Control device for human-powered vehicle

Abstract

The invention provides a control device for a human-powered vehicle capable of appropriately performing a shift operation of a derailleur. A control device for a human-powered vehicle is provided with a control unit configured to control a motor, the control unit being configured to be capable of executing a shift operation in which a transmission body is driven by the motor and the transmission body is operated by a derailleur to change a gear ratio when a crankshaft is stopped. The control unit has a control state including a first control state in which a shift operation is performed, and a second control state in which the driving force of the motor during the shift operation is suppressed compared to the first control state, and the driving force of the motor during the shift operation is suppressed when the rider is riding on the human-powered vehicle and the human-powered vehicle is stopped. When a predetermined condition is satisfied, the control state is brought into the second control state, and when a predetermined condition is satisfied, the control state is brought into the first control state from the second control state.

Description

[0001] Divisional application

[0002] This application is a divisional application of a patent application with an application date of December 23, 2021, application number: 202111591440.5, and invention name: Control device for human-powered vehicle. Technical Field

[0003] The present disclosure relates to a control device for a human-powered vehicle. Background Art

[0004] For example, the control device for a human-powered vehicle disclosed in Patent Document 1 is configured so that the chain is driven by a motor and the derailleur can perform a speed change operation even when the chain is stopped.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent document 1: Japanese Patent No. 5686876. Summary of the invention

[0008] Problems to be solved by the invention

[0009] One of the objects of the present disclosure is to provide a control device for a human-powered vehicle that can appropriately perform a speed shifting operation of a derailleur.

[0010] Solutions for solving problems

[0011] The control device according to the first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, the control device having a control unit configured to control the motor, the control unit The part is constructed so that, when the crankshaft stops, it can execute a speed change action of changing the speed ratio by driving the transmission body through the motor and operating the transmission body through the derailleur, and has a control state including a first control state and a second control state, wherein in the first control state, the speed change action is executed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared with the first control state, and when a rider rides on the human-powered vehicle and the human-powered vehicle stops, the control state is entered into the second control state, and when a specified condition is met, the control state is entered into the first control state from the second control state.

[0012] According to the control device of the first aspect, when the rider is riding on the human-powered vehicle and the human-powered vehicle stops, the driving force of the motor is suppressed, and if the specified conditions are met, it is difficult to suppress the speed change action of the derailleur. Therefore, the speed change action of the derailleur can be appropriately performed according to the specified conditions.

[0013] In the control device of the second aspect according to the first aspect, when the parameter related to the human driving force is equal to or greater than a first value, the prescribed condition is satisfied.

[0014] According to the control device of the second aspect, when the parameter related to the human driving force is equal to or greater than the first value, it is difficult to suppress the speed change operation of the derailleur.

[0015] The control device according to the third aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, the control device having a control unit configured to control the motor The control unit is configured to, when the crankshaft stops, be able to execute a speed change action of changing the speed ratio by driving the transmission body through the motor and operating the transmission body through the derailleur, and has a control state including a first control state and a second control state, wherein in the first control state, the speed change action is executed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared to the first control state, and when a rider rides on the human-powered vehicle and at least one of the body posture of the human-powered vehicle and the posture of the rider is in a specified state, the control state is made to enter the second control state.

[0016] According to the control device of the third aspect, when the rider is riding on the human-powered vehicle and at least one of the posture of the vehicle body and the posture of the rider is in a predetermined state, the control state is changed to the second control state, so that the speed change action of the derailleur can be appropriately performed.

[0017] In the control device of the fourth aspect according to the third aspect, the specified state includes at least one of a state in which the speed of change of the posture angle of the body of the human-powered vehicle or the posture angle of the rider is greater than a first change speed, and a state in which the frequency of repeated increase and decrease of the posture angle of the body of the human-powered vehicle or the posture angle of the rider is greater than a first frequency.

[0018] According to the control device of the fourth aspect, when in at least one of the specified states including a state in which the speed of change of the posture angle of the body of the human-powered vehicle or the posture angle of the rider is greater than the first change speed, and a state in which the frequency of repeated increase and decrease of the posture angle of the body of the human-powered vehicle or the posture angle of the rider is greater than the first frequency, the control state is made to enter the second control state, so that the speed change action of the chain shifter can be appropriately performed.

[0019] In the control device according to a fifth aspect of the fourth aspect, the vehicle body posture angle of the human-powered vehicle includes at least one of a roll angle, a yaw angle, and a pitch angle.

[0020] According to the control device of the fifth aspect, the control state can be appropriately changed according to the posture angle of the vehicle body including at least one of the roll angle, the yaw angle, and the pitch angle of the human-powered vehicle.

[0021] In a sixth aspect of the control device according to the third aspect, the control unit determines the posture of the rider based on the human driving force and the angle of the crankshaft.

[0022] According to the control device of the sixth aspect, the posture of the rider can be determined based on the angle of the crankshaft.

[0023] In the control device according to a seventh aspect of any one of the third to sixth aspects, the predetermined state includes a contact state between the wheel and the ground.

[0024] According to the control device of the seventh aspect, the control state can be appropriately switched according to the contact state between the wheel and the ground.

[0025] In the control device according to an eighth aspect of any one of the third to seventh aspects, the predetermined state includes a pedaling state of the rider.

[0026] According to the control device of the eighth aspect, the control state can be appropriately switched according to the pedaling state of the rider.

[0027] In a ninth aspect of the control device according to any one of the third to eighth aspects, the predetermined state includes an operating state of a brake device of the human-powered vehicle.

[0028] According to the control device of the ninth aspect, the control state can be appropriately switched according to the operating state of the brake device of the human-powered vehicle.

[0029] In a tenth aspect of the control device according to any one of the third to ninth aspects, the predetermined state includes an operating state of a suspension device of the human-powered vehicle.

[0030] According to the control device of the tenth aspect, the control state can be appropriately switched according to the operating state of the suspension device.

[0031] In the control device of aspect 11 according to any one of aspects 3 to 10, when the rider is riding on the human-powered vehicle and at least one of the posture of the body of the human-powered vehicle and the posture of the rider is in the specified state, the control unit causes the control state to enter the second control state. After causing the control state to enter the second control state, if the state in which the rider's load is greater than the first load continues for more than a first period, the control state is caused to enter the first control state.

[0032] According to the control device of the above-mentioned eleventh aspect, when the rider is riding on the human-powered vehicle and at least one of the posture of the vehicle body and the posture of the rider is in a specified state, the control state is entered into a second control state. After the control unit enters the second control state, if the state in which the rider's load is greater than the first load continues for more than a first period, it is difficult to suppress the speed shifting action of the derailleur.

[0033] In the control device of the twelfth aspect according to any one of the third to tenth aspects of the present disclosure, the specified state includes the situation where the steering angle of the handlebars of the human-powered vehicle is outside the specified angle range, and the specified angle range includes an angle consistent with the extension direction of the frame of the human-powered vehicle.

[0034] According to the control device of the twelfth aspect, the control state can be appropriately switched according to the steering angle of the handlebar.

[0035] In the control device according to a thirteenth aspect of any one of the third to eleventh aspects, when the parameter related to the human power driving force is equal to or greater than a first value, the control unit determines that the rider is riding.

[0036] According to the control device of the thirteenth aspect, when the parameter related to the human driving force is equal to or greater than the first value, it can be determined that the rider is riding.

[0037] The control device according to the fourteenth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, the control device comprising a control unit configured to control the motor, the control unit configured to, when When the crankshaft stops, a speed shifting action can be performed by driving the transmission body through the motor and operating the transmission body through the derailleur to change the speed ratio, and the control state includes a first control state and a second control state, wherein in the first control state, the speed shifting action is performed, and in the second control state, the driving force of the motor in the speed shifting action is suppressed compared to the first control state, when the parameter related to the human driving force is greater than the first value, the control state is entered into the first control state, and when the parameter related to the human driving force is less than the second value, the control state is entered into the second control state, and the first value is greater than the second value.

[0038] According to the control device of the fourteenth aspect, when the parameter related to the human driving force is greater than the first value, it is difficult to suppress the speed change action of the derailleur, and when the parameter related to the human driving force is less than the second value, the driving force of the motor in the speed change action can be suppressed. Therefore, the speed change action of the derailleur can be appropriately performed.

[0039] In the control device of a fifteenth aspect according to the fourteenth aspect, the second value is 10 Nm or less.

[0040] According to the control device according to the fifteenth aspect, when the parameter related to the human driving force is equal to or less than the second value of 10 Nm or less, the driving force of the motor during the speed change operation can be suppressed.

[0041] In the control device of the sixteenth aspect according to the fifteenth aspect, the second value is 5 Nm or less.

[0042] According to the control device according to the sixteenth aspect, when the parameter related to the human driving force is equal to or less than the second value of 5 Nm or less, the driving force of the motor during the speed change operation can be suppressed.

[0043] In the control device according to a seventeenth aspect of any one of the second and thirteenth to sixteenth aspects, the first value is 20 Nm or more.

[0044] According to the control device of the seventeenth aspect, when the parameter related to the human driving force is equal to or greater than the first value of 20 Nm or more, the speed change operation of the derailleur can be appropriately performed.

[0045] In the control device of the eighteenth aspect according to the seventeenth aspect, the first value is greater than or equal to 30 Nm.

[0046] According to the control device of the eighteenth aspect, when the parameter related to the human driving force is equal to or greater than the first value of 30 Nm or more, the speed change operation of the derailleur can be appropriately performed.

[0047] In the control device of a nineteenth aspect according to any one of the second and thirteenth to eighteenth aspects, the parameter related to the human driving force includes the human driving force and the assisting force of the motor.

[0048] According to the control device of the nineteenth aspect, the control state can be appropriately switched based on the parameters related to the human power driving force including the human power driving force and the motor assist force.

[0049] In the control device of the twentieth aspect according to any one of the second and thirteenth to nineteenth aspects, the human-powered vehicle also has a first pedal and a second pedal connected to the crankshaft, and parameters related to the human-powered driving force include a first human-powered driving force input from the first pedal and a second human-powered driving force input from the second pedal. When one of the first human-powered driving force and the second human-powered driving force is below a third value and the other of the first human-powered driving force and the second human-powered driving force is below a fourth value smaller than the third value, the control unit causes the control state to enter the second control state.

[0050] According to the control device of the twentieth aspect, when one of the first human driving force and the second human driving force is below the third value and the other is below the fourth value, the driving force of the motor in the speed change operation can be suppressed.

[0051] The control device according to the twenty-first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; a motor configured to drive the transmission body; and a first pedal and a second pedal connected to the crankshaft, parameters related to the human-powered driving force including a first human-powered driving force input from the first pedal and a second human-powered driving force input from the second pedal, the The control device includes a control unit, which is configured to control the motor. The control unit is configured to, when the crank shaft stops, be able to perform a speed change action of driving the transmission body by the motor and operating the transmission body by the derailleur to change the speed ratio. The control device has a control state including a first control state and a second control state, wherein in the first control state, the speed change action is performed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared to the first control state, and when one of the first human driving force and the second human driving force is below a third value and the other of the first human driving force and the second human driving force is below a fourth value smaller than the third value, the control unit causes the control state to enter the second control state.

[0052] According to the control device of the twenty-first aspect, when one of the first human-power driving force and the second human-power driving force is below the third value and the other of the first human-power driving force and the second human-power driving force is below the fourth value, the driving force of the motor in the speed change action can be suppressed. Therefore, the speed change action of the derailleur can be appropriately performed.

[0053] In the control device of aspect 22 according to any one of aspects 1 to 20, when the parameter related to the human driving force is below a fifth value and the acceleration state of the human-driven vehicle continues for a second period, the control unit causes the control state to enter the second control state.

[0054] According to the control device of the twenty-second aspect, when the parameter related to the human-powered driving force is equal to or less than the fifth value and the acceleration state of the human-powered vehicle continues for the second period, the driving force of the motor during the speed change operation can be suppressed.

[0055] The control device according to the twenty-third aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, the control device comprising a control unit, The control unit is configured to control the motor, and the control unit is configured to, when the crank shaft stops, be able to execute a speed change action of driving the transmission body by the motor and operating the transmission body by the derailleur to change the speed ratio. The control unit has a control state including a first control state and a second control state, wherein in the first control state, the speed change action is executed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared to the first control state, and the operator of the human-powered vehicle can select any one of the first control state and the second control state.

[0056] According to the control device of the twenty-third aspect, the operator of the human-powered vehicle can select either the first control state or the second control state. Therefore, the speed change operation of the derailleur can be appropriately performed.

[0057] In the control device according to the twenty-third aspect and the twenty-fourth aspect of the present disclosure, the human-powered vehicle further includes an operating device, and the control unit is configured to be able to select either the first control state or the second control state according to the operation of the operating device by the operator.

[0058] According to the control device of the twenty-fourth aspect, the operator of the human-powered vehicle can easily select either the first control state or the second control state by operating the operating device.

[0059] In the control device according to the twenty-fourth aspect and the twenty-fifth aspect of the present disclosure, the operating device includes an operating unit for accepting the operator's execution of a first operation and a second operation different from the first operation, and the control unit is configured to control the components of the human-powered vehicle if the operating unit is executed with the first operation, and to cause the control state to enter the first control state if the operating unit is executed with the second operation.

[0060] According to the control device of the twenty-fifth aspect, the operating unit for controlling the components of the human-powered vehicle and the operating unit for changing the control state to the first control state may be a common operating unit.

[0061] In the control device according to the twenty-fifth aspect and the twenty-sixth aspect of the present disclosure, the component includes the derailleur, the operating part includes a speed changing operating part, the speed changing operating part is configured to operate the derailleur, and the control part is configured to control the derailleur if the speed changing operating part is subjected to the first operation.

[0062] According to the control device of the twenty-sixth aspect, the control state can be brought into the first control state using the speed change operation unit for controlling the derailleur.

[0063] In the control device of aspect twenty-seven of aspect twenty-five of the present disclosure, the component includes the motor, the operating unit includes an auxiliary operating unit, the auxiliary operating unit is configured to be able to change the assistance level of the motor, and the control unit is configured to change the assistance level if the auxiliary operating unit is subjected to the first operation.

[0064] According to the control device of the twenty-seventh aspect, the control state can be brought into the first control state using the assist operation unit for changing the assist level.

[0065] In the control device according to a twenty-eighth aspect of any one of the twenty-fifth to twenty-seventh aspects of the present disclosure, the second operation is an operation in which the operation portion is continuously operated for a first time or longer.

[0066] According to the control device of the twenty-eighth aspect, the control state can be brought into the first control state by continuously operating the operating unit for a first time or longer.

[0067] In a control device according to a twenty-ninth aspect of any one of the twenty-fifth to twenty-seventh aspects of the present disclosure, the second operation is an operation in which the operating unit is operated a predetermined number of times or more within a second time.

[0068] According to the control device of the twenty-ninth aspect, the control state can be brought into the first control state by operating the operating unit a predetermined number of times or more.

[0069] In the control device of the thirtieth aspect according to any one of the twenty-fifth to twenty-ninth aspects of the present disclosure, if a third operation performed after the second operation is performed on the operating portion, the control portion controls the derailleur to perform the shifting action in one or more stages.

[0070] According to the control device of the 30th aspect, the derailleur can be controlled by the third operation to perform one or more speed changes. Therefore, when the operator desires to perform one or more speed changes, the speed change can be performed by the third operation to change to the speed change level desired by the operator.

[0071] In the control device according to the thirty-first aspect of the thirtieth aspect of the present disclosure, the third operation is an operation in which the operating unit is further continuously operated for more than a fourth time after the operating unit has continuously performed the second operation for more than a third time.

[0072] According to the control device of the thirty-first aspect, after the operating portion is continuously operated for a third time or longer, the operating portion is further continuously operated for a fourth time or longer, thereby controlling the derailleur to perform one or more speed changes.

[0073] In the control device according to the thirty-second aspect of the thirtieth aspect of the present disclosure, the third operation is an operation in which the operating part is temporarily released after the second operation is performed on the operating part, and then the operating part is operated again within a specified time.

[0074] According to the control device of the thirty-second aspect, after the second operation is performed on the operating portion, the operating portion is temporarily released and then the operating portion is operated again within a prescribed time, thereby controlling the derailleur to perform one or more speed changes.

[0075] In the control device of aspect 33 according to any one of aspects 25 to 32 of the present disclosure, the control unit is configured to cause the control state to enter the second control state from the first control state if a fourth operation is performed on the operating unit after the second operation.

[0076] According to the control device of the thirty-third aspect, the control state can be changed from the first state to the second state according to the fourth operation performed on the operating unit after the second operation is performed.

[0077] In the control device of aspect 34 according to any one of aspects 30 to 32 of the present disclosure, the control unit is configured to cause the control state to enter the second control state from the first control state if a fourth operation is performed on the operating unit after the third operation.

[0078] According to the control device of the thirty-fourth aspect, the control state can be changed from the first state to the second state by performing a fourth operation on the operating unit after the third operation.

[0079] In the control device of aspect 35 according to any one of aspects 24 to 34 of the present disclosure, the control unit is configured so that when the human-powered vehicle is stopped or the operator is not riding on the human-powered vehicle, the operator can select the first control state by operating the operating device.

[0080] According to the control device of the thirty-fifth aspect, the first control state can be selected by the operator operating the operating device when the human-powered vehicle is stopped or the operator is not riding in the human-powered vehicle. Therefore, the control state can be brought into the first control state according to the operator's intention when the human-powered vehicle is stopped or the operator is not riding in the human-powered vehicle.

[0081] In the control device according to claim 36 of any one of claims 24 to 35 of the present disclosure, the control unit is configured to execute the speed change action when the wheel leaves the ground in the first control state.

[0082] According to the control device of the thirty-sixth aspect, since the speed change operation can be performed when the wheel is off the ground, the speed change operation of the derailleur can be appropriately performed.

[0083] In the control device of aspect 37 according to any one of aspects 24 to 36 of the present disclosure, if it is detected that the wheel leaves the ground, the control unit causes the control state to enter the first control state regardless of the operation of the operator.

[0084] According to the control device of the thirty-seventh aspect, when the wheels leave the ground, the control state can enter the first control state regardless of how the operator operates.

[0085] The control device according to the thirty-eighth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body engaged with the first rotating body and the second rotating body and transmitting driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, the control device comprising a control unit configured to control the The motor, the control unit is constructed so that when the crankshaft stops, it can execute a speed change action of driving the transmission body by the motor and operating the transmission body by the derailleur to change the speed ratio, and has a control state including a first control state and a second control state, wherein in the first control state, the speed change action is executed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared with the first control state, and when the human-powered vehicle is in accelerating travel or downhill travel and an uphill slope is detected in front of the travel direction of the human-powered vehicle, the control state is entered into the second control state.

[0086] According to the control device of the thirty-eighth aspect, when the human-powered vehicle is accelerating or traveling downhill, if an uphill slope is detected ahead in the traveling direction of the human-powered vehicle, the control state is changed to the second control state, so that the speed level of the speed change device can be changed to a speed level suitable for the uphill slope. Therefore, the speed change action of the derailleur can be appropriately performed.

[0087] In the control device of aspect 39 according to aspect 38 of the present disclosure, the control state of the control unit also includes a third control state which executes the speed shifting action and is different from the first control state, and after entering the second control state, before reaching the uphill slope, the control unit makes the control state enter the third control state, and the speed shifting action in the third control state is downshifting.

[0088] According to the control device of the thirty-ninth aspect, by performing downshifting in the third control state before reaching an uphill slope, it is possible to reduce the pedaling load when starting to climb a slope.

[0089] In the control device according to a 40th aspect of any one of the first to 39th aspects of the present disclosure, when the first control state continues for a fifth time or longer, the control unit causes the control state to enter the second control state.

[0090] According to the control device of the fortieth aspect, when the first control state continues for more than a fifth time, the control state can be brought into the second control state.

[0091] In the control device according to the 41st aspect of any one of the 1st to 40th aspects of the present disclosure, when a load greater than a second load is applied to the motor in the first control state, the control unit causes the control state to enter the second control state.

[0092] According to the control device of the forty-first aspect, when a load greater than the second load is applied to the motor in the first control state, the control state can be brought into the second control state. Therefore, for example, when the motor load increases due to the presence of foreign matter in the transmission path of the motor driving force, it is possible to suppress the speed change action from being performed in a state where the motor driving force is large.

[0093] In the control device according to the 42nd aspect of any one of the 1st to 41st aspects of the present disclosure, in the first control state, when the human-powered vehicle starts to travel, the control unit causes the control state to enter the second control state.

[0094] According to the control device of the forty-second aspect, when the human-powered vehicle starts running in the first control state, the control state can be changed to the second control state. Therefore, it is possible to suppress the speed change action from being performed when the driving force of the motor is large at the beginning of pedaling.

[0095] In the control device of aspect 43 according to any one of aspects 1 to 42 of the present disclosure, the human-powered vehicle also has a reporting unit, and the control unit is configured to control the reporting unit and control the reporting unit so that the reporting unit reports when the control state enters the first control state from the second control state.

[0096] According to the control device of the forty-third aspect, when the control state enters the first control state from the second control state, the reporting unit is controlled to make a report. Therefore, the user of the human-powered vehicle can grasp the transition of the control state from the second control state to the first control state.

[0097] In the control device according to a 44th aspect of any one of the first to 43rd aspects, if the crankshaft stops in the first control state, the control unit changes the control state into the second control state.

[0098] According to the control device of the forty-fourth aspect, if the crankshaft stops in the first control state, the control state is brought into the second control state. Therefore, if the crankshaft stops, the driving force of the motor during the speed change operation can be suppressed.

[0099] In a control device according to a 45th aspect of any one of the first to 44th aspects, in the second control state, the control unit controls the motor so as to prohibit the speed change operation.

[0100] According to the control device of the forty-fifth aspect, in the second control state, the motor can be controlled in such a manner as to prohibit the speed change action.

[0101] The control device according to the forty-sixth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle comprising: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; a motor configured to drive the transmission body; and an operating device, the control device comprising a control unit, the control unit The part is configured to control the motor, the operating device includes a speed change operating part configured to operate the chain derailleur, and an auxiliary operating part configured to be able to change the auxiliary level of the motor, the control part is configured to be able to execute a speed change action of changing the speed ratio by driving the transmission body by the motor and operating the transmission body by the chain derailleur when the crank shaft stops, and has a control state including a fourth control state, in which the motor is driven in the following manner, that is, if the speed change operating part is operated, the speed change action is executed, and if the auxiliary operating part is operated, the pushing of the human-powered vehicle is assisted.

[0102] According to the control device of the forty-sixth aspect, in the fourth control state, the motor can be driven in such a manner that if the speed-changing operation part is operated, the speed-changing action is performed, and if the auxiliary operation part is operated, the pushing of the human-powered vehicle is assisted. Therefore, in the fourth control state, the intention of the operator can be reflected and the speed-changing action of the derailleur can be appropriately performed.

[0103] In the control device according to the forty-sixth aspect or the forty-seventh aspect of the present disclosure, if the speed change operation part or the auxiliary operation part is operated, the control part causes the control state to enter the fourth control state.

[0104] According to the control device according to the forty-seventh aspect, when the speed change operation unit or the assist operation unit is operated, the control state can be brought into the fourth control state.

[0105] In the control device of aspect 48 according to any one of aspects 46 or 47 of the present disclosure, if the shifting operation part or the auxiliary operation part is operated for more than a sixth time, the control part causes the control state to enter the fourth control state.

[0106] According to the control device according to the forty-eighth aspect, when the speed change operation part or the assist operation part is operated for a sixth time period or longer, the control state can be brought into the fourth control state.

[0107] In the control device of aspect 49 according to aspects 46 to 48 of the present disclosure, in the fourth control state, if the shift operating part or the auxiliary operating part is operated for more than a seventh time, the control part releases the fourth control state.

[0108] According to the control device according to the forty-ninth aspect, when the speed change operation part or the assist operation part is operated for a seventh time or longer, the fourth control state can be released.

[0109] In the control device of the fiftieth aspect according to any one of the forty-sixth to forty-ninth aspects of the present disclosure, in the fourth control state, when the crankshaft rotates during the speed shifting action, the control unit continues to execute the speed shifting action without interruption until the speed shifting action is completed.

[0110] According to the control device of the fiftieth aspect, in the fourth control state, when the crankshaft rotates during the speed change action, the speed change action is continued without interruption until the speed change action is completed. Therefore, even if pedaling starts during the speed change action, the speed change action can be completed.

[0111] Effects of the Invention

[0112] The control device for a human-powered vehicle disclosed in the present invention can appropriately perform the speed change operation of the derailleur. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] Figure 1 is a side view of a human-powered vehicle including the control device for a human-powered vehicle according to the first embodiment;

[0114] Figure 2 yes Figure 1 A cross-sectional view of a transmission unit included in a human-powered vehicle;

[0115] Figure 3 yes Figure 1 A schematic diagram of a power transmission path of a power transmission system of a human-driven vehicle;

[0116] Figure 4is a block diagram showing an electrical structure of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment;

[0117] Figure 5 Is Figure 4 A flowchart of a process for changing a control state executed by a control unit;

[0118] Figure 6 is a block diagram showing an electrical structure of a human-powered vehicle including the control device for a human-powered vehicle according to the second embodiment and the third embodiment;

[0119] Figure 7 Is Figure 6 A flowchart of a process for changing a control state executed by a control unit;

[0120] Figure 8 is a flowchart of a process of changing a control state executed by a control unit in a fourth embodiment;

[0121] Fig. 9 is a flowchart of a process of changing a control state executed by a control unit in the fifth embodiment;

[0122] Fig.10 is a block diagram showing an electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a sixth embodiment;

[0123] Fig.11 Is Fig.10 A flowchart of a process for changing a control state executed by a control unit;

[0124] Fig.12 is a block diagram showing an electrical structure of a human-powered vehicle including a control device for a human-powered vehicle according to a seventh embodiment;

[0125] Fig.13 is a flowchart of a process of changing a control state executed by a control unit in an eighth embodiment;

[0126] Fig.14 is a flowchart of a process of changing a control state executed by a control unit in a ninth embodiment;

[0127] Fig.15 is a flowchart of a process of changing a control state executed by a control unit of the first modification;

[0128] Fig.16 is a flowchart of a process of changing a control state executed by a control unit of a second variation;

[0129] Fig.17 is a block diagram showing an electrical structure of a human-powered vehicle including a control device for a human-powered vehicle according to a third modified example;

[0130] Fig.18 Is Fig.17 A flowchart of the processing of the control reporting unit performed by the control unit;

[0131] Fig.19 is a side view of a human-powered vehicle showing a state in which the rear wheels are suspended in the air;

[0132] Fig. 20 is a flowchart of a process of changing a control state executed by a control unit of a fourth modification;

[0133] Fig.21 is a flowchart of a process of changing a control state executed by a control unit of a fifth modification;

[0134] Fig. 22 is a flowchart of a process of changing a control state executed by a control unit of a sixth modification;

[0135] Fig.23 is a flowchart of a process of changing a control state executed by a control unit of a seventh variation;

[0136] Fig.24 This is a flowchart of a process of changing a control state executed by a control unit according to an eighth modification. DETAILED DESCRIPTION

[0137] <First embodiment>

[0138] Reference Figure 1 to Figure 5 , to illustrate the control device 70 for the human-powered vehicle of the first embodiment. The human-powered vehicle 10 is a vehicle having at least one wheel and being driven at least by a human-powered driving force H. The human-powered vehicle 10 includes, for example, various bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels possessed by the human-powered vehicle 10 is not limited. The human-powered vehicle 10 also includes, for example, a unicycle or a vehicle having more than three wheels. The human-powered vehicle 10 includes an electric bicycle (e-bike), which is propelled not only by the human-powered driving force H but also by the driving force of an electric motor. The electric bicycle includes an electric-assisted bicycle that is propelled with the assistance of an electric motor. Below, in the embodiment, the human-powered vehicle 10 is described as an electric-assisted bicycle and a mountain bike.

[0139] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, a wheel 16, a second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. The human-powered vehicle 10 also includes a pair of crank arms 26. The crankshaft 12 and the crank arm 26 constitute a crank 28. The crankshaft 12 is input with a human-powered driving force H. The human-powered vehicle 10 also includes a vehicle body 30. The wheel 16 includes a rear wheel 16A and a front wheel 16B. The vehicle body 30 includes a vehicle frame 32. The crank 28 can rotate relative to the vehicle frame 32. The pair of crank arms 26 includes a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is disposed at one end of the axial direction of the crankshaft 12. The second crank arm 26B is disposed at the other end of the axial direction of the crankshaft 12. The human-powered vehicle 10 also includes a pedal 34. The human-powered vehicle 10 includes a first pedal 34A and a second pedal 34B connected to the crankshaft 12. The pedal 34 includes a first pedal 34A and a second pedal 34B. The first pedal 34A is connected to the first crank arm 26A. The second pedal 34B is connected to the second crank arm 26B. The crank 28 rotates to drive the rear wheel 16A. The rear wheel 16A is supported by the frame 32. The crank 28 and the rear wheel 16A are connected through a drive mechanism 36.

[0140] The driving mechanism 36 includes a first rotating body 14, a second rotating body 18, and a transmission body 20. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is engaged with the first rotating body 14 and the second rotating body 18 and transmits the driving force between the first rotating body 14 and the second rotating body 18. The transmission body 20 transmits the rotational force of the first rotating body 14 to the second rotating body 18. In the present embodiment, the first rotating body 14 is coaxially arranged with the crankshaft 12, but the first rotating body 14 and the crankshaft 12 may also be non-coaxially arranged. When the first rotating body 14 and the crankshaft 12 are not coaxially arranged, the first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism, and the first transmission mechanism includes at least one of a gear, a pulley, a chain, a transmission shaft, and a belt. In the present embodiment, the second rotating body 18 is coaxially arranged with the rear wheel 16A, but the second rotating body 18 and the rear wheel 16A may also be non-coaxially arranged. When the second rotating body 18 and the rear wheel 16A are not coaxially arranged, the second rotating body 18 and the rear wheel 16A are connected via a second transmission mechanism, and the second transmission mechanism includes at least one of a gear, a pulley, a chain, a transmission shaft and a belt.

[0141] The front wheel 16B is mounted on the frame 32 via a front fork 38. The handlebar 42 is connected to the front fork 38 via a stem 40. In the present embodiment, the rear wheel 16A is connected to the crank 28 via the drive mechanism 36, but at least one of the rear wheel 16A and the front wheel 16B may be connected to the crank 28 via the drive mechanism 36.

[0142] The derailleur 22 is configured to operate the transmission body 20 to change the speed ratio R of the rotation speed W of the wheel 16 relative to the rotation speed C of the crankshaft 12. The relationship among the speed ratio R, the rotation speed W, and the rotation speed C is expressed by equation (1). For example, the derailleur 22 can change the speed ratio R in steps.

[0143] Formula (1): Speed ​​ratio R = speed W / speed C

[0144] The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. When the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes a plurality of sprockets, and the transmission body 20 includes a chain. When the derailleur 22 includes a rear derailleur, the derailleur 22 moves a chain engaged with one of the plurality of sprockets included in the second rotating body 18 to another of the plurality of sprockets. When the derailleur 22 includes a front derailleur, the first rotating body 14 includes a plurality of sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain. When the derailleur 22 includes a front derailleur, the derailleur 22 moves a chain engaged with one of the plurality of sprockets included in the first rotating body 14 to another of the plurality of sprockets. The derailleur 22 changes the speed ratio R by operating the transmission body 20 to change the engagement state between at least one of the first rotating body 14 and the second rotating body 18 and the transmission body 20 .

[0145] The first rotating body 14 and the second rotating body 18 may also be disposed in a gear box. The gear box is disposed, for example, near the crankshaft 12. When the first rotating body 14 and the second rotating body 18 are disposed in the gear box, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the derailleur 22 is configured to be disposed in the gear box and to change the engagement state of at least one of the first rotating body 14 and the second rotating body 18 and the transmission body 20.

[0146] Preferably, the human-powered vehicle 10 further includes an operating device 44 configured to operate the derailleur 22. The operating device 44 is, for example, disposed on the handlebar 42. The operating device 44 is configured to be operated by a user's hand or finger. The operating device 44 includes at least a first operating portion 44A and a second operating portion 44B.

[0147] First operating unit 44A and second operating unit 44B include, for example, a push button switch or a lever switch. First operating unit 44A and second operating unit 44B are not limited to push button switches or lever switches, and may be any structure as long as they can be operated by a user to switch between at least two states.

[0148] The first operating part 44A and the second operating part 44B are configured to operate the derailleur 22. The operating device 44 outputs a speed change operation signal to the control part 72 of the control device 70 according to the operation of the user. The operating device 44 may also include a fifth operating part instead of the first operating part 44A and the second operating part 44B, or include the fifth operating part on the basis of the first operating part 44A and the second operating part 44B, and the fifth operating part is configured to operate components for the human-powered vehicle other than the derailleur 22. The components for the human-powered vehicle include, for example, at least one of a computer, a suspension device 88, an adjustable seat post, a light, or a transmission unit 50. For example, the speed change operation signal includes, for example, a first operating signal and a second operating signal, the first operating signal including an instruction to operate the derailleur 22 to increase the speed ratio R, and the second operating signal including an instruction to operate the derailleur 22 to decrease the speed ratio R.

[0149] If the first operating part 44A is operated, the operating device 44 outputs a first operating signal, and if the second operating part 44B is operated, the operating device 44 outputs a second operating signal. In the present embodiment, the rear derailleur is operated by the first operating part 44A and the second operating part 44B, but the front derailleur may be operated by the first operating part 44A and the second operating part 44B, or both the rear derailleur and the front derailleur may be operated by the first operating part 44A and the second operating part 44B. The operating device 44 may further include a third operating part and a fourth operating part on the basis of the first operating part 44A and the second operating part 44B. The third operating part and the fourth operating part may be configured, for example, in the same manner as the first operating part 44A and the second operating part 44B. The rear derailleur may be operated by one of the first operating part 44A and the second operating part 44B, the third operating part and the fourth operating part, and the front derailleur may be operated by the other of the first operating part 44A and the second operating part 44B, the third operating part and the fourth operating part.

[0150] Preferably, the human-powered vehicle 10 further includes an electric actuator 48 configured to operate the derailleur 22. The electric actuator 48 includes, for example, an electric motor. The electric actuator 48 may also include, for example, a reducer connected to the output shaft of the electric motor. The electric actuator 48 may be provided on the derailleur 22, or may be provided at a position separated from the derailleur 22 in the human-powered vehicle 10. The derailleur 22 operates the transmission body 20 to change speed by driving of the electric actuator 48. The derailleur 22 includes, for example, a base member, a moving member, and a connecting rod member that movably connects the moving member to the base member. The moving member includes a guide member for guiding the connecting member. The guide member includes, for example, a guide plate and a pulley. The electric actuator 48 may also directly drive the connecting rod member, for example. The electric actuator 48 may also drive the connecting rod member via a cable.

[0151] Preferably, the human-powered vehicle 10 further includes a battery 46. The battery 46 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 46 is configured to supply power to the control device 70. Preferably, the battery 46 also supplies power to the electric actuator 48. Preferably, the battery 46 is connected to the control unit 72 of the control device 70 in a communicative manner via wired or wireless communication. The battery 46 can communicate with the control unit 72, for example, via power line communication (PLC: Power Line Communication), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0152] The motor 24 is configured to drive the transmission body 20. Preferably, the motor 24 is configured to apply a propulsion force to the human-powered vehicle 10 according to the human-powered driving force H. The motor 24 includes one or more electric motors. The electric motor included in the motor 24 is, for example, a brushless motor. The motor 24 is configured to transmit a rotational force on a power transmission path of the human-powered driving force H between the pedal 34 and the second rotating body 18. In the present embodiment, the motor 24 is configured to be arranged on the frame 32 of the human-powered vehicle 10 and transmit the rotational force to the first rotating body 14. The motor 24 drives the transmission body 20 via the first rotating body 14. The human-powered vehicle 10 also includes a housing 52, and the motor 24 is arranged on the housing 52. The transmission unit 50 is configured to include the motor 24 and the housing 52. The housing 52 is mounted on the frame 32. The housing 52 rotatably supports the crankshaft 12. For example, the motor 24 can also be configured to directly transmit the rotational force to the transmission body 20 without passing through the first rotating body 14. In this case, for example, a sprocket that engages with the transmission body 20 is provided on the output shaft of the motor 24 or a transmission member that transmits the force of the output shaft.

[0153] A speed reducer 54 may also be provided between the motor 24 and the power transmission path of the human-powered driving force H. The speed reducer 54 may be configured to include, for example, a plurality of gears. A third one-way clutch 56 may preferably be provided between the motor 24 and the power transmission path of the human-powered driving force H to suppress the rotational force of the crank 28 from being transmitted to the motor 24 when the crankshaft 12 is rotated in the direction in which the human-powered vehicle 10 advances. The third one-way clutch 56 may include, for example, at least one of a roller clutch, a wedge clutch, and a ratchet clutch.

[0154] The transmission unit 50 includes an output unit 58. The output unit 58 is connected to the crankshaft 12 and to the speed reducer 54, for example. The output unit 58 receives the human driving force H and the output of the motor 24. The first rotating body 14 is connected to the output unit 58 so as to rotate integrally therewith.

[0155] Preferably, the power transmission system 60 includes a control device 70 and a first one-way clutch 62. The first one-way clutch 62 is configured to transmit the rotational force in the first rotational direction from the crankshaft 12 to the first rotating body 14 in the first power transmission path provided between the crankshaft 12 and the first rotating body 14, and to suppress the rotational force in the first rotational direction from the first rotating body 14 from being transmitted to the crankshaft 12. The first one-way clutch 62 is configured to rotate the first rotating body 14 forward when the crank 28 rotates forward, and to allow the relative rotation of the crank 28 and the first rotating body 14 when the crank 28 rotates backward. The first one-way clutch 62 is, for example, provided in the housing 52 of the transmission unit 50. The first one-way clutch 62 is, for example, provided between the crankshaft 12 and the output portion 58. The first one-way clutch 62 includes, for example, at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

[0156] The crankshaft 12 and the first rotating body 14 may be connected so as to rotate integrally. When the crankshaft 12 and the first rotating body 14 are connected so as to rotate integrally, the first one-way clutch 62 may be omitted.

[0157] Preferably, the power transmission system 60 further includes a second one-way clutch 64. The second one-way clutch 64 is configured to be a second power transmission path provided between the second rotating body 18 and the wheel 16, to transmit the rotational force in the second rotational direction corresponding to the first rotational direction from the second rotating body 18 to the wheel 16, and to suppress the rotational force in the second rotational direction from the wheel 16 from being transmitted to the second rotating body 18. The second one-way clutch 64 is configured to rotate the rear wheel 16A forward when the second rotating body 18 rotates forward, and to allow the second rotating body 18 and the rear wheel 16A to rotate relative to each other when the second rotating body 18 rotates backward. The second one-way clutch 64 is, for example, provided on the hub axle of the rear wheel 16A. The second one-way clutch 64 includes, for example, at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

[0158] The second rotating body 18 and the rear wheel 16A may be connected to rotate integrally. When the second rotating body 18 and the rear wheel 16A are connected to rotate integrally, the second one-way clutch 64 may be omitted.

[0159] Preferably, the power transmission system 60 further includes a power storage device. The power storage device is configured to store the power generated by the motor 24. Preferably, the control unit 72 is configured to control the motor 24 using the power of the power storage device. The power storage device may also include the battery 46, or other batteries other than the battery 46, and may also include a capacitor. The power storage device is, for example, provided in the housing 52 of the transmission unit 50.

[0160] The control device 70 includes a control unit 72. The control unit 72 includes a processing unit that executes a predetermined control program. The processing unit included in the control unit 72 includes, for example, a CPU (Central Processing Unit) or an MPU (MicroProcessing Unit). The processing unit included in the control unit 72 may also be set in a plurality of locations separated from each other. For example, a part of the processing unit may be set in the human-powered vehicle 10, and another part of the processing unit may be set in a server connected to the Internet. When the processing unit is set in a plurality of locations separated from each other, the parts of the processing unit are communicatively connected to each other via a wireless communication device. The control unit 72 may also include one or more microcomputers.

[0161] Preferably, the control device 70 further includes a storage unit 74. The storage unit 74 stores a control program and information for control processing. The storage unit 74 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0162] The control device 70 preferably further includes a drive circuit 76 for the motor 24. The drive circuit 76 and the control unit 72 are preferably provided in the housing 52 of the transmission unit 50. The drive circuit 76 and the control unit 72 may be provided on the same circuit substrate, for example. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 46 to the motor 24. The drive circuit 76 is connected to the control unit 72 via a conductive wire, a cable, or a wireless communication device. The drive circuit 76 drives the motor 24 according to a control signal from the control unit 72.

[0163] Preferably, the control device 70 further includes a vehicle speed sensor 78 , a crank rotation sensor 80 , and a human driving force detection unit 82 .

[0164] The vehicle speed sensor 78 is configured to detect information corresponding to the rotation speed W of the wheel 16 of the human-powered vehicle 10. Preferably, the vehicle speed sensor 78 is configured to detect a magnet provided on the wheel 16 of the human-powered vehicle 10. For example, the vehicle speed sensor 78 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 16. The predetermined number of times is, for example, once. The vehicle speed sensor 78 outputs a signal corresponding to the rotation speed W of the wheel 16. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed W of the wheel 16. The vehicle speed V can be calculated based on the rotation speed W of the wheel 16 and information related to the circumference of the wheel 16. The information related to the circumference of the wheel 16 is stored in the storage unit 74.

[0165] The vehicle speed sensor 78 includes, for example, a magnetic reed or a Hall element constituting a reed switch. The vehicle speed sensor 78 is configured to be mounted on the rear lower fork of the frame 32 of the human-powered vehicle 10 and detect a magnet mounted on the rear wheel 16A, or it may be configured to be disposed on the front fork 38 and detect a magnet mounted on the front wheel 16B. In the present embodiment, the vehicle speed sensor 78 is configured so that the reed switch detects the magnet once when the wheel 16 rotates one circle. The vehicle speed sensor 78 may be of any structure as long as it can detect information corresponding to the rotation speed W of the wheel 16 of the human-powered vehicle 10, and may include, for example, an optical sensor or an acceleration sensor. The vehicle speed sensor 78 is connected to the control unit 72 via a wireless communication device or a cable.

[0166] The crank rotation sensor 80 is configured to detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10. The crank rotation sensor 80 is, for example, disposed on the frame 32 or the transmission unit 50 of the human-powered vehicle 10. The crank rotation sensor 80 is configured to include a magnetic sensor that outputs a signal corresponding to the magnetic field strength. An annular magnet whose magnetic field strength varies in the circumferential direction is disposed on the crankshaft 12, a component that rotates in conjunction with the crankshaft 12, or a power transmission path between the crankshaft 12 and the first rotating body 14. The component that rotates in conjunction with the crankshaft 12 may be the output shaft of the motor 24. The crank rotation sensor 80 outputs a signal corresponding to the rotation speed C of the crankshaft 12.

[0167] The magnet can be provided in a component that rotates integrally with the crankshaft 12 in the power transmission path of the human-powered driving force H from the crankshaft 12 to the first rotating body 14. For example, when the first one-way clutch 62 is not provided between the crankshaft 12 and the first rotating body 14, the magnet can be provided on the first rotating body 14. The crank rotation sensor 80 can be any structure as long as it can detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10, for example, it can also include an optical sensor, an acceleration sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 80 is connected to the control unit 72 via a wireless communication device or a cable.

[0168] The human-powered driving force detection unit 82 is configured to detect information related to the human-powered driving force H. The human-powered driving force detection unit 82 is, for example, disposed on the frame 32, the transmission unit 50, the crank 28, or the pedal 34 of the human-powered vehicle 10. The human-powered driving force detection unit 82 may also be disposed on the housing 52 of the transmission unit 50. The human-powered driving force detection unit 82 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 28 by the human-powered driving force H. For example, when the first one-way clutch 62 is disposed in the power transmission path, it is preferred that the torque sensor is disposed on the upstream side of the power transmission path closer to the first one-way clutch 62. The torque sensor includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge.

[0169] The torque sensor is arranged near the power transmission path or the components included in the power transmission path. The components included in the power transmission path are, for example, the crankshaft 12, the component that transmits the human driving force H between the crankshaft 12 and the first rotating body 14, the crank arm 26, or the pedal 34. The human driving force detection unit 82 is connected to the control unit 72 via a wireless communication device or a cable. The human driving force detection unit 82 can be any structure as long as it can obtain information related to the human driving force H, for example, it can also include a sensor for detecting the pressure applied to the pedal 34, or a sensor for detecting the chain tension, etc.

[0170] The control unit 72 is configured to control the motor 24. For example, the control unit 72 is configured to control the motor 24 in such a manner that the assist level A of the motor 24 becomes a predetermined assist level A. Preferably, the assist level A includes at least one of the ratio of the output of the motor 24 to the human driving force H input to the human-powered vehicle 10, the maximum value of the output of the motor 24, and the suppression level L of the output variation of the motor 24 when the output of the motor 24 decreases. Sometimes the ratio of the assist force of the motor 24 to the human driving force H is recorded as an assist ratio. For example, the control unit 72 is configured to control the motor 24 in such a manner that the ratio of the assist force of the motor 24 to the human driving force H is a predetermined ratio. The human driving force H corresponds to the propulsion force of the human-powered vehicle 10 generated by the rider rotating the crankshaft 12. The assist force corresponds to the propulsion force of the human-powered vehicle 10 generated by the rotation of the motor 24. The predetermined ratio is not fixed, and may vary, for example, according to the human driving force H, according to the rotational speed C of the crankshaft 12, according to the vehicle speed V, or according to any two or all of the human driving force H, the rotational speed C of the crankshaft 12 and the vehicle speed V.

[0171] When the human-powered driving force H and the auxiliary force are expressed by torque, the human-powered driving force H is recorded as human-power torque HT, and the auxiliary force is recorded as auxiliary torque MT. When the human-powered driving force H and the auxiliary force are expressed by power, the human-powered driving force H is recorded as human-power HW, and the auxiliary force is recorded as auxiliary power MW. The ratio may be a torque ratio of the auxiliary torque MT to the human-powered torque HT of the human-powered vehicle 10, or a ratio of the auxiliary power MW of the motor 24 to the human-power HW.

[0172] In the transmission unit 50 of the present embodiment, the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the human driving force H corresponds to the driving force input to the first rotating body 14 by the user rotating the crankshaft 12. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the auxiliary force corresponds to the driving force input to the first rotating body 14 by the rotation of the motor 24. When the output of the motor 24 is input to the first rotating body 14 via the reducer 54, the auxiliary force corresponds to the output of the reducer 54.

[0173] When the motor 24 is provided at the rear wheel 16A, the human-powered driving force H corresponds to the output of the rear wheel 16A driven only by the rider. When the motor 24 is provided at the rear wheel 16A, the auxiliary force corresponds to the output of the rear wheel 16A driven only by the motor 24. When the motor 24 is provided at the front wheel 16B, the human-powered driving force H corresponds to the output of the rear wheel 16A driven only by the rider. When the motor 24 is provided at the front wheel 16B, the auxiliary force corresponds to the output of the front wheel 16B driven only by the motor 24.

[0174] The control unit 72 is configured to control the motor 24 in such a way that the assist force becomes less than the maximum value MX. When the output of the motor 24 is input to the first rotating body 14 and the assist force is represented by torque, the control unit 72 controls the motor 24 in such a way that the assist torque MT becomes less than the maximum value MTX. Preferably, the maximum value MTX is a value within a range of 20 Nm to 200 Nm. The maximum value MTX can be determined, for example, based on the output characteristics of the motor 24. When the output of the motor 24 is input to the first rotating body 14 and the assist force is represented by power, the control unit 72 is configured to control the motor 24 in such a way that the assist power MW becomes less than the maximum value MWX.

[0175] Preferably, the control unit 72 is configured to be able to change the suppression level L of the output variation of the motor 24. The larger the suppression level L of the output variation of the motor 24, the smaller the change in the output of the motor 24 per unit time relative to the change in the control parameter of the motor 24 per unit time. The smaller the suppression level L of the output variation of the motor 24, the larger the change in the output of the motor 24 per unit time relative to the change in the control parameter of the motor 24 per unit time. The control parameter of the motor 24 is the human driving force H or the rotation speed C of the crankshaft 12. The suppression level L of the output variation of the motor 24 is inversely proportional to the response speed of the motor 24. The response speed of the motor 24 is represented by the change in the output of the motor 24 per unit time relative to the change in the control parameter of the motor 24 per unit time. If the suppression level L of the output variation of the motor 24 increases, the response speed of the motor 24 decreases.

[0176] The control unit 72 changes the suppression level L by using a filter, for example. The filter includes, for example, a low-pass filter having a time constant. The control unit 72 changes the suppression level L by changing the time constant of the filter. The control unit 72 may also change the suppression level L by changing the gain for calculating the output of the motor 24 based on the human driving force H. The filter can be realized by executing predetermined software in the operation processing device, for example.

[0177] Preferably, the control unit 72 is configured to control the electric actuator 48. Preferably, the control unit 72 is configured to control the electric actuator 48 and the motor 24. The control unit 72 outputs a speed change control signal for changing the speed ratio R to the electric actuator 48. When the speed change control signal is input to the electric actuator 48, it operates in a manner of operating the derailleur 22. The speed change control signal includes, for example, electric power for driving the electric actuator 48. Preferably, the speed change control signal includes a first speed change control signal and a second speed change control signal, the first speed change control signal including an instruction for the electric actuator 48 to operate the derailleur 22 to increase the speed ratio R, and the second speed change control signal including an instruction for operating the derailleur 22 to decrease the speed ratio R.

[0178] Preferably, the control unit 72 is configured to control the electric actuator 48 to operate the derailleur 22 to change the speed ratio R when the speed change condition is satisfied. When the speed change condition for increasing the speed ratio R is satisfied, the control unit 72 sends a first speed change control signal to the electric actuator 48. The electric actuator 48 operates the derailleur 22 to increase the speed ratio R according to the first speed change control signal. When the speed change condition for decreasing the speed ratio R is satisfied, the control unit 72 sends a second speed change control signal to the electric actuator 48. The electric actuator 48 operates the derailleur 22 to decrease the speed ratio R according to the second speed change control signal.

[0179] The control unit 72 is configured to execute a speed change operation when the crankshaft 12 stops, so as to drive the transmission body 20 through the motor 24 and operate the transmission body 20 through the derailleur 22, thereby changing the speed ratio R. It should be noted that in order to distinguish it from the normal speed change when the crankshaft 12 rotates, this speed change operation can also be called a motor speed change operation.

[0180] The control unit 72 has a control state including a first control state, in which the speed change action is performed, and a second control state, in which the driving force of the motor 24 in the speed change action is suppressed compared with the first control state. Preferably, the control unit 72 controls the motor 24 in a manner that prohibits the speed change action in the second control state. In the second control state, even when the operating device 44 is operated and the speed change condition is satisfied, the control unit 72 does not drive the motor 24 to perform the speed change action.

[0181] When the rider is riding on the human-powered vehicle 10 and the human-powered vehicle 10 stops, the control unit 72 causes the control state to enter the second control state. Preferably, the parameter P related to the human-powered driving force H is only the human-powered driving force H. The parameter P related to the human-powered driving force H may also include the human-powered driving force H and the auxiliary force of the motor 24. For example, when the parameter P related to the human-powered driving force H is greater than the first value P1, the control unit 72 determines that the rider is riding. The first value P1 is set to be able to determine the state of the rider pedaling the human-powered vehicle 10 in order to make the human-powered vehicle 10 travel. Preferably, the first value P1 is greater than 20Nm. Preferably, the first value P1 is greater than 30Nm. Preferably, the first value P1 is less than 100Nm.

[0182] When the predetermined condition is satisfied, the control unit 72 changes the control state from the second control state to the first control state. Preferably, the predetermined condition is satisfied when the parameter P related to the human driving force H is equal to or greater than the first value P1.

[0183] Preferably, when the rotation of the crankshaft 12 stops in the first control state, the control unit 72 changes the control state to the second control state.

[0184] In this embodiment, when the rider temporarily stops the human-powered vehicle 10 to wait at a traffic light, for example, the motor 24 is restrained from driving the transmission body 20 , thereby preventing the rider from feeling discomfort due to the driving force of the human-powered vehicle 10 .

[0185] Reference Figure 5 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Figure 5 Step S11 of the flowchart shown in FIG. Figure 5When the flowchart ends, the control unit 72 repeats the processing starting from step S11 after a predetermined period until the supply of power stops.

[0186] In step S11, the control unit 72 determines whether the rider is on the human-powered vehicle 10. When the rider is not on the human-powered vehicle 10, the control unit 72 ends the process. When the rider is on the human-powered vehicle 10, the control unit 72 proceeds to step S12.

[0187] The control unit 72 determines whether the human-powered vehicle 10 is stopped in step S12. For example, when the vehicle speed V is less than 0 km / h, the control unit 72 determines that the human-powered vehicle 10 is stopped. When the human-powered vehicle 10 is not stopped, the control unit 72 ends the process. When the human-powered vehicle 10 is stopped, the control unit 72 proceeds to step S13.

[0188] In step S13 , the control unit 72 changes the control state to the second control state, and then proceeds to step S14 .

[0189] In step S14, the control unit 72 determines whether a predetermined condition is satisfied. If the predetermined condition is not satisfied, the control unit 72 executes the process of step S14 again. If the predetermined condition is satisfied, the control unit 72 proceeds to step S15.

[0190] In step S15 , the control unit 72 changes the control state to the first control state, and then ends the processing.

[0191] <Second embodiment>

[0192] Reference Figure 6 and Figure 7 The control device 70 of the second embodiment is described below. The control device 70 of the second embodiment has the following features except that the control unit 72 executes Figure 7 Instead of executing Figure 5 Except for the processing in the flowchart, the control device 70 of the second embodiment is the same as that of the control device 70 of the first embodiment. The same reference numerals as those of the first embodiment are attached to the common configurations of the control device 70 of the second embodiment, and duplicate descriptions are omitted.

[0193] When the rider rides on the human-powered vehicle 1 and at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in a predetermined state, the control unit 72 changes the control state to the second control state. Preferably, the control device 70 includes a state detection unit 84 that detects a parameter of the predetermined state.

[0194] The predetermined state includes at least one of a first example, a second example, a third example, a fourth example, a fifth example, and a sixth example.

[0195] In the first example, the prescribed state includes at least one of a state in which a speed of change of the posture angle of the body 30 of the human-powered vehicle 10 or a posture angle of the rider is greater than a first change speed, and a state in which the posture angle of the body 30 of the human-powered vehicle 10 or a posture angle of the rider repeatedly increases and decreases at a frequency greater than a first frequency. Preferably, the posture angle of the body 30 of the human-powered vehicle 10 includes at least one of a roll angle, a yaw angle, and a pitch angle. When at least one of a speed of change of the posture angle of the body 30 of the human-powered vehicle 10 or a posture angle of the rider is greater than a first change speed, and a state in which the posture angle of the body 30 of the human-powered vehicle 10 or a posture angle of the rider repeatedly increases and decreases at a frequency greater than a first frequency, the control unit 72 determines that at least one of the posture of the body 30 of the human-powered vehicle 10 and the posture of the rider is in the prescribed state.

[0196] In the first example, the state detection unit 84 includes a tilt detection unit for detecting the tilt angle of the human-powered vehicle 10. The tilt detection unit includes, for example, at least one of a tilt sensor and a GPS (Global Positioning System) receiver. The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. When the tilt detection unit includes a GPS receiver, map information including information related to the road slope is pre-stored in the storage unit 74, and the control unit 72 obtains the road slope of the current position of the human-powered vehicle 10 as the pitch angle.

[0197] In the second example, the prescribed state includes the posture of the rider. The control unit 72 determines the posture of the rider based on the human-powered driving force H and the angle of the crankshaft 12. This includes a state in which the human-powered vehicle 10 is driven while the human-powered vehicle 10 is greatly shaken to the left and right of the rider during the pedaling process. For example, when the difference between the maximum and minimum values ​​of the human-powered driving force H within a prescribed time is large, and the difference between the maximum and minimum values ​​of the speed of change of the angle of the crankshaft 12 within a prescribed time is large, the control unit 72 determines that at least one of the posture of the body 30 of the human-powered vehicle 10 and the posture of the rider is a prescribed state.

[0198] In the second example, the state detection unit 84 includes, for example, a tilt detection unit that detects the tilt angle of the human-powered vehicle 10 and a crank rotation sensor 80 .

[0199] In the third example, the prescribed state includes the contact state between the wheel 16 and the ground. For example, the prescribed state includes the state where the wheel 16 leaves the ground. For example, the prescribed state includes the state where the front wheel 16B leaves the ground. For example, when at least one of the change rate of the rotation speed W of the wheel 16 per prescribed time is greater than a prescribed value, and the difference between the rotation speed of the rear wheel 16A and the rotation speed of the front wheel 16B is greater than a prescribed difference, the control unit 72 determines that at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in the prescribed state.

[0200] In the third example, the state detection unit 84 includes, for example, the vehicle speed sensor 78. The state detection unit 84 may be configured to detect the air pressure of the tire corresponding to the wheel 16, or may be configured to detect the load applied to the wheel 16.

[0201] In the fourth example, the predetermined state includes the pedaling state of the rider. For example, when the load borne by the seat of the vehicle body 30 is less than the predetermined load, the control unit 72 determines that the rider is in the pedaling state. The control unit 72 may also determine the pedaling state of the rider based on the deformation of at least one of the crank 28, the pedal 34, and the frame 32.

[0202] In the fifth example, the predetermined state includes the operating state of the brake device 86 of the human-powered vehicle 10. For example, when the brake device 86 is in operation, the control unit 72 determines that at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in the predetermined state.

[0203] In the fifth example, for example, the state detection unit 84 is configured to detect at least one of the operation state of the brake operating device and the operation state of the brake operating device.

[0204] In the sixth example, the predetermined state includes the operating state of the suspension device 88 of the human-powered vehicle 10. For example, the suspension device 88 includes a front suspension device and a rear suspension device. For example, when the length of the rear suspension device is greater than a predetermined length, the control unit 72 determines that at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in the predetermined state.

[0205] In the sixth example, for example, the state detection unit 84 is configured to detect at least one of the internal pressure of the suspension device 88, the spring load, and the state of pressure from the spring received by the portion in contact with the spring.

[0206] In the present embodiment, for example, when the human-powered vehicle 10 is in an unstable running state as in the first to sixth examples, the driving of the transmission body 20 by the motor 24 can be suppressed, thereby making it difficult for the rider to feel uncomfortable.

[0207] When at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider deviates from a predetermined state, the control unit 72 changes the control state to the first control state.

[0208] When the rider is riding on the human-powered vehicle 10 and at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in a specified state, the control unit 72 causes the control state to enter the second control state. After the control state is caused to enter the second control state, if the state where the rider's load is greater than the first load continues for more than the first period, the control state can also be caused to enter the first control state. The control unit 72 can determine the rider's load based on the human-powered driving force H, can determine the rider's load based on the slope of the driving road, and can also determine the rider's load based on the driving resistance. Even when the human-powered vehicle 10 is in an unstable driving state, the rider's load is large and a speed change action (especially downshifting) is required, by forcibly allowing the motor 24 to drive the transmission body 20, the rider's load can be reduced. When the human-powered vehicle 10 is in an unstable driving state, the state where the rider's load is large includes, for example, the situation where the human-powered vehicle 10 is driving uphill in the pedaling state of the rider.

[0209] Preferably, the control device 70 includes a load detection unit 90. The load detection unit 90 includes, for example, a human driving force detection unit 82. The load detection unit 90 may also include at least one of a tilt detection unit and a running resistance detection unit instead of the human driving force detection unit 82, or include at least one of a tilt detection unit and a running resistance detection unit on the basis of including the human driving force detection unit 82.

[0210] Reference Figure 7 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Figure 7 Step S21 of the flowchart shown in FIG. Figure 7 When the flowchart ends, the control unit 72 repeatedly executes the processing starting from step S21 after a predetermined period until the power supply is stopped.

[0211] In step S21, the control unit 72 determines whether the rider is on the human-powered vehicle 10. When the rider is not on the human-powered vehicle 10, the control unit 72 ends the process. When the rider is on the human-powered vehicle 10, the control unit 72 proceeds to step S22.

[0212] In step S22, the control unit 72 determines whether at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in a prescribed state. If it is not in the prescribed state, the control unit 72 ends the processing. If at least one of the posture of the vehicle body 30 of the human-powered vehicle 10 and the posture of the rider is in the prescribed state, the control unit 72 proceeds to step S23.

[0213] In step S23 , the control unit 72 changes the control state to the second control state, and then proceeds to step S24 .

[0214] In step S24, the control unit 72 determines whether the state where the rider's load is greater than the first load continues for more than the first period. When the state where the rider's load is greater than the first load does not continue for more than the first period, the control unit 72 performs the processing of step S24 again. When the state where the rider's load is greater than the first load continues for more than the first period, the control unit 72 proceeds to step S25.

[0215] In step S25 , the control unit 72 changes the control state to the first control state, and then ends the processing.

[0216] <Third embodiment>

[0217] Reference Figure 6 and Figure 7 , the control device 70 of the third embodiment is described. The control device 70 of the third embodiment is the same as the control device 70 of the second embodiment, except that the prescribed state includes the case where the steering angle of the handlebar 42 of the human-powered vehicle 10 is outside the prescribed angle range. The same symbols as those of the first and second embodiments are added to the common structures of the control device 70 of the third embodiment and the first and second embodiments, and repeated descriptions are omitted.

[0218] In this embodiment, the prescribed state includes the seventh example. In this embodiment, the prescribed state may include at least one of the first example, the second example, the third example, the fourth example, the fifth example, and the sixth example in addition to the seventh example.

[0219] In the seventh example, the specified state includes a situation where the steering angle of the handlebar 42 of the human-powered vehicle 10 is outside the specified angle range. For example, when the steering angle of the handlebar 42 is outside the specified angle range, the control unit 72 determines that at least one of the posture of the body 30 of the human-powered vehicle 10 and the posture of the rider is in the specified state. The specified angle range includes an angle consistent with the extension direction of the frame 32 of the human-powered vehicle 10. For example, the steering angle of the handlebar 42 is defined by setting the extension direction of the frame 32 to 0 degrees. The specified angle range includes, for example, a range from a first angle to a second angle. The first angle is a positive angle, and the second angle is a negative angle. The specified angle range includes, for example, a range from +30 degrees to -30 degrees. The specified angle range includes, for example, a range from +20 degrees to -20 degrees. The specified angle range includes, for example, a range from +10 degrees to -10 degrees.

[0220] In the seventh example, for example, the state detection unit 84 is configured to detect the rotation angle of the front fork 38 relative to the head pipe of the frame 32 as the steering angle of the handlebar 42 .

[0221] For example, the control unit 72 executes the same operation as in the second embodiment. Figure 7For example, in step S22, the control unit 72 determines whether the steering angle of the handlebar 42 of the human-powered vehicle 10 is outside the prescribed angle range. When the steering angle of the handlebar 42 of the human-powered vehicle 10 is outside the prescribed angle range, the control unit 72 proceeds to step S23. When the steering angle of the handlebar 42 of the human-powered vehicle 10 is not outside the prescribed angle range, the control unit 72 ends the processing.

[0222] <Fourth embodiment>

[0223] Reference Figure 4 and Figure 8 The control device 70 of the fourth embodiment will be described. The control device 70 of the fourth embodiment has the following features: Figure 8 Instead of executing Figure 5 Except for the processing in the flowchart, the control device 70 of the fourth embodiment is the same as that of the control device 70 of the first embodiment. The same reference numerals as those of the first embodiment are attached to the common configurations of the control device 70 of the fourth embodiment, and duplicate descriptions are omitted.

[0224] When the parameter P related to the human-powered driving force H is greater than the first value P1, the control unit 72 causes the control state to enter the first control state, and when the parameter P related to the human-powered driving force H is less than the second value, the control unit 72 causes the control state to enter the second control state. The first value P1 is greater than the second value P2. The second value P2 is set, for example, so as to be able to determine the state in which the operator of the human-powered vehicle 10 puts his hand on the pedal 34 to rotate the crankshaft 12 when the wheel 16 leaves the ground during maintenance, etc. Preferably, the second value P2 is less than 10Nm. Preferably, the second value P2 is less than 5Nm. Preferably, the second value P2 is greater than 1Nm. The first value P1 is the same as the first embodiment.

[0225] Preferably, when the parameter P related to the human driving force H is greater than the second value P2 and less than the first value P1, that is, when the change of the control state cannot be determined based on the condition of the human driving force H, the control unit 72 causes the control state to enter the first control state when the rotational speed C of the crankshaft 12 is greater than the first rotational speed CX.

[0226] In this embodiment, according to the magnitude of the human driving force H, the control state can be appropriately brought into the first control state or the second control state.

[0227] Reference Figure 8 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Figure 8 Step S31 of the flowchart shown in FIG. Figure 8When the flowchart ends, the control unit 72 repeats the processing starting from step S31 after a predetermined period until the power supply is stopped.

[0228] In step S31, the control unit 72 determines whether the human-powered vehicle 10 has stopped. When the human-powered vehicle 10 has not stopped, the control unit 72 ends the process. It should be noted that step S31 is not essential. When the human-powered vehicle 10 has stopped, the control unit 72 proceeds to step S32.

[0229] In step S32, the control unit 72 determines whether the parameter P is equal to or greater than the first value P1. When the parameter P is equal to or greater than the first value P1, the control unit 72 proceeds to step S33. When the parameter P is not equal to or greater than the first value P1, the control unit 72 proceeds to step S34.

[0230] In step S33, the control unit 72 changes the control state to the first control state, and then ends the process. When the control state is the first control state, the control unit 72 maintains the first control state.

[0231] In step S34, the control unit 72 determines whether the parameter P is less than or equal to the second value P2. When the parameter P is less than or equal to the second value P2, the control unit 72 proceeds to step S35. When the parameter P is not less than or equal to the second value P2, the control unit 72 proceeds to step S36.

[0232] In step S35, the control unit 72 changes the control state to the second control state, and then ends the process. When the control state is the second control state, the control unit 72 maintains the second control state.

[0233] In step S36, the control unit 72 determines whether the rotation speed C of the crankshaft 12 is greater than or equal to the first rotation speed CX. When the rotation speed C of the crankshaft 12 is greater than or equal to the first rotation speed CX, the control unit 72 proceeds to step S37. When the rotation speed C of the crankshaft 12 is not greater than or equal to the first rotation speed CX, the control unit 72 proceeds to step S38.

[0234] In step S37, the control unit 72 changes the control state to the first control state, and then ends the process. When the control state is the first control state, the control unit 72 maintains the first control state.

[0235] In step S38, the control unit 72 changes the control state to the second control state, and then ends the process. When the control state is the second control state, the control unit 72 maintains the second control state.

[0236] <Fifth embodiment>

[0237] Reference Figure 4 and Fig. 9 The control device 70 of the fifth embodiment will be described. The control device 70 of the fifth embodiment has the following features: Fig. 9 Instead of executing Figure 5 Except for the processing in the flowchart, the control device 70 of the fifth embodiment is the same as that of the control device 70 of the first embodiment. The same reference numerals as those of the first embodiment are attached to the common configurations of the control device 70 of the fifth embodiment, and duplicate descriptions are omitted.

[0238] The control unit 72 is configured so that the operator of the human-powered vehicle 10 can select any one of the first control state and the second control state. For example, the operator includes a rider of the human-powered vehicle 10 when the human-powered vehicle 10 is traveling. For example, the operator includes a rider riding on the human-powered vehicle 10. For example, when the human-powered vehicle 10 is parked or repaired, the operator includes a rider and a repairer of the human-powered vehicle 10.

[0239] Preferably, the control unit 72 is configured so that when the human-powered vehicle 10 stops, the operator of the human-powered vehicle 10 can select either the first control state or the second control state. For example, when the human-powered vehicle 10 stops, when the operator uses the operating unit provided on the human-powered vehicle 10 to perform an operation for allowing a speed change, the control unit 72 selects either the first control state or the second control state. When the human-powered vehicle 10 stops, the control unit 72 may also display a selection prompt on a display provided on the human-powered vehicle 10.

[0240] Preferably, when the operator of the human-powered vehicle 10 does not perform an operation for selecting the first control state, if the human-powered vehicle 10 stops, the control unit 72 changes the control state to the second control state.

[0241] In this embodiment, the first control state can be selected according to the operator's judgment, which contributes to improved usability.

[0242] Reference Fig. 9 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig. 9 Step S41 of the flowchart shown in FIG. Fig. 9 When the flowchart ends, the control unit 72 repeats the processing starting from step S41 after a predetermined period until the power supply is stopped.

[0243] In step S41, the control unit 72 determines whether the human-powered vehicle 10 is stopped. When the human-powered vehicle 10 is not stopped, the control unit 72 ends the process. When the human-powered vehicle 10 is stopped, the control unit 72 proceeds to step S42.

[0244] In step S42, the control unit 72 determines whether the speed change action is allowed. For example, if the operator of the human-powered vehicle 10 performs an operation to select the first control state, it is determined that the speed change action is allowed. When the speed change action is allowed, the control unit 72 proceeds to step S43. When the speed change action is not allowed, the control unit 72 proceeds to step S44.

[0245] In step S43 , the control unit 72 changes the control state to the first control state, and then ends the processing.

[0246] In step S44 , the control unit 72 changes the control state to the second control state, and then ends the processing.

[0247] <Sixth embodiment>

[0248] Reference Fig.10 and Fig.11 , the control device 70 of the sixth embodiment is described. The control device 70 of the sixth embodiment is Fig.11 The flowchart processing is replaced by Figure 5 Except for the processing in the flowchart, the control device 70 of the sixth embodiment is the same as that of the first embodiment. The same reference numerals as those of the first embodiment are given to the common configurations of the control device 70 of the sixth embodiment, and duplicate descriptions are omitted.

[0249] In the present embodiment, the human-powered vehicle 10 further includes an operating device 66. The control unit 72 is configured to be able to select either the first control state or the second control state in accordance with an operation of the operating device 66 by an operator.

[0250] For example, the operating device 66 includes an operating unit 66A for receiving a first operation and a second operation different from the first operation by the operator. For example, when the operating unit 66A is operated by the first operation, the control unit 72 controls the component 68 of the human-powered vehicle 10. The control unit 72 is configured to make the control state enter the first control state when the operating unit 66A is operated by the second operation.

[0251] For example, the assembly 68 includes the derailleur 22, and the operating portion 66A includes the speed-changing operating portion 66B configured to operate the derailleur 22. When the assembly 68 includes the derailleur 22, the control portion 72 controls the derailleur 22 when the speed-changing operating portion 66B is subjected to a first operation. The speed-changing operating portion 66B may be provided separately as a speed-changing operating portion 66B for increasing the speed ratio R and a speed-changing operating portion 66B for decreasing the speed ratio R.

[0252] For example, the unit 68 includes the motor 24, and the operating unit 66A includes the assisting operating unit 66C configured to be able to change the assisting level A of the motor 24. When the unit 68 includes the motor 24, the control unit 72 changes the assisting level A when the assisting operating unit 66C is operated by the first operation. The assisting operating unit 66C for increasing the assisting level A and the assisting operating unit 66C for decreasing the assisting level A may be separately provided.

[0253] For example, the second operation is an operation in which the operating unit 66A is continuously operated for more than a first time. For example, the first time is more than 2 seconds and less than 4 seconds. The second operation may also be an operation in which the operating unit 66A is operated more than a specified number of times within the second time. When the second operation is an operation in which the operating unit 66A is operated more than a specified number of times within the second time, at least one of the operations more than the specified number of times may also include an operation in which the operating unit 66A is long pressed. The operation time of the second operation or the number of operations of the second operation may be set or changed by the operator. For example, the operator can use an external device to access the control device 70 by wire or wirelessly, and change the setting information stored in the storage unit 74 according to preference. The external device includes, for example, a personal computer, a tablet computer, a smart phone, or a stopwatch. For example, the operator can use a program stored in an external device to change the setting information stored in the storage unit 74 according to preference.

[0254] For example, if the third operation performed after the second operation is performed on the operation portion 66A, the control portion 72 controls the derailleur 22 in a manner of performing a one-stage or multi-stage speed change action. When the control portion 72 controls the derailleur 22 in a manner of performing a one-stage speed change action, the speed ratio R is changed by one stage. When the control portion 72 controls the derailleur 22 in a manner of performing a multi-stage speed change action, the speed ratio R is changed by a plurality of stages. The speed change action performed by which operation is performed in which stage can be set or changed by the operator, similar to the operation time of the second operation or the operation number of the second operation. For example, the operator can use an external device to change the setting information related to the speed change action performed by which operation is performed in which stage according to preference.

[0255] For example, the third operation is an operation in which the operating unit 66A is further operated continuously for more than a fourth time after the second operation is continuously performed on the operating unit 66A for more than a third time. For example, the third time is shorter than the fourth time. The third time may also be longer than the fourth time. The third time may also be the same as the fourth time. For example, the third time is more than 2 seconds and less than 4 seconds, and the fourth time is more than 1 second and less than 3 seconds. For example, if the second operation is performed on the operating unit 66A for 3 seconds, the first control state is entered, and the first-stage speed change action is performed when the third operation is continuously performed for 1 second, the second-stage speed change action is performed when the operation is performed for 2 seconds, and the third-stage speed change action is performed when the operation is performed for 3 seconds.

[0256] For example, the third operation may be an operation in which the second operation is performed on the operating part 66A, the operating part 66A is temporarily released, and the operating part 66A is operated again within a specified time. For example, if the second operation is performed on the operating part 66A for 3 seconds, the first control state is entered, the operating part 66A is temporarily released, and then the first-stage speed change action is performed when the third operation is performed once, the second-stage speed change action is performed when the third operation is performed twice, and the third-stage speed change action is performed when the third operation is performed three times.

[0257] For example, the control unit 72 is configured so that if a fourth operation is performed after the second operation is performed on the operating unit 66A, the control state is changed from the first control state to the second control state. For example, the control unit 72 is configured so that if a fourth operation is performed after the third operation is performed on the operating unit 66A, the control state is changed from the first control state to the second control state. For example, the control unit 72 is configured so that if a third operation is performed after the second operation is performed on the operating unit 66A, and then a fourth operation is performed, the control state is changed from the first control state to the second control state. The control unit 72 may also be configured so that when the fourth operation is performed after the second operation but the third operation is not performed, the control state is changed from the first control state to the second control state. The control unit 72 may also be configured so that when neither the third operation nor the fourth operation is performed after the second operation, the control state is changed from the first control state to the second control state after a specified time has passed.

[0258] In this embodiment, the control state can be changed according to the operation of the operator, which contributes to improvement of usability.

[0259] Reference Fig.11 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.11 Step S51 of the flowchart shown in FIG. Fig.11 When the flowchart ends, the control unit 72 repeats the processing starting from step S51 after a predetermined period until the power supply is stopped.

[0260] In step S51, the control section 72 determines whether the first operation is performed on the operation section 66A. When the first operation is performed on the operation section 66A, the control section 72 proceeds to step S52. When the first operation is not performed on the operation section 66A, the control section 72 proceeds to step S53.

[0261] In step S52, the control unit 72 controls the assembly 68, and then ends the process. When the assembly 68 includes the derailleur 22, the control unit 72 controls the derailleur 22 in step S52. For example, when the first operation for increasing the speed ratio R is performed on the shift operation unit 66B in step S51, the control unit 72 controls the derailleur 22 in step S52 so as to increase the speed ratio R. For example, when the first operation for decreasing the speed ratio R is performed on the shift operation unit 66B in step S51, the control unit 72 controls the derailleur 22 in step S52 so as to decrease the speed ratio R. When the assembly 68 includes the motor 24, the control unit 72 changes the assist level A in step S52. For example, when the first operation for increasing the assist level A is performed on the assist operation unit 66C in step S51, the control unit 72 increases the assist level A in step S52. For example, when the first operation for lowering the assistance level A is performed on the assistance operation unit 66C in step S51 , the control unit 72 lowers the assistance level A in step S52 .

[0262] In step S53, the control section 72 determines whether the second operation is performed on the operation section 66A. When the second operation is performed on the operation section 66A, the control section 72 proceeds to step S54. When the second operation is not performed on the operation section 66A, the control section 72 ends the process.

[0263] In step S54 , the control unit 72 changes the control state to the first control state, and then proceeds to step S55 .

[0264] In step S55, the control unit 72 determines whether the third operation is performed on the operation unit 66A. When the third operation is performed on the operation unit 66A, the control unit 72 proceeds to step S56. When the third operation is not performed on the operation unit 66A, the control unit 72 proceeds to step S57.

[0265] In step S56 , the control unit 72 controls the derailleur 22 so as to perform a single-stage or multi-stage speed change operation, and then proceeds to step S58 .

[0266] In step S58, the control unit 72 determines whether the fourth operation is performed on the operation unit 66A. When the fourth operation is performed on the operation unit 66A, the control unit 72 proceeds to step S59. When the fourth operation is not performed on the operation unit 66A, the control unit 72 ends the process.

[0267] In step S59 , the control unit 72 changes the control state to the second control state, and then ends the processing.

[0268] In step S57, the control unit 72 determines whether the fourth operation is performed on the operation unit 66A. When the fourth operation is performed on the operation unit 66A, the control unit 72 proceeds to step S60. When the fourth operation is not performed on the operation unit 66A, the control unit 72 ends the process.

[0269] In step S60 , the control unit 72 changes the control state to the second control state, and then ends the process.

[0270] <Seventh embodiment>

[0271] Reference Fig.12 and Fig.13 The control device 70 of the seventh embodiment will be described. The control device 70 of the seventh embodiment has the following features: Fig.13 Instead of executing Figure 5 Except for the processing in the flowchart, the control device 70 of the seventh embodiment is the same as that of the control device 70 of the first embodiment. The same reference numerals as those of the first embodiment are attached to the common configurations of the control device 70 of the seventh embodiment, and duplicate descriptions are omitted.

[0272] In the present embodiment, the control device 70 also includes a front detection unit 92. The front detection unit 92 includes at least one of a GPS receiver, a camera, and an electromagnetic wave radiation device (for example, LiDAR (Laser Imaging Detection and Ranging)). When the front detection unit 92 includes a GPS receiver, the storage unit 74 pre-stores map information including information related to the road slope. The control unit 72 predicts the slope of the road ahead based on the information of the current position of the human-powered vehicle 10 and the pre-stored map information. When the front detection unit 92 includes a camera, the control unit 72 detects the front condition through the image captured by the camera. When the front detection unit 92 includes an electromagnetic wave radiation device, the control unit 72 detects the front condition by detecting obstacles with reflected waves of electromagnetic waves.

[0273] The control unit 72 may also include an artificial intelligence processing unit that outputs the front condition based on the input of the front detection unit 92. The artificial intelligence processing unit, for example, includes a storage device that stores software and a processing unit that executes the software stored in the storage device. The processing unit includes, for example, a CPU or an MPU. The processing unit preferably includes a GPU (Graphics Processing Unit) in addition to the CPU or the MPU. The processing unit may also include an FPGA (Field-Programmable Gate Array). The artificial intelligence processing unit may include one or more processing units. The artificial intelligence processing unit may include a plurality of processing units that are arranged at a plurality of positions in a spaced manner. The storage device includes, for example, a non-volatile memory and a volatile memory. The storage device stores a control program, a learning program, and a learning model. The learning model may be a learned model that has been learned by a predetermined learning algorithm, or a model that has been updated by a learning algorithm. The learning algorithm includes machine learning, deep learning, or deep reinforcement learning. The learning algorithm includes, for example, at least one of teaching learning, non-teaching learning, and reinforcement learning. As a learning algorithm, as long as it is configured to update the learning model using a method in the field of artificial intelligence, a method other than the method described in this specification may be used. The learning process for updating the learning model is preferably performed by a GPU. The learning algorithm may use a neural network (NN). The learning algorithm may also use a recurrent neural network (RNN).

[0274] In this embodiment, when the human-powered vehicle 10 is accelerating or driving downhill, and an uphill slope is detected ahead of the driving direction of the human-powered vehicle 10, the control unit 72 causes the control state to enter the second control state. For example, the control state of the control unit 72 also includes a third control state that performs a speed change action and is different from the first control state. For example, after entering the second control state, the control unit 72 causes the control state to enter the third control state before reaching the uphill slope. The speed change action in the third control state is downshifting. Downshifting is a speed change action that reduces the speed ratio R.

[0275] Preferably, in the third control state, the control unit 72 performs a downshift in the speed change operation before reaching the uphill slope. The control unit 72 starts the downshift based on, for example, the relationship between at least one of the uphill distance and the vehicle speed V and the downshift required time. The control unit 72 starts the downshift before, for example, the uphill arrival time calculated based on the uphill distance and the vehicle speed V becomes shorter than the downshift required time.

[0276] For example, when the speed change action is performed according to the vehicle speed V and the human driving force H, the gear is upshifted when the human-powered vehicle 10 is accelerating or traveling downhill. However, if the gear is still upshifted when there is an uphill ahead, the pedaling load of the rider becomes larger after the human-powered vehicle 10 enters the uphill. In order to avoid this situation, it is preferred to limit the speed change action when an uphill ahead is detected, or perform a downshift speed change action to start preparing for uphill travel.

[0277] In this embodiment, the control state can be changed according to the situation ahead, which contributes to improved usability.

[0278] Reference Fig.13 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.13 Step S71 of the flowchart shown. Fig.13 When the flowchart ends, the control unit 72 repeats the processing starting from step S71 after a predetermined period until the power supply stops.

[0279] In step S71, the control unit 72 determines whether an uphill slope is detected ahead. When an uphill slope is detected ahead, the control unit 72 proceeds to step S72. When an uphill slope is not detected ahead, the control unit 72 ends the process.

[0280] The control unit 72 changes the control state to the second control state in step S72 , and then proceeds to step S73 .

[0281] In step S73, before reaching the uphill slope, the control unit 72 changes the control state to the third control state, and then ends the processing.

[0282] <Eighth Embodiment>

[0283] Reference Fig.10 and Fig.14 The control device 70 of the eighth embodiment will be described. The control device 70 of the eighth embodiment has the following features: Fig.14 Instead of executing Fig.13 Except for the processing of the flowchart, the control device 70 of the eighth embodiment is the same as that of the seventh embodiment. The same symbols as those of the seventh embodiment are added to the common structures of the control device 70 of the eighth embodiment, and repeated descriptions are omitted. In this embodiment, the control device 70 may not include the front detection unit 92.

[0284] In the present embodiment, the control unit 72 has a control state including a fourth control state. The control unit 72 is configured to execute a speed change action if the speed change operation unit 66B is operated in the fourth control state. The control unit 72 is configured to drive the motor 24 to assist the pushing of the human-powered vehicle 10 if the auxiliary operation unit 66C is operated in the fourth control state. That is, in the fourth control state, the operator operates the speed change operation unit 66B when a speed change action is required, and operates the auxiliary operation unit 66C when auxiliary pushing is required. The control unit 72 may be configured to drive the motor 24 to assist the pushing of the human-powered vehicle 10 in the fourth control state while the auxiliary operation unit 66C continues to be operated.

[0285] For example, the control unit 72 is configured to cause the control state to enter the fourth control state if the shifting operating unit 66B or the auxiliary operating unit 66C is operated. The manner in which which operating unit is operated to enter the fourth control state is set or changed by the operator. For example, the operator can use an external device to access the control device 70 by wire or wireless means, and use the program stored in the external device to change the setting information stored in the storage unit 74 according to preference. The control unit 72 can also be configured to enter the fourth control state via a disconnect mode, wherein the disconnect mode is a mode in which the motor 24 does not assist based on the human driving force H. The control unit 72 can also be configured to enter the fourth control state if the shifting operating unit 66B and the auxiliary operating unit 66C are operated by different operating units.

[0286] It should be noted that the control state before entering the fourth control state may be a so-called normal control state. In the normal control state, for example, when the crankshaft 12 rotates, if the speed change operation part 66B is operated, the control part 72 performs speed change, and if the assist operation part 66C is operated, the control part 72 controls the motor 24 to change the assist level A.

[0287] For example, the control unit 72 is configured to change the control state to the fourth control state if the speed change operation unit 66B or the auxiliary operation unit 66C is operated for more than the sixth time. For example, the sixth time is more than 2 seconds and less than 4 seconds. Similar to the sixth embodiment, the speed change action in the fourth control state can be set or changed according to the operator's preference.

[0288] For example, in the fourth control state, if the shift operation unit 66B or the auxiliary operation unit 66C is operated for more than the seventh time, the control unit 72 releases the fourth control state. For example, the sixth time is shorter than the seventh time. For example, the seventh time is more than 1 second and less than 3 seconds. The sixth time may be longer than the seventh time. It is also possible that the control unit 72 releases the fourth control state when the auxiliary operation unit 66C is short-pressed regardless of the seventh time.

[0289] For example, in the fourth control state, when the crankshaft 12 rotates during the speed change action, the control unit 72 continues to execute the speed change action without interruption until the speed change action is completed. For example, in the fourth control state, the rider starts the speed change action while pushing the human-powered vehicle 10, and rides on the human-powered vehicle 10 and starts traveling before the speed change action is completed. In this case, it is preferred that the speed change action is continued without interruption.

[0290] In the present embodiment, the speed change operation can be performed even in a so-called walk mode, thereby contributing to improved usability.

[0291] Reference Fig.14 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.14 Step S81 of the flowchart shown in FIG. Fig.14 When the flowchart ends, the control unit 72 repeats the processing starting from step S81 after a predetermined period until the power supply is stopped.

[0292] In step S81, the control unit 72 determines whether the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the sixth time. When the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the sixth time, the control unit 72 proceeds to step S82. When the shift operation unit 66B or the auxiliary operation unit 66C has not been operated for more than the sixth time, the control unit 72 ends the process.

[0293] In step S82, the control unit 72 changes the control state to the fourth control state, and then proceeds to step S83. For example, in step S82, the control unit 72 changes the control state from the fifth control state to the fourth control state.

[0294] In step S83, the control unit 72 determines whether the auxiliary operation unit 66C is operated. When the auxiliary operation unit 66C is operated, the control unit 72 proceeds to step S84. When the auxiliary operation unit 66C is not operated, the control unit 72 proceeds to step S85.

[0295] In step S84 , the control unit 72 drives the motor 24 to assist the pushing of the human-powered vehicle 10 , and then proceeds to step S86 .

[0296] In step S86, the control unit 72 determines whether the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the seventh time. When the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the seventh time, the control unit 72 proceeds to step S87. When the shift operation unit 66B or the auxiliary operation unit 66C has not been operated for more than the seventh time, the control unit 72 ends the process.

[0297] In step S87, the control unit 72 cancels the fourth control state and ends the process. For example, in step S87, the control unit 72 changes the control state from the fourth control state to the fifth control state.

[0298] In step S85, the control unit 72 determines whether the speed change operation unit 66B is operated. When the speed change operation unit 66B is operated, the control unit 72 proceeds to step S88. When the speed change operation unit 66B is not operated, the control unit 72 ends the process.

[0299] In step S88, the control unit 72 starts the speed change operation, and then proceeds to step S86. Preferably, in step S88, the control unit 72 drives the transmission body 20 via the motor 24 to start the speed change operation.

[0300] In step S89, the control unit 72 determines whether the crankshaft 12 is rotating. When the crankshaft 12 is rotating, the control unit 72 proceeds to step S90. When the crankshaft 12 is not rotating, the control unit 72 proceeds to step S91.

[0301] In step S90 , the control unit 72 continues to execute the speed change operation without interruption until the speed change operation is completed, and then proceeds to step S91 .

[0302] In step S91, the control unit 72 completes the speed change operation and then proceeds to step S92.

[0303] In step S92, the control unit 72 determines whether the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the seventh time. When the shift operation unit 66B or the auxiliary operation unit 66C has been operated for more than the seventh time, the control unit 72 proceeds to step S93. When the shift operation unit 66B or the auxiliary operation unit 66C has not been operated for more than the seventh time, the control unit 72 ends the process.

[0304] In step S93, the control unit 72 cancels the fourth control state and ends the process. For example, in step S93, the control unit 72 changes the control state from the fourth control state to the fifth control state.

[0305] <Modification>

[0306] The descriptions related to the embodiments are examples of the methods that can be adopted by the control device for a human-powered vehicle according to the present disclosure, but are not intended to limit the methods. The control device for a human-powered vehicle according to the present disclosure can adopt, for example, the modified examples of each embodiment shown below, and the combination of at least two modified examples that do not contradict each other. In the following modified examples, for the common parts with the embodiments, the same symbols as the embodiments are added and their descriptions are omitted.

[0307] The parameter P related to the human-powered driving force H may also include the first human-powered driving force H1 input from the first pedal 34A and the second human-powered driving force H2 input from the second pedal 34B. When one of the first human-powered driving force H1 and the second human-powered driving force H2 is less than the third value P3 and the other of the first human-powered driving force H1 and the second human-powered driving force H2 is less than the fourth value P4 which is smaller than the third value P3, the control unit 72 causes the control state to enter the second control state. The third value P3 is set, for example, so as to be able to determine the state in which the operator of the human-powered vehicle 10 puts his hand on one of the pedals 34 to rotate the crankshaft 12 when the wheel 16 is off the ground during maintenance or the like. The third value P3 is greater than 0 Nm. Preferably, the third value P3 is less than 10 Nm. Preferably, the third value P3 is less than 5 Nm. Preferably, the third value P3 is greater than 1 Nm. Preferably, the fourth value P4 is less than 2 Nm. Preferably, the fourth value P4 is less than 1 Nm. Preferably, the fourth value P4 is greater than 0 Nm.

[0308] Torque sensors may be provided on the first pedal 34A and the second pedal 34B to detect the first human-powered driving force H1 and the second human-powered driving force H2, respectively, and a torque sensor may be provided on the crank 28 to detect strain distribution. In addition, when the human-powered driving force H of one of the pedals 34 cannot be detected due to a malfunction of the torque sensor, etc., the control state may be mistakenly brought into the second control state, and therefore it is desirable to perform confirmation based on the rotation speed C of the crankshaft 12. For example, a step for determining whether the rotation speed C is less than the first rotation speed CX may be added.

[0309] In this modification, it is determined whether one of the pedals 34 is rotated. Therefore, compared with the third embodiment, maintenance and the like can be more easily recognized, and the control state can be more appropriately brought to the second control state.

[0310] Reference Fig.15 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.15 Step S101 of the flowchart shown in FIG. Fig.15 When the flowchart ends, the control unit 72 repeats the processing starting from step S101 after a predetermined period until the power supply is stopped.

[0311] In step S101 , the control unit 72 determines whether one of the first human driving force H1 and the second human driving force H2 is equal to or less than a third value P3 and whether the other of the first human driving force H1 and the second human driving force H2 is equal to or less than a fourth value P4 smaller than the third value P3 .

[0312] When one of the first human power driving force H1 and the second human power driving force H2 is not less than the third value P3, or the other of the first human power driving force H1 and the second human power driving force H2 is not less than the fourth value P4 which is smaller than the third value P3, the control unit 72 ends the processing. When one of the first human power driving force H1 and the second human power driving force H2 is less than the third value P3, and the other of the first human power driving force H1 and the second human power driving force H2 is less than the fourth value P4 which is smaller than the third value P3, the control unit 72 proceeds to step S52. Preferably, in step S101, when one of the first human power driving force H1 and the second human power driving force H2 is less than the third value P3 and is greater than the threshold value PX greater than 0 Nm, and the other of the first human power driving force H1 and the second human power driving force H2 is less than the fourth value P4 which is smaller than the third value P3, the control unit 72 proceeds to step S102.

[0313] In step S102, the control unit 72 changes the control state to the second control state, and then ends the process. When the control state is the second control state, the control unit 72 maintains the second control state.

[0314] When the parameter P related to the human driving force H is equal to or smaller than a fifth value P5 and the acceleration state of the human-powered vehicle 10 continues for the second period, the control unit 72 may change the control state to the second control state. The fifth value P5 is, for example, smaller than the first value P1.

[0315] In this modification, for example, when the rider is traveling downhill without pedaling the pedals 34, the driving of the transmission body 20 by the motor 24 can be suppressed, thereby preventing unnecessary acceleration and speed change operations.

[0316] Reference Fig.16 , the processing of the control unit 72 changing the control state of the motor 24 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.16 Step S111 of the flowchart shown in FIG. Fig.16 When the flowchart ends, the control unit 72 repeats the processing starting from step S111 after a predetermined period until the power supply is stopped.

[0317] In step S111 , the control unit 72 determines whether the parameter P is equal to or smaller than the fifth value P5 and whether the acceleration state of the human-powered vehicle 10 continues for the second period.

[0318] When the parameter P is not less than the fifth value P5, the control unit 72 ends the processing. When the human-powered vehicle 10 is not in the accelerated state, the control unit 72 ends the processing. When the parameter P is less than the fifth value P5 and the accelerated state of the human-powered vehicle 10 does not continue for the second period, the control unit 72 ends the processing. When the parameter P is less than the fifth value P5 and the accelerated state of the human-powered vehicle 10 continues for the second period, the control unit 72 proceeds to step S112.

[0319] In step S112, the control unit 72 changes the control state to the second control state, and then ends the process. When the control state is the second control state, the control unit 72 maintains the second control state.

[0320] In the first embodiment and the second embodiment, if Fig.17 As shown, the human-powered vehicle 10 may also include a reporting unit 94. The reporting unit 94 may be configured to output sound, or may be configured to display information on a display unit. The reporting unit 94 may also include a stopwatch. When the human-powered vehicle 10 further includes the reporting unit 94, the control unit 72 is configured to be able to control the reporting unit 94. Preferably, when the control state enters the first control state from the second control state, the control unit 72 controls the reporting unit 94 so that the reporting unit 94 makes a report.

[0321] Reference Fig.18 , the processing of the control unit 72 controlling the reporting unit 94 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.18 Step S121 of the flowchart shown in FIG. Fig.18 When the flowchart ends, the control unit 72 repeats the processing starting from step S121 after a predetermined period until the power supply is stopped.

[0322] In step S121, the control unit 72 determines whether to enter the first control state from the second control state. When the first control state is not entered from the second control state, the control unit 72 ends the processing. When the first control state is entered from the second control state, the control unit 72 enters step S122. In step S122, the control unit 72 controls the reporting unit 94 so that the reporting unit 94 reports, and then ends the processing. In step S122, the control unit 72 reports that the first control state has been entered from the second control state, for example, by emitting a sound or displaying information on the display unit. For example, in the sixth embodiment, the reporting unit 94 reports to the operator that the first control state has been entered, that is, the second operation has been completed, so that the third operation can be accurately performed.

[0323] In the first and second embodiments, the control unit 72 may be configured to execute the speed change action when the wheel 16 leaves the ground X in the first control state. Preferably, if it is detected that the wheel 16 leaves the ground X, the control unit 72 causes the control state to enter the first control state regardless of the operator's operation. Preferably, the control unit 72 executes the speed change action when only the driving wheel leaves the ground X. The driving wheel is, for example, the rear wheel 16A. Fig.19 As shown, for example, when only the rear wheel 16A leaves the ground X, the control unit 72 performs the speed change action. That is, the case where only the rear wheel 16A leaves the ground X includes a state where only the rear wheel 16A leaves the ground X and the front wheel 16B contacts the ground X. The driving wheel may also be the front wheel 16B. For example, when the rider lifts the rear wheel 16A with one hand to make it leave the ground X, the control unit 72 causes the control state to enter the first control state. At this time, if the rider operates the operating device 44 with the other hand, the speed change action may be performed, or the speed change action may be performed regardless of the rider's operation.

[0324] In the first control state, when the wheel 16 leaves the ground X, when the control unit 72 performs the speed change action, the state detection unit 84 further includes a load sensor for detecting that the wheel 16 leaves the ground X. Preferably, the load sensors are respectively provided on the rear wheel 16A and the front wheel 16B. When the absolute value of the difference between the detection values ​​of the load of the rear wheel 16A and the front wheel 16B is greater than a predetermined difference, the control unit 72 determines that the wheel 16 leaves the ground X. The control unit 72 may also determine whether the drive wheel leaves the ground X based on the load of the motor 24, for example.

[0325] Reference Fig. 20 , the process of changing the control state of the control unit 72 is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig. 20 Step S131 of the flowchart shown in FIG. Fig. 20 The flowchart ends, and the control unit 72 repeats the processing starting from step S131 after a predetermined period until the power supply is stopped.

[0326] For example, in step S131, the control unit 72 determines whether the wheel 16 is detected to be off the ground X. When the wheel 16 is detected to be off the ground X, the control unit 72 proceeds to step S132. When the wheel 16 is not detected to be off the ground X, the control unit 72 ends the process. In step S132, the control unit 72 causes the control state to enter the first control state, performs the speed change action, and then ends the process.

[0327] In the first embodiment and the second embodiment, the control unit 72 may be configured so that the first control state can be selected by the operator operating the operating device 66 when the human-powered vehicle 10 is stopped or the operator is not riding on the human-powered vehicle 10. For example, the control unit 72 may be configured so that the first control state cannot be selected even if the operator operates the operating device 66 when the human-powered vehicle 10 is stopped. For example, the control unit 72 may be configured so that the first control state cannot be selected even if the operator operates the operating device 66 when the operator is not riding on the human-powered vehicle 10. The control unit 72 may cause the control state to enter the first control state when the first control state is selected, and may enter the first control state only when the condition for causing the control state to enter the first control state is satisfied after the first control state is selected.

[0328] Reference Fig.21 , the process of the control unit 72 selecting the first control state is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.21 Step S141 of the flowchart shown in FIG. Fig.21 When the flowchart ends, the control unit 72 repeats the processing starting from step S141 after a predetermined period until the power supply is stopped.

[0329] For example, in step S141, the control unit 72 determines whether the human-powered vehicle 10 is stopped or the operator is not on the human-powered vehicle 10. When the human-powered vehicle 10 is stopped or the operator is not on the human-powered vehicle 10, the control unit 72 proceeds to step S142. When the human-powered vehicle 10 is not stopped or the operator is not on the human-powered vehicle 10, the control unit 72 ends the processing.

[0330] In step S142, the control unit 72 determines whether the operating device 66 is operated. When the operating device 66 is operated, the control unit 72 proceeds to step S143. When the operating device 66 is not operated, the control unit 72 ends the process. In step S143, the control unit 72 selects the first control state and ends the process.

[0331] In the first and second embodiments, when the first control state continues for more than the fifth time, the control unit 72 may change the control state to the second control state. For example, the fifth time is preset. For example, the fifth time is set to be more than 4 seconds and less than 6 seconds.

[0332] Reference Fig. 22 , the processing of the control unit 72 to make the control state enter the second control state is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig. 22Step S151 of the flowchart shown in FIG. Fig. 22 When the flowchart ends, the control unit 72 repeats the processing starting from step S151 after a predetermined period until the power supply is stopped.

[0333] For example, in step S151, the control unit 72 determines whether the first control state continues for more than the fifth time. If the first control state continues for more than the fifth time, the control unit 72 proceeds to step S152. If the first control state does not continue for more than the fifth time, the control unit 72 ends the process.

[0334] In step S152, the control unit 72 changes the control state to the second control state, and then ends the processing.

[0335] In the first embodiment and the second embodiment, when a load greater than the second load is applied to the motor 24 in the first control state, the control unit 72 can change the control state to the second control state. The case where a load greater than the second load is applied to the motor 24 includes, for example, a case where a load is applied to the motor 24 due to a foreign object between the transmission body 20 and the first rotating body 14. The case where a load greater than the second load is applied to the motor 24 also includes, for example, a case where a load is applied to the motor 24 due to the suspended wheel 16 touching the ground.

[0336] Reference Fig.23 , the processing of the control unit 72 to make the control state enter the second control state is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.23 Step S161 of the flowchart shown in FIG. Fig.23 When the flowchart ends, the control unit 72 repeats the processing starting from step S161 after a predetermined period until the power supply is stopped.

[0337] For example, in step S161, the control unit 72 determines whether a load greater than the second load is applied to the motor 24. When a load greater than the second load is applied to the motor 24, the control unit 72 proceeds to step S162. When a load greater than the second load is not applied to the motor 24, the control unit 72 ends the process. In step S162, the control unit 72 changes the control state to the second control state, and then ends the process.

[0338] In the first embodiment and the second embodiment, in the first control state, when the human-powered vehicle 10 starts to travel, the control unit 72 can change the control state to the second control state. The situation in which the human-powered vehicle 10 starts to travel includes at least one of the situation in which the human-powered torque HT input to the pedal 34 is greater than the prescribed human-powered torque, the situation in which the rotation speed C of the crankshaft 12 is greater than the prescribed rotation speed, and the situation in which the roll angle of the human-powered vehicle 10 is greater than the prescribed roll angle.

[0339] Reference Fig.24 , the processing of the control unit 72 to make the control state enter the second control state is described. For example, if power is supplied to the control unit 72, the control unit 72 starts processing and enters Fig.24 Step S171 of the flowchart shown in FIG. Fig.24 When the flowchart ends, the control unit 72 repeats the processing starting from step S171 after a predetermined period until the power supply is stopped.

[0340] For example, in step S171, the control unit 72 determines whether the human-powered vehicle 10 starts running in the first control state. When the human-powered vehicle 10 starts running in the first control state, the control unit 72 enters step S172. When the human-powered vehicle 10 does not start running in the first control state, the control unit 72 ends the processing. In step S172, the control unit 72 causes the control state to enter the second control state, and then ends the processing.

[0341] The expression "at least one" used in this specification refers to "one or more" of the desired options. As an example, when the number of options is two, the expression "at least one" used in this specification refers to "only one option" or "both of the two options". As another example, when the number of options is three, the expression "at least one" used in this specification refers to "only one option" or "a combination of any two or more options".

[0342] Explanation of symbols:

[0343] 10 Human-powered vehicles;

[0344] 12 crankshaft;

[0345] 14 a first rotating body;

[0346] 16 wheels;

[0347] 18 a second rotating body;

[0348] 20 transfer bodies;

[0349] 22 derailleurs;

[0350] 24 motors;

[0351] 30 hull;

[0352] 34A first pedal;

[0353] 34B second pedal;

[0354] 66 operating device;

[0355] 66A Operation Department;

[0356] 66B speed change operation unit;

[0357] 66C auxiliary operating unit;

[0358] 68 components;

[0359] 70 control device;

[0360] 72 Control Department;

[0361] 86 brake device;

[0362] 88 suspension device;

[0363] 94 Report Department.

Claims

1. A control device, which is a control device for a human-powered vehicle, The human-powered vehicle comprises: A crankshaft for inputting human driving force; a first rotating body connected to the crankshaft; wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; and a motor configured to drive the transmission body, The control device includes a control unit configured to control the motor. The control unit is configured as follows: When the crankshaft stops, the transmission element is driven by the motor and the transmission element is operated by the derailleur to change the speed ratio. having a control state including a first control state and a second control state, wherein in the first control state, the speed change action is performed, and in the second control state, the driving force of the motor in the speed change action is suppressed compared with the first control state, An operator of the human-powered vehicle can select either the first control state or the second control state.

2. The control device according to claim 1, wherein: The human-powered vehicle also has an operating device. The control unit is configured to be able to select either the first control state or the second control state in accordance with an operation of the operating device by the operator.

3. The control device according to claim 2, wherein: The operating device includes an operating unit, the operating unit being configured to accept a first operation and a second operation different from the first operation performed by the operator. The control unit is configured to control the components of the human-powered vehicle when the first operation is performed on the operating unit, and to change the control state to the first control state when the second operation is performed on the operating unit.

4. The control device according to claim 3, wherein: The assembly includes the derailleur, The operating unit includes a shifting operating unit configured to operate the derailleur. The control unit is configured to control the derailleur when the first operation is performed on the speed change operation unit.

5. The control device according to claim 3, wherein: The assembly includes the motor, The operating unit includes an assisting operating unit configured to change an assisting level of the motor. The control unit is configured to change the assistance level when the first operation is performed on the assistance operation unit.

6. The control device according to any one of claims 3 to 5, wherein: The second operation is an operation in which the operating unit is operated continuously for a first time or longer.

7. The control device according to any one of claims 3 to 5, wherein: The second operation is an operation in which the operating unit is operated a predetermined number of times or more within a second time.

8. The control device according to any one of claims 3 to 7, wherein: If a third operation performed after the second operation is performed on the operation portion, the control portion controls the derailleur to perform the speed change operation in one or more stages.

9. The control device according to claim 8, wherein: The third operation is an operation in which the operating unit is continuously operated for a fourth time or more after the second operation is continuously performed on the operating unit for a third time or more.

10. The control device according to claim 8, wherein: The third operation is an operation in which the operating portion is temporarily released after the second operation is performed on the operating portion, and then the operating portion is operated again within a predetermined time.

11. The control device according to any one of claims 3 to 10, wherein: The control unit is configured to change the control state from the first control state to the second control state when a fourth operation performed after the second operation is performed on the operation unit.

12. The control device according to any one of claims 8 to 10, wherein: The control unit is configured to change the control state from the first control state to the second control state when a fourth operation performed after the third operation is performed on the operation unit.

13. The control device according to any one of claims 2 to 12, wherein: The control unit is configured so that the operator can select the first control state by operating the operating device when the human-powered vehicle is stopped or when the operator is not riding on the human-powered vehicle.

14. The control device according to any one of claims 2 to 13, wherein: The control unit is configured to execute the speed change operation when the wheel leaves the ground in the first control state.

15. The control device according to any one of claims 2 to 14, wherein: If it is detected that the wheel leaves the ground, the control unit causes the control state to enter the first control state regardless of the operation of the operator.

16. The control device according to any one of claims 1 to 15, wherein: When the first control state continues for a fifth period of time or longer, the control unit changes the control state into the second control state.

17. The control device according to any one of claims 1 to 16, wherein: In the first control state, when a load equal to or greater than a second load is applied to the motor, the control unit changes the control state into the second control state.

18. The control device according to any one of claims 1 to 17, wherein: In the first control state, when the human-powered vehicle starts traveling, the control unit changes the control state into the second control state.

19. The control device according to any one of claims 1 to 18, wherein: The human-powered vehicle further comprises a reporting unit. The control unit is configured as follows: capable of controlling said reporting unit, When the control state enters the first control state from the second control state, the reporting unit is controlled to make the reporting unit perform a report.

20. The control device according to any one of claims 1 to 19, wherein: If the crankshaft stops in the first control state, the control unit changes the control state into the second control state.

21. The control device according to any one of claims 1 to 20, wherein: In the second control state, the control unit controls the motor so as to prohibit the speed change operation.

22. A control device, which is a control device for a human-powered vehicle, The human-powered vehicle comprises: a crankshaft for inputting human-powered driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change the speed ratio of the rotation speed of the wheel relative to the rotation speed of the crankshaft; a motor configured to drive the transmission body; and an operating device, The control device includes a control unit configured to control the motor. The operating device includes a shifting operating portion configured to operate the derailleur, and an assisting operating portion configured to be able to change the assist level of the motor. The control unit is configured as follows: When the crankshaft stops, a speed change operation can be performed in which the transmission body is driven by the motor and the transmission body is operated by the derailleur to change the speed ratio. having a control state including a fourth control state, In the fourth control state, the motor is driven so that the speed change operation is performed when the speed change operation unit is operated, and the pushing of the human-powered vehicle is assisted when the assist operation unit is operated.

23. The control device according to claim 22, wherein: When the speed change operation unit or the assist operation unit is operated, the control unit changes the control state into the fourth control state.

24. The control device according to claim 22 or 23, wherein: The control unit changes the control state into the fourth control state when the speed change operation unit or the assist operation unit is operated for a sixth time period or longer.

25. The control device according to any one of claims 22 to 24, wherein: In the fourth control state, if the speed change operation unit or the assist operation unit is operated for a seventh time or longer, the control unit cancels the fourth control state.

26. The control device according to any one of claims 22 to 25, wherein: In the fourth control state, when the crankshaft rotates during the speed change action, the control portion continues to execute the speed change action without interruption until the speed change action is completed.

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