Control unit for bicycle assistive device and bicycle assistive device

Abstract

A control apparatus for a bicycle auxiliary device, capable of appropriately controlling the auxiliary power of the auxiliary motor, and a bicycle auxiliary device comprising this control apparatus are disclosed. The auxiliary control device 80 comprises a controller 84 for controlling an auxiliary motor 74 for assisting a muscle-driven force. When a front derailleur shifts 24 gears to shift a chain between a first front sprocket and a second front sprocket, the controller 84 controls the output of the auxiliary motor 74 based on at least either the rotational speed of the first front sprocket or the distance in a shifting region provided on the first front sprocket.

Description

The present invention relates to a control apparatus for a bicycle auxiliary device and a bicycle auxiliary device comprising this control apparatus. Japanese patent JP 3 717 076 B2 discloses a control apparatus for a bicycle auxiliary device which limits the output of an auxiliary motor when a bicycle derailleur shifts gears and which then releases the limitation of the auxiliary motor's output based on a predetermined time that has elapsed since the limitation of the auxiliary motor's output started. The control apparatus of Japanese patent JP 3 717 076 B2 does not consider the conditions of cycling with regard to controlling the output of the auxiliary motor during gear changes, nor does it take into account the characteristics of the sprocket; therefore, there is room for improvement with regard to controlling the output of the auxiliary motor. Other control apparatuses for a bicycle auxiliary device are known, for example, from DE 10 2012 107 937 A1, US 2013 / 0 090 819 A1, EP 2 684 791 A1 and EP 2 724 925 A1. The object of the present invention is to provide a control apparatus for a bicycle auxiliary device which is capable of appropriately controlling the output of the auxiliary motor, as well as a bicycle auxiliary device which includes this control apparatus. This task is solved by a control apparatus for a bicycle auxiliary device. The control apparatus comprises a controller which controls an auxiliary motor to assist the muscle power of the bicycle. In the case that a derailleur shifts gears between a multitude of sprockets, the controller regulates the output of the auxiliary motor based on the rotational speed of the sprocket and a distance in a shifting region provided on the sprocket. This distance in the shifting region is a circumferential length between the shifting regions that are adjacent in the circumferential direction of the sprocket. According to an example of the control apparatus for a bicycle auxiliary device, the control of the output of the auxiliary motor includes a control for limiting the output of the auxiliary motor as well as a control for releasing or freeing the limitation of the output of the auxiliary motor. According to an example of the control apparatus for a bicycle auxiliary device, the control for limiting the output is a control for stopping the operation of the auxiliary motor or a control which reduces the output of the auxiliary motor to be lower than that before limiting the output of the auxiliary motor. According to an example of the control apparatus for a bicycle auxiliary device, the control for releasing or freeing the limitation of the output is a control for reducing a ratio of the output of the auxiliary motor in relation to the muscle driving force to essentially the same extent as that before limiting the output of the auxiliary motor or for increasing the ratio to a greater extent than that after limiting the output of the auxiliary motor. According to an example of the control apparatus for a bicycle auxiliary device, when the derailleur shifts the chain from a first sprocket to a second sprocket from the multitude of sprockets, the controller controls the motor in such a way that the time from the start of the limitation of the output of the auxiliary motor to the release of this limitation becomes shorter when the rotational speed of the sprocket or of a crankshaft which is / will be coupled to the sprocket increases. According to an example of the control apparatus for a bicycle auxiliary device, the distance in the switching region is an angle between the adjacent regions. According to an example of the control apparatus for a bicycle auxiliary device, the controller determines the time required for a shift based on the rotational speed and the distance in the shifting region, and limits the output of the auxiliary motor according to the determined time. According to an example of the control apparatus for a bicycle auxiliary device, the shifting operation of the derailleur includes an operation in which the derailleur pushes the chain outwards to change the sprocket on which the chain is / will be suspended; the controller determines that the time required for the shifting region to pass a predetermined position after the derailleur has pushed or pushed the chain outwards is the time required for a shift. According to an example of the control apparatus for a bicycle auxiliary device, the switching region includes a first switching region which is used for an upshifting operation, and the time required for a shift includes a first time which is required for the upshifting operation of the derailleur. According to an example of the control apparatus for a bicycle auxiliary device, the switching region includes a second switching region which is used for a downshifting operation of the derailleur, and the time required for a shift includes a second time which is required for the downshifting operation of the derailleur. According to an example of the control apparatus for a bicycle auxiliary device, the controller determines a rotation angle of the ring gear required for shifting based on the distance in the shifting region, or determines a rotation angle of the crankshaft required for shifting based on the distance in the shifting region; the controller then limits the output of the auxiliary motor according to the predetermined rotation angle. According to an example of the control apparatus for a bicycle auxiliary device, the shifting operation of the derailleur includes an operation in which the derailleur pushes the chain outwards to change the sprocket on which the chain is suspended; the controller then determines that the maximum angle of rotation of the sprocket or the maximum angle of rotation of the crankshaft required for the shifting region to pass a predetermined position after the derailleur pushes the chain outwards is the angle of rotation required for a shift. According to an example of the control apparatus for a bicycle auxiliary device, the switching region includes a first switching region which is used for the upshifting process of the derailleur, and the controller determines the time required for a shift based on a first rotation angle which is / will be required by the derailleur for the upshifting process. According to an example of the control apparatus for a bicycle auxiliary device, the shifting region includes a second shifting region which is used for the downshifting process of the derailleur, and the controller determines the time required for a shift based on a second rotation angle which is / will be required by the derailleur for the downshifting process. According to an example of the control apparatus for a bicycle auxiliary device, the controller controls the output of the auxiliary motor before the derailleur shifts gears. According to an example of the control apparatus for a bicycle auxiliary device, the controller controls the output of the auxiliary motor based on a detection result from a sensor, which detects an actuation of a switching device for actuating the derailleur. According to an example of the control apparatus for a bicycle auxiliary device, the sprocket is a front sprocket, and the derailleur is a front derailleur. According to an example of the control apparatus for a bicycle auxiliary device, the gear ring rotates synchronously with the crankshaft. According to an example of the control apparatus for a bicycle auxiliary device, the gear ring can be rotated asynchronously with the crankshaft. For example, in the case of a bicycle steering system, the auxiliary motor provides a driving force to the sprocket. One embodiment of a bicycle auxiliary device according to the present invention comprises the control apparatus for a bicycle auxiliary device, as mentioned above, and the auxiliary motor. According to the control apparatus for a bicycle auxiliary device and the bicycle auxiliary device itself, suitable control of the auxiliary motor's output is possible. Fig. 1 shows a side view of a bicycle equipped with a bicycle auxiliary device of this embodiment. Fig. 2 is a front view of the front sprocket in Fig. 1 together with its surroundings. Fig. 3 is a rear view of the first front sprocket in Fig. 2. Fig. 4 is a block diagram showing the electrical configuration of the bicycle in Fig. 1. Fig. 5 is a flowchart showing an example of a process for controlling the motor output, which is / is carried out by the controller of the auxiliary device in Fig. 1. The design of a bicycle 10 will be explained with reference to Fig. 1. The bicycle 10 comprises a frame 12, a handlebar 14, a front wheel 16, a rear wheel 18, a drive mechanism 20, a battery unit 22, a front derailleur 24, a rear derailleur 26, an actuating device 28, suspension adjusters 30F and 30R, a saddle adjuster 32, and an auxiliary device 34. The drive mechanism 20 comprises crank arms 36, a crankshaft 38, pedals 40, a front sprocket 42, a rear sprocket 46 and a chain 48. The crank arms 36 are rotatably attached to the frame 12 via a crankshaft 38. The crankshaft 38 is rotatably supported by the auxiliary device 34. The auxiliary device 34 is supported by the frame 12. The auxiliary device 34 comprises an output unit which is coupled to the crankshaft 38. A torque sensor 83 (see Fig. 4) for detecting the muscle drive force is provided on the power transmission path between the crankshaft 38 and the output unit. The output unit of the auxiliary device 34 is tubular in shape, and the crankshaft 38 and the output unit are coaxially coupled. The crankshaft 38 and the output unit are non-rotatably coupled. For this reason, the front gear ring 42 rotates synchronously with the crankshaft 38. The pedal 40 is / will be attached to the crank arm 36 in order to be rotatable around the pedal shaft. The front gear ring 42 is / will be coupled to the output unit of the auxiliary device 34. The front gear ring 42 is / will be provided coaxially with the crankshaft 38. The front gear ring 42 is / will be coupled to prevent it from rotating with respect to the crankshaft 38. The front gear ring 42 comprises a plurality of gear rings. In the present embodiment, the front gear ring 42 comprises a first front gear ring 43 and a second front gear ring 44. The rear sprocket 46 is rotatably mounted about an axis 18A of the rear wheel 18. A plurality of rear sprockets 46 is coupled to the rear wheel 18 via a one-way coupling (diagram omitted). The rear sprocket 46 comprises a plurality of sprockets. In the present embodiment, the rear sprocket 46 comprises, for example, ten sprockets. The chain 48 is wound around the front sprocket 42 and the rear sprocket 46. When the crank arm 36 rotates due to the muscle driving force exerted on the pedal 40, the rear wheel 18, the front sprocket 42, the chain 48, and the rear sprocket 46 are rotated. The battery unit 22 comprises a battery 50 and a holder 52 for detachable attachment of the battery 50 to the frame 12. The battery 50 comprises one or a plurality of battery cells (diagram omitted). The battery 50 is a rechargeable battery. The battery 50 supplies power to the suspension adjusting devices 30F and 30R, the seat adjusting device 32, a gear shift control device 58 (see Fig. 4), and an auxiliary control device 80 (see Fig. 4). The front derailleur 24 and the rear derailleur 26 are derailleurs of an external type. The actuating device 28 is / will be attached to the steering rod 14. The suspension adjuster 30F continuously or incrementally adjusts at least either the damping, rebound, stiffness, or height of the front suspension of the bicycle 10. The suspension adjuster 30R continuously or incrementally adjusts at least either the damping, rebound, stiffness, or height of the rear suspension of the bicycle 10. Power or current is supplied to the suspension adjusters 30F and 30R from the battery 50. The actuating device 28 comprises an actuating unit for actuating the suspension adjusters 30F and 30R. The suspension adjusters 30F and 30R act in response to the actuating device 28. The actuating unit is implemented, for example, by a switch. The seat adjustment device 32 adjusts the height of the bicycle saddle 10 continuously or in increments. Power or current is supplied to the seat adjustment device 32 from the battery 50. The seat adjustment device 32 includes a telescopic mechanism for extending and retracting the seat post. The telescopic mechanism can extend and retract the seat post using a motor, or it can be designed to extend and retract the seat post hydraulically or pneumatically. In the case of a configuration in which the seat post is extended and retracted hydraulically or pneumatically, the seat adjustment device 32 only controls the valve, while the saddle height is adjusted by the cyclist. The actuating device 28 includes an actuating unit for actuating the seat adjustment device 32.The seat adjustment device 32 acts in response to an actuation of the actuating device 28. The actuating unit is / is implemented by, for example, a switch. The design of the front toothed rings 43 and 44 will be explained with reference to Fig. 2 and Fig. 3. Several teeth are formed in the circumferential direction of the first anterior gear ring 43 and the second anterior gear ring 44. The first anterior gear ring 43 is designed to be larger in diameter than the second anterior gear ring 44. The first anterior gear ring 43 and the second anterior gear ring 44 have a different number of teeth. Several switching regions are formed on the first anterior gear ring 43. The multiple switching regions comprise four first switching regions 43A-43D and two second switching regions 43E and 43F. The first shift regions 43A-43D are used for shifting (the upshifting process) in which the chain 48 (see Fig. 1) is shifted from the second front sprocket 44 to the first front sprocket 43 by a chain guide 54 (see Fig. 1) of the front derailleur 24. At least one recess or projection for guiding the chain 48 to the teeth of the first front sprocket 43 is formed in the first shift regions 43A-43D. The first shift regions 43A-43D are formed at predetermined intervals in the circumferential direction of the first front sprocket 43. The circumferential length HA between the first shift region 43A and the first shift region 43B is equal to the circumferential length HA between the first shift region 43C and the first shift region 43D.The circumferential length HB between the first switching region 43D and the first switching region 43A is equal to the circumferential length HB between the first switching region 43B and the first switching region 43C. The circumferential length HB is longer than the circumferential length HA. The second shifting regions 43E and 43F are used for a shifting operation (hereinafter referred to as a "downshifting operation") in which the chain 48 (see Fig. 1) is shifted from the first front sprocket 43 to the second front sprocket 44 by a chain guide 54 (see Fig. 1) of the front derailleur 24. The second shifting regions 43E and 43F are formed at predetermined intervals in the circumferential direction of the first front sprocket 43. The second shifting region 43E is formed, for example, in a position in which the phase is shifted by 180° from the second shifting region 43F in the circumferential direction of the first front sprocket 43. In an upshift, the chain 48 is / will be shifted when a shift region from the four shift regions 43A-43D passes a shift range RA (see Fig. 1) of the front sprockets 42. The shift range RA is a range which includes a position in which the chain guide 54 pushes the chain 48 outwards (see Fig. 1), and which corresponds to the "predetermined range". The shift range RA is / will be determined together with the position at which the front derailleur 24 (see Fig. 1) pushes the chain 48 away from a gear shift. On the other hand, in a downshift operation, the chain 48 is / will be shifted when a shift region from the two shift regions 43E, 43F passes the shift area RA. The electrical design of bicycle 10 will be explained with reference to Fig. 4. The front shifting mechanism 24 comprises a gear shifting motor 56 for driving the chain guide 54 (see Fig. 1) and a gear shifting control apparatus 58 for controlling the output of the gear shifting motor 56. The gear shift control apparatus 58 comprises a drive circuit 60, which is / will be connected to the gear shift motor 56, a guide position sensor 61 for detecting the position of the chain guide 54 and a controller 62 for controlling the power or current supplied to the drive circuit 60. The actuating device 28 comprises a switching actuating device 64 and an auxiliary actuating device 66. The shift actuation device 64 comprises a shift switch 68 and a shift sensor 70, which outputs a shift request signal to the gear shift control apparatus 58 and an auxiliary control device 80 of the auxiliary device 34 based on the fact that the shift switch 68 has been actuated. The shift switch 68 comprises a first switch for upshifting and a second switch for downshifting (both not shown). The shift switch 68 can be a push-button switch or a lever-type switch. The auxiliary actuation device 66 comprises an auxiliary switch 72. The auxiliary switch 72 comprises an ON switch 72A, which outputs an auxiliary request signal to the auxiliary control device 80 when actuated, and an OFF switch 72B, which outputs an auxiliary stop signal to the auxiliary control device 80 when actuated. The auxiliary switch 72 can also be configured to selectively output an auxiliary request signal or an auxiliary stop signal via the actuation of a switch. The auxiliary device 34 is electrically connected to the switching device 64 and the auxiliary actuating device 66. The auxiliary device 34 comprises an auxiliary motor 74 for assisting the muscle driving force, which rotates the front ring gear 42 (see Fig. 1), and an auxiliary control device 80 for controlling the output of the auxiliary motor 74. The auxiliary motor 74 is coupled to a power transmission path between the crankshaft 38 and the front ring gear 42 via a one-way clutch and a reduction gear. In this way, the auxiliary motor 74 provides a driving force to the front ring gear 42. The auxiliary control device 80 comprises a drive circuit 82, which is connected to an auxiliary motor 74, a torque sensor 83 for detecting the muscle driving force, and a controller 84 for controlling the power or current supplied to the drive circuit 82. Additionally, the auxiliary control device 80 comprises a speed sensor 86 for detecting the rotational speed of the gear ring 42. When an auxiliary request signal has been received from the auxiliary actuator 66, the controller 84 drives the auxiliary motor 74 based on a detection result from the torque sensor 83. The controller 84 stops the auxiliary motor 74 based on the fact that an auxiliary stop signal has been received from the auxiliary actuator 66. The controller 84 performs motor output control for controlling the output of the auxiliary motor 74 based on the speed of the ring gear 43 and the intervals between the switching regions 43A-43F of the first front ring gear 43. The speed sensor 86 detects the rotational speed of the ring gear 42 by detecting the rotational speed of at least either the crankshaft 38 or the ring gear 42. The speed sensor includes, for example, a reed switch, and this sensor detects a magnet which is provided on the crankshaft 38 and the front ring gear 42. An example of a motor output control process will be explained with reference to Fig. 5. In the present embodiment, a case in which the front shift mechanism 24 performs an upshift will be explained. The present control is / will also be implemented based on the same idea when the front shift mechanism 24 performs a downshift. The controller 84 starts the present control operation based on the fact that an auxiliary request signal has been received from the auxiliary actuator 66. The controller 84 terminates the present control operation based on the fact that an auxiliary stop signal has been received from the auxiliary actuator 66. In step S11, the controller 84 determines whether or not a switching request signal has been received from the switching sensor 70 and whether switching is possible. The controller 84 proceeds to step S12 if an auxiliary request signal has been received from the switching sensor 70 and it has been determined that switching is possible. The controller 84 does not proceed to the next step, even if an auxiliary request signal has been received, and repeats the process from step S11 if it has been determined that the chain 48 is located on the first front sprocket 43 based on a detection result from the guide position sensor 61.In the case of a downshift operation in step S11, the controller 84 does not continue the operation to the next step, even if an auxiliary request signal has been received, and executes the operation of step S11 again when a determination has been made that the chain 48 is located on the second front sprocket 44 based on a detection result of the guide position sensor 61. In step S12, the controller 84 determines the time required for a switching operation based on a detection result from the speed sensor 86 and the maximum circumferential length, which is the longest circumferential length among the circumferential lengths of the adjacent first switching regions 43A-43D in the circumferential direction of the first front gear ring 43. In the present embodiment, the maximum circumferential length is the circumferential length HB. The time required for a shift is the time required for a shift region from the first shift regions 43A-43D to pass through the shift area RA after the chain guide 54 of the front derailleur 24 pushes the chain 48 away. The controller 84 calculates the time required for a shift based on a first circumferential length H1, which is obtained by adding the circumferential lengths of two first shift regions with the maximum circumferential length HB (see Fig. 3), the complete circumferential length HX of the first front gear ring 43, and the rotational speed V of the first front gear ring 43 (rpm). In this case, the time required for a shift is calculated by dividing H1 / HX by V. Therefore, the time required for a shift decreases as the rotational speed of the first gear ring 43 or of the crankshaft 38, which is coupled to the first front gear ring 43, increases. Information regarding the first circumferential length H1 and the total circumferential length HX is stored beforehand in a memory of the controller 84.In the event that the front derailleur 24 performs a downshift, the controller 84 uses a circumferential length between the second shift region 43E and the second shift region 43F as the maximum circumferential length in step S12. The time required for a shift when the front derailleur 24 performs a downshift is the time required for a shift region from the second shift regions 43E and 43F to pass through the shift range RA after the chain guide 54 of the front derailleur 24 has pushed the chain 48 away. For example, the controller 84 calculates the time required for a shift based on a second circumferential length H2, which is obtained by adding the circumferential lengths of two second shift regions to the circumferential length between the second shift region 43E and the second shift region 43F (see Fig.3), the total circumferential length HX of the first front gear ring 43 and the rotational speed V of the first front gear ring 43 (rpm). In this case, the time required for a shift is calculated by dividing H2 / HX by V. Information regarding the second circumferential length H2 and the total circumferential length HX is stored beforehand in a memory of the controller 84. In step S13, the controller 84 limits the auxiliary power by reducing the output of the auxiliary motor 74. The controller 84 determines the degree of reduction of the auxiliary motor 74's output based on its output before the limitation. The controller 84 increases the degree of reduction of the auxiliary motor 74's output if the output of the auxiliary motor 74 increases before the limitation. In step S14, the controller 84 determines whether or not the time required for switching has elapsed since the start of the limitation of the output of the auxiliary motor 74. The controller 84 proceeds to step S15 if a determination has been made that the time required for switching has elapsed. The controller 84 removes the limitation on the output of the auxiliary motor 74 in step S15. For example, the controller 84 removes the limitation on the output of the auxiliary motor 74 by reducing the ratio of the output of the auxiliary motor 74 with respect to the muscle driving force to essentially the same extent as before the output of the auxiliary motor 74 was limited; thereupon the process continues to step S11. The procedure and effects of the auxiliary control device 80 will be explained. The controller 84 of the auxiliary control device 80 controls the output of the auxiliary motor 74 based on the rotational speed of the gear 43 and the intervals between the shift regions 43A-43F when an auxiliary request signal has been received, in other words, when the front shifter 24 performs a shift operation. In this way, the controller 84 controls the output of the auxiliary motor 74 while taking into account the rotational position of the first front gear 43, which is an example of a driving condition of the bicycle 10; therefore, more suitable control of the auxiliary motor output is possible. The auxiliary control device 80 further performs the following effects. (1) The controller 84 releases the limitation of the output of the auxiliary motor 74 based on the rotational speed of the ring gear 43 and the intervals between the shift regions 43A-43F when the front derailleur 24 performs a shift operation. For this reason, a more suitable setting of the timing for releasing the limitation of the output of the auxiliary motor 74 is possible. (2) The controller 84 limits the output of the auxiliary motor 74 by reducing its output to a lower value than that before the limitation was applied when the front derailleur 24 performs a shift operation. The tensile force acting on the chain 48 when the front derailleur 24 performs a shift operation is thereby reduced.For this reason, the chain 48 can be easily and appropriately shifted between the first front sprocket 43 and the second front sprocket 44. (3) The controller 84 overcomes the limitation of the output of the auxiliary motor 74 by restoring the ratio of the output of the auxiliary motor 74 to the muscle driving force to essentially the same extent as before the limitation of the output of the auxiliary motor 74. For this reason, it is unlikely that the assistance force will change significantly before and after the shifting operation, and stable riding is possible. (4) The controller 84 determines the extent of the output of the auxiliary motor 74 when a limitation of the output of the auxiliary motor 74 is applied, based on the output of the auxiliary motor 74 before the limitation of the output of the auxiliary motor 74.For this reason, a more suitable reduction of the output of the auxiliary motor 74 is possible compared to a case in which the output of the auxiliary motor 74 is always reduced to a constant extent when the front shifter 24 performs a shift operation. (5) The controller 84 controls the output of the auxiliary motor 74 based on the rotational speed of the ring gear 43 and the intervals between the shift regions 43A-43F when the front shifter 24 performs a shift operation. For this reason, more precise control of the output of the auxiliary motor 74 is possible compared to a case in which the output of the auxiliary motor 74 is controlled based on either the rotational speed of the first ring gear 43 or the intervals between the shift regions 43A-43F.(6) The controller 84 determines the time required for the shift regions 43A-43F to pass a predetermined position within the shift range RA after the chain guide 54 of the front derailleur 24 has pushed the chain 48 away, as the time required for a shift. For this reason, the shifting operation can be carried out simply and appropriately from the start of the limitation of the output of the auxiliary motor 74 until the expiration of the time required for a shift. (7) For example, when limiting the output of the auxiliary motor 74 for a predetermined time based on the fact that an auxiliary request signal has been received, a time sufficient for the front derailleur 24 to perform an upshift or a downshift is set as the predetermined time.For this reason, the predetermined time that is set / will be set, that is, the time during which the output of the auxiliary motor 74 is / will be limited, tends to become long. On the other hand, the controller 84 calculates the time required for a shift based on the rotational speed of the first front gear ring 43 and the intervals between the shift regions 43A-43F, and releases the limitation of the output of the auxiliary motor 74 based on the fact that the time required for a shift has elapsed. For this reason, the time during which the output of the auxiliary motor 74 is / will be limited is unlikely to become long. In addition to the described embodiments, the auxiliary device and the control apparatus according to the present invention can also take the form of modified embodiments - including combinations of at least two such examples, provided that these are not mutually exclusive. A controller 84 of a modified example controls the output of the auxiliary motor 74 based on the rotational speed of the first front ring gear 43 and the intervals between the shift regions 43A-43F when the front shift mechanism 24 performs a shift operation. In the case of controlling the output of the auxiliary motor 74 based on the rotational speed of the first front gear ring 43, the controller 84 stores the time required to reduce the output of the auxiliary motor 74 according to the rotational speed of the first front gear ring 43. The time required to reduce the output of the auxiliary motor 74 is obtained in advance through experimentation and is stored in a memory of the controller 84. The controller 84 controls the auxiliary motor 74 such that the time required to reduce the output of the auxiliary motor 74 becomes shorter when the rotational speed of the first gear ring 43 increases when the front shift mechanism 24 performs a shift operation.The controller 84 can suitably control the output of the auxiliary motor 74 according to only the speed of the first front gear ring 43 without taking into account the intervals between the switching regions 43A-43F. Additionally, in the case of controlling the output of the auxiliary motor 74 based on the intervals between switching regions 43A-43F, the controller 84 stores the time required to reduce the output of the auxiliary motor 74 according to the intervals between switching regions 43A-43F. The time required to reduce the output of the auxiliary motor 74 is obtained in advance through experimentation and is stored in a memory of the controller 84. The controller 84 controls the auxiliary motor 74 such that the time required to reduce the output of the auxiliary motor 74 increases when the intervals of switching regions 43A-43F increase when the front-mounted switch 24 performs a switching operation.For example, if there are three or more front gear rings 42, the interval of the switching region is different for each gear ring except for the smallest gear ring; however, the controller 84 is capable of appropriately controlling the auxiliary motor 74 to correspond to the intervals between the switching regions 43A-43F. A controller 84 of a modified example determines a first rotation angle of the crankshaft 38 or a first rotation angle of the first front gear ring 43, which is necessary for an upshift operation based on the intervals between the first shift regions 43A-43D; the output of the auxiliary motor 74 is / will be limited according to the determined rotation angle. For example, the controller 84 of this modified example determines the time required for a shift based on the first rotation angle that the front shift mechanism 24 requires for the upshift operation.In this modified example, the controller 84 preferably uses the maximum rotation angle of the front sprocket 42, which is required for a shift region from the first shift regions 43A-43D to pass through the shift range RA after the chain guide 54 of the front derailleur 24 pushes the chain 48 away, as the first rotation angle necessary for the upshifting process. This first rotation angle is, for example, chosen as an angle corresponding to the first circumferential length H1. Alternatively, the maximum rotation angle of the crankshaft 38, which is required for a shift region from the first shift regions 43A-43D to pass through the shift range RA, is preferably used as the first rotation angle necessary for the upshifting process. This first rotation angle is, for example, chosen as an angle corresponding to the first circumferential length H1. A controller 84 of a modified example determines a second rotation angle of the crankshaft 38 or a second rotation angle of the first front gear ring 43, which is necessary for a downshift actuation based on the interval between the second shift regions 43E and 43F, and limits the output of the auxiliary motor 74 according to the predetermined rotation angle. For example, the controller 84 of this modified example determines the time required for a shift based on the second rotation angle required by the front shift mechanism 24 for the downshift operation. However, the controller 84 of this modified example preferably uses the maximum rotation angle of the front gear ring 42, which is required for a shift region from the second shift regions 43E and 43F to pass a predetermined position in the shift range RA, as the second rotation angle required for the upshift operation.The second rotation angle is / is chosen, for example, as an angle corresponding to the second circumferential length H2. Alternatively, the maximum rotation angle of the crankshaft 38, which is required for a shift region from the second shift regions 43E and 43F to pass a predetermined position in the shift range RA, is preferably used as the second rotation angle necessary for the upshift operation. The second rotation angle is chosen, for example, as an angle corresponding to the second circumferential length H2. A controller 84 of a modified example stops the actuation of the auxiliary motor 74 in step S13 of the motor output control. A controller 84 of a modified example solves the limitation of the output of the auxiliary motor 74 by increasing the ratio of the output of the auxiliary motor 74 with respect to the muscle driving force to be greater than that after limiting the output of the auxiliary motor 74 in step S15 of the motor output control. A drive mechanism 20 of a modified example comprises three or more front sprockets, each with a different number of teeth. A controller 84, mounted on the bicycle 10 and comprising the drive mechanism 20 of this modified example, determines the output level of the auxiliary motor 74 when limiting its output according to each of the plurality of gear positions, that is, the plurality of front sprockets 42, in step S13 of the motor output control. That is, the output level of the auxiliary motor 74 when limiting its output is different for each front sprocket 42. For example, the controller 84 of this modified example increases the reduction level of the auxiliary motor 74's output when limiting its output as the number of teeth on the front sprocket 42, on which the chain 48 is suspended before the shifting operation, increases. A first anterior tooth ring 43 of a modified example comprises one to three or five or more first switching regions in arbitrary positions along the circumferential length. A first anterior tooth ring 43 of a modified example comprises only one or a plurality of first switching regions in arbitrary positions along the circumferential length. A first anterior tooth ring 43 of a modified example comprises one, three or more second switching regions in arbitrary positions along the circumferential length. A first anterior tooth ring 42 of a modified example comprises only one or a plurality of second switching regions in arbitrary positions along the circumferential length. In the case of a rear sprocket 46 of a modified example, at least one first shifting region or one second shifting region is formed on each sprocket except for the rear sprocket, which has the fewest teeth. A controller 84, mounted on the bicycle 10 and encompassing the rear sprocket 46 of this modified example, performs a motor output control in a shifting operation of the rear derailleur 26 according to the same concept as used in the shifting operations of the front derailleur 24. A modified example bicycle 10 includes a mechanical derailleur, a switch, and a switch detection sensor. The mechanical derailleur is a front derailleur in which a pantograph is / is actuated according to the winding extent of a shift cable which is / is used to shift the chain 48. The switch is, for example, attached to the handlebar 14 and winds the shift cable via an actuation carried out by a cyclist. The switch detection sensor detects that the switch has been activated by the cyclist. The switch detection sensor then sends a switch activation signal to controller 84 when it detects that the switch has been activated by the cyclist. A controller 84, which is / will be mounted on a bicycle 10 of a modified example, controls the output of the auxiliary motor 74 based on the fact that a shift actuation signal has been received. For example, the controller 84 of this modified example limits the output of the auxiliary motor 74 before the front derailleur 24 begins a shift actuation and executes step S14 and subsequent operations based on the fact that a shift actuation signal has been received. A front toothed ring 42 of a modified example is / is coupled to the crankshaft 38 via a one-way clutch such that the front toothed ring 42 will roll forward when the crankshaft 38 rolls forward. That is, the front toothed ring 42 can be / be rotated asynchronously with the crankshaft. The time required for a switching operation can be configured to be the time required for a multitude of first switching regions from the first switching regions 43A-43D to pass through the switching area RA. For example, there are cases in which the first switching regions 43A-43D, which are adjacent in circumference, are configured in shapes that differ depending on the phase of the chain 48. In this case, in step S14, it is possible to improve the accuracy of a switching operation by ensuring that at least two first switching regions have passed through the switching area RA. In this case, for example, the first circumferential length H1 should be configured to be a circumferential length obtained by adding the circumferential length HA, the circumferential length HB, and the circumferential lengths of the three first switching regions. Description of the reference symbols 10 Bicycle 24 Front derailleur (derailleur) 34 Auxiliary device 38 Crankshaft 43 First front sprocket 43A-43D First shift regions 43E, 43F Second shift regions 44 Second front sprocket 48 Chain 64 Shift actuation device 70 Shift sensor (second sensor) 74 Auxiliary motor 80 Auxiliary control device (control apparatus) 84 Controller 86 Speed ​​sensor (first sensor)

Claims

Control apparatus (58) for a bicycle auxiliary device (34), comprising a controller (84) configured to control an auxiliary motor (74) for assisting the muscle power, wherein, in the case that a derailleur (24) performs a shifting actuation to shift a chain (48) between a plurality of sprockets (42), the controller (84) is / will be configured to control the output of the auxiliary motor (74) based on the rotational speed of the sprocket (42) and a distance in a switching region (43A-43F) which is / will be provided on the sprocket (42), wherein the distance in the switching region (43A-43F) is a circumferential length between the switching regions (43A-43F) which are adjacent in the circumferential direction of the sprocket (42). Control apparatus (58) for a bicycle auxiliary device (34) according to claim 1, wherein the control of the output of the auxiliary motor (74) includes a control for limiting the output of the auxiliary motor (74) as well as a control for releasing the limitation of the output of the auxiliary motor (74). Control apparatus (58) for a bicycle auxiliary device (34) according to claim 2, wherein the control for limiting the output is a control for stopping the actuation of the auxiliary motor (74) or a control which reduces the output of the auxiliary motor (74) to be lower than that before the limitation of the output of the auxiliary motor (74). Control apparatus (58) for a bicycle auxiliary device (34) according to claim 2 or 3, wherein the control for releasing the limitation of the output is a control for reducing a ratio of the output of the auxiliary motor (74) with respect to the muscle driving force to substantially the same extent as that before limiting the output of the auxiliary motor (74) or for increasing the ratio to be greater than that after limiting the output of the auxiliary motor (74). Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 2 to 4, wherein in the case that the derailleur (24) shifts the chain (48) from a first sprocket (43) to a second sprocket (44) from the plurality of sprockets (42), the controller (84) is / will be designed to control the motor such that the time from starting a restriction of the output of the auxiliary motor (74) to releasing this restriction becomes shorter when the rotational speed of the sprocket (42) or of a crankshaft coupled to the sprocket (42) increases. Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 5 wherein the controller (84) is / is configured to control the output of the auxiliary motor (74) based on both the rotational speed and the distance in the switching region (43A-43F), wherein in particular the distance in the switching region (43A-43F) is an angle between the adjacent regions. Control apparatus (58) for a bicycle auxiliary device (34) according to claim 6, wherein the controller (84) is / is configured to determine a time required for switching based on the rotational speed and the distance in the switching region (43A-43F), and limits the output of the auxiliary motor (74) according to the determined time. Control apparatus (58) for a bicycle auxiliary device (34) according to claim 7, wherein the shifting operation of the derailleur (24) includes an actuation of the derailleur (24) which pushes the chain (48) away in order to change the sprocket (42) on which the chain (48) is / will be suspended, and the controller (84) is / will be configured to determine that the time required for the shifting region (43A-43F) to pass a predetermined position after the derailleur (24) pushes or has pushed the chain (48) away is the time required for a shift. Control apparatus (58) for a bicycle auxiliary device (34) according to claim 6 or 7, wherein the switching region (43A-43F) includes a first switching region (43A-43D) which is used for an upshifting operation of the derailleur (24), and the time required for a switching operation includes a first time which is required for the upshifting operation of the derailleur (24). Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 7 to 9, wherein the switching region (43A-43F) includes a second switching region (43E, 43F) which is used for a downshifting operation of the derailleur (24), and the time required for a shifting operation includes a second time which is required for the downshifting operation of the derailleur (24). Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 10, wherein the controller (84) is / is configured to determine a rotation angle of the gear ring (42) and / or a crankshaft which is required for shifting, based on the distance in the shifting region (43A-43F), and limits the output of the auxiliary motor (74) according to the predetermined rotation angle. Control apparatus (58) for a bicycle auxiliary device according to claim 11, wherein the shifting operation of the derailleur (24) includes an actuation of the derailleur (24) which pushes the chain (48) away in order to change the sprocket (42) on which the chain (48) is suspended, and the controller (84) determines that a maximum rotation angle of the sprocket (42) or a maximum rotation angle of the crankshaft which is required for the shifting region (43A-43F) to pass a predetermined position after the derailleur (24) pushes or has pushed away the chain (48) is the rotation angle required for shifting. Control apparatus (58) for a bicycle auxiliary device (34) according to claim 11 or 12, wherein the switching region (43A-43F) includes a first switching region (43A-43D) which is used for an upshifting operation of the derailleur (24), and the controller (84) is / will be configured to determine a time required for a shift based on a first rotation angle which is / will be required by the derailleur (24) for the upshifting operation. Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 11 to 13, wherein the switching region (43A-43F) includes a second switching region (43E, 43F) which is used for a downshifting operation of the derailleur (24), and the controller (84) is / will be configured to determine a time required for a shift based on a second rotation angle which is / will be required by the derailleur (24) for the downshifting operation. Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 14, wherein the controller (84) is / is designed to control the output of the auxiliary motor (74) before the shifting mechanism (24) shifts gears. Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 15, wherein the controller (84) is / is designed to control the output of the auxiliary motor (74) based on a detection result of a sensor for detecting an actuation of a switching actuation device for actuating the derailleur (24). Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 16, wherein the gear ring (42) is a front gear ring (42) and the derailleur (24) is a front derailleur (24). Control apparatus (58) for a bicycle auxiliary device (34) according to claim 17, wherein the toothed ring (42) is / is designed to rotate either synchronously or asynchronously with a crankshaft (38). Control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 18, wherein the auxiliary motor (74) provides a driving force towards the toothed ring (42). Bicycle auxiliary device (34) comprising the control apparatus (58) for a bicycle auxiliary device (34) according to one of claims 1 to 19 and the auxiliary motor (74).

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