CONTROL DEVICE FOR A HUMAN-PROPELLED VEHICLE

Abstract

One objective of the present disclosure is to provide a control device for a human-powered vehicle that reduces the electrical power required to drive a motor. The control device for a human-powered vehicle comprises a control unit that regulates motor-assisted propulsion of a human-powered vehicle according to a human driving force, and a memory. The controller activates the motor when the human driving force is greater than or equal to a first value. The memory modifiably stores the first value.

Description

REFERENCE TO OTHER REGISTRATIONS

[0001] This application claims priority over Japanese patent application JP 2017-220183, filed on November 15, 2017. BACKGROUND OF THE TECHNOLOGY

[0002] The present disclosure relates to a control device for a human-powered vehicle.

[0003] A known control device for a human-powered vehicle controls the motor-assisted propulsion of a human-powered vehicle. In the prior art, when the charge level of a battery mounted on the human-powered vehicle is less than or equal to a predetermined value, the control device automatically controls the motor so that the motor output is less than the human propulsive force. Japanese patent publication JP H09-272486A discloses an example of a prior art control device for a human-powered vehicle.

[0004] DE 10 2012 016 904 A1 describes a bicycle operation measuring device with a sensor, a signal amplification section and an amplification control section.

[0005] DE 10 2012 211 719 A1 describes an electrically assisted bicycle with a drive system, a control device for controlling the drive system and a device for recording the actual power output generated by the rider.

[0006] DE 10 2015 118 150 A1 describes a bicycle control device comprising an automatic switching function for automatically switching a support ratio.

[0007] DE 10 2016 111 754 A1 describes a bicycle control system comprehensively a control for controlling a bicycle component based on a limit value and a parameter that relates to a driving state of a bicycle.

[0008] CN 103 294 904 A describes an automatic adjustment procedure for an e-bike.

[0009] JP 2017 - 74 813 A describes a correction torque calculation part of an MCU which calculates a correction torque based on an input torque output by an input torque sensing part. SUMMARY

[0010] It is desirable to reduce the electrical power required to drive a motor.

[0011] The object of the present disclosure is to provide a control device for a vehicle powered by humans or by muscle power, which reduces the electrical power required to drive a motor. This object is achieved by the control device according to claim 1, by the control device according to claim 2, by the control device according to claim 12, and by the control device according to claim 17.

[0012] A control device for a human-powered vehicle according to a first aspect of the present disclosure comprises a controller, which controls the motor-assisted propulsion of a human-powered vehicle in accordance with a human driving force, and a memory. The controller drives the motor when the human driving force is greater than or equal to a first value. The memory modifiably stores the first value.

[0013] The first value is adjustable. If this value is set higher than typical, the electrical power required to drive the motor is reduced. Additionally, the motor's power output is adjusted according to the human driving force of the driver of the human-powered vehicle.

[0014] A control device for a human-powered vehicle according to a second aspect of the present disclosure comprises a controller that controls a motor-assisted drive of a human-powered vehicle in accordance with the human propulsive force. The controller has several control modes and is configured to control the motor in one of the control modes, which are selected by actuating an actuating section. The several control modes include a first control mode in which the motor is driven in a case where the human propulsive force is greater than or equal to a first value, and a second control mode in which the motor is driven in a case where the human propulsive force is greater than or equal to a second value that differs from the first value.

[0015] According to the second aspect, in a case where the motor is controlled by both the first and second control modes, the electrical power required to drive the motor is reduced compared to a case where the motor is controlled by both the first and second control modes. Additionally, the control mode is selected by actuating the control section. Thus, the control mode can be selected according to the requirements of the driver of the human-powered vehicle.

[0016] According to a third aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to the second aspect such that the first value is greater than the second value.

[0017] According to the third aspect, in a case where the motor is controlled in the first control mode, the electrical power required to drive the motor is reduced compared to a case where the motor is controlled in the second control mode.

[0018] According to a fourth aspect of the present disclosure, the control device for a human-powered vehicle according to the second or third aspect further comprises a memory. The memory modifiably stores the first value.

[0019] According to the fourth aspect, the first value in the first control mode is adjustable. If the first value is set to a value higher than typical values, the electrical power required to drive the motor is reduced. Additionally, in the first control mode, the motor can be controlled according to a request from the driver of the human-powered vehicle.

[0020] According to a fifth aspect of the present disclosure, the control device for a human-powered vehicle according to the first or fourth aspect is configured such that the memory is configured such that the first value is modifiable by an input signal that is entered into the controller by an external device.

[0021] According to the fifth aspect, the first value can be changed using the external device.

[0022] According to a sixth aspect of the present disclosure, the control device for a human-powered vehicle, as described in the fifth aspect, is configured such that the external device allows the input of numerical information. The memory stores the numerical information received from the external device as the first value.

[0023] According to the sixth aspect, the external device is used to input numerical information. This reduces the amount of data stored in memory. According to a seventh aspect of the present disclosure, the control device for a human-powered vehicle, as described in the fifth aspect, is configured such that the memory stores multiple pieces of numerical information. The external device is configured to select one of these multiple pieces of numerical information. The memory stores one of the multiple pieces of numerical information selected by the external device as the first value.

[0024] According to the seventh aspect, the first value can be changed using the external device even in a case where numerical information cannot be entered.

[0025] According to an eighth aspect of the present disclosure, the control device for a human-powered vehicle is configured according to one of the first to seventh aspects such that the first value is 50 W.

[0026] According to the eighth aspect, the electrical power required to drive the motor is reduced.

[0027] According to a ninth aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to aspects one through the eighth such that the human driving force is a power calculated on the basis of a torque applied to a crank and a rotational speed of the crank.

[0028] According to the ninth aspect, a suitable value is used as the human driving force, which is then used to power the motor. The motor is then controlled accordingly.

[0029] According to a tenth aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to one of the first to seventh aspects such that the first value is 10 Nm.

[0030] According to the tenth aspect, the electrical power required to drive the motor is reduced.

[0031] According to an eleventh aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to one of the first to seventh aspects or the tenth aspect such that the human driving force is a torque applied to a crank.

[0032] According to the eleventh aspect, a suitable value is used as the human driving force, which is then used to power the motor. The motor is then controlled accordingly.

[0033] A control device for a human-powered vehicle according to a twelfth aspect of the present disclosure comprises a controller that controls the motor-assisted propulsion of a human-powered vehicle according to a human driving force and a memory. The controller controls the motor such that the motor output is less than or equal to a third value. The memory variably stores the third value. According to the twelfth aspect, the third value is variable. In a case where the third value is set to a value below the typical values, the electrical power required to drive the motor is reduced. Additionally, the motor is controlled according to the human driving force of the driver of the human-powered vehicle.

[0034] According to a thirteenth aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to the twelfth aspect such that the output of the engine is a power or a torque.

[0035] According to the thirteenth aspect, a suitable value is used as the motor's output, which is then referenced to drive the motor. Thus, the motor is controlled accordingly.

[0036] According to a fourteenth aspect of the present disclosure, the control device for a human-powered vehicle is arranged according to the twelfth or thirteenth aspect such that the memory is configured so that the third value can be changed according to an input signal that is fed to the controller from an external device.

[0037] According to the fourteenth aspect, the third value can be changed using the external device.

[0038] According to a fifteenth aspect of the present disclosure, the control device for a human-powered vehicle is configured according to the fourteenth aspect such that the external device allows input of numerical information. The memory stores the numerical information received from the external device as a third value.

[0039] According to the fifteenth aspect, the external device is used to input numerical information. This reduces the amount of data stored in memory.

[0040] According to a sixteenth aspect of the present disclosure, the control device for a human-powered vehicle, as described in the fourteenth aspect, is configured such that the memory stores several pieces of numerical information. The external device is configured to select one of these several pieces of numerical information. The memory stores one of the several pieces of numerical information selected by the external device as the third value. According to the sixteenth aspect, even in a case where no numerical information can be entered, the third value can be modified using the external device.

[0041] A control device for a human-powered vehicle according to a seventeenth aspect of the present disclosure comprises a controller that controls a motor-assisted drive of a human-powered vehicle in accordance with the human driving force. The controller drives the motor in a case where the human driving force is greater than or equal to 50 W or greater than or equal to 10 Nm.

[0042] According to the seventeenth aspect, the electrical power required to drive the motor is reduced.

[0043] The control device for a human-powered vehicle according to the present disclosure reduces the electrical power required to drive the motor. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view of a human-powered vehicle comprising a first embodiment of a control device for a human-powered vehicle. Fig. 2 is a block diagram of the electrical connection relationship of the in Fig. 1 human-powered vehicle shown. Fig. Figure 3 is a diagram showing an example of the relationship between human driving force and the output of a motor. Fig. Figure 4 is a diagram showing the relationship between human driving force and the output of a motor in a second embodiment. Fig. Figure 5 is a diagram showing the relationship between human driving force and the output of a motor in a third embodiment. Fig. Figure 6 is a diagram showing the relationship between human driving force and the output of a motor in a fourth embodiment. FORMS OF DISCLOSURE

[0044] A human-powered vehicle 10 with a control device for a human-powered vehicle 40 is now described with reference to Fig. The control device for a human-powered vehicle 40 is provided in the human-powered vehicle 10. The human-powered vehicle 10 is a vehicle that is propelled by at least one human driving force. The human-powered vehicle 10 includes, for example, a bicycle. The number of wheels on the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle with three or more wheels. The bicycle includes, for example, a mountain bike, a racing bike, a city bike, a cargo bike, and a recumbent bike. In the embodiments described below, the human-powered vehicle 10 refers to the bicycle.

[0045] The human-powered vehicle 10 comprises a frame 12, a crank 14, and a drive wheel 22. The human power HP is applied to the crank 14. The crank 14 includes a crankshaft 16, which is rotatably mounted by the frame 12 and the crank arms 18, each located at opposite ends of the crankshaft 16. Each crank arm 18 is coupled to a pedal 20. The drive wheel 22 is supported by the frame 12. The crank 14 and the drive wheel 22 are coupled by a drive mechanism 24. The human-powered vehicle 10 further comprises a front wheel 22A and a rear wheel 22B. In the embodiments described below, the rear wheel 22B refers to the drive wheel 22. However, the front wheel 22A can also be the drive wheel 22.

[0046] The drive mechanism 24 comprises a first rotating body 26 coupled to the crankshaft 16. The crankshaft 16 and the first rotating body 26 can be coupled via a first one-way clutch. The first one-way clutch is designed to allow forward rotation of the first rotating body 26 when the crankshaft 14 rotates forward and to prevent reverse rotation of the first rotating body 26 when the crankshaft 14 rotates backward. The first rotating body 26 comprises a front sprocket 26A, a pulley, or a bevel gear. The drive mechanism 24 further comprises a coupling element 28 and a second rotating body 30. The coupling element 28 transmits a rotational force from the first rotating body 26 to the second rotating body 30. The coupling element 28 comprises, for example, a chain 28A, a belt, or a shaft.

[0047] The second rotating body 30 is coupled to the rear wheel 22B. The second rotating body 30 comprises a rear sprocket 30A, a pulley, or a bevel gear. It is preferred that a second one-way coupling is provided between the second rotating body 30 and the rear wheel 22B. The second one-way coupling is configured to allow forward rotation of the rear wheel 22B when the second rotating body 30 is rotating forward, and to prevent reverse rotation of the rear wheel 22B when the second rotating body 30 is rotating backward.

[0048] The human-powered vehicle 10 further comprises a drive unit 32. The drive unit 32 operates in such a way as to assist the propulsion of the human-powered vehicle 10. The drive unit 32 operates, for example, according to the human driving force HP exerted on the crank 14. The drive unit 32 comprises a motor 32A. The motor 32A comprises an electric motor. The drive unit 32 is powered by electrical energy supplied by a battery BT, which is mounted on the human-powered vehicle 10.

[0049] The battery BT comprises one or more battery cells. Each battery cell comprises a rechargeable battery. The battery BT supplies electrical energy to other electrical components that are electrically connected to the battery BT, for example, the motor 32A and the control device for a human-powered vehicle 40. The battery BT may be attached to the outside of the frame 12 or at least partially housed within the frame 12.

[0050] As in Fig. As shown in Figure 2, the control device for a human-powered vehicle 40 comprises an electronic controller 42 and a memory (a storage device) 44. The controller 42 controls the motor 32A, which assists the propulsion of the human-powered vehicle 10 according to the human driving force HP. The controller 42 includes an arithmetic processing unit that executes predetermined control programs. The arithmetic processing unit includes, for example, a central processing unit (CPU) or a microprocessing unit (MPU). The controller 42 may contain one or more microcomputers. The memory 44 stores information that is / are used in different control programs and different computational processes. The memory 44 includes, for example, non-volatile memory or volatile memory.In one example, the control device for a human-powered vehicle 40 is provided on a housing 32B of the drive unit 32, which powers the motor 32A (see . Fig. 1) records.

[0051] The controller 42 drives the motor 32A when the human driving force HP is greater than or equal to a first value V1. The controller 42 is configured to have several control modes and controls the motor 32A according to the control mode selected by actuating an actuating section 34. The actuating section 34 is located, for example, on a handlebar 36 of the human-powered vehicle 10 (see Figure 1). Fig. 1) provided. The actuating section 34 is configured to communicate with the control unit 42. The actuating section 34 is connected to perform wired or wireless communication with the control unit 42. The actuating section 34 is configured to communicate with the control unit 42, for example, via power line communication (PLC). When the actuating section 34 is actuated, it transmits an output signal to the controller 42. The actuating section 34 includes, for example, a push button, a lever switch, or a touchscreen. It is preferred that the human-powered vehicle 10 includes a display 48. The display 48 is provided, for example, on the handlebars 36 of the human-powered vehicle 10.Display 48 is set up to display information relating to the selected control mode by actuating actuation section 34.

[0052] The multiple control modes include a first control mode MA1, in which the motor 32A is driven when the human driving force HP is greater than or equal to the first value V1, and a second control mode MA2, in which the motor 32A is driven when the human driving force HP is greater than or equal to a second value V2 that differs from the first value V1. The first value V1 is greater than the second value V2. The memory 44 stores information relating to the first control mode MA1 and the second control mode MA2. The controller 42 drives the motor 32A according to one of the examples described below, from the first to the third. In the present embodiment, the controller 42 drives the motor 32A according to the first example.

[0053] In the first example, the human driving force HP is a power WR calculated based on a torque RT applied to the crank 14 and a rotational speed RS of the crank 14. The power WR is the product of the torque RT and the rotational speed RS. Preferably, the first value V1 is in the range of 30 W or more and 200 W or less. Preferably, the first value V1 is in the range of 50 W or more and 200 W or less. In one example, the first value V1 is 50 W. In particular, the first value V1 is in the range of 100 W or more and 200 W or less. Preferably, the second value V2 is in the range of 1 W or more and 30 W or less. In one example, the second value V2 is 1 W.In the first example, the controller 42 drives the motor 32A in the first control mode MA1 in a case where the human driving force HP is greater than or equal to 50 W, and drives the motor 32A in the second control mode MA2 in a case where the human driving force HP is greater than or equal to 1 W.

[0054] In the second example, the human driving force HP is the torque RT applied to the crank 14. Preferably, the first value V1 is in the range of 5 Nm or more and 50 Nm or less. More preferably, the first value V1 is in the range of 10 Nm or more and 50 Nm or less. In one example, the first value V1 is 10 Nm. Even more preferably, the first value V1 is in the range of 20 Nm or more and 50 Nm or less. Preferably, the second value V2 is in the range of 1 Nm or more and 5 Nm or less. In one example, the second value V2 is 3 Nm. In the second example, the controller 42 drives the motor 32A in the first control mode MA1 when the human driving force HP is greater than or equal to 10 Nm, and drives the motor 32A in the second control mode MA2 when the human driving force HP is greater than or equal to 3 Nm.

[0055] In the third example, the human driving force HP is the power WR and the rotational torque RT. The first value V1 is essentially the same as the first value V1 referenced in the first and second examples. The second value V2 is essentially the same as the second value V2 referenced in the first and second examples. Controller 42 drives motor 32A in the first control mode MA1 when the human driving force HP is greater than or equal to 50 W or greater than or equal to 10 Nm, and drives motor 32A in the second control mode MA2 when the human driving force HP is greater than or equal to 1 W or greater than or equal to 3 Nm.The controller 42 can drive the motor 32A in the first control mode MA1 in a case where the human driving force HP is greater than or equal to 50 W and greater than or equal to 10 Nm, and can drive the motor 32A in the second control mode MA2 in a case where the human driving force HP is greater than or equal to 1 W and greater than or equal to 3 Nm.

[0056] Memory 44 stores the first value V1 in a modifiable manner. Memory 44 is configured so that the first value V1 can be changed according to an input signal that is fed into the controller 42 by an external device 50. The external device 50 allows the input of numerical information. Memory 44 stores the numerical information received from the external device 50 as the first value V1. For example, if the external device 50 and the controller 42 are set to a mode for changing the first value V1, and numerical information is entered into the external device 50, memory 44 stores the entered numerical information as the first value V1.

[0057] The external device 50 comprises a mobile information device, such as a personal computer, a tablet computer, a bicycle computer, and a smartphone. The control device for a human-powered vehicle 40 comprises an interface section 46. The interface section 46 comprises at least one wired communicator configured to be connected to the external device 50 via an electrical cable and one wireless communicator configured to communicate wirelessly with the external device 50. The interface section 46 may comprise only the wired communicator, only the wireless communicator, or both the wired communicator and the wireless communicator.The controller 42 is electrically connected to the interface section 46 and modifies information stored in the memory 44 according to an input signal received via the interface section 46 from the external device 50. Modifying the information stored in the memory 44 allows for a change in the output aspect of the motor 32A with respect to the human driving force HP, even if the controller 42 is operating in the same control mode.

[0058] The controller 42 drives the motor 32A such that the output of the motor 32A is less than or equal to a third value V3. In the following description, the output of the motor 32A is referred to as a motor output MO. In one example, the controller 42 drives the motor 32A in the first control mode MA1 so that the motor output MO is less than or equal to the third value V3, and drives the motor 32A in the second control mode MA2 so that the motor output MO is less than or equal to a fourth value V4. The third value V3 and the fourth value V4 specify upper limits of the motor output MO in the respective control modes MA1 and MA2. The third value V3 and the fourth value V4 are greater than the first value V1 and the second value V2. The motor output MO is the power WR or the torque RT. The controller 42 drives the motor 32A according to one of the examples described below from the fourth to the sixth.In the present embodiment, the controller 42 drives the motor 32A according to the fourth example.

[0059] In the fourth example, the motor output MO is the power WR. Preferably, the third value V3 is in the range of 100 W or more and 500 W or less. In one example, the third value V3 is 250 W. Preferably, the fourth value V4 is in the range of 100 W or more and 500 W or less. In one example, the fourth value V4 is 250 W. In the first example, the controller 42 drives the motor 32A in the first control mode MA1, such that the motor output MO is less than or equal to 250 W, and drives the motor 32A in the second control mode MA2, such that the motor output MO is less than or equal to 250 W.

[0060] In the fifth example, the motor output MO is the torque RT. Preferably, the third value V3 is in a range of 30 Nm or more and 100 Nm or less. In one example, the third value V3 is 70 Nm. Preferably, the fourth value V4 is in a range of 30 Nm or more and 100 Nm or less. In one example, the fourth value V4 is 70 Nm. In the second example, the controller 42 drives the motor 32A in the first control mode MA1, such that the motor output MO is less than or equal to 70 Nm, and drives the motor 32A in the second control mode MA2, such that the motor output MO is less than or equal to 70 Nm.

[0061] In the sixth example, the motor output MO is the power WR and the torque RT. The third value V3 is essentially the same as the third value V3 referenced in the first and second examples. The fourth value V4 is essentially the same as the fourth value V4 referenced in the first and second examples. In the third example, the controller 42 drives motor 32A in the first control mode MA1, such that the motor output MO is less than or equal to 250 W or less than or equal to 70 Nm, and drives motor 32A in the second control mode MA2, such that the motor output MO is less than or equal to 250 W or less than or equal to 70 Nm.The controller 42 can drive the motor 32A in the first control mode MA1 such that the motor power MO is less than or equal to 250 W and less than or equal to 70 Nm, and drive the motor 32A in the second control mode MA2 such that the motor power MO is less than or equal to 250 W and less than or equal to 70 Nm.

[0062] Memory 44 stores the modifiable third value V3. Memory 44 is configured so that the third value V3 can be changed according to an input signal that is fed into the controller 42 by the external device 50. The external device 50 allows the input of numerical information. Memory 44 stores the numerical information received from the external device 50 as the third value V3. In an example where the external device 50 and the controller 42 are set to a mode for changing the third value V3, and numerical information is entered into the external device 50, memory 44 stores the entered numerical information as the third value V3.

[0063] The human-powered vehicle 10 further comprises a detection device 38. The detection device 38 detects the human propulsion force HP. The detection device 38 outputs a signal corresponding to the human propulsion force HP. The detection device 38 comprises a first detector 38A, which detects the torque RT applied to the crank 14, and a second detector 38B, which detects the rotational speed RS of the crank 14. The first detector 38A, for example, comprises a torque sensor that detects the torque RT applied to the crankshaft 16. The first detector 38A is provided in a transmission path of the human propulsion force HP that extends from the pedals 20 to the drive wheel 22. It is preferred that the first detector 38A is provided in the transmission path of the human propulsion force HP that extends from the pedals 20 to the first rotating body 26.In one example, the first detector 38A is provided on the pedals 20, the crank arms 18, the crankshaft 16, the first rotating body 26 or a coupling element that couples the crankshaft 16 with the first rotating body 26.

[0064] The torque sensor can be implemented, for example, using a strain gauge, an optical sensor, or a pressure sensor. The strain gauge comprises at least one strain gauge, one magnetostrictive sensor, and one piezoelectric sensor. The strain gauge can comprise only the strain gauge, the magnetostrictive sensor, the piezoelectric sensor, or any combination thereof. Any sensor that outputs a signal corresponding to the torque RT around the crankshaft 16 can be used as a torque sensor. In the present embodiment, the torque sensor is provided on or around the coupling element that couples the crankshaft 16 to the first rotating body 26. In a case where the torque sensor rotates together with the crank 14, the sensing device 38 includes a wireless communicator.The wireless communicator transmits a signal detected by the torque sensor to the controller 42 via wireless communication. The first detector 38A can be located, for example, on the frame 12, the coupling element 28, the second rotating body 30, or a hub of the drive wheel 22.

[0065] The second detector 38B comprises a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The magnetic sensor is provided on the frame 12 or the housing 32B of the drive unit 32. A ring-shaped magnet, whose magnetic field strength changes circumferentially, is provided on the crankshaft 16, an element that rotates in accordance with a rotation of the crankshaft 16, or an element that rotates integrally with the crankshaft 16 in the transmission path of the human driving force HP between the crankshaft 16 and the first rotating body 26. The use of a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field enables the second detector 38B to detect the rotational speed RS of the crank 14.

[0066] The controller 42 receives a signal indicating the torque RT from the first detector 38A and a signal indicating the rotational speed RS from the second detector 38B. The controller 42 calculates the power WR based on the received signals indicating the torque RT and the rotational speed RS.

[0067] An example of the first control mode MA1 and the second control mode MA2 will now be given with reference to Fig. 3 described. The in Fig. The solid line shown in Figure 3 illustrates the relationship between human driving force (HP) and motor output (MO) in the first control mode (MA1). Fig. The double-dashed line shown in section 3 illustrates the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

[0068] In a case where the actuating section 34 is actuated to select the first control mode MA1, the controller 42 controls the motor 32A in the first control mode MA1. In the first control mode MA1, the controller 42 begins, for example, to drive the motor 32A when the human driving force HP is greater than or equal to the first value V1, and drives the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP. In the first control mode MA1, the controller 42 controls the motor 32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to a first ratio, until the human driving force HP reaches a first human driving force VR1 that is greater than the first value V1.

[0069] In the first control mode MA1, for example, in a case where the human driving force HP reaches the first human driving force VR1, the controller 42 drives the motor 32A so that the motor output MO is equal to the third value V3. In the first control mode MA1, in a case where the human driving force HP is greater than or equal to the first human driving force VR1, the controller 42 controls the motor 32A so that the motor output MO maintains the third value V3. As described above, in the first control mode MA1, in a case where the human driving force HP is greater than or equal to the first value V1, the controller 42 controls the motor 32A according to the human driving force HP.

[0070] In the first control mode MA1, the controller 42 stops driving the motor 32A if the human propulsion force HP changes from greater than or equal to the first value V1 to less than the first value V1. In a case where the motor 32A is controlled in the first control mode MA1, the control device for a human-powered vehicle 40 reduces the electrical power required to drive the motor 32A. The controller 42 can be configured to stop driving the motor 32A in the first control mode MA1 if the human propulsion force HP changes from greater than or equal to the first value V1 to a value that is lower than the first value V1 by a predetermined value Vt. This limits frequent cycles of driving and stopping the motor 32A when the human propulsion force HP is close to the first value V1.Preferably, the predetermined value Vt is, for example, in a range of 1 W or more and 5 W or less, or in a range of 1 Nm or more and 5 Nm or less.

[0071] In a case where the actuating section 34 is actuated to select the second control mode MA2, the controller 42 controls the motor 32A in the second control mode MA2. In the second control mode MA2, the controller 42 begins to drive the motor 32A, for example, when the human driving force HP is greater than or equal to the second value V2, and drives the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP. In the second control mode MA2, the controller 42 controls the motor 32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to a second ratio, until the human driving force HP reaches a second human driving force VR2, which is greater than the second value V2. The second ratio is less than the first ratio.

[0072] In the second control mode MA2, for example, in a case where the human driving force HP reaches the second human driving force VR2, which is greater than the first human driving force VR1, the controller 42 drives the motor 32A such that the motor output MO becomes equal to the fourth value V4. In the present embodiment, the fourth value V4 is greater than the third value V3. In the second control mode MA2, in a case where the human driving force HP is greater than or equal to the second human driving force VR2, the controller 42 controls the motor 32A such that the motor output MO maintains the fourth value V4. As described above, in the second control mode MA2, in a case where the human driving force HP is greater than or equal to the second value V2, the controller 42 controls the motor 32A according to the human driving force HP.In the second control mode MA2, the controller 42 stops driving the motor 32A if the human driving force HP changes from greater than or equal to the second value V2 to less than the second value V2. The controller 42 can be configured to stop driving the motor 32A in the second control mode MA2 if the human driving force HP changes from greater than or equal to the second value V2 to a value that is less than the second value V2 by the predetermined value Vt.

[0073] An example of the control modes MA1 and MA2, which are implemented by a second embodiment of the control device for a human-powered vehicle 40, is now described with reference to Fig. 4 described. The control device for a human-powered vehicle 40 of the second embodiment is the same as the control device for a human-powered vehicle 40 of the first embodiment, except in the control operation of the second control mode MA2. Thus, the same reference numerals are given to the elements that are identical to the corresponding elements of the first embodiment. Such elements are not described in detail. The solid line that in Fig. Figure 4 shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The figure shown in Fig. The double-dashed line shown in Figure 4 illustrates the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

[0074] In a case where the actuating section 34 is actuated to select the second control mode MA2, the controller 42 controls the motor 32A in the second control mode MA2. In the second control mode MA2, the controller 42 begins to drive the motor 32A, for example, when the human driving force HP is greater than or equal to the second value V2, and drives the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP. In the second control mode MA2, the controller 42 controls the motor 32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to the first ratio, until the human driving force HP reaches a fifth human driving force VR5 that is greater than the second value V2.

[0075] In the second control mode MA2, the controller 42 drives the motor 32A such that the motor output MO is less than or equal to the third value V3. In the second control mode MA2, for example, in a case where the human driving force HP reaches the fifth human driving force VR5, the controller 42 drives the motor 32A so that the motor output MO is equal to the third value V3. In the second control mode MA2, in a case where the human driving force HP is greater than or equal to the fifth human driving force VR5, the controller 42 controls the motor 32A so that the motor output MO maintains the third value V3. In a case where the motor 32A is controlled in the second control mode MA2, the motor 32A is driven so that the motor output MO is less than or equal to the third value V3.Thus, the control device for a human-powered vehicle 40 reduces the electrical power required to drive the motor 32A.

[0076] An example of the control modes MA1 and MA2, which are implemented by a third embodiment of the control device for a human-powered vehicle 40, is now described with reference to Fig. 5 described. The control device for a human-powered vehicle 40 of the third embodiment is the same as the control device for a human-powered vehicle 40 of the first embodiment, except in the control operation of the second control mode MA2. Thus, the same reference numerals are given to the elements that are identical to the corresponding elements of the first embodiment. Such elements are not described in detail. The solid line that in Fig. Figure 5 shows the relationship between human driving force (HP) and motor power (MO) in the first control mode (MA1). The double-dashed line shown in Fig. Figure 5 shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

[0077] In a case where the actuating section 34 is actuated to select the second control mode MA2, the controller 42 controls the motor 32A in the second control mode MA2. In the second control mode MA2, the controller 42 drives the motor 32A if the human driving force HP is greater than or equal to the first value V1. For example, in the second control mode MA2, the controller 42 begins to drive the motor 32A if the human driving force HP is greater than or equal to the first value V1, and drives the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP.In the second control mode MA2, for example, the controller 42 controls the motor 32A so that the ratio of the motor output MO to the human driving force HP is equal to the first ratio, until the human driving force HP reaches a third human driving force VR3, which is greater than the second value V2.

[0078] In the second control mode MA2, for example, if the human driving force HP reaches the third human driving force VR3, which is greater than the first human driving force VR1, the controller 42 controls the motor 32A so that the motor output MO is equal to the fourth value V4. In the second control mode MA2, if the human driving force HP is greater than or equal to the third human driving force VR3, the controller 42 controls the motor 32A so that the motor output MO remains at the fourth value V4. As described above, in the second control mode MA2, if the human driving force HP is greater than or equal to the first value V1, the controller 42 controls the motor 32A according to the human driving force HP.In the second control mode MA2, the controller 42 stops driving the motor 32A if the human driving force HP is lower than the first value V1. The controller 42 can be configured to stop driving the motor 32A in the second control mode MA2 if the human driving force HP changes from greater than or equal to the first value V1 to a value lower than the first value V1 by the predetermined value Vt. In a case where the motor 32A is controlled in the second control mode MA2, the motor 32A starts driving when the human driving force HP is greater than or equal to the first value V1. Thus, the control device for a human-powered vehicle 40 reduces the electrical power required to drive the motor 32A.

[0079] An example of the control modes MA1 and MA2, which are implemented by a fourth embodiment of the control device for a human-powered vehicle 40, is now described with reference to Fig. 6 described. The control device for a human-powered vehicle 40 of the fourth embodiment is the same as the control device for a human-powered vehicle 40 of the first embodiment, except in the control operation of the first control mode MA1. Thus, the same reference numerals are given to the elements that are identical to the corresponding elements of the first embodiment. Such elements are not described in detail. The solid line shown in Fig. Figure 6 shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The figure shown in Fig.The double-dashed line shown in Figure 6 illustrates the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

[0080] In a case where the actuating section 34 is actuated to select the first control mode MA1, the controller 42 controls the motor 32A in the first control mode MA1. In the first control mode MA1, the controller 42 begins, for example, to drive the motor 32A if the human driving force HP is greater than or equal to the first value V1, and drives the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP. In the first control mode MA1, the controller 42 drives the motor 32A, for example, so that the ratio of the motor output MO to the human driving force HP is equal to the second ratio, until the human driving force HP reaches a fourth human driving force VR4, which is greater than the first value V1.

[0081] In the first control mode MA1, for example, in a case where the human propulsion force HP reaches the fourth human propulsion force VR4, which is greater than the first human propulsion force VR1, the controller 42 drives the motor 32A so that the motor output MO is equal to the third value V3. In the first control mode MA1, in a case where the human propulsion force HP is greater than or equal to the fourth human propulsion force VR4, the controller 42 drives the motor 32A so that the motor output MO maintains the third value V3. In a case where the motor 32A is controlled in the first control mode MA1, the control device for a human-powered vehicle 40 reduces the electrical power required to drive the motor 32A.

[0082] The description relating to the foregoing embodiments illustrates, without any limitation, applicable forms of a control device for a human-powered vehicle as disclosed herein. The control device for a human-powered vehicle as disclosed herein is applicable, for example, to modified examples of the embodiments described above and to combinations of two or more of the modified examples that do not contradict each other. In the modified examples described below, the same reference numerals are given to elements that are identical to the corresponding elements of the embodiments. Such elements are not described in detail.

[0083] In each embodiment and its modified examples, the memory 44 stores several numerical pieces of information. The external device 50 is configured to select one of these numerical pieces of information. The memory 44 stores the numerical information selected by the external device 50 as the first value V1. In one example, if the external device 50 and the controller 42 are set to a mode for changing the first value V1, and the external device 50 selects one of the numerical pieces of information, the memory 44 stores the selected numerical information as the first value V1.

[0084] In each embodiment and its modified examples, the memory 44 stores several numerical pieces of information. The external device 50 is configured to select one of the numerical pieces of information. The memory 44 stores the numerical information selected by the external device 50 as the third value V3. In one example, if the external device 50 and the controller 42 are set to a mode for changing the third value V3, and the external device 50 selects one of the numerical pieces of information, the memory 44 stores the selected numerical information as the third value V3.

[0085] In each embodiment and its modified examples, the memory 44 can be configured to store the second value V2 in a modifiable manner. In this case, the memory 44 is configured so that the second value V2 can be changed according to an input signal that is fed into the controller 42 by the external device 50. The memory 44 stores numerical information received from the external device 50 as the second value V2. In an example where the external device 50 and the controller 42 are set to a mode for changing the second value V2, and numerical information is input into the external device 50, the memory 44 stores the input numerical information as the second value V2. In this example, the memory 44 can be configured to store multiple pieces of numerical information, and the external device 50 can be configured to select one of the numerical pieces of information.

[0086] In each embodiment and its modified examples, the memory 44 can be configured to store the fourth value V4 in a modifiable manner. In this case, the memory 44 is configured so that the fourth value V4 can be changed according to an input signal that is fed into the controller 42 by the external device 50. The memory 44 stores numerical information received from the external device 50 as the fourth value V4. In an example where the external device 50 and the controller 42 are set to a mode for changing the fourth value V4, and numerical information is input into the external device 50, the memory 44 stores the input numerical information as the fourth value V4. In this example, the memory 44 can be configured to store multiple pieces of numerical information, and the external device 50 can be configured to select one of the numerical pieces of information.

[0087] In each embodiment and its modified examples, the memory 44 can be configured to mutably store only at least one of the first value V1, the second value V2, the third value V3, and the fourth value V4. The memory 44 can be configured to mutably store only the first value V1, only the second value V2, only the third value V3, only the fourth value V4, or any combination of the first value V1, the second value V2, the third value V3, and the fourth value V4.

[0088] In each embodiment and its modified examples, the memory 44 can be configured such that at least one of the first value V1 and the third value V3 can be modified according to an input signal that is fed into the controller 42 by the actuating section 34. The memory 44 can be configured to modify or store only the first value V1, only the third value V3, or both the first value V1 and the third value V3 in a modifiable manner. In this case, the external device 50 is not necessary and the interface section 46 can be omitted.

[0089] In each embodiment and its modified examples, the first value V1 can be less than the second value V2.

[0090] In each embodiment and its modified examples, the third value V3 can be greater than the fourth value V4.

[0091] In each embodiment and its modified examples, the controller 42 can be configured in the first control mode MA1 to start the drive of the motor 32A when the human driving force HP is greater than or equal to the first value V1, and to drive the motor 32A such that the motor output MO increases proportionally to an increase in the human driving force HP in a convex or concave curve shape. In each embodiment and its modified examples, the controller 42 can be configured in the second control mode MA2 to drive the motor 32A when the human driving force HP is greater than or equal to the second value V2, and to drive the motor 32A such that the motor output MO increases proportionally to increases in the human driving force HP in a convex or concave curve shape.

[0092] In each embodiment and its modified examples, the first control mode MA1 and the second control mode MA2 can be omitted. In this case, the actuation section 34 in the human-powered vehicle 10 can be omitted.

[0093] In each embodiment and its modified examples, the multiple control modes can include a third control mode, MA3, in addition to the first control mode MA1 and the second control mode MA2. In the third control mode MA3, for example, the controller 42 drives the motor 32A in a case where the human driving force HP is greater than or equal to a fifth value V5, and drives the motor 32A such that the motor output MO is less than or equal to a sixth value V6. The fifth value V5 is in the same range as the first value V1 or the second value V2. The sixth value V6 is in the same range as the third value V3 or the fourth value V4. In the third control mode MA3, for example, the controller 42 controls the motor 32A so that the ratio of the motor output MO to the human driving force HP is equal to a third ratio until the motor output MO reaches the sixth value V6.The third ratio can be the same as the first ratio or the second ratio, or it can differ from both the first and second ratios. Memory 44 modifiably stores at least one of the fifth value V5 and the sixth value V6. Memory 44 modifiably stores only the fifth value V5, only the sixth value V6, or both the fifth value V5 and the sixth value V6. The fifth value V5 and the sixth value V6 are modified in the same way as the first value V1.

[0094] In each embodiment and its modified examples, the controller 42 drives the motor 32A according to the first example and the fourth example. However, apart from the combination of the first example and the fourth example, the motor 32A can be driven according to the first example, the second example and the third example, and any one of the fourth example, the fifth example and the sixth example. DESCRIPTION OF REFERENCE MARKS 10 human-powered vehicles, 14 Crank 32A motor, 34 Actuation section, 40 Control device for a human-powered vehicle, 42 controllers, 44 memory slots, 50 external devices, HP human driving force MA1 first control mode, MA2 second control mode, RS rotational speed, RT torque, V1 first value, V2 second value, V3 third value, WR performance

Claims

[1] Control device (40) for a human-powered vehicle (10), comprising: a controller (42) configured to control motor-assisted propulsion of a human-powered vehicle (10) according to the human power (HP); and a memory (44) wherein the controller (42) drives a motor (32A) in a case where the human driving force (HP) is greater than or equal to a first value (V1), and The memory (44) modifiably stores the first value (V1). [2] Control device (40) for a human-powered vehicle (10) comprising a controller (42) configured to control motor-assisted propulsion of a human-powered vehicle (10) according to the human driving force (HP), wherein the controller (42) has several control modes and is configured to control a motor (32A) in one of the control modes, selected by actuating an actuating section (34), and The multiple control modes include a first control mode (MA1) in which the motor (32A) is driven in a case where the human driving force (HP) is greater than or equal to a first value (V1), and a second control mode (MA2) in which the motor (32A) is driven in a case where the human driving force (HP) is greater than or equal to a second value (V2) that differs from the first value (V1). [3] Control device (40) for a human-powered vehicle (10) according to claim 2, wherein the first value (V1) is greater than the second value (V2). [4] Control device (40) for a human-powered vehicle (10) according to claim 2 or 3, further comprising a memory (44) wherein the memory (44) stores the first value (V1) in a modifiable manner. [5] Control device (40) for a human-powered vehicle (10) according to claim 1 or 4, wherein the memory (44) is configured such that the first value (V1) can be changed according to an input signal which is / is entered into the controller (42) by an external device (50). [6] Vehicle control device for a vehicle (10) according to claim 5, wherein the external device (50) enables the input of numerical information / numerical information and The memory (44) stores the numerical information(s) received from the external device (50) as the first value (V1). [7] Control device (40) for a human-powered vehicle (10) according to claim 5, wherein the memory (44) stores several numerical pieces of information, the external device (50) is set up to select one of the several numerical pieces of information, and The memory (44) stores one of the several numerical pieces of information that is selected / will be selected as the first value (V1) by the external device (50). [8] Control device (40) for a human-powered vehicle (10) according to any one of claims 1 to 7, wherein the first value (V1) is 50 W. [9] Control device (40) for a human-powered vehicle (10) according to any one of claims 1 to 8, wherein the human driving force (HP) is a power (WR) which is calculated based on a torque (RT) applied to a crank (14) and a rotational speed (RS) of the crank (14). [10] Control device (40) for a human-powered vehicle (10) according to any one of claims 1 to 7, wherein the first value (V1) is 10 Nm. [11] Control device (40) for a human-powered vehicle (10) according to one of claims 1 to 7 or 10, wherein the human driving force (HP) is a torque (RT) applied to a crank (14). [12] Control device (40) for a human-powered vehicle (10), comprising: a controller (42) that controls motor-assisted propulsion of a human-powered vehicle (10) according to the human driving force (HP); and a memory (44) wherein the controller (42) controls a motor (32A) such that the output of the motor (32A) is less than or equal to a third value (V3), and The memory (44) modifiably stores the third value (V3). [13] Control device (40) for a human-powered vehicle (10) according to claim 12, wherein the output of the motor (32A) is a power (WR) or a torque (RT). [14] Control device (40) for a human-powered vehicle (10) according to claim 12 or 13, wherein the memory (44) is configured such that the third value (V3) can be changed according to an input signal which is entered into the controller (42) by an external device (50). [15] Control device (40) for a human-powered vehicle (10) according to claim 14, wherein the external device (50) enables the input of numerical information / numerical information and The memory (44) stores the numerical information(s) received from the external device (50) as a third value (V3). [16] Control device (40) for a human-powered vehicle (10) according to claim 14, wherein The memory (44) stores several numerical pieces of information. the external device (50) is set up to select one of the several numerical pieces of information, and The memory (44) stores one of the several numerical pieces of information that is selected / will be selected as the third value (V3) by the external device (50). [17] Control device (40) for a human-powered vehicle (10) comprising a controller (42) which controls a motor-assisted drive of a human-powered vehicle (10) according to the human power (HP), wherein the controller (42) drives a motor (32A) in a case where the human power (HP) is greater than or equal to 50 W or greater than or equal to 10 Nm.

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