on the frame 16, for example, in a manner that detects the magnetic force of a magnet disposed on at least one of the front wheel 12F and the rear wheel 12R.

[0081] The cadence detection unit 52A is configured, for example, to output a predetermined number of detection signals to the auxiliary control unit 48 during one revolution of the wheel 12. The predetermined number is, for example, 1. The auxiliary control unit 48 can calculate the cadence of the manually driven vehicle 10 based on the number of detection signals received from the cadence detection unit 52A during the predetermined period. The auxiliary control unit 48 can also calculate the speed of the manually driven vehicle 10 based on the cadence of the manually driven vehicle 10 and information related to the circumference of the wheel 12.

[0082] The detection unit 52 includes, for example, a crank detection unit 52B. The crank detection unit 52B detects, for example, the crank angle of the crank 18. The crank angle of the crank 18 is, for example, the angle at which the crank 18 is located, starting from a state where one of the first crank arm 22A and the second crank arm 22B is at top dead center and the other is at bottom dead center. For example, when the first crank arm 22A is at top dead center and the first crank arm 22A is at bottom dead center, the crank angle is 180 degrees.

[0083] The crank detection unit 52B is configured, for example, to detect information corresponding to at least one of the rotational speed of the crankshaft 20 and the rotational speed of at least one first rotating body 34 to the auxiliary control unit 48. The information corresponding to the rotational speed of the crankshaft 20 includes, for example, the angular acceleration of the crankshaft 20. The information corresponding to the rotational speed of the at least one first rotating body 34 includes, for example, the angular acceleration of the at least one first rotating body 34.

[0084] The crank detection unit 52B is configured, for example, to output a signal to the auxiliary control unit 48 corresponding to at least one of the rotational speed of the crankshaft 20 and the rotational speed of at least one first rotating body 34. The crank detection unit 52B is configured, for example, to output a detection signal to the auxiliary control unit 48 corresponding to the rotational angle of the crankshaft 20 and at least one of the first rotating bodies 34. The crank detection unit 52B is configured, for example, to output a detection signal to the auxiliary control unit 48 corresponding to the crank angle of the crank 18.

[0085] The crank detection unit 52B includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank detection unit 52B also includes, for example, a ring-shaped magnet with multiple magnetic poles arranged circumferentially. The ring-shaped magnet is, for example, disposed between the crankshaft 20, at least one first rotating body 34, or in the power transmission path from the crankshaft 20 to at least one first rotating body 34. The ring-shaped magnet includes, for example, one S pole and one N pole. The S pole and the N pole extend continuously for 180 degrees around the rotation center axis of the crankshaft 20, respectively.

[0086] The crank detection unit 52B detects the crank angle of the crank 18 based on the strength of the magnetic field. Based on changes in the strength of the magnetic field, the crank detection unit 52B detects at least one of the rotational speed of the crankshaft 20 and the rotational speed of at least one first rotating body 34. The crank detection unit 52B may also include an optical sensor, an accelerometer, a gyroscope, or a torque sensor instead of a magnetic sensor.

[0087] The crank detection unit 52B is provided, for example, on the frame 16. When the crank detection unit 52B is provided on the frame 16, the crank detection unit 52B may also be configured to include a vehicle speed sensor. When the crank detection unit 52B includes a vehicle speed sensor, the auxiliary control unit 48 may also be configured to calculate the rotational speed of the crankshaft 20 based on the vehicle speed and gear ratio detected by the vehicle speed sensor.

[0088] The detection unit 52 includes, for example, a human-powered driving force detection unit 52C. The human-powered driving force detection unit 52C is configured, for example, to output a signal corresponding to the driving force applied to the crankshaft 20 by human-powered driving force. The human-powered driving force detection unit 52C is, for example, located in or near a component included in the transmission path of the human-powered driving force. The component included in the transmission path of the human-powered driving force includes, for example, the crankshaft 20 and a component that transmits the human-powered driving force between the crankshaft 20 and at least one first rotating body 34.

[0089] The human-powered force detection unit 52C includes a strain sensor, a magnetostrictive sensor, or a pressure sensor, etc. The strain sensor includes a strain gauge. The human-powered force detection unit 52C can be configured arbitrarily as long as it can acquire information related to human-powered force.

[0090] The manual drive force detection unit 52C may also be disposed in at least one of the first crank arm 22A, the second crank arm 22B, or the pedal 24. When the manual drive force detection unit 52C is disposed in the pedal 24, it may also include a sensor for detecting the pressure applied to the pedal 24. The manual drive force detection unit 52C may also be disposed in the chain included in the transmission body 38. When the manual drive force detection unit 52C is disposed in the chain, it may also include a sensor for detecting the chain tension.

[0091] The auxiliary control unit 48 is configured to change the amount of assistance provided by the auxiliary unit 42 to the propulsion of the manually driven vehicle 10 by controlling the motor 46. The auxiliary unit 42 may also include a drive circuit for the motor 46. The drive circuit is connected to the auxiliary control unit 48 in a communicable manner, for example, via wired or wireless means. The drive circuit drives the motor 46, for example, according to a control signal from the auxiliary control unit 48.

[0092] The drive circuit is electrically connected to the motor 46, for example. The drive circuit controls the power supply from the battery 40 to the motor 46. The drive circuit includes, for example, an inverter circuit. The inverter circuit includes, for example, multiple transistors. The inverter circuit includes, for example, a configuration in which multiple inverter sections, each consisting of a pair of transistors connected in series, are connected in parallel.

[0093] The auxiliary control unit 48 may have multiple auxiliary control modes. The auxiliary control unit 48 is configured to control the auxiliary unit 42 in any of the multiple auxiliary control modes.

[0094] Multiple auxiliary control modes include, for example, an auxiliary mode and an auxiliary stop mode. In the auxiliary mode, the auxiliary control unit 48 is configured, for example, to control the motor 46 in a manner that allows the auxiliary unit 42 to assist in the propulsion of the manually driven vehicle 10. In the auxiliary stop mode, for example, the auxiliary control unit 48 is configured to control the motor 46 in a manner that allows the auxiliary unit 42 to not assist in the propulsion of the manually driven vehicle 10.

[0095] The auxiliary control unit 48 is configured, for example, in auxiliary mode, to control the motor 46 in such a way that it outputs an auxiliary force based on the human-powered driving force input to the human-powered vehicle 10. The human-powered driving force corresponds, for example, to the driving force output to at least one first rotating body 34 by rotating the crankshaft 20 through a user. The auxiliary force includes, for example, the driving force output to the first rotating body 34 by rotating the motor 46. The auxiliary force corresponds to the assistance provided by the auxiliary unit 42 in propelling the human-powered vehicle 10. The human-powered driving force and the auxiliary force can be represented by torque or power.

[0096] The auxiliary control unit 48 is configured, for example, to control the motor 46 in an auxiliary mode such that the auxiliary level of the motor 46 is a predetermined auxiliary level. The auxiliary level includes, for example, at least one of the auxiliary ratio of the auxiliary force of the auxiliary unit 42 to the human driving force input to the human-powered vehicle 10, and the maximum auxiliary value of the auxiliary force of the auxiliary unit 42.

[0097] When the assistance level includes an assistance ratio, the predetermined assistance level includes a predetermined assistance ratio. The assistance control unit 48 is configured, for example, to control the motor 46 such that the assistance ratio becomes the predetermined assistance ratio. The predetermined assistance ratio is configured to be changeable by the user manually driving the vehicle 10. The predetermined assistance ratio can also be changed according to the magnitude of the manual driving force. For example, the greater the manual driving force, the greater the predetermined assistance ratio will be changed by the assistance control unit 48.

[0098] When the assistance level includes an assistance maximum value, the predetermined assistance level includes the predetermined assistance maximum value. The assistance control unit 48 is configured, for example, to control the motor 46 in a manner that makes the assistance maximum value less than or equal to the predetermined assistance maximum value. The predetermined assistance maximum value is determined, for example, by at least one of the output characteristics of the motor 46 and the control mode. The predetermined assistance maximum value is configured to be changeable by the user of the manually driven vehicle 10.

[0099] The auxiliary modes may include, for example, a first auxiliary mode and a second auxiliary mode with an auxiliary level greater than the first auxiliary mode. The auxiliary modes may also include a third auxiliary mode with an auxiliary level greater than the second auxiliary mode. When the auxiliary level includes an auxiliary ratio, the predetermined auxiliary ratio in the second auxiliary mode is greater than the predetermined auxiliary ratio in the first auxiliary mode. When the auxiliary level includes a maximum auxiliary value, the predetermined maximum auxiliary value in the second auxiliary mode is greater than the predetermined maximum auxiliary value in the first auxiliary mode. The auxiliary modes may also include a third auxiliary mode with an auxiliary level greater than the second auxiliary mode.

[0100] like Figure 1 as well as Figure 3 As shown, the auxiliary operating device 44 is provided, for example, in a user-operable part of the human-powered vehicle 10. The auxiliary operating device 44 is provided, for example, on the frame 14. In this embodiment, the auxiliary operating device 44 is mounted on the frame 16. The auxiliary operating device 44 is provided, for example, on the top tube 16B of the frame 16. The auxiliary operating device 44 can also be detachably mounted on the frame 14. The auxiliary operating device 44 can also be mounted on the handlebars 28. The auxiliary operating device 44 can also be, for example, a bicycle computer mounted on the handlebars 28.

[0101] like Figure 2 As shown, the auxiliary operation device 44 includes, for example, an auxiliary operation control unit 54. The auxiliary operation control unit 54 includes, for example, a processing unit that executes a predetermined control program. The processing unit included in the auxiliary operation control unit 54 includes, for example, a CPU or an MPU. The processing unit included in the auxiliary operation control unit 54 can also be located in multiple mutually separate locations. One part of the processing unit can be located in the manually driven vehicle 10, and another part can be located in a server connected to the Internet. When the processing unit is located in multiple mutually separate locations, the parts of the processing unit are connected to each other via a wireless communication device in a manner capable of communication. The auxiliary operation control unit 54 can also include one or more microcomputers.

[0102] The auxiliary operation control unit 54 may also include an auxiliary operation storage unit. The auxiliary operation storage unit stores, for example, control programs and information used in control processing. The auxiliary operation storage unit may include, for example, non-volatile memory and volatile memory.

[0103] The auxiliary operation control unit 54 can be connected to the auxiliary control unit 48 in a communicable manner, for example, via wired communication. The auxiliary operation control unit 54 can also communicate with the auxiliary control unit 48 via, for example, power line communication (PLC), CAN, or UART. Alternatively, the auxiliary operation control unit 54 can be connected to the auxiliary control unit 48 in a communicable manner via wireless communication.

[0104] like Figure 2 and Figure 3 As shown, the auxiliary operation device 44 includes an operation unit 56. The auxiliary operation device 44 is configured to transmit operation signals to the auxiliary unit 42 via wired communication based on user operations on the operation unit 56. When the operation unit 56 is operated by the user, for example, the auxiliary operation control unit 54 sends an operation signal to the auxiliary control unit 48. The operation signal may include, for example, a signal for controlling the auxiliary unit 42. The operation signal may include, for example, an operation signal for changing the auxiliary mode. The operation signal may also include a signal for putting the auxiliary unit 42 into sleep mode or stopping the supply of power to the auxiliary unit 42. When the auxiliary control unit 48 receives an operation signal for changing the auxiliary mode, it changes the auxiliary mode, for example, based on the received operation signal.

[0105] The operation unit 56 includes, for example, a first operation unit 56A, a second operation unit 56B, a third operation unit 56C, and a display unit 56D. The first operation unit 56A is, for example, a power switch. When the first operation unit 56A is operated in the auxiliary control mode (auxiliary stop mode), the auxiliary operation device 44 sends a first operation signal to the auxiliary unit 42 to start the auxiliary operation. Upon receiving the first operation signal, the auxiliary unit 42 switches the auxiliary control mode from the auxiliary stop mode to the auxiliary mode.

[0106] When the first operation unit 56A is operated, for example, in the auxiliary control mode, the auxiliary operation device 44 sends a second operation signal to the auxiliary unit 42 to stop the assistance. Upon receiving the second operation signal, the auxiliary unit 42 switches the auxiliary control mode from the auxiliary mode to the auxiliary stop mode. The first operation unit 56A may also include a switch for sending the first operation signal to the auxiliary unit 42 and a switch for sending the second operation signal to the auxiliary unit 42.

[0107] The second operation unit 56B and the third operation unit 56C are, for example, switches for changing the assistance level. For instance, when the second operation unit 56B is operated, the auxiliary operation device 44 sends a third operation signal to the auxiliary unit 42 to increase the assistance level. Upon receiving the third operation signal, the auxiliary unit 42 switches the assistance mode to another assistance mode to increase the assistance level. For example, if the auxiliary unit 42 receives the third operation signal while the assistance mode is in the first assistance mode, it switches the assistance mode from the first assistance mode to the second assistance mode.

[0108] For example, when the third operation unit 56C is operated, the auxiliary operation device 44 sends a fourth operation signal to the auxiliary unit 42 to reduce the auxiliary level. Upon receiving the fourth operation signal, the auxiliary unit 42 switches the auxiliary mode to another auxiliary mode to reduce the auxiliary level. For example, if the auxiliary unit 42 receives the fourth operation signal while the auxiliary mode is the second auxiliary mode, it switches the auxiliary mode from the second auxiliary mode to the first auxiliary mode. The second operation unit 56B and the third operation unit 56C can also be used as switches for selecting auxiliary modes other than the first auxiliary mode.

[0109] Display unit 56D displays, for example, the status of auxiliary unit 42. Display unit 56D also displays, for example, the current auxiliary control mode. The remaining battery level of battery 40 can also be displayed on display unit 56D. The status of the manually operated vehicle 10 can also be displayed on display unit 56D. Furthermore, the status of other manually operated electric components installed on the manually operated vehicle 10 besides auxiliary unit 42 can also be displayed on display unit 56D.

[0110] The auxiliary operation device 44 includes, for example, an auxiliary operation communication unit 58. The auxiliary operation communication unit 58 is configured to wirelessly communicate with the transmission device 62 of the control system 60 and the transmission operation device 64 of the control system 60.

[0111] like Figure 1 and Figure 2 As shown, the manually driven vehicle 10 includes a control system 60. The control system 60 includes a transmission device 62 and a transmission operation device 64 for operating the transmission device 62. The control system 60 may also include, for example, an auxiliary unit 42 and an auxiliary operation device 44. The control system 60 may also include a first control system 60A and a second control system 60B, where the first control system 60A includes the transmission device 62 and the transmission operation device 64, and the second control system 60B includes the auxiliary unit 42 and the auxiliary operation device 44. For example, the component groups included in the first control system 60A form a first communication group, and the component groups included in the second control system 60B form a second communication group. A portion of the component groups included in the first control system 60A may also be included in the second control system 60B. A portion of the component groups included in the second control system 60B may also be included in the first control system 60A.

[0112] The transmission device 62 is configured to perform a gear-changing operation that alters the gear ratio of the manually driven vehicle 10. The gear ratio is, for example, the ratio of the rotational speed of the wheel 12 to the rotational speed of the crankshaft 20. The rotational speed of the wheel 12 includes, for example, the rotational speed of the drive wheel. The transmission device 62 is, for example, provided in the transmission path of the human-powered drive force in the manually driven vehicle 10.

[0113] The derailleur 62 includes, for example, at least one of a derailleur 62A and an internal derailleur. In this embodiment, the derailleur 62 includes a derailleur 62A. When the derailleur 62 includes a derailleur 62A, the transmission body 38 includes a chain. The transmission body 38 may also include a belt. The derailleur 62A includes, for example, an electric actuator. The electric actuator is configured, for example, to actuate the derailleur 62A. When the derailleur 62 includes an internal derailleur, the internal derailleur is, for example, located at the hub of the rear wheel 12R.

[0114] Derailleur 62A is configured, for example, to operate the transmission 38 to change the gear ratio. Derailleur 62A changes the gear ratio by switching the transmission 38 from one of a plurality of rotating bodies to another. In the case where the rotating bodies include sprockets, the plurality of rotating bodies may each include rotating bodies with different numbers of teeth.

[0115] Derailleur 62A is configured, for example, to move a transmission body 38, which engages with one of a plurality of rotating bodies, to another of the plurality of rotating bodies. The plurality of rotating bodies includes, for example, a plurality of sprockets. Derailleur 62A is configured, for example, to move a transmission body 38, which engages with one of the plurality of sprockets, to another of the plurality of sprockets.

[0116] At least one first rotating body 34 may include, for example, a plurality of first rotating bodies 34. At least one second rotating body 36 may include, for example, a plurality of second rotating bodies 36. A plurality of rotating bodies may include, for example, at least one of a plurality of first rotating bodies 34 and a plurality of second rotating bodies 36. A plurality of first rotating bodies 34 may include, for example, a plurality of first sprockets. A plurality of second rotating bodies 36 may include, for example, a plurality of second sprockets. A plurality of rotating bodies may include, for example, at least one of a plurality of first sprockets and a plurality of second sprockets.

[0117] The derailleur 62A is configured, for example, to perform a gear shifting operation. During the gear shifting operation, the derailleur 62A changes the engagement state of multiple rotating bodies with the transmission body 38 by operating the transmission body 38, thereby changing the gear ratio.

[0118] The transmission device 62 performs speed changing operations, for example, by changing the gear. The transmission device 62 is configured to select one gear from multiple gears. For example, different gear ratios are set for each of the multiple gears. For example, the higher the gear, the larger the gear ratio. The gears are set, for example, according to the number of teeth of the multiple rotating bodies.

[0119] The gear shifting operation includes upshifting and downshifting. For example, the gear shifting device 62 is configured to perform an upshifting operation, changing from one of multiple gears to another, thereby increasing the gear ratio. For example, the gear shifting device 62 is configured to perform a downshifting operation, changing from one of multiple gears to another, thereby decreasing the gear ratio.

[0120] The derailleur 62A is configured, for example, as an operating transmission 38 to change from one of a plurality of gears to another. The plurality of gears are set, for example, according to at least one of a plurality of rotating bodies.

[0121] Derailleur 62A, for example, moves a chain engaged with one of a plurality of sprockets to another of the plurality of sprockets. Derailleur 62A includes, for example, a rear derailleur and a front derailleur. The gear ratio of each gear is set, for example, based on a combination of one of a plurality of first sprockets and one of a plurality of second sprockets.

[0122] Derailleur 62A may also include only one of the rear derailleur and the front derailleur. When derailleur 62A includes only the rear derailleur, the gear ratio of each shifter is set according to one of the plurality of second sprockets. When derailleur 62A includes only the front derailleur, the gear ratio of each shifter is set according to one of the plurality of first sprockets.

[0123] The rear derailleur selects one of a plurality of second sprockets based on the selected shift gear. The rear derailleur moves the chain to engage the selected sprocket. When the highest shift gear is selected, the sprocket with the fewest teeth among the multiple second sprockets is selected by the rear derailleur. When the lowest shift gear is selected, the sprocket with the most teeth among the multiple second sprockets is selected by the rear derailleur.

[0124] The front derailleur selects one of a plurality of first sprockets based on the selected shift gear. The front derailleur moves the chain to engage the chain with the selected sprocket. When the highest shift gear is selected, the sprocket with the fewest teeth among the plurality of first sprockets is selected by the front derailleur. When the lowest shift gear is selected, the sprocket with the most teeth among the plurality of first sprockets is selected by the front derailleur.

[0125] At least one of the plurality of rotating bodies may include a shift-promoting region that facilitates shifting action of the shifting device 62. The shift-promoting region is an area that facilitates movement of the transmission body 38, based on the derailleur 62A, from one of the plurality of rotating bodies to an adjacent one of the plurality of rotating bodies. The shift-promoting region may, for example, have a recess formed on the side of the sprocket and at least one of the teeth of the sprocket. The shift-promoting region includes at least one of a first shifting region that facilitates upshifting operation and a second shifting region that facilitates downshifting operation.

[0126] The gear shifting device 62 includes a first communication unit 66A, an actuator 68, and a gear shifting control unit 70. The first communication unit 66A is, for example, a communication device. The actuator 68 is configured to perform a gear shifting operation. The actuator 68 corresponds, for example, to the electric actuator of the derailleur 62A.

[0127] The transmission control unit 70 includes, for example, a processing unit that executes a predetermined control program. The processing unit included in the transmission control unit 70 may include, for example, a CPU or an MPU. The processing unit included in the transmission control unit 70 may also be located in multiple, mutually separate locations. One part of the processing unit may be located in the manually driven vehicle 10, and another part may be located in a server connected to the Internet. When the processing unit is located in multiple, mutually separate locations, the different parts of the processing unit are connected to each other via a wireless communication device in a manner capable of communication. The transmission control unit 70 may also include one or more microcomputers.

[0128] The transmission control unit 70 may also include a transmission storage unit. The transmission storage unit stores, for example, control programs and information used in control processing. The transmission storage unit may include, for example, non-volatile memory and volatile memory.

[0129] The transmission device 62 may include a communication unit 66, for example. The communication unit 66 may be a communication device. The communication unit 66 may be configured to communicate with the auxiliary operation device 44 and the transmission operation device 64. The auxiliary operation device 44 is configured to operate the auxiliary unit 42 that assists in the propulsion of the manually driven vehicle 10, and the transmission operation device 64 is configured to operate the transmission device 62. The transmission device 62 may include a second communication unit 66B, for example. The second communication unit 66B may be a communication device. The communication unit 66 may include a first communication unit 66A and a second communication unit 66B.

[0130] The transmission device 62 may also include, for example, a substrate 72 on which a first communication unit 66A and a second communication unit 66B are mounted. The substrate 72 may include, for example, a printed circuit board. A transmission control unit 70 may be mounted on the substrate 72. The substrate 72 may be housed within a housing of the transmission device 62.

[0131] The transmission unit 62 also includes, for example, a cable connector 74 configured to connect a cable 40A. The cable 40A is configured to connect to the battery 40. The cable connector 74 includes, for example, a socket for inserting a connector of the cable 40A. The cable connector 74 is, for example, provided on the outer surface of the housing of the transmission unit 62. The cable connector 74 is electrically connected to the base plate 72. Power from the battery 40 is supplied to the communication unit 66, the transmission control unit 70, and the actuator 68 via the cable connector 74.

[0132] The communication unit 66 is configured, for example, to wirelessly communicate with the auxiliary operating device 44 and the transmission device 62. The communication unit 66 may include, for example, an antenna for wirelessly communicating with the auxiliary operating device 44 and the transmission device 62. The communication unit 66 may also be configured to perform wired communication with the auxiliary operating device 44 and the transmission device 62.

[0133] The first communication unit 66A communicates with the auxiliary operating device 44, for example, via a first communication method, and the second communication unit 66B communicates with the transmission operating device 64, for example, via a second communication method. The second communication method is, for example, different from the first communication method.

[0134] The first communication method is, for example, wireless communication using a wireless signal at a first frequency, and the second communication method is wireless communication using a wireless signal at a second frequency different from the first frequency. The first frequency is, for example, a frequency within the 2.4 GHz band. The first communication method is, for example, Bluetooth (registered trademark). The second frequency is, for example, a frequency greater than or less than the first frequency.

[0135] At least one of the first communication unit 66A and the second communication unit 66B is configured to be capable of changing frequencies. For example, the first communication unit 66A is configured to be capable of changing a first frequency, and the second communication unit 66B is configured not to change a second frequency. The first communication unit 66A is configured, for example, to be capable of changing the first frequency within a predetermined frequency range. When both the first communication unit 66A and the second communication unit 66B are configured to be capable of changing frequencies, the predetermined range of the first frequency that the first communication unit 66A can change to may be the same as or different from the predetermined range of the second frequency that the second communication unit 66B can change to. Alternatively, both the first communication unit 66A and the second communication unit 66B may be configured not to change frequencies.

[0136] The transmission control unit 70 is configured, for example, to control the communication unit 66 according to a communication control state. The communication control state includes a first communication control state and a second communication control state. The transmission control unit 70 is configured, for example, to switch the communication control state from one of the first communication control state and the second communication control state to the other. The transmission control unit 70 is configured, for example, in the first communication control state, to control the communication unit 66 so that it communicates with the auxiliary operating device 44 via a first communication method. The transmission control unit 70 is configured, for example, in the second communication control state, to control the communication unit 66 so that it communicates with the transmission operating device 64 via a second communication method.

[0137] The transmission control unit 70 is configured, for example, to control the first communication unit 66A and the second communication unit 66B according to a communication control state. In the first communication control state, the transmission control unit 70 is configured to control the first communication unit 66A to communicate with the auxiliary operating device 44 via a first communication method. In the second communication control state, the transmission control unit 70 is configured to control the second communication unit 66B to communicate with the transmission operating device 64 via a second communication method.

[0138] For example, when the communication control state is the first communication control state, the transmission control unit 70 controls the communication unit 66 in a manner that enables the first communication unit 66A to receive the first transmission command while preventing the second communication unit 66B from receiving the second transmission command. For example, when the communication control state is the second communication control state, the transmission control unit 70 controls the communication unit 66 in a manner that prevents the first communication unit 66A from receiving the first transmission command while enabling the second communication unit 66B to receive the second transmission command.

[0139] The transmission mechanism 62 includes, for example, an operation input unit 76. The operation input unit 76 includes, for example, at least one of a button, a dial, and a lever. The transmission control unit 70 changes the communication control state by operating the operation input unit 76. The operation input unit 76 may also be located externally to the transmission mechanism 62. The operation input unit 76 may also be located on the transmission operation device 64. The operation input unit 76 may also be configured to be located in at least one of a personal computer, tablet computer, and smartphone, and connected to the transmission mechanism 62 in a wired or wireless manner. In the case where the operation input unit 76 is located in at least one of a personal computer, tablet computer, and smartphone, for example, the user operates the operation input unit 76 before boarding the human-powered vehicle 10.

[0140] The transmission control unit 70 can also change the communication control state independently of the operation input unit 76. For example, the transmission control unit 70 changes the communication control state based on the state of power supply to the transmission 62. For example, the transmission control unit 70 changes the communication control state based on whether the transmission 62 is connected to the battery 40. For example, the manual transmission vehicle 10 may include a transmission battery different from the battery 40. When the transmission 62 is not connected to the battery 40, the transmission 62 may be configured to receive power from the transmission battery. The transmission 62 may also have a storage section for storing the transmission battery.

[0141] For example, when the transmission 62 is connected to the battery 40, the transmission control unit 70 switches the communication control state to a first communication control state. For example, when the transmission 62 is not connected to the battery 40, the transmission control unit 70 switches the communication control state to a second communication control state. The transmission control unit 70 can also switch the communication control state to the second communication control state when power is supplied to the transmission 62 from the transmission battery. If the transmission 62 has a storage compartment for storing the transmission battery, the transmission control unit 70 can also change the communication control state based on whether or not the transmission battery is being stored in the storage compartment. The transmission 62 can also determine whether power is being supplied to the transmission 62 from the transmission battery based on whether or not the transmission battery is being stored in the storage compartment. By changing the communication control state based on the state of power supply to the transmission 62, in the case where the manual transmission vehicle 10 does not include the auxiliary unit 42, the transmission control unit 70 can switch the communication control state to the second communication control state. Therefore, the communication control state is changed even if the user does not perform any operation, thus improving availability.

[0142] The transmission control unit 70 changes the communication control state, for example, based on the connection status of the cable 40A to the cable connector 74. When the cable 40A is connected to the cable connector 74, the transmission control unit 70 can also switch the communication control state to a first communication control state. When the cable 40A is not connected to the cable connector 74, the transmission control unit 70 can also switch the communication control state to a second communication control state.

[0143] For example, when the communication network of the control system 60 is configured, the operator sets a communication control state. For example, when the operator wants to configure the communication network of the control system 60 to control the transmission 62 using the auxiliary operating device 44, the operator operates the operation input unit 76 by selecting a first communication control state. For example, when the operator wants to configure the communication network of the control system 60 so that the auxiliary operating device 44 does not control the transmission 62, the operator operates the operation input unit 76 by selecting a second communication control state. The operator can be a user or a manufacturer. When the communication network of the control system 60 is configured so that the auxiliary operating device 44 does not control the transmission 62, for example, in a manually operated vehicle 10 that does not have an auxiliary operating device 44 capable of controlling the transmission 62.

[0144] Reference Figure 4 This explains the processing of changes in communication control status. For example, when power is supplied to the transmission control unit 70, the transmission control unit 70 begins processing and transfers to... Figure 4 Step S11 of the flowchart shown. If Figure 4Once the flowchart ends, the transmission control unit 70, for example, repeatedly performs the processing from step S11 after a predetermined cycle until the power supply stops.

[0145] In step S11, the transmission control unit 70 determines whether a communication control state change request exists. For example, if the operation input unit 76 is operated, the transmission control unit 70 determines that a communication control state change request exists. If a communication control state change request exists, the transmission control unit 70 proceeds to step S12. If no communication control state change request exists, the transmission control unit 70 terminates the process. The transmission control unit 70 may also determine the existence of a communication control state change request based on at least one of the following: whether the transmission device 62 is connected to the battery 40; whether the transmission device battery is stored in the storage unit; whether the cable 40A is connected to the cable connection unit 74; and whether the transmission device 62 is connected to the auxiliary operation device 44.

[0146] In step S12, the transmission control unit 70 determines whether the communication control state is the first communication control state. If the communication control state is the first communication control state, the transmission control unit 70 proceeds to step S13. In step S13, the transmission control unit 70 switches the communication control state to the second communication control state and ends the process.

[0147] If the communication control state is not the first communication control state in step S12, the transmission control unit 70 proceeds to step S14. In step S14, the transmission control unit 70 switches the communication control state to the first communication control state and ends the process.

[0148] The transmission operation device 64 includes a transmission operation control unit 78. The transmission operation control unit 78 includes, for example, a processing unit that executes a predetermined control program. The processing unit included in the transmission operation control unit 78 includes, for example, a CPU or an MPU. The processing unit included in the transmission operation control unit 78 can also be located in multiple mutually separate locations. One part of the processing unit can be located in the manually driven vehicle 10, and another part can be located in a server connected to the Internet. When the processing unit is located in multiple mutually separate locations, the different parts of the processing unit are connected to each other via a wireless communication device in a manner capable of communication. The transmission operation control unit 78 can also include one or more microcomputers.

[0149] The shift operation device 64 includes, for example, a shift operation storage unit 80. The shift operation storage unit 80 is connected to the shift operation control unit 78 via, for example, a wired or wireless connection. The shift operation storage unit 80 stores, for example, control programs and information used for control processing. The shift operation storage unit 80 includes, for example, non-volatile memory and volatile memory.

[0150] The transmission operation device 64 includes, for example, at least one transmission operation unit 82 for receiving user input. The transmission operation unit 82 includes, for example, at least one of a button, a dial, and a lever. The transmission operation unit 82 may also include two operation units corresponding to upshifting and downshifting operations, respectively. The transmission operation control unit 78 generates transmission commands based on the operation of the transmission operation unit 82. The transmission commands include, for example, commands for upshifting or downshifting.

[0151] The shifting operation device 64 includes, for example, a shifting operation communication unit 84. The shifting operation device 64 is configured, for example, to communicate with the auxiliary operation device 44 via a first communication method. The shifting operation device 64 is also configured, for example, to communicate with the shifting device 62 via a second communication method. The shifting operation communication unit 84 communicates with the auxiliary operation communication unit 58 via the first communication method and with the second communication unit 66B via the second communication method. The shifting operation communication unit 84 may also include a first shifting operation communication unit using the first communication method and a second shifting operation communication unit using the second communication method.

[0152] The shift operation control unit 78 is configured, for example, to select which of the first and second communication methods to use to send the shift command. The shift operation control unit 78 is configured, for example, to select which of the first and second communication methods to use to send the shift command based on the communication control state of the shift device 62. The shift operation control unit 78 is configured, for example, to use the first communication method to send the shift command when the communication control state of the shift device 62 is the first communication control state. The shift operation control unit 78 is configured, for example, to use the second communication method to send the shift command when the communication control state of the shift device 62 is the second communication control state. The shift operation unit 82 may switch communication methods based on the operation of the operation input unit 76, and may also include a switching operation unit for switching the communication method of the shift operation communication unit 84. The shift operation control unit 78 may also be configured to receive the current communication control state from the shift control unit 70.

[0153] The shift control unit 78 is configured to wirelessly transmit a first command to the auxiliary operation device 44. The auxiliary operation communication unit 58 of the auxiliary operation device 44, for example, wirelessly receives the first command. The first command is, for example, a shift command. The shift control unit 78 is configured, for example, to cause the shift operation communication unit 84 to send the first command based on a user operation input to the shift operation unit 82. The shift control unit 78 is configured, for example, to cause the shift operation communication unit 84 to send the first command based on a user operation input to the shift operation unit 82 when the communication control state is in the first communication control state.

[0154] When the communication control state is in the second communication control state, the shift operation control unit 78 is configured to wirelessly transmit a second shift command to the shifting device 62. When the communication control state is in the second communication control state, the shifting device 62 receives the second shift command from the shifting operation device 64, for example, without via the auxiliary operation device 44. When the communication control state is in the second communication control state, the shift operation control unit 78 is configured, for example, to cause the shift operation communication unit 84 to send the second shift command based on a user operation input to the shift operation unit 82.

[0155] When the auxiliary operation control unit 54 receives the first instruction from the auxiliary operation communication unit 58, it sends, for example, a first gear shifting instruction to the gear shifting device 62. The first gear shifting instruction is a signal used to cause the gear shifting device 62 to perform a gear shifting operation. The first communication unit 66A of the gear shifting device 62 is configured, for example, to wirelessly receive the first gear shifting instruction. The first communication unit 66A is configured, for example, to wirelessly receive the first gear shifting instruction sent from the auxiliary operation device 44 via a first communication method. The first communication unit 66A is configured to receive the first gear shifting instruction sent from the auxiliary operation device 44 based on the auxiliary operation device 44's receipt of the first instruction.

[0156] The shifting operation device 64 is configured, for example, to wirelessly transmit a second shifting command to the shifting device 62. The second shifting command is a signal used to cause the shifting device 62 to perform a shifting operation. The second communication unit 66B is configured, for example, to wirelessly receive the second shifting command transmitted from the shifting operation device 64 via a second communication method. The second communication unit 66B is configured, for example, to wirelessly receive the second shifting command. The second shifting command is, for example, a shifting command. The shifting operation control unit 78 is configured, for example, to cause the shifting operation communication unit 84 to transmit the second shifting command based on a user operation input to the shifting operation unit 82. The shifting operation control unit 78 is configured, for example, to cause the shifting operation communication unit 84 to transmit the second shifting command based on a user operation input to the shifting operation unit 82 when the communication control state is in the second communication control state.

[0157] The transmission control unit 70 is configured to control the actuator 68 based on transmission commands. The transmission control unit 70 performs transmission operations by actuating the actuator 68. Based on the received transmission commands, the transmission control unit 70 performs upshift or downshift operations.

[0158] The transmission control unit 70 is configured to control the actuator 68 to perform a transmission operation based on a first transmission command. When the first communication unit 66A receives the first transmission command, the transmission control unit 70 performs an upshift or downshift operation based on the received command. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation upon receiving the first transmission command from the first communication unit 66A. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation when the first communication unit 66A receives the first transmission command. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation when the transmission start timing is reached after the first communication unit 66A receives the first transmission command.

[0159] The transmission control unit 70 controls the actuator 68 to perform a transmission operation based on the second transmission command. When the second communication unit 66B receives the second transmission command, the transmission control unit 70 performs an upshift or downshift operation based on the received command. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation upon receiving the second transmission command from the second communication unit 66B. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation when the second communication unit 66B receives the second transmission command. For example, the transmission control unit 70 is configured to control the actuator 68 to start the transmission operation when the transmission start timing is reached after the second communication unit 66B receives the second transmission command.

[0160] The communication unit 66 can also transmit the status of the transmission device 62 to a manually operated electric component that is different from the transmission device 62. The communication unit 66 can transmit at least one of the start and end of the transmission operation to the auxiliary unit 42, and can also transmit at least one of the start and end of the actuator 68's operation during the transmission operation. For example, the communication unit 66 can also transmit the current gear in the transmission device 62 to the auxiliary operation device 44. The auxiliary operation device 44 can also display the current gear in the transmission device 62 on the display unit 56D.

[0161] The auxiliary operating device 44 receives a first command sent by the transmission operating device 64. The auxiliary operating device 44 is configured to send the first command received from the transmission operating device 64 (which operates the transmission 62) to the auxiliary unit 42. The auxiliary operating device 44 is configured, for example, to communicate with the transmission 62 via a first communication method. The auxiliary operating device 44 sends the first transmission command received from the auxiliary unit 42 to the transmission 62.

[0162] The auxiliary unit 42 receives a first instruction from the auxiliary operating device 44 via wired communication. The auxiliary unit 42 is configured to send a first gear shifting instruction to the auxiliary operating device 44 based on the first instruction received from the auxiliary operating device 44. The auxiliary control unit 48 is configured to cause the auxiliary operating device 44 to send a first gear shifting instruction to the gear shifting device 62 based on the receipt of the first instruction from the auxiliary operating device 44. The first gear shifting instruction may be sent from the auxiliary operating device 44, for example, at a predetermined time after the auxiliary operating device 44 receives the first instruction.

[0163] In the control system 60, the transmission 62 is configured to perform a gear shifting operation according to a predetermined period. The auxiliary control unit 48 is configured, for example, to calculate the predetermined period based on the output of the detection unit 52. The predetermined period is, for example, a period based on at least one of the cadence of the manual transmission 10 and the crank angle of the crank 18 of the manual transmission 10. The predetermined period is, for example, determined based on at least one of the cadence, manual driving force, the rotation angle of the crank 18, the rotation angle of the second rotating body 36, and the gear. The predetermined period can also be a constant time. A constant time is, for example, set by the transmission 62 to a sufficient time until the change in gear ratio is completed.

[0164] The predetermined period is set, for example, based on the period during which the gear ratio can be appropriately changed by the transmission device 62. The predetermined period includes, for example, a period during which the manual driving force is reduced. The predetermined period is calculated, for example, by the auxiliary unit 42. The transmission device 62 is configured to perform a gear shifting operation based on the predetermined period. The transmission device 62 determines, for example, the start timing of starting the gear shifting operation based on the predetermined period. The transmission device 62 determines, for example, the period during which the actuator 68 is actuated based on the predetermined period. The auxiliary unit 42 is configured to reduce the auxiliary force based on the predetermined period. The auxiliary unit 42 reduces the auxiliary force, for example, based on the predetermined period, during the period when the transmission device 62 performs the gear shifting operation.

[0165] The predetermined period corresponds to a period less than or equal to a predetermined percentage of the maximum value of the human-driven force. The auxiliary control unit 48 is configured, for example, to acquire the maximum value of the human-driven force every predetermined period based on the detection result of the human-driven force detection unit 52C. The predetermined percentage is, for example, 10% or more and 90% or less. The predetermined percentage is, for example, 60% or more and 80% or less. The human-driven force is at its minimum value, for example, when the first crank arm 22A or the second crank arm 22B is at top dead center or bottom dead center. The human-driven force is at its maximum value, for example, when the first crank arm 22A or the second crank arm 22B is at a position corresponding to a peak point between top dead center and bottom dead center. When the first crank arm 22A rotates in the first direction, the first crank arm 22A passes from the peak point through the top dead center, through the next peak point, and through the bottom dead center, thereby returning to the initial peak point.

[0166] The predetermined period is, for example, the time point during which the rotation angle of crank 18 becomes the angle corresponding to top dead center or bottom dead center. The predetermined period is, for example, the time point during which the first crank arm 22A or the second crank arm 22B is at top dead center or bottom dead center. Hereinafter, the predetermined period will be explained based on the time point when the first crank arm 22A is at top dead center. The predetermined period can be based on the time point when the first crank arm 22A is at bottom dead center, or it can be based on the time point when the second crank arm 22B is at top dead center, or it can be based on the time point when the second crank arm 22B is at bottom dead center.

[0167] When the second rotating body 36 includes a speed-shifting amplification region, the predetermined period can also be determined based on the speed-shifting amplification region. In the case where the predetermined period is determined based on the speed-shifting amplification region, the predetermined period may be determined, for example, based on the rotation angle of the second rotating body 36.

[0168] When a predetermined shift period is determined based on the gear shift, for example, the auxiliary storage unit 50 stores information related to the shift period required for each gear and when changing from one gear to another. The information related to the shift period includes, for example, a table storing the gear before the shift and the shift period corresponding to the gear after the shift. The shift period is set, for example, based on a predetermined rotation angle and the amount of chain winding onto the sprocket corresponding to the changed gear. The predetermined rotation angle can be a constant value or can be varied depending on the size of the sprocket. The amount of chain winding includes the length of the portion where the sprocket engages with the transmission body 38.

[0169] The auxiliary control unit 48, for example, determines a predetermined period upon receiving a first instruction. The auxiliary control unit 48 generates a first gear shift instruction based on the predetermined period. The first gear shift instruction includes, for example, information related to the gear shift start timing and the operating time of the actuator 68. The auxiliary control unit 48 generates the first gear shift instruction based on the predetermined period. Upon receiving the first gear shift instruction, the gear shift control unit 70 initiates the gear shift operation based on the information contained in the first gear shift instruction related to the gear shift start timing and the operating time of the actuator 68.

[0170] The auxiliary unit 42 is configured, for example, to reduce the auxiliary force according to a first command. The auxiliary unit 42 is configured to reduce the auxiliary force based on the shift start timing determined by the first command and the operating time of the actuator 68. The predetermined period corresponds, for example, to the period during which the auxiliary force of the auxiliary unit 42 is reduced according to the first command. The auxiliary control unit 48 calculates the reduction period of the auxiliary force based, for example, on the shift start timing and the operating time of the actuator 68. The start timing of the reduction period is, for example, set before the shift start timing. The start timing of the reduction period can also be set after the shift start timing. The end timing of the reduction period is, for example, set after the actuator 68 has completed its operation. The end timing of the reduction period can also be set before the actuator 68 has completed its operation. The end timing of the reduction period can also be when the change in the shift ratio is detected.

[0171] The auxiliary unit 42 is configured, for example, not to provide assistance during the lowering period. The auxiliary unit 42 sets the assistance force to zero, for example, during the lowering period.

[0172] The auxiliary control unit 48 can also be configured to control the motor 46 at an auxiliary level that becomes the shift assist level during deceleration. The shift assist level is set to a level lower than a predetermined auxiliary level. The shift assist level can also be changed according to the shifting operation. For example, the greater the difference between the shift ratio before and after the shift, the smaller the shift assist level is set.

[0173] The auxiliary control unit 48 can, for example, change the transmission assist level based on the amount of manual driving force. The auxiliary control unit 48 can change the transmission assist level, for example, by adjusting the level of manual driving force to a lower level. The greater the manual driving force, the more significantly the control system 60 reduces the assist force of the auxiliary unit 42, so that the user is less likely to perceive the reduction in assist force.

[0174] The auxiliary control unit 48 can, for example, change the gear shift assist level based on the pitch angle of the manually driven vehicle 10. The auxiliary control unit 48 can change the gear shift assist level, for example, in a manner that the greater the pitch angle of the manually driven vehicle 10, the greater the gear shift assist level. By changing the gear shift assist level based on the pitch angle of the manually driven vehicle 10, the assist force of the auxiliary unit 42 is maintained when the manually driven vehicle 10 is traveling uphill, and the transmission device 62 can perform gear shifting operations.

[0175] When the assist level includes an assist ratio, the shift assist level includes a shift assist ratio. The assist control unit 48 is configured, for example, to control the motor 46 such that the assist ratio becomes the shift assist ratio during deceleration. The shift assist ratio can also be changed according to the shifting operation. For example, the greater the difference between the shift ratio before and after the shift, the smaller the shift assist ratio is set.

[0176] When the assist level includes the maximum assist value, the shift assist level includes the shift assist maximum value. The assist control unit 48 is configured, for example, to control the motor 46 during deceleration in a manner that makes the maximum assist value below the shift assist maximum value. The predetermined maximum assist value can also be changed according to the shifting operation. For example, the greater the difference between the shift ratio before and after the shift, the smaller the shift assist maximum value is set.

[0177] The transmission device 62 is configured to control the motor 46 at a predetermined auxiliary level once the deceleration period ends. Alternatively, the transmission device 62 can be configured to change the auxiliary level from the transmission auxiliary level to a predetermined auxiliary level prior to the transmission auxiliary level once the deceleration period ends, after a predetermined increase period. By changing the auxiliary level over a predetermined increase period, the user can less easily perceive the change in the auxiliary force of the auxiliary unit 42.

[0178] The auxiliary unit 42 can also be configured such that if the auxiliary force is below a predetermined auxiliary force during a predetermined period, the auxiliary force will not be reduced during that period. The predetermined auxiliary force is, for example, set to a value that does not affect the shifting operation of the transmission device 62.

[0179] The transmission device 62 can also be configured such that, when a transmission operation is performed based on a second transmission command, the transmission control unit 70 calculates a predetermined period. The transmission control unit 70 can also be configured to calculate the predetermined period based on the output of the detection unit 52. When the transmission operation is performed based on a second transmission command, the transmission device 62 determines the transmission start timing and the actuator 68's operating time based on the predetermined period. The transmission device 62 can also be configured such that, when a transmission operation is performed based on a second transmission command, the transmission control unit 70 sends the predetermined period calculated by the transmission device 70 to the auxiliary unit 42.

[0180] Reference Figure 5 The processing of the transmission operation control unit 78 controlling the transmission operation device 64 in the control system 60 will be described. For example, when power is supplied to the transmission operation control unit 78, the transmission operation control unit 78 begins processing and transfers to... Figure 5 Step S21 of the flowchart shown. If Figure 5 Once the flowchart ends, the speed change operation control unit 78 will, for example, repeatedly perform the processing from step S21 after a predetermined cycle until the power supply stops.

[0181] In step S21, the shift operation control unit 78 determines whether the shift operation unit 82 has been operated. If the shift operation unit 82 has been operated, the shift operation control unit 78 proceeds to step S22. If the shift operation unit 82 has not been operated, the shift operation control unit 78 terminates the process. Figure 5 The processing.

[0182] In step S22, the shift operation control unit 78 determines whether the communication control state is a first communication control state. If the shift operation control unit 78 is configured to receive the current communication control state from the shift control unit 70, the shift operation control unit 78 determines the communication control state, for example, based on the current communication control state received from the shift control unit 70. If the operation input unit 76 is provided in at least one of a personal computer, a tablet computer, and a smartphone, the shift operation control unit 78 may also be configured to receive the current communication control state from the operation input unit 76. If the shift operation unit 82 includes a switching operation unit, the shift operation control unit 78 determines the communication control state, for example, based on the operation input to the switching operation unit. If the communication control state is a first communication control state, the shift operation control unit 78 proceeds to step S23. In step S23, the shift operation control unit 78 sends a first command via a first communication method, and the process ends. Figure 5 The transmission operation control unit 78 causes the transmission operation communication unit 84 to send a first command to the auxiliary operation device 44 via a first communication method.

[0183] If the communication control state is not the first communication control state in step S22, the transmission operation control unit 78 proceeds to step S24. In step S24, the transmission operation control unit 78 sends a second transmission command via the second communication method, and the process ends. Figure 5 The transmission operation control unit 78 causes the transmission operation communication unit 84 to send a second transmission command to the transmission device 62 via a second communication method.

[0184] Reference Figure 6 The processing of the auxiliary operation control unit 54 controlling the auxiliary operation device 44 will be explained. For example, if power is supplied to the auxiliary operation control unit 54, the auxiliary operation control unit 54 begins processing and transfers to... Figure 6 Step S31 of the flowchart shown. If Figure 6 Once the flowchart ends, the auxiliary operation control unit 54 will, for example, repeatedly perform the processing starting from step S31 after a predetermined cycle until the power supply stops.

[0185] In step S31, the auxiliary operation control unit 54 determines whether the first instruction has been received. If the auxiliary operation communication unit 58 receives the first instruction, the auxiliary operation control unit 54 determines that the first instruction has been received. If the first instruction has been received, the auxiliary operation control unit 54 proceeds to step S32. In step S32, the auxiliary operation control unit 54 sends the first instruction to the auxiliary unit 42, and the process ends. Figure 6 The processing.

[0186] If the auxiliary operation control unit 54 does not receive the first command in step S31, it proceeds to step S33. In step S33, the auxiliary operation control unit 54 determines whether the first gear shift command has been received. If the first gear shift command has been received, the auxiliary operation control unit 54 proceeds to step S34. If the auxiliary operation control unit 54 does not receive the first gear shift command in step S33, it terminates the operation. Figure 6 The processing.

[0187] In step S34, the auxiliary operation control unit 54 sends a first speed change command via a first communication method, thus ending the process. Figure 6 The auxiliary operation control unit 54 sends a first speed change command from the auxiliary operation communication unit 58 via a first communication method in step S34.

[0188] Reference Figure 7 The processing of the auxiliary control unit 48 by the auxiliary control unit 42 will be explained. For example, when power is supplied to the auxiliary control unit 48, the auxiliary control unit 48 begins processing and transfers to the auxiliary control unit 42. Figure 7 Step S41 in the flowchart shown. Auxiliary control unit 48 in... Figure 7 At the end of the flowchart, for example before the power supply stops, the process starting from step S41 is repeated after a predetermined period.

[0189] In step S41, the auxiliary control unit 48 determines whether a first command has been received. If the auxiliary control unit 48 receives a first command from the auxiliary operation device 44, it determines that the first command has been received. If the first command has been received, the auxiliary control unit 48 proceeds to step S42. If the auxiliary control unit 48 has not received a first command in step S41, it terminates the process. Figure 7 The processing.

[0190] In step S42, the auxiliary control unit 48 calculates a predetermined period based on the first command and proceeds to step S43. In step S43, the auxiliary control unit 48 sends the first gear shift command to the auxiliary operating device 44 and proceeds to step S44.

[0191] In step S44, the auxiliary control unit 48 determines whether to begin reducing the auxiliary force. For example, if the current time is the start timing of the reduction period, the auxiliary control unit 48 determines that the reduction of the auxiliary force should begin. If the reduction of the auxiliary force does not begin, the auxiliary control unit 48 repeats step S44 until it determines that the reduction of the auxiliary force has begun. If the reduction of the auxiliary force begins, the auxiliary control unit 48 proceeds to step S45. In step S45, the auxiliary control unit 48 reduces the auxiliary force and proceeds to step S46.

[0192] In step S46, the auxiliary control unit 48 determines whether to end the reduction of the auxiliary force. For example, if the current time is the end time of the reduction period, the auxiliary control unit 48 determines to end the reduction of the auxiliary force. If the reduction of the auxiliary force is not to end, the auxiliary control unit 48 repeats step S46 until it determines that the reduction of the auxiliary force has ended. If the reduction of the auxiliary force has ended, the auxiliary control unit 48 proceeds to step S47. In step S47, the auxiliary control unit 48 increases the auxiliary force, ending the process. Figure 7 The auxiliary control unit 48, for example, in step S47, changes the auxiliary force of the auxiliary unit 42 to the auxiliary force before the processing in step S45.

[0193] Reference Figure 8 The processing of the transmission control unit 70 controlling the transmission device 62 in the control system 60 will be described. For example, when power is supplied to the transmission control unit 70, the transmission control unit 70 begins processing and transfers to... Figure 8 Step S51 of the flowchart shown. If Figure 8 Once the flowchart ends, the transmission control unit 70 will, for example, repeatedly perform the processing from step S51 after a predetermined cycle until the power supply stops.

[0194] In step S51, the transmission control unit 70 determines whether the communication control state is the first communication control state. If the communication control state is the first communication control state, the transmission control unit 70 proceeds to step S52.

[0195] In step S52, the transmission control unit 70 determines whether a first transmission command has been received. If the first transmission command has been received, the transmission control unit 70 proceeds to step S53. If the first transmission command has not been received, the transmission control unit 70 terminates the process. Figure 7 The processing. In step S53, the transmission control unit 70 performs a transmission operation based on the first transmission command, and ends the process. Figure 7 The processing.

[0196] If the communication control state is not the first communication control state in step S51, the transmission control unit 70 proceeds to step S54. In step S54, the transmission control unit 70 determines whether a second transmission command has been received. If a second transmission command has been received, the transmission control unit 70 proceeds to step S55. If no second transmission command has been received, the transmission control unit 70 terminates the process. Figure 7 The processing. In step S55, the transmission control unit 70 performs a transmission operation based on the second transmission command, and ends the process. Figure 7 The processing.

[0197] In the control system 60, the auxiliary unit 42 generates a first gear shift command, so the gear shifting device 62 can appropriately perform a gear shifting operation in a manner corresponding to the period of reduction of the auxiliary force of the auxiliary unit 42. According to the control system 60, even when the gear shifting operation of the gear shifting device 62 and the control of the auxiliary force of the auxiliary unit 42 are performed independently, the gear shifting device 62 can still perform a gear shifting operation during the period of reduction of the auxiliary force of the auxiliary unit 42.

[0198] In the control system 60, the auxiliary operating device 44 relays the first command output by the transmission operating device 64 to the auxiliary unit 42. Since the auxiliary operating device 44 is built into the jacking pipe 16B, the distance from the transmission device 62 to the auxiliary operating device 44 is shorter than the distance from the transmission operating device 64 to the auxiliary unit 42. By relaying the communication of the first command through the auxiliary unit 42, the reliability of communication between the transmission operating device 64 and the auxiliary unit 42 is improved. Therefore, the transmission device 62 can perform transmission operations more reliably based on the actions of the auxiliary unit 42.

[0199] The transmission device 62 can receive transmission commands via both a first communication method and a second communication method. The transmission device 62 can switch communication control states to select either the first or second communication method. Therefore, even if the transmission device 62 does not communicate with the auxiliary unit 42 and the auxiliary operating device 44, it can still perform transmission actions based on the second transmission command. Thus, the transmission device 62 contributes to availability.

[0200] <Example of Change>

[0201] The description of the embodiments is an illustration of the possible methods of the control system and transmission device for manually driven vehicles disclosed herein, and is not intended to limit the methods. The control system and transmission device for manually driven vehicles disclosed herein can be implemented in, for example, variations of the embodiments shown below, as well as combinations of at least two non-contradictory variations. In the following variations, for parts common to the embodiments, the same reference numerals are used as in the embodiments, and their descriptions are omitted.

[0202] At least one of the transmission device 62 and the transmission operation device 64 may also omit the configuration for wireless communication based on the second communication method. For example, the transmission device 62 includes a first communication unit 66A but does not include a second communication unit 66B. The transmission device 62 is configured, for example, to wirelessly communicate with the auxiliary operation device 44 via the first communication method, and omits the configuration for wireless communication based on the second communication method. In this modified example, for example, the second communication method is not implemented... Figure 4 The processing. In this modified example, for example, omitting... Figure 5The processing of steps S22 and S24 and Figure 8 The processing of steps S51, S54 and S55.

[0203] • The transmission control unit 70 can also control the communication unit 66 in a manner that allows the second communication unit 66B to receive the second transmission command when it is in the first communication control state. The transmission control unit 70 can also control the actuator 68 in a manner that does not perform a transmission operation according to the second transmission command even if it receives the second transmission command when it is in the first communication control state.

[0204] • The transmission control unit 70 can also control the communication unit 66 in a manner that allows the first communication unit 66A to receive the first transmission command when in the second communication control state. The transmission control unit 70 can also control the actuator 68 in a manner that, even if the first transmission command is received, it does not perform a transmission operation according to the first transmission command when in the second communication control state.

[0205] The auxiliary unit 42 may also have a current sensor that detects the current flowing through the inverter circuit. The current sensor may be connected to the auxiliary control unit 48 via wired or wireless means, for example, in a communicative manner. The auxiliary control unit 48 may also calculate a predetermined period based on the current detected by the current sensor.

[0206] • The second communication unit 66B can also be integrally constructed with the first communication unit 66A, provided that the second communication method is different from the first communication method. For example, the communication unit 66 in this modified example has an antenna capable of switching frequency bands between the first and second communication methods.

[0207] • The second communication method can also be wired communication. Examples of the second communication method are power line communication (PLC) or UART.

[0208] The first shift command may also not include information related to the shift start timing. For example, the auxiliary control unit 48 is configured to send the first shift command to the shifting device 62 via the shifting operation device 64 when the current time becomes the shift start timing. In this modified example, the shifting device 62 starts shifting upon receiving the first shift command. The auxiliary control unit 48 may also be configured to immediately send the first shift command to the shifting device 62 via the shifting operation device 64 upon receiving the first command. When the auxiliary control unit 48 is configured to immediately send the first shift command to the shifting device 62 via the shifting operation device 64 upon receiving the first command, the auxiliary control unit 48 may also immediately begin reducing the auxiliary force upon receiving the first command.

[0209] • The first gear shift command may also not include information related to the operating time of the actuator 68. For example, the auxiliary control unit 48 is configured to send a termination command to the gear shifting device 62 via the gear shifting operation device 64 when the current time is the time when the operation of the actuator 68 is completed. In this modified example, the gear shifting device 62 terminates the operation of the actuator 68 upon receiving the termination command.

[0210] The auxiliary operation control unit 54 may, for example, retain the transmission of the first gear shift command to the gear shifting device 62 upon receiving the first gear shift command, until the current time becomes the gear shift start timing. The auxiliary operation control unit 54 is configured, for example, to send the first gear shift command to the gear shifting device 62 when the current time becomes the gear shift start timing after receiving the first gear shift command. In this modified example, the gear shifting device 62 begins the gear shifting operation upon receiving the first gear shift command.

[0211] • The auxiliary operating device 44 can also be omitted from the control system 60. In this modified example, the auxiliary unit 42 receives a first command from the transmission operating device 64. The auxiliary unit 42 is configured to send a first shift command to the transmission operating device 64 based on the first command received from the transmission operating device 64. The auxiliary control unit 48 is configured to cause the transmission operating device 64 to send the first shift command to the transmission device 62 based on the receipt of the first command from the transmission operating device 64.

[0212] The control system 60 may also include a transmission device 62 and a transmission operation device 64 for operating the transmission device 62. The transmission operation device 64 includes a transmission operation control unit 78 configured to wirelessly transmit a first command to the auxiliary operation device 44. The transmission device 62 includes: a first communication unit 66A for receiving a first transmission command transmitted from the auxiliary operation device 44 based on the reception of the first command by the auxiliary operation device 44; an actuator 68 for performing a transmission operation; and a transmission control unit 70 for controlling the actuator 68 to perform a transmission operation according to the first transmission command. If the above-mentioned units are included, other components may be omitted.

[0213] • Power from the battery 40 can also be supplied to the transmission 62 via the auxiliary unit 42. When power from the battery 40 is supplied to the transmission 62 via the auxiliary unit 42, such as... Figure 9As shown, the transmission unit 62 can also be connected to the auxiliary unit 42 via cable 40B. In this modification, cable 40A can also be omitted. In this modification, the transmission unit 62 supplies power to the battery 40 from the auxiliary unit 42 via cable 40B. Cable 40B can also electrically connect the auxiliary unit 42 to the auxiliary operating device 44 and the detection unit 52. In this modification, the auxiliary unit 42 can be connected to the battery 40 via electrical cables, or it can be connected via electrical terminals without cables. In this modification, the cable connection part 74 is configured to connect to cable 40B. In this modification, the transmission control unit 70 can also change the communication control state according to the connection state of cable 40B to the cable connection part 74.

[0214] The control system 60 may also include: an auxiliary unit 42 configured to assist in the propulsion of the manually driven vehicle 10; and an auxiliary operating device 44 having an operating unit 56 configured to send an operating signal to the auxiliary unit 42 via wired communication when the operating unit 56 is operated by a user. The auxiliary operating device 44 is configured to send a first instruction received from the shifting operating device 64 of the shifting device 62 to the auxiliary unit 42. If the auxiliary unit 42 includes an auxiliary control unit 48, other components may be omitted. The auxiliary control unit 48 is configured to, based on the receipt of the first instruction from the auxiliary operating device 44, cause the auxiliary operating device 44 to send a first shifting instruction to the shifting device 62 to cause the shifting device 62 to perform a shifting operation.

[0215] The transmission device 62 includes: a communication unit 66 configured to communicate with the auxiliary operation device 44 and the transmission operation device 64, the auxiliary operation device 44 configured to operate the auxiliary unit 42 for assisting the propulsion of the manual-driven vehicle 10, and the transmission operation device 64 configured to operate the transmission device 62; and a transmission control unit 70 configured to control the communication unit 66 according to a communication control state. The transmission control unit 70 is configured to switch the communication control state from one of a first communication control state and a second communication control state to the other. In the first communication control state, the communication unit 66 is controlled to communicate with the auxiliary operation device 44 via a first communication method. In the second communication control state, the communication unit 66 is controlled to communicate with the transmission operation device 64 via a second communication method different from the first communication method. If configured as described above, other components may be omitted.

[0216] The term "at least one" as used in this specification means "more than one" of the desired options. For example, when the number of options is two, "at least one" means "only one option" or "both options". As another example, when the number of options is three or more, "at least one" means "only one option" or "any combination of two or more options".

Claims

1. A control system for a manually driven vehicle, characterized in that, The human-powered vehicle includes: An auxiliary unit is configured to assist in the propulsion of the manually driven vehicle; and An auxiliary operation device includes an operation unit, configured to transmit an operation signal to the auxiliary unit via wired communication when the operation unit is operated by a user. The control system includes: Speed ​​change device; and The transmission operation device is configured to operate the transmission device. The gear shifting device includes a gear shifting operation control unit configured to wirelessly send a first command to the auxiliary operation device. The speed change device includes: The first communication unit is configured to receive a first speed change command sent from the auxiliary operation device based on the auxiliary operation device's receipt of the first command; The actuator is configured to perform a speed-changing action; and The speed control unit is configured to control the actuator to perform the speed change operation according to the first speed change command.

2. The control system according to claim 1, wherein, The speed control unit is configured to control the actuator to start the speed change operation based on the first communication unit receiving the first speed change command.

3. The control system according to claim 1, wherein, The first communication unit is configured to wirelessly receive the first speed change command.

4. The control system according to claim 1, wherein, The auxiliary unit is configured to reduce the auxiliary force according to the first instruction.

5. The control system according to claim 1, wherein, When the auxiliary operating device receives the first instruction, it sends the first speed change instruction from the auxiliary operating device according to a predetermined period.

6. The control system according to claim 5, wherein, The predetermined period is a period based on at least one of the cadence of the human-powered vehicle and the crank angle of the crank of the human-powered vehicle.

7. The control system according to claim 5, wherein, The predetermined period corresponds to the period during which the auxiliary force of the auxiliary unit is reduced according to the first instruction.

8. The control system according to claim 5, wherein, The auxiliary unit includes an auxiliary control unit configured to calculate the predetermined period based on the output of the detection unit.

9. The control system according to claim 1, wherein, The speed change operation device is configured to wirelessly send a second speed change command to the speed change device. The speed change device includes a second communication unit configured to wirelessly receive the second speed change command.

10. The control system according to claim 9, wherein, The first communication unit communicates with the auxiliary operation device via a first communication method. The second communication unit communicates with the speed change operating device via a second communication method. The second communication method is different from the first communication method.

11. The control system according to claim 10, wherein, The speed control unit is configured to control the first communication unit and the second communication unit according to the communication control state. The transmission control unit is configured to switch the communication control state from one of a first communication control state and a second communication control state to the other. The transmission control unit is configured to control the first communication unit in a manner that enables the first communication unit to communicate with the auxiliary operating device via the first communication method under the first communication control state. The transmission control unit is configured to control the second communication unit in a manner that enables the second communication unit to communicate with the transmission operation device via the second communication method in the second communication control state.

12. The control system according to claim 10, wherein, The speed change operating device is configured to communicate with the auxiliary operating device via the first communication method.

13. The control system according to claim 10, wherein, The first communication method is wireless communication using a wireless signal at a first frequency. The second communication method is wireless communication using a second frequency wireless signal that is different from the first frequency.

14. The control system according to claim 1, wherein, The speed change device also includes a cable connector, which is configured as a connecting cable. The cable is configured to connect to the battery. The battery is configured to supply power to the auxiliary unit and the transmission device.

15. The control system according to any one of claims 1 to 14, wherein, The control system also includes the auxiliary unit and the auxiliary operation device.

16. A control system for a manually driven vehicle, characterized in that, The control system includes: An auxiliary unit is configured to assist in the propulsion of the manually driven vehicle; and An auxiliary operation device includes an operation unit, configured to transmit an operation signal to the auxiliary unit via wired communication when the operation unit is operated by a user. The auxiliary operating device is configured to send a first instruction received from the transmission operating device that operates the transmission device to the auxiliary unit. The auxiliary unit includes an auxiliary control unit configured to, upon receiving the first instruction from the auxiliary operating device, cause the auxiliary operating device to send a first shifting instruction to the transmission device to cause the transmission device to perform a shifting operation.

17. A transmission device, used in a manually driven vehicle, characterized in that, The speed change device includes: The communication unit is configured to communicate with an auxiliary operating device and a transmission operating device, wherein the auxiliary operating device is configured to operate an auxiliary unit that assists in the propulsion of the manually driven vehicle, and the transmission operating device is configured to operate the transmission device; and The transmission control unit is configured to control the communication unit according to the communication control state. The transmission control unit is configured to switch the communication control state from one of a first communication control state and a second communication control state to the other. The transmission control unit is configured to control the communication unit in a manner that enables the communication unit to communicate with the auxiliary operating device via a first communication method in the first communication control state. The transmission control unit is configured to control the communication unit in the second communication control state by enabling the communication unit to communicate with the transmission operation device through a second communication method different from the first communication method.

18. The speed change device according to claim 17, wherein, The first communication method is wireless communication using a wireless signal at a first frequency. The second communication method is wireless communication using a second frequency wireless signal that is different from the first frequency.

19. The speed change device according to claim 17, wherein, The communication unit includes: The first communication unit is configured to wirelessly receive a first speed change command transmitted from the auxiliary operating device via the first communication method; and The second communication unit is configured to wirelessly receive a second shift command sent from the shifting operating device via the second communication method.

20. The speed change device according to claim 19, wherein, The speed change device also includes a substrate on which the first communication unit and the second communication unit are mounted.

21. The transmission device according to any one of claims 17 to 20, wherein, The auxiliary operation device has an operation unit configured to send operation signals to the auxiliary unit via wired communication based on the user's operation of the operation unit.

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