Control device for man-power drive vehicle

Abstract

To provide a control device for a man-power drive vehicle capable of suitably performing transmission operation of a derailleur.SOLUTION: A control device for a man-power drive vehicle includes a control portion configured to control a motor. The control portion is configured to change a transmission ratio by driving a transmission body with the motor and operating the transmission body with a derailleur, when a first condition relating to pedaling is satisfied. The first condition includes a condition relating to at least one of a pedal state, man-power driving force input to the pedal, a crank arm state, man-power driving force input to the crank arm, angular acceleration of a crank shaft, a rotation state of a first rotator, a tire state, a rotation state of a second rotator, an operation state of a transmission body, an operation state of a derailleur, a rotation state of the motor, electric energy supplied to the motor, a handle state, a saddle state, and positional information on the man-power drive device.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a control device for a human-powered vehicle. [Background technology]

[0002] For example, Patent Document 1 discloses a control device for a human-powered vehicle that performs a gear shifting operation of a derailleur by driving a transmission body with a motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2016 / 0052594 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that can perform a suitable gear shifting operation of a derailleur. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including: pedals; crank arms connected to the pedals; a crank axle connected to the crank axle; a first rotating body connected to the crank axle; a wheel including a tire; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crank axle; a motor configured to drive the transmission body; a handle; and a saddle, and the control device is configured to control the motor. the control unit is configured to change the gear ratio by operating the transmission body with the derailleur while driving the transmission body with the motor when a first condition related to pedaling is satisfied, and the first condition includes a condition related to at least one of the state of the pedal, the human-powered driving force input to the pedal, the state of the crank arm, the human-powered driving force input to the crank arm, the angular acceleration of the crank shaft, the rotational state of the first rotating body, the state of the tire, the rotational state of the second rotating body, the operating state of the transmission body, the operating state of the derailleur, the rotational state of the motor, the electric energy supplied to the motor, the state of the handlebars, the state of the saddle, and position information of the human-powered vehicle. According to the control device of the first aspect, the derailleur can be suitably shifted depending on at least one of the conditions of the pedal state, the manual driving force input to the pedal, the crank arm state, the manual driving force input to the crank arm, the angular acceleration of the crankshaft, the rotational state of the first rotating body, the tire state, the rotational state of the second rotating body, the operating state of the transmission body, the operating state of the derailleur, the rotational state of the motor, the electrical energy supplied to the motor, the handle state, the saddle state, and the position information of the human-powered vehicle.

[0006] In the control device of the second aspect according to the first aspect of the present disclosure, the first condition includes a condition related to the angular acceleration of the crankshaft, and is satisfied when the angular acceleration of the crankshaft is equal to or less than a predetermined angular acceleration. According to the control device of the second aspect, when the angular acceleration of the crankshaft is equal to or less than a predetermined angular acceleration, the transmission body is driven by the motor and operated by the derailleur, thereby making it possible to change the gear ratio.

[0007] In the control device of the third aspect according to the second aspect of the present disclosure, the control unit is configured to determine that a condition regarding the angular acceleration of the crankshaft is satisfied based on a signal input from a first detection unit that detects the angular acceleration of the crankshaft. According to the control device of the third aspect, the first condition can be suitably determined based on the signal input from the first detection section.

[0008] In a control device of a fourth aspect according to any one of the first to third aspects of the present disclosure, the first condition includes a condition related to the rotational state of the motor, and the condition related to the rotational state of the motor includes a condition related to the rotational speed of the motor, and is satisfied when the rotational speed of the motor is equal to or less than a predetermined motor rotational speed. According to the control device of the fourth aspect, when the rotation speed of the motor is equal to or lower than a predetermined motor rotation speed, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0009] In a control device of a fifth aspect according to any one of the first to fourth aspects of the present disclosure, the first condition includes a condition related to the rotational state of the motor, and the condition related to the rotational state of the motor includes a condition related to the amount of rotation of the motor, and is satisfied when the amount of rotation of the motor is equal to or less than a predetermined motor rotation amount. According to the control device of the fifth aspect, when the rotation amount of the motor is equal to or less than a predetermined motor rotation amount, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby changing the gear ratio.

[0010] In the control device of the sixth aspect according to the fourth or fifth aspect of the present disclosure, the control unit is configured to determine that a condition regarding the rotational state of the motor is satisfied based on a signal input from a second detection unit that detects the rotational state of the motor. According to the control device of the sixth aspect, the first condition can be suitably determined based on the signal input from the second detection section.

[0011] In the control device of the seventh aspect according to any one of the first to sixth aspects of the present disclosure, the first condition includes a condition related to the electrical energy supplied to the motor, and is satisfied when the current value of the electrical energy is less than or equal to a predetermined current value. According to the control device of the seventh aspect, when the current value of the electric energy is equal to or less than a predetermined current value, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0012] In the control device of the eighth aspect according to the seventh aspect of the present disclosure, the control unit is configured to determine that a condition regarding the electrical energy supplied to the motor is satisfied based on a signal input from a third detection unit that detects the electrical energy supplied to the motor. According to the control device of the eighth aspect, the first condition can be suitably determined based on the signal input from the third detection section.

[0013] In a control device of a ninth aspect according to any one of the first to eighth aspects of the present disclosure, the first condition includes a condition regarding the rotational state of the first rotating body, and the condition regarding the rotational state of the first rotating body is satisfied when at least one of the rotational speed of the first rotating body is less than or equal to a first rotational speed and the angular acceleration of the first rotating body is less than or equal to a first angular acceleration. According to the control device of the ninth aspect, when the rotational speed of the first rotating body is equal to or less than the first rotational speed and / or the angular acceleration of the first rotating body is equal to or less than the first angular acceleration, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0014] In the control device of the tenth aspect according to the ninth aspect of the present disclosure, the control unit is configured to determine that a condition regarding the rotational state of the first rotating body is satisfied based on a signal input from a fourth detection unit that detects the rotational state of the first rotating body. According to the control device of the tenth aspect, the first condition can be suitably determined based on the signal input from the fourth detection section.

[0015] In the control device of aspect 11 according to any one of aspects 1 to 10 of the present disclosure, the first condition includes a condition regarding the rotational state of the second rotating body, and the condition regarding the rotational state of the second rotating body is satisfied when at least one of the rotational speed of the second rotating body is less than or equal to a second rotational speed and the angular acceleration of the second rotating body is less than or equal to a second angular acceleration. According to the control device of the eleventh aspect, when the rotational speed of the second rotating body is equal to or less than the second rotational speed and / or the angular acceleration of the second rotating body is equal to or less than the second angular acceleration, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the control unit is configured to determine that a condition regarding the rotational state of the second rotating body is satisfied based on a signal input from a fifth detection unit that detects the rotational state of the second rotating body. According to the control device of the twelfth aspect, the first condition can be suitably determined based on the signal input from the fifth detection section.

[0017] In a control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the first condition includes a condition regarding the operating state of the transmission body, and the condition regarding the operating state of the transmission body is satisfied when the movement speed of the transmission body is equal to or less than a predetermined movement speed. According to the control device of the thirteenth aspect, when the moving speed of the transmission body is equal to or less than a predetermined moving speed, the transmission body is driven by the motor and operated by the derailleur, thereby making it possible to change the gear ratio.

[0018] In the control device of the fourteenth aspect according to the thirteenth aspect of the present disclosure, the control unit is configured to determine that a condition regarding the operating state of the transmitting body is satisfied based on a signal input from a sixth detection unit that detects the operating state of the transmitting body. According to the control device of the fourteenth aspect, the first condition can be suitably determined based on the signal input from the sixth detection section.

[0019] In the control device of a fifteenth aspect according to any one of the first to fourteenth aspects of the present disclosure, the first condition includes a condition regarding the operating state of the derailleur, the derailleur having a pulley around which the transmission body is wound, and the condition regarding the operating state of the derailleur is satisfied when the rotational speed of the pulley is equal to or less than a predetermined pulley rotational speed. According to the control device of the fifteenth aspect, when the rotational speed of the pulley is equal to or lower than a predetermined pulley rotational speed, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0020] In the control device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, the control unit is configured to determine that a condition regarding the operating state of the derailleur is satisfied based on a signal input from a seventh detection unit that detects the rotational speed of the pulley. According to the control device of the sixteenth aspect, the first condition can be suitably determined based on the signal input from the seventh detection section.

[0021] In the control device of a seventeenth aspect according to any one of the first to sixteenth aspects of the present disclosure, the first condition includes a condition regarding the operating state of the derailleur, the derailleur comprising a base portion attached to a frame of the human-powered vehicle and an operating portion attached to the base portion and movable relative to the base portion, and the condition regarding the operating state of the derailleur is satisfied when the operating state of the operating portion is a predetermined operating state. According to the control device of the seventeenth aspect, when the operating state of the operating part is in a predetermined operating state, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0022] In the control device of the 18th aspect according to the 17th aspect of the present disclosure, the control unit is configured to determine that a condition regarding the operating state of the derailleur is satisfied based on a signal input from an 8th detection unit that detects the operating state of the operating unit. According to the control device of the eighteenth aspect, the first condition can be suitably determined based on the signal input from the eighth detection section.

[0023] In a control device of a 19th aspect according to any one of the first to eighteenth aspects of the present disclosure, the first condition includes a condition regarding the state of the crank arm, the condition regarding the state of the crank arm includes a condition regarding the rotational state of the crank arm, and the condition regarding the rotational state of the crank arm is satisfied when the rotational state of the crank arm is a predetermined rotational state. According to the control device of the nineteenth aspect, when the rotational state of the crank arm is in a predetermined rotational state, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby making it possible to change the gear ratio.

[0024] In the control device of the 20th aspect according to the 19th aspect of the present disclosure, the control unit is configured to determine that a condition regarding the rotational state of the crank arm is satisfied based on a signal input from a 9th detection unit that detects the rotational state of the crank arm. According to the control device of the twentieth aspect, the first condition can be suitably determined based on the signal input from the ninth detection section.

[0025] In the control device of aspect 21 according to any one of aspects 1 to 20 of the present disclosure, the first condition includes a condition regarding the manual driving force input to the crank arm, and the condition regarding the manual driving force input to the crank arm is satisfied when the manual driving force input to the crank arm is equal to or less than a predetermined manual driving force. According to the control device of the 21st aspect, when the manual driving force input to the crank arm is equal to or less than a predetermined manual driving force, the transmission body is driven by the motor while the transmission body is operated by the derailleur, thereby changing the gear ratio.

[0026] In the control device of the 22nd aspect according to the 21st aspect of the present disclosure, the control unit is provided on at least one of the crank arm and the pedal of the human-powered vehicle, and is configured to determine that a condition regarding the human-powered driving force input to the crank arm is satisfied based on a signal input from a 10th detection unit that detects the human-powered driving force input to the crank arm. According to the control device of the twenty-second aspect, the first condition can be suitably determined based on the signal input from the tenth detection section.

[0027] In the control device of the 23rd aspect according to any one of the 1st to 22nd aspects of the present disclosure, the control unit is configured to determine that the first condition is satisfied based on a predetermined signal input from an 11th detection unit, and the 11th detection unit is configured to output the predetermined signal when the rotational phase of at least one of the crank arm and the crankshaft is in a predetermined rotational phase. According to the control device of the twenty-third aspect, when the rotational phase of at least one of the crank arm and the crankshaft is in a predetermined rotational phase, the transmission body is driven by the motor and operated by the derailleur, thereby changing the gear ratio. According to the control device of the twenty-third aspect, the first condition can be suitably determined based on the signal input from the eleventh detection unit.

[0028] A control device according to a twenty-fourth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including: a crank arm to which human-powered driving force is input; a crank axle connected to the crank arm; a first rotating body connected to the crank axle; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body; a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to the rotational speed of the crank axle; and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and the control unit configured to change the gear ratio by driving the transmission body with the motor and operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, the control unit being configured to determine that the first condition is satisfied based on a signal input from at least one predetermined detection unit among a plurality of detection units, and being configured to be able to change the predetermined detection unit according to a second condition. According to the control device of the twenty-fourth aspect, the predetermined detection unit can be changed in accordance with the second condition, thereby enabling the derailleur to perform a suitable gear shifting operation.

[0029] In the control device of a twenty-fifth aspect according to the twenty-fourth aspect of the present disclosure, the second condition includes a condition relating to an abnormality in the plurality of detection units. According to the control device of the twenty-fifth aspect, when conditions relating to abnormalities in a plurality of detectors are met, the predetermined detector can be changed, thereby enabling the derailleur to perform gear shifting operations in an optimal manner.

[0030] A control device according to a 26th aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the human-powered vehicle further including at least one of a suspension and an adjustable seatpost, the control device including a control unit configured to control the motor, and the control unit configured to change the gear ratio by driving the transmission body with the motor and operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, the first condition including a condition related to at least one of a state of the suspension and a state of the adjustable seatpost. According to the control device of the twenty-sixth aspect, the derailleur can be suitably shifted in accordance with conditions relating to at least one of the state of the suspension and the state of the adjustable seat post.

[0031] A control device according to a twenty-seventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a plurality of drivetrain elements including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, and a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, the human-powered vehicle further including a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and the control unit configured to change the gear ratio by driving the transmission body with the motor while operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, the first condition including a condition related to a driving force transmission state between two adjacent drivetrain elements. According to the control device of the twenty-seventh aspect, the derailleur can be suitably shifted in accordance with the conditions relating to the state of transmission of driving force between two adjacent drive train elements. [Effects of the Invention]

[0032] The control device for a human-powered vehicle disclosed herein can perform the gear shifting operation of the derailleur in an optimal manner. [Brief explanation of the drawings]

[0033] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. 1. [Figure 3] FIG. 2 is a cross-sectional view of a drive unit for the human-powered vehicle of FIG. 1. [Figure 4] 4 is a schematic diagram of an electric circuit including the third detection unit of FIG. 3. FIG. [Figure 5] 4 is an exploded perspective view showing the sixth detector and the hub of the human-powered vehicle shown in FIG. 3. FIG. [Figure 6] FIG. 4 is a front view showing the seventh detector and the derailleur pulley of FIG. 3. [Figure 7] 3. FIG. 4 is a front view showing the eighth detector and the derailleur electric actuator and their surrounding structures. [Figure 8] FIG. 9 is a perspective view showing the eighth detector and the electric actuator of the derailleur in FIG. 8. [Figure 9] 4 is a front view of an example of a tenth detector, a crank arm, and a first rotating body in FIG. 3. FIG. [Figure 10] 10 is a front view of another example of the tenth detector of FIG. 3, a pedal, and a crank arm. FIG. [Figure 11] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the motor and the derailleur. [Figure 12] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle according to a second embodiment. [Figure 13] 11 is a flowchart of a process executed by a control unit according to a third embodiment to change a predetermined detection unit. DETAILED DESCRIPTION OF THE INVENTION

[0034] First Embodiment A control device 90 for a human-powered vehicle according to the present disclosure will be described with reference to FIGS. 1 to 11.

[0035] A human-powered vehicle is a vehicle that has at least one wheel and can be propelled at least by human driving force. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. There is no limit to the number of wheels a human-powered vehicle has. Human-powered vehicles also include, for example, one-wheeled vehicles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human driving force. Human-powered vehicles include E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles, the propulsion of which is assisted by an electric motor. In the following embodiments, a human-powered vehicle will be described as an electrically assisted bicycle.

[0036] As shown in FIG. 1 , the human-powered vehicle 10 includes pedals 12, crank arms 14, crankshafts 16, a first rotating body 18, a wheel 20, a second rotating body 22, a transmission body 24, a derailleur 26, a motor 28, a handlebar 30, and a saddle 32. The crank arms 14 are connected to the pedals 12. The crankshafts 16 are connected to the crank arms 14. The first rotating body 18 is connected to the crankshafts 16. The wheel 20 includes a tire 20A. The second rotating body 22 is connected to the wheel 20. The transmission body 24 is configured to engage with the first rotating body 18 and the second rotating body 22 and transmit driving force between the first rotating body 18 and the second rotating body 22. The derailleur 26 is configured to operate the transmission body 24 to change the gear ratio R of the rotational speed of the wheel 20 relative to the rotational speed of the crankshaft 16. The motor 28 is configured to drive the transmission body 24 .

[0037] The wheels 20 include a rear wheel 20R and a front wheel 20F. The second rotating body 22 is connected to the rear wheel 20R. The human-powered vehicle 10 further includes a frame 34. The frame 34 includes, for example, at least one of a top tube, a down tube, a seat tube, seat stays, and a chain stay. The human-powered vehicle 10 further includes a front fork 36.

[0038] The rear wheel 20R is driven by the rotation of the crankshaft 16. The rear wheel 20R is supported by a frame 34. The crankshaft 16 may be connected to the first rotor 18 so as to rotate integrally with it, or may be connected to it via a first one-way clutch 38B. The first one-way clutch 38B is configured to rotate the first rotor 18 forward when the crankshaft 16 rotates forward, and to allow relative rotation between the crankshaft 16 and the first rotor 18 when the crankshaft 16 rotates backward. The first rotor 18 includes a sprocket, a pulley, or a bevel gear. The transmission body 24 transmits the rotational force of the first rotor 18 to the second rotor 22. The transmission body 24 includes, for example, a chain, a belt, or a shaft.

[0039] The second rotating body 22 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 22 and the rear wheel 20R. The second one-way clutch is configured to rotate the rear wheel 20R forward when the second rotating body 22 rotates forward, and to allow relative rotation between the second rotating body 22 and the rear wheel 20R when the second rotating body 22 rotates backward.

[0040] A front wheel 20F is attached to the frame 34 via a front fork 36. The handlebars 30 are connected to the front fork 36 via a stem.

[0041] The human-powered vehicle 10 is provided with propulsive force by a drive unit 38 that includes a motor 28. The motor 28 is, for example, a brushless motor. The motor 28 is configured to transmit rotational force to a power transmission path of the human-powered driving force from the pedals 12 to the second rotor 22. In this embodiment, the motor 28 is provided on a frame 34 of the human-powered vehicle 10, and is configured to transmit rotational force to the first rotor 18.

[0042] As shown in FIGS. 1 and 3 , the drive unit 38 further includes a housing 38A. The motor 28 is provided in the housing 38A of the drive unit 38. The housing 38A is provided on the frame 34. The housing 38A is, for example, detachably attached to the frame 34. The drive unit 38 may be provided with a reducer connected to the output shaft of the motor 28. In this embodiment, the housing 38A rotatably supports the crankshaft 16. In this embodiment, a third one-way clutch 38C is preferably provided in the power transmission path between the motor 28 and the crankshaft 16. The third one-way clutch 38C suppresses transmission of the rotational force of the crankshaft 16 to the motor 28 when the crankshaft 16 is rotated in the forward direction of the human-powered vehicle 10.

[0043] The derailleur 26 shown in FIGS. 1 and 2 is provided in the transmission path of the human-powered driving force in the human-powered vehicle 10 and is configured to change the gear ratio R. The derailleur 26 has multiple gear stages. The gear ratios R corresponding to each gear stage are different from each other. The number of gear stages ranges, for example, from 3 to 30. The derailleur 26 changes the gear ratio R, which is the ratio of the rotational speed of the drive wheel to the rotational speed of the crankshaft 16. In this embodiment, the drive wheel is the rear wheel 20R. The derailleur 26 includes, for example, at least one of a front derailleur and a rear derailleur.

[0044] If the derailleur 26 includes a front derailleur, the first rotating body 18 includes multiple front sprockets. If the derailleur 26 includes a rear derailleur, the second rotating body 22 includes multiple rear sprockets. For example, the derailleur 26 includes an electric actuator 26A and is configured to be operated by the electric actuator 26A. The electric actuator 26A includes, for example, an electric motor. The relationship between the gear ratio R, the rotational speed of the drive wheel, and the rotational speed of the crankshaft 16 is expressed by equation (1). Formula (1): Transmission ratio R = rotation speed of drive wheel / rotation speed of crankshaft 16

[0045] The rotational speed of the drive wheels and the rotational speed of the crankshaft 16 may each be expressed as the number of rotations per unit time. The rotational speed of the drive wheels may be replaced with the number of teeth on the front sprocket, and the rotational speed of the crankshaft 16 may be replaced with the number of teeth on the rear sprocket.

[0046] 1, for example, derailleur 26 includes a base portion 26B attached to the frame 34 of the human-powered vehicle 10, and an operating portion 26C attached to base portion 26B and movable relative to base portion 26B. Operating portion 26C includes, for example, at least one of a link portion 26D, a movable portion 26E, and a plate 26F. For example, derailleur 26 includes a pulley 26G around which transmission body 24 is wound. Pulley 26G is provided on plate 26F. If derailleur 26 includes a rear derailleur, for example, derailleur 26 includes two pulleys 26G.

[0047] For example, the human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery elements. The battery element includes a rechargeable battery. For example, the battery 40 is configured to supply power to the drive unit 38. For example, the battery 40 is communicably connected to the drive unit 38 via wired or wireless communication, and can communicate with the drive unit 38 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0048] As shown in Fig. 2, the control device 90 includes a control unit 92. The control unit 92 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the control unit 92 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units included in the control unit 92 may be provided in multiple locations that are separate from each other. The control unit 92 may include one or multiple microcomputers.

[0049] For example, the control device 90 further includes a storage unit 94. The storage unit 94 stores predetermined control programs and information used in the control processing. The storage unit 94 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory. The volatile memory includes, for example, a random access memory (RAM).

[0050] For example, the control unit 92 includes a drive circuit for the motor 28. The drive circuit includes, for example, an inverter. For example, the control unit 92 is configured to control the motor 28 to provide a propulsive force to the human-powered vehicle 10 in accordance with at least one of the running state and running environment of the human-powered vehicle 10. For example, the control unit 92 is configured to control the motor 28 to provide a propulsive force to the human-powered vehicle 10 in accordance with at least one output of the vehicle speed detection unit 42, the human-powered driving force detection unit 44, and the crank rotation state detection unit 46.

[0051] The vehicle speed detection unit 42 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. In this embodiment, the vehicle speed detection unit 42 is configured to detect information related to the rotational speed of at least one wheel 20 of the human-powered vehicle 10. The vehicle speed detection unit 42 is configured, for example, to detect a magnet provided on at least one wheel 20 of the human-powered vehicle 10. The vehicle speed detection unit 42 is configured, for example, to output a detection signal a predetermined number of times during one rotation of one of the at least one wheel 20. The predetermined number is, for example, 1. The vehicle speed detection unit 42 outputs a signal corresponding to the rotational speed of the wheel 20. The control unit 92 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 20 and information related to the circumference of the wheel 20. For example, information related to the circumference of the wheel 20 is stored in the control unit 92.

[0052] The human-powered driving force detection unit 44 is configured to detect information related to the human-powered driving force. The human-powered driving force detection unit 44 is provided, for example, on the frame 34, drive unit 38, crankshaft 16, or pedal 12 of the human-powered vehicle 10.

[0053] As shown in FIG. 3, the manual driving force detection unit 44 may be provided in the housing 38A of the drive unit 38. The manual driving force detection unit 44 includes, for example, a torque sensor 44A. The torque sensor 44A is configured to output a signal corresponding to the torque applied to the crankshaft 16 by the manual driving force. For example, when a first one-way clutch 38B is provided in the power transmission path, the torque sensor 44A is preferably provided upstream of the first one-way clutch 38B in the power transmission path. The torque sensor 44A includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge.

[0054] The torque sensor 44A is provided on a component included in the power transmission path or near a component included in the power transmission path. The component included in the power transmission path is, for example, the crankshaft 16, a component that transmits manual driving force between the crankshaft 16 and the first rotor 18, the crank arm 14, or the pedal 12. The manual driving force detection unit 44 may have any configuration as long as it can acquire information related to the manual driving force, and may include, for example, a sensor that detects pressure applied to the pedal 12 or a sensor that detects chain tension. The manual driving force detection unit 44 may be included in the drive unit 38.

[0055] The crank rotation state detection unit 46 is configured to detect information related to the rotation speed of the crankshaft 16. The crank rotation state detection unit 46 is provided, for example, on the frame 34 or drive unit 38 of the human-powered vehicle 10. The crank rotation state detection unit 46 may also be provided on the housing 38A of the drive unit 38. The crank rotation state detection unit 46 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. An annular magnet, the strength of whose magnetic field varies circumferentially, is provided on the crankshaft 16, a member that rotates in conjunction with the crankshaft 16, or on the power transmission path from the crankshaft 16 to the first rotor 18. The member that rotates in conjunction with the crankshaft 16 may include the output shaft of the motor 28.

[0056] The crank rotation state detection unit 46 outputs a signal corresponding to the rotation speed of the crankshaft 16. For example, if the first one-way clutch 38B is not provided between the crankshaft 16 and the first rotating body 18, the magnet may be provided on the first rotating body 18. The crank rotation state detection unit 46 may have any configuration as long as it can acquire information regarding the rotation speed of the crankshaft 16, and may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of a magnetic sensor. The crank rotation state detection unit 46 may be included in the drive unit 38.

[0057] 1 and 2, the configuration of the control unit 92 will be described. The control unit 92 is configured to control the motor 28. When a first condition related to pedaling is satisfied, the control unit 92 is configured to change the gear ratio R by operating the transmission body 24 via the derailleur 26 while driving the transmission body 24 via the motor 28. The first condition includes conditions related to at least one of the state of the pedals 12, the human-powered driving force input to the pedals 12, the state of the crank arms 14, the human-powered driving force input to the crank arms 14, the angular acceleration of the crankshaft 16, the rotational state of the first rotating body 18, the state of the tires 20A, the rotational state of the second rotating body 22, the operating state of the transmission body 24, the operating state of the derailleur 26, the rotational state of the motor 28, the electrical energy supplied to the motor 28, the state of the handlebars 30, the state of the saddle 32, and position information of the human-powered vehicle 10.

[0058] For example, when the state of the transmission body 24 is not suitable for shifting operation by the derailleur 26, the control unit 92 is configured to change the gear ratio R by driving the transmission body 24 with the motor 28 and operating the transmission body 24 with the derailleur 26.

[0059] For example, the first condition is set as a condition that can determine whether the state of the transmission body 24 is suitable for shifting by the derailleur 26. For example, the first condition is set so as to be satisfied when the state of the transmission body 24 is not suitable for shifting by the derailleur 26. When the state of the transmission body 24 is not suitable for shifting by the derailleur 26, the crankshaft 16 is not rotated by manual driving force, so no driving force is applied to the transmission body 24 and the transmission body 24 cannot move relative to the first rotating body 18 and the second rotating body 22. When the state of the transmission body 24 is not suitable for shifting by the derailleur 26, the state may also include a state where no driving force is applied from the motor 28 to the transmission body 24 and the transmission body 24 cannot move relative to the first rotating body 18 and the second rotating body 22.

[0060] For example, when the shifting condition and the first condition are satisfied, the control unit 92 is configured to change the gear ratio R by operating the transmission body 24 with the derailleur 26 while driving the transmission body 24 with the motor 28. For example, the shifting condition is satisfied when the shift operating device is operated. For example, the shifting condition is satisfied in response to at least one of the driving state and driving environment of the human-powered vehicle 10. For example, the shifting condition is satisfied when it is predicted that the human-powered vehicle 10 will stop. For example, the control unit 92 determines that the shifting condition is satisfied when the vehicle speed of the human-powered vehicle 10 is equal to or lower than a predetermined vehicle speed. For example, the control unit 92 determines that the shifting condition is satisfied in response to the gradient of the road on which the human-powered vehicle 10 is traveling. The shifting condition may include at least one of a first shifting condition for increasing the gear ratio R and a second shifting condition for decreasing the gear ratio R.

[0061] 2, for example, the human-powered vehicle 10 further includes a detection unit 48 that detects a parameter for determining whether a first condition is satisfied. For example, the control unit 92 is configured to determine whether the first condition is satisfied based on the output of the detection unit 48, and if the first condition is satisfied, to change the gear ratio R by operating the transmission body 24 with the derailleur 26 while driving the transmission body 24 with the motor 28.

[0062] The first condition includes at least one of Example 1, Example 2, Example 3, Example 4, Example 5, Example 6, Example 7, Example 8, Example 9, Example 10, Example 11, Example 12, Example 13, Example 14, Example 15, Example 16, and Example 17. When the first condition includes two or more of Example 1, Example 2, Example 3, Example 4, Example 5, Example 6, Example 7, Example 8, Example 9, Example 10, Example 11, Example 12, Example 13, Example 14, Example 15, Example 16, and Example 17, for example, when the condition related to one example included in the first condition is satisfied, control unit 92 is configured to change gear ratio R by driving transmission body 24 with motor 28 and operating transmission body 24 with derailleur 26.

[0063] For example, the human-powered vehicle 10 includes detectors 48 corresponding to each example of the first condition. For example, if the first condition includes the first example, the detector 48 includes a first detector 50. For example, if the first condition includes at least one of the second and third examples, the detector 48 includes a second detector 52. For example, if the first condition includes the fourth example, the detector 48 includes a third detector 54. For example, if the first condition includes the fifth example, the detector 48 includes a fourth detector 56. For example, if the first condition includes the sixth example, the detector 48 includes a fifth detector 58.

[0064] For example, if the first condition includes the seventh example, the detection unit 48 includes a sixth detection unit 60. For example, if the first condition includes the eighth example, the detection unit 48 includes a seventh detection unit 62. For example, if the first condition includes the ninth example, the detection unit 48 includes an eighth detection unit 64. For example, if the first condition includes the tenth example, the detection unit 48 includes a ninth detection unit 66. For example, if the first condition includes the eleventh example, the detection unit 48 includes a tenth detection unit 68.

[0065] For example, if the first condition includes a twelfth example, the detection unit 48 includes an eleventh detection unit 70. For example, if the first condition includes a thirteenth example, the detection unit 48 includes a twelfth detection unit 72. For example, if the first condition includes a fourteenth example, the detection unit 48 includes a thirteenth detection unit 74. For example, if the first condition includes a fifteenth example, the detection unit 48 includes a fourteenth detection unit 76. For example, if the first condition includes a sixteenth example, the detection unit 48 includes a fifteenth detection unit 78. For example, if the first condition includes a seventeenth example, the detection unit 48 includes a sixteenth detection unit 80. The detection unit 48 does not need to include other detection units as long as it includes a detection unit corresponding to each example of the first condition used by the control unit 92.

[0066] Table 1 shows the relationship between the type of detector used in each example of the first condition and specific examples of when the first condition is met. All of the specific examples of when the first condition is met are intended to determine whether the state of the transmission body 24 is not suitable for shifting by the derailleur 26. For example, when the first condition corresponding to one predetermined example from the first to seventeenth examples is met, the control unit 92 is configured to change the gear ratio R by driving the transmission body 24 with the motor 28 and operating the transmission body 24 with the derailleur 26. When all of the first conditions corresponding to two or more predetermined examples from the first to seventeenth examples are met, the control unit 92 may be configured to change the gear ratio R by driving the transmission body 24 with the motor 28 and operating the transmission body 24 with the derailleur 26.

[0067] [Table 1]

[0068] In a first example of the first condition, the first condition includes a condition related to the angular acceleration of the crankshaft 16, and is satisfied when the angular acceleration of the crankshaft 16 is equal to or less than a predetermined angular acceleration. For example, the predetermined angular acceleration is set to a value that makes it possible to determine whether the crankshaft 16 is not rotating due to manual driving force. For example, the predetermined angular acceleration is a value of zero or near zero.

[0069] In a first example of the first condition, the control unit 92 is configured to determine that the condition regarding the angular acceleration of the crankshaft 16 is satisfied based on a signal input from the first detection unit 50 that detects the angular acceleration of the crankshaft 16.

[0070] For example, the first detection unit 50 may include an acceleration sensor provided on the crankshaft 16. The first detection unit 50 may be configured similarly to the crank rotation state detection unit 46, and the control unit 92 may be configured to obtain the angular acceleration of the crankshaft 16 by differentiating the rotation speed of the crankshaft 16. The first detection unit 50 may include an acceleration sensor provided on the crank arm 14.

[0071] In a second example of the first condition, the first condition includes a condition related to the rotational state of the motor 28, and the condition related to the rotational state of the motor 28 includes a condition related to the rotational speed of the motor 28. The first condition is satisfied when the rotational speed of the motor 28 is equal to or less than a predetermined motor rotational speed. For example, the predetermined motor rotational speed is set to a value that enables determination of whether the driving force of the motor 28 is not being applied to the transmission body 24. For example, the predetermined motor rotational speed is a value at or near zero. When the assist mode is on, the control unit 92 controls the motor 28 in accordance with the manual driving force. Therefore, when the assist mode is on and the crankshaft 16 is not rotated by the manual driving force, the rotational speed of the motor 28 is equal to or less than the predetermined motor rotational speed.

[0072] In a third example of the first condition, the first condition includes a condition related to the rotational state of the motor 28, and the condition related to the rotational state of the motor 28 includes a condition related to the rotational amount of the motor 28, and is satisfied when the rotational amount of the motor 28 is equal to or less than a predetermined motor rotational amount. For example, the predetermined motor rotational amount is set to a value that enables determination of whether the driving force of the motor 28 is not being applied to the transmission body 24. For example, the predetermined motor rotational amount is the rotational amount of the motor 28 per unit time. For example, the predetermined motor rotational amount is a value of zero or near zero. When the assist mode is on, the control unit 92 controls the motor 28 in accordance with the manual driving force. Therefore, when the assist mode is on and the crankshaft 16 is not rotated by the manual driving force, the rotational amount of the motor 28 is equal to or less than the predetermined motor rotational amount.

[0073] In the second and third examples of the first condition, the control unit 92 is configured to determine that the condition regarding the rotational state of the motor 28 is satisfied based on a signal input from the second detection unit 52 that detects the rotational state of the motor 28.

[0074] For example, the second detection unit 52 is configured to be able to detect the magnetic field of a magnet provided on the rotor of the motor 28. For example, the second detection unit 52 is a resolver. The second detection unit 52 may be configured to detect the rotational speed of the output shaft of the motor 28. When the second detection unit 52 is configured to detect the rotational speed of the output shaft of the motor 28, for example, the second detection unit 52 is configured to be able to detect the magnetic field of a magnet provided on the output shaft. The second detection unit 52 may be configured to detect the rotational speed of a predetermined rotor provided between the motor 28 and the first rotor 18. When the second detection unit 52 is configured to detect the rotational speed of the predetermined rotor, for example, the second detection unit 52 is configured to be able to detect the magnetic field of a magnet provided on the predetermined rotor. The predetermined rotor constitutes, for example, a reducer that reduces the rotation of the motor 28 and transmits it to the first rotor 18.

[0075] In a fourth example of the first condition, the first condition includes a condition related to the electrical energy supplied to the motor 28, and is satisfied when the current value of the electrical energy is equal to or less than a predetermined current value. The predetermined current value is set to, for example, a value at which it is possible to detect an unloaded state of the motor 28. An example of the value at which it is possible to detect an unloaded state of the motor 28 is 0.3 A. The predetermined current value is set to, for example, a value at which the motor 28 cannot propel the human-powered vehicle 10. An example of the value at which it is possible to propel the human-powered vehicle 10 by the motor 28 is 1 A.

[0076] In a fourth example of the first condition, the control unit 92 is configured to determine that the condition regarding the electrical energy supplied to the motor 28 is satisfied based on a signal input from the third detection unit 54 that detects the electrical energy supplied to the motor 28.

[0077] As shown in FIG. 5 , for example, the third detection unit 54 includes a current sensor 54A. For example, the current sensor 54A is provided in the wiring between the motor 28 and the battery 40. The control unit 92 controls the supply of power from the battery 40 to the motor 28 by controlling a transistor 92A. For example, a closed circuit 92B is provided in parallel with the motor 28 in the control circuit of the motor 28. The closed circuit 92B is configured by combining a resistor and a flyback diode. The closed circuit 92B smooths the change in voltage of the motor 28 caused by current interruption when the transistor 92A changes from on to off. For example, the current sensor 54A is provided closer to the motor 28 than the closed circuit 92B in the series circuit from the battery 40 to the motor 28.

[0078] In a fifth example of the first condition, the first condition includes a condition related to the rotational state of the first rotating body 18, and the condition related to the rotational state of the first rotating body 18 is satisfied when at least one of the rotational speed of the first rotating body 18 is equal to or less than a first rotational speed and the angular acceleration of the first rotating body 18 is equal to or less than a first angular acceleration. For example, the first rotational speed and the first angular acceleration are set to values ​​that enable determination of whether the crankshaft 16 is not rotating due to manual driving force. For example, the first rotational speed and the first angular acceleration are set to values ​​of zero or near zero.

[0079] In a fifth example of the first condition, the control unit 92 is configured to determine that the condition regarding the rotational state of the first rotating body 18 is satisfied based on a signal input from the fourth detection unit 56 that detects the rotational state of the first rotating body 18.

[0080] For example, the fourth detector 56 is configured to detect the magnetic field of a magnet provided in the first rotor 18. For example, the fourth detector 56 is provided in the frame 34. The fourth detector 56 may also be provided in the housing 38A of the drive unit 38. The fourth detector 56 may also be a rotary encoder.

[0081] In a sixth example of the first condition, the first condition includes a condition related to the rotational state of the second rotating body 22, and the condition related to the rotational state of the second rotating body 22 is satisfied when at least one of the rotational speed of the second rotating body 22 is equal to or less than a second rotational speed and the angular acceleration of the second rotating body 22 is equal to or less than a second angular acceleration. For example, the second rotational speed and the second angular acceleration are set to values ​​that enable determination of whether the crankshaft 16 is rotating due to manual driving force. For example, the second rotational speed and the second angular acceleration are set to values ​​of zero or near zero.

[0082] In a sixth example of the first condition, the control unit 92 is configured to determine that the condition regarding the rotational state of the second rotating body 22 is satisfied based on a signal input from a fifth detection unit 58 that detects the rotational state of the second rotating body 22.

[0083] As shown in FIG. 6, for example, the fifth detector 58 is configured to detect the magnetic field of a magnet 58A provided on the second rotating body 22 shown in FIG. 1. For example, the fifth detector 58 is provided on the frame 34. Two or more magnets 58A may be provided in the circumferential direction of the second rotating body 22. The magnet 58A is attached to the second rotating body 22 by, for example, a lock ring 20C for attaching the second rotating body 22 to the hub 20B of the rear wheel 20R. The fifth detector 58 may be a rotary encoder.

[0084] In a seventh example of the first condition, the first condition includes a condition related to the operating state of the transmission body 24, and the condition related to the operating state of the transmission body 24 is satisfied when the moving speed of the transmission body 24 is equal to or less than a predetermined moving speed. For example, the predetermined moving speed is set to a value that makes it possible to determine whether the crankshaft 16 is not being rotated by the manual driving force. For example, the predetermined moving speed is a value of zero or near zero.

[0085] In the seventh example of the first condition, the control unit 92 is configured to determine that the condition regarding the operating state of the transmission body 24 is satisfied based on a signal input from the sixth detection unit 60 that detects the operating state of the transmission body 24.

[0086] For example, the sixth detection unit 60 is configured to detect the magnetic field of a magnet provided in the transmission body 24. For example, the sixth detection unit 60 is provided in the frame 34. The sixth detection unit 60 may be a linear encoder configured to be able to detect the movement of the transmission body 24. The sixth detection unit 60 may be an acceleration sensor provided in the transmission body 24.

[0087] In an eighth example of the first condition, the first condition includes a condition related to the operating state of the derailleur 26, and the condition related to the operating state of the derailleur 26 is satisfied when the rotational speed of the pulley 26G is equal to or less than a predetermined pulley rotational speed. For example, the predetermined pulley rotational speed is set to a value that allows determination of whether the crankshaft 16 is being rotated by manual driving force. For example, the predetermined pulley rotational speed is a value at or near zero.

[0088] In the eighth example of the first condition, the control unit 92 is configured to determine that the condition regarding the operating state of the derailleur 26 is met based on a signal input from the seventh detection unit 62 that detects the rotational speed of the pulley 26G.

[0089] 7, for example, the seventh detector 62 is configured to detect the magnetic field of a magnet 26H provided on the pulley 26G. For example, the seventh detector 62 is provided on the plate 26F. The seventh detector 62 may be a rotary encoder.

[0090] In a ninth example of the first condition, the first condition includes a condition related to the operating state of the derailleur 26, and the condition related to the operating state of the derailleur 26 is satisfied when the operating state of the operating unit 26C is in a predetermined operating state. For example, the predetermined operating state is a state in which it is possible to determine whether the crankshaft 16 is not rotating due to manual driving force. When the transmission body 24 moves, the movement of the transmission body 24 causes the operating unit 26C to vibrate. For example, the predetermined operating state is a state in which it is possible to determine whether the operating unit 26C is moving in accordance with the movement of the transmission body 24.

[0091] In the ninth example of the first condition, the control unit 92 is configured to determine that the condition regarding the operating state of the derailleur 26 is met based on a signal input from the eighth detection unit 64, which detects the operating state of the operating unit 26C.

[0092] As shown in FIGS. 8 and 9 , for example, the eighth detector 64 is provided in the electric actuator 26A. The output shaft 26J of the electric motor included in the electric actuator 26A is connected to the reducer 26K. For example, the output shaft 26J includes a worm and is connected to a gear of the reducer 26K by the worm. For example, the eighth detector 64 is configured to detect the rotation state of the output shaft 26J. For example, the eighth detector 64 includes a rotor row encoder. The eighth detector 64 may be configured to detect the magnetic field of a magnet provided on the output shaft 26J.

[0093] When the transmission body 24 moves, the output shaft 26J rotates slightly in response to the vibration of the operating unit 26C. For example, the control unit 92 determines the movement of the transmission body 24 based on the rotation state of the output shaft 26J. The eighth detection unit 64 may be a sensor that detects the distance between the frame 34 or the base unit 26B and the operating unit 26C. The eighth detection unit 64 may be a vibration sensor that detects the vibration of the operating unit 26C.

[0094] In a tenth example of the first condition, the first condition includes a condition related to the state of the crank arm 14, and the condition related to the state of the crank arm 14 includes a condition related to the rotational state of the crank arm 14, and the condition related to the rotational state of the crank arm 14 is satisfied when the rotational state of the crank arm 14 is a predetermined rotational state. For example, the predetermined rotational state is a state in which it is possible to determine whether the crankshaft 16 is not rotating due to manual driving force. For example, the predetermined rotational state is related to the rotational speed of the crank arm 14, and is satisfied when the rotational speed of the crank arm 14 is equal to or less than a predetermined crank arm rotational speed. The predetermined crank arm rotational speed is a value of zero or near zero.

[0095] In the tenth example of the first condition, the control unit 92 is configured to determine that the condition regarding the rotational state of the crank arm 14 is satisfied based on a signal input from the ninth detection unit 66 that detects the rotational state of the crank arm 14.

[0096] For example, the ninth detector 66 is configured to detect the magnetic field of a magnet provided in the crank arm 14. For example, the ninth detector 66 is provided in a portion of the frame 34 that can face the crank arm 14. The ninth detector 66 may also be provided in the housing 38A of the drive unit 38.

[0097] In an eleventh example of the first condition, the first condition includes a condition related to the manual driving force input to the crank arm 14, and the condition related to the manual driving force input to the crank arm 14 is satisfied when the manual driving force input to the crank arm 14 is equal to or less than a predetermined manual driving force. For example, the predetermined manual driving force is set to a value that makes it possible to determine whether the crankshaft 16 is not rotating due to the manual driving force. For example, the predetermined manual driving force is a value of zero or near zero.

[0098] In an eleventh example of the first condition, the control unit 92 is provided on at least one of the crank arm 14 and the pedal 12 of the human-powered vehicle 10, and is configured to determine that the condition regarding the human-powered driving force input to the crank arm 14 is met based on a signal input from a tenth detection unit 68 that detects the human-powered driving force input to the crank arm 14.

[0099] As shown in FIG. 10, for example, the tenth detection unit 68 includes a strain sensor 68A provided in the middle of the crank arm 14 in the direction in which the crank arm 14 extends.

[0100] As shown in FIG. 11, the tenth detection unit 68 includes, for example, a pressure sensor 68B provided on the pedal 12.

[0101] In a twelfth example of the first condition, the control unit 92 is configured to determine that the first condition is satisfied based on a predetermined signal input from the eleventh detection unit 70, and the eleventh detection unit 70 is configured to output the predetermined signal when the rotational phase of at least one of the crank arm 14 and the crankshaft 16 is at a predetermined rotational phase. For example, the predetermined rotational phase is set to a phase at which it is possible to determine whether the crankshaft 16 is not rotating due to manual driving force. For example, the predetermined rotational phase is a phase at which the crank arm 14 is 90 degrees away from top dead center or bottom dead center. For example, when the rider has their feet on the pedals 12 without pedaling the pedals 12, the crank arm 14 is maintained at a phase at which it is 90 degrees away from top dead center or bottom dead center.

[0102] For example, when the rider's feet are placed on the pedals 12, the manual driving force input to the crankshaft 16 is greater than zero, but the transmission body 24 may not be in a state suitable for operating the derailleur 26. In the twelfth example of the first condition, even if the manual driving force input to the crankshaft 16 is greater than zero, if the rider places their feet on the pedals 12 without pedaling the pedals 12, a gear shift operation can be performed.

[0103] For example, the eleventh detector 70 is configured to be able to detect the rotational phase of at least one of the crank arm 14 and the crankshaft 16. The eleventh detector 70 may be configured to detect the magnetic field of a magnet provided in a portion of at least one of the crank arm 14 and the crankshaft 16 whose rotational phase corresponds to a predetermined rotational phase. For example, the eleventh detector 70 is provided in a position in the frame 34 or the housing 38A of the drive unit 38 where it can detect the magnetic field of the magnet provided in at least one of the crank arm 14 and the crankshaft 16 when the rotational phase of at least one of the crank arm 14 and the crankshaft 16 is at the predetermined rotational phase.

[0104] In a thirteenth example of the first condition, the first condition includes a condition related to the state of the pedal 12, and the condition related to the state of the pedal 12 is satisfied when the state of the pedal 12 is a predetermined pedal state. For example, the predetermined pedal state is a state in which it can be determined whether the crankshaft 16 is not rotating due to manual driving force.

[0105] In a thirteenth example of the first condition, the control unit 92 is configured to determine that the condition regarding the pedal 12 is satisfied based on a signal input from a twelfth detection unit 72 provided on the pedal 12 and detecting the state of the pedal 12.

[0106] In a fourteenth example of the first condition, the first condition includes a condition related to the state of the tire 20A, and the condition related to the state of the tire 20A is satisfied when the state of the tire 20A is a predetermined tire state. For example, the predetermined tire state is a state in which it is possible to determine whether the crankshaft 16 is not rotating due to human driving force. The predetermined tire state corresponds, for example, to a state in which the human-powered vehicle 10 is not being pedaled by human driving force, in relation to changes in the air pressure of the tire 20A.

[0107] In a fourteenth example of the first condition, the control unit 92 is configured to determine that the condition regarding the state of the tire 20A is satisfied based on a signal input from a thirteenth detection unit 74 that is provided in the tire 20A and detects the state of the tire 20A. The thirteenth detection unit 74 includes, for example, an air pressure sensor.

[0108] In a fifteenth example of the first condition, the first condition includes a condition related to the state of the handlebars 30, and the condition related to the state of the handlebars 30 is satisfied when the state of the handlebars 30 is a predetermined handlebar state. For example, the predetermined handlebar state is a state in which it is possible to determine whether the crankshaft 16 is not being rotated by human-powered driving force. The predetermined handlebar state corresponds, for example, to a state in which the load applied to the handlebars 30 is such that the human-powered vehicle 10 is not being pedaled by human-powered driving force.

[0109] In a 15th example of the first condition, the control unit 92 is configured to determine that the condition regarding the handle 30 is met based on a signal input from a 14th detection unit 76 provided on the handle 30 and detecting the state of the handle 30.

[0110] In a sixteenth example of the first condition, the first condition includes a condition related to the state of the saddle 32, and the condition related to the state of the saddle 32 is satisfied when the state of the saddle 32 is a predetermined saddle state. For example, the predetermined saddle state is a state in which it can be determined whether the crankshaft 16 is not rotating due to manual driving force.

[0111] In the 16th example of the first condition, the control unit 92 is configured to determine that the condition regarding the state of the saddle 32 is met based on a signal input from a 16th detection unit 80 provided in the saddle 32 and detecting the state of the saddle 32.

[0112] In a seventeenth example of the first condition, the first condition includes a condition related to the position information of the human-powered vehicle 10, and the condition related to the position information of the human-powered vehicle 10 is satisfied when the distance traveled by the human-powered vehicle 10 per predetermined time period is equal to or less than a predetermined distance. For example, the predetermined distance is set to a value that makes it possible to determine whether the crankshaft 16 is not rotating due to human driving force. For example, the predetermined distance is a value of zero or near zero.

[0113] In a seventeenth example of the first condition, the control unit 92 is configured to determine that the condition regarding the position information of the human-powered vehicle 10 is satisfied based on a signal input from a sixteenth detection unit 80 that detects position information of the human-powered vehicle 10. For example, the sixteenth detection unit 80 includes a GPS (Global Positioning System) receiver.

[0114] The process by which the control unit 92 controls the motor 28 and derailleur 26 will be described with reference to Figure 12. For example, when power is supplied to the control unit 92, the control unit 92 starts the process and proceeds to step S11 of the flowchart shown in Figure 12. When the flowchart of Figure 12 ends, the control unit 92 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0115] In step S11, the control unit 92 determines whether or not the gear shift condition is satisfied. If the gear shift condition is satisfied, the control unit 92 proceeds to step S12. If the gear shift condition is not satisfied, the control unit 92 ends the processing.

[0116] In step S12, the control unit 92 determines whether or not the first condition is satisfied. If the first condition is satisfied, the control unit 92 proceeds to step S13. If the first condition is not satisfied, the control unit 92 ends the process.

[0117] In step S13, the control unit 92 changes the gear ratio R by operating the transmission body 24 with the derailleur 26 while driving the transmission body 24 with the motor 28, and then ends the process.

[0118] Second Embodiment A control device 90 of the second embodiment will be described with reference to Figures 1 and 12. The control device 90 of the second embodiment includes the same configuration as the control device 90 of the first embodiment, except for the first condition. Therefore, the same reference numerals as in the first embodiment are used for the configuration of the control device 90 of the second embodiment that is common to the first embodiment, and redundant description will be omitted.

[0119] The human-powered vehicle 10 of this embodiment further includes at least one of a suspension 84 and an adjustable seat post 86. The first condition of this embodiment includes a condition related to at least one of the state of the suspension 84 and the state of the adjustable seat post 86.

[0120] The suspension 84 includes at least one of a rear suspension device and a front suspension device. The suspension 84 absorbs shocks applied to the wheel 20. The suspension 84 may be a hydraulic suspension or an air suspension. The suspension 84 includes a first portion and a second portion fitted into the first portion and movable relative to the first portion. The operating states of the suspension 84 include, for example, a locked state in which relative movement between the first portion and the second portion is restricted, and an unlocked state in which relative movement between the first portion and the second portion is permitted. The electric actuator switches the operating state of the suspension 84. The locked state of the suspension 84 may include a state in which the first portion and the second portion move slightly relative to each other when a strong force is applied to the wheel 20. Instead of or in addition to the locked state and the unlocked state, the operating states of the suspension 84 may include at least one of multiple operating states with different damping forces and multiple operating states with different stroke amounts.

[0121] The rear suspension device is configured to be mounted on the frame 34 of the human-powered vehicle 10. The rear suspension device is mounted between the frame body of the frame 34 and a swing arm that supports the rear wheel 20R. The rear suspension device absorbs shocks applied to the rear wheel 20R. The front suspension device is configured to be mounted between the frame 34 of the human-powered vehicle 10 and the front wheel 20F. The front suspension device is mounted on the front fork 36. The front suspension device absorbs shocks applied to the front wheel 20F.

[0122] The suspension 84 may include an electric actuator for operating the suspension 84. The electric actuator includes an electric motor. The electric motor included in the electric actuator may be replaced with a solenoid. The drive circuit drives the electric actuator in response to a control signal from the control device 90.

[0123] The adjustable seat post 86 is mounted on the seat tube and configured to change the height of the saddle 32. The adjustable seat post 86 may be an electric seat post in which the seat post extends and retracts with the force of an electric actuator, or a mechanical seat post in which the seat post extends with the force of at least one of a spring and air and retracts with human force by controlling a valve with the force of an electric actuator. The mechanical seat post may be a hydraulic seat post or a hydraulic and pneumatic seat post.

[0124] Table 2 shows the relationship between the type of detector used in each example of the first condition of the second embodiment and specific examples of when the first condition is met. All of the specific examples of when the first condition is met are intended to determine whether the state of the transmission body 24 is not suitable for shifting by the derailleur 26. For example, when the first condition corresponding to the 18th or 19th example is met, the control unit 92 is configured to change the gear ratio R by driving the transmission body 24 with the motor 28 and operating the transmission body 24 with the derailleur 26. For example, when both of the first conditions corresponding to the 18th and 19th examples are met, the control unit 92 may be configured to change the gear ratio R by driving the transmission body 24 with the motor 28 and operating the transmission body 24 with the derailleur 26. The control unit 92 may be configured to change the gear ratio R by operating the transmission body 24 by the derailleur 26 while driving the transmission body 24 by the motor 28 when a first condition corresponding to one or more predetermined examples among the first to seventeenth examples and at least one predetermined example among the eighteenth and nineteenth examples are all satisfied. The control unit 92 may be configured to change the gear ratio R by operating the transmission body 24 by the derailleur 26 while driving the transmission body 24 by the motor 28 when a first condition corresponding to two or more predetermined examples among the first to nineteenth examples is all satisfied.

[0125] [Table 2]

[0126] When the human-powered vehicle 10 includes a suspension 84, for example, the first condition includes an 18th example. In the 18th example of the first condition, the first condition is satisfied when the state of the suspension 84 is a predetermined suspension state. For example, the predetermined suspension state is a state in which it is possible to determine whether the crankshaft 16 is not rotating due to human-powered driving force. For example, the predetermined suspension state corresponds to a state in which the impact applied to the suspension 84 is small. For example, the control unit 92 determines that the first condition is satisfied when the amount of change per unit time in the stroke length of the suspension 84 is equal to or less than a predetermined amount of change.

[0127] In a 19th example of the first condition, the control unit 92 is configured to determine that the condition regarding the state of the suspension 84 is satisfied based on a signal input from a 17th detection unit 100 that detects the state of the suspension 84.

[0128] When the human-powered vehicle 10 includes an adjustable seatpost 86, for example, the first condition includes a 19th example. In the 19th example of the first condition, the first condition is met when the adjustable seatpost 86 is in a predetermined seatpost state. For example, the predetermined seatpost state is a state in which it is possible to determine whether the crankshaft 16 is not rotating due to human-powered driving force. For example, the predetermined seatpost state corresponds to a state in which the impact applied to the adjustable seatpost 86 is small. For example, the control unit 92 determines that the first condition is met when the load change amount of the adjustable seatpost 86 is equal to or less than a predetermined load change amount.

[0129] In a 19th example of the first condition, the control unit 92 is configured to determine that the condition regarding the state of the adjustable seat post 86 is met based on a signal input from an 18th detection unit 102 that detects the state of the adjustable seat post 86.

[0130] The control unit 92 of this embodiment may be configured to change the gear ratio R by driving the transmission body 24 with the motor 28 while operating the transmission body 24 with the derailleur 26 in accordance with at least one of the first to seventeenth examples of the first condition of the first embodiment, instead of or in addition to at least one of the eighteenth and nineteenth examples.

[0131] <Third embodiment> A control device 90 of the third embodiment will be described with reference to Figures 1, 2, 3, 12, and 13. The control device 90 of the third embodiment includes the same configuration as the control device 90 of the first and second embodiments, except that it executes the processing of the flowchart of Figure 13. Therefore, the same reference numerals as in the first and second embodiments are used for the configurations of the control device 90 of the first and second embodiments that are common to the first and second embodiments, and duplicated explanations will be omitted.

[0132] The control unit 92 of this embodiment is configured to change the gear ratio R by driving the transmission body 24 with the motor 28 while operating the transmission body 24 with the derailleur 26 when a first condition related to pedaling is satisfied, and is configured to determine that the first condition is satisfied based on a signal input from at least one predetermined detection unit among the multiple detection units 48, and is configured to be able to change the predetermined detection unit depending on the second condition.

[0133] For example, the control unit 92 is configured to determine whether the first condition is satisfied using a predetermined condition that is at least one of the plurality of first conditions. For example, the control unit 92 is configured to determine that the first condition is satisfied when the predetermined condition is satisfied. For example, the control unit 92 is configured to determine that the first condition is satisfied based on a signal input from at least one predetermined detection unit that is the detection unit 48 corresponding to the predetermined condition.

[0134] For example, the second condition includes a condition related to an abnormality in the plurality of detectors 48. For example, when the signal input from a predetermined detector includes an abnormality signal, the control unit 92 sets another detector 48 of the plurality of detectors 48 as the predetermined detector. For example, when the control unit 92 changes the predetermined detector, it sets the first condition corresponding to the changed predetermined detector as the predetermined condition. The abnormality signal is, for example, a signal related to a disconnection or short circuit in the detector 48. The second condition may include a condition related to the driving state and driving environment of the human-powered vehicle 10. The second condition may include a condition related to the type of the plurality of detectors 48 included in the human-powered vehicle 10.

[0135] The control unit 92 of this embodiment can set at least one of the first to nineteenth examples of the first condition of the first and second embodiments as the predetermined condition. The control unit 92 of this embodiment can set at least one of the twentieth, twenty-first, twenty-second, twenty-third, and twenty-fourth examples of the first condition of the first and second embodiments as the predetermined condition, in addition to at least one of the first to nineteenth examples of the first condition of the first and second embodiments.

[0136] In the twentieth example of the first condition, the first condition includes a condition related to the rotation speed of the crankshaft 16, and the condition related to the rotation speed of the crankshaft 16 is satisfied, for example, when the rotation speed of the crankshaft 16 is equal to or lower than a predetermined crank rotation speed. In the twentieth example of the first condition, the control unit 92 determines whether the condition related to the rotation speed of the crankshaft 16 is satisfied, for example, in accordance with the output of the crank rotation state detection unit 46.

[0137] In the 21st example of the first condition, the first condition includes a condition related to the vehicle speed of the human-powered vehicle 10, and the condition related to the vehicle speed of the human-powered vehicle 10 is satisfied, for example, when the vehicle speed is equal to or lower than a predetermined vehicle speed. In the 21st example of the first condition, for example, the control unit 92 determines whether the condition related to the vehicle speed of the human-powered vehicle 10 is satisfied based on the output of the vehicle speed detection unit 42.

[0138] In the 22nd example of the first condition, the first condition includes a condition related to the manual driving force input to the crankshaft 16, and the condition related to the manual driving force input to the crankshaft 16 is satisfied, for example, when the manual driving force is equal to or less than a predetermined manual driving force. In the 22nd example of the first condition, for example, the control unit 92 determines whether the condition related to the manual driving force input to the crankshaft 16 is satisfied based on the output of the torque sensor 44A.

[0139] In a 23rd example of the first condition, the first condition includes a condition related to imaging information, and the condition related to imaging information is satisfied, for example, when at least one of the state of the human-powered vehicle 10 and the state of the rider captured by the imaging device is a predetermined imaging state. The predetermined imaging state includes, for example, at least one of a state in which the human-powered vehicle 10 is stopped and a state in which the rider is not pedaling. In the 23rd example of the first condition, for example, the control unit 92 determines whether the condition related to the condition related to imaging information is satisfied based on the output of the imaging device that captures images of the human-powered vehicle 10, the rider, and the road on which the human-powered vehicle 10 is traveling.

[0140] In a 24th example of the first condition, the first condition includes a condition regarding the distance to the object, and the condition regarding the distance to the object is satisfied when, for example, the distance to the object detected by the infrared detection unit is a predetermined distance state. For example, the infrared detection unit is provided on one of the frame 34 and the pedal 12, and the object is the other of the frame 34 and the pedal 12. In the 24th example of the first condition, for example, the control unit 92 determines whether the condition regarding the condition regarding the distance to the object is satisfied based on the output of the infrared detection unit.

[0141] Table 3 shows an example of the predetermined detector.

[0142] [Table 3]

[0143] Table 4 shows examples of predetermined detectors that can be suitably substituted for each predetermined detector. X1 to X19 in Table 4 correspond to X1 to X19 in Table 3. A "◯" in Table 4 indicates that the predetermined detector is a suitable substitute for the corresponding predetermined detector. For example, when the predetermined detector is X2 and the second condition is satisfied, the control unit 92 changes the predetermined detector to at least one of X7, X10, X11, and X19. When multiple examples of the first condition corresponding to the predetermined detector are included, the control unit 92 may be configured to select one from the multiple examples of the first condition corresponding to the predetermined detector.

[0144] [Table 4]

[0145] The process by which the control unit 92 changes the predetermined detection unit will be described with reference to Fig. 13. For example, when power is supplied to the control unit 92, the control unit 92 starts the process and proceeds to step S21 of the flowchart shown in Fig. 13. When the flowchart of Fig. 13 ends, the control unit 92 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

[0146] In step S21, the control unit 92 determines whether the second condition is satisfied. If the second condition is satisfied, the control unit 92 proceeds to step S22. If the second condition is not satisfied, the control unit 92 ends the process.

[0147] In step S22, the control unit 92 changes the predetermined detection unit and ends the process.

[0148] <Example of change> The descriptions of each embodiment are intended to exemplify possible forms of a control device for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts that are common to the forms of the respective embodiments are assigned the same reference numerals as the respective embodiments, and descriptions thereof will be omitted.

[0149] Alternatively or in addition to at least one of the first to twentieth examples of the first condition of the first and second embodiments, the first condition may include a condition regarding the state of driving force transmission between two adjacent drivetrain elements. The human-powered vehicle 10 includes multiple drivetrain elements, including a crankshaft 16, a first rotating body 18 connected to the crankshaft 16, wheels 20, a second rotating body 22 connected to the wheels 20, and a transmission body 24 configured to engage with the first rotating body 18 and the second rotating body 22 and transmit driving force between the first rotating body 18 and the second rotating body 22. For example, the control unit 92 determines that the first condition is satisfied when the state of driving force transmission between the two adjacent drivetrain elements is a non-transmitted state. For example, the control unit 92 is configured to determine the first condition depending on the engagement state of a clutch included in the drivetrain elements. The clutch may include, for example, a first one-way clutch 38B.

[0150] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0151] 10...human-powered vehicle, 12...pedal, 14...crank arm, 16...crank shaft, 18...first rotating body, 20...wheel, 20A...tire, 22...second rotating body, 24...transmission body, 26...derailleur, 26B...base portion, 26C...operating portion, 26G...pulley, 28...motor, 30...handle, 32...saddle, 34...frame, 48...detection portion, 50...first detection portion, 52...second detection portion, 54...third detection portion, 56...fourth detection portion, 58...fifth detection portion, 60...sixth detection portion, 62...seventh detection portion, 64...eighth detection portion, 66...ninth detection portion, 68...tenth detection portion, 70...eleventh detection portion, 84...suspension, 86...adjustable seat post, 90...control device, 92...control portion.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes pedals, crank arms connected to the pedals, a crankshaft connected to the crank arms, a first rotating body connected to the crankshaft, a wheel including a tire, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, a handlebar, and a saddle. the control device includes a controller configured to control the motor; the control unit is configured to change the gear ratio by driving the transmission body with the motor and operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, The control device, wherein the first condition includes conditions related to at least one of the state of the pedal, the human-powered driving force input to the pedal, the state of the crank arm, the human-powered driving force input to the crank arm, the angular acceleration of the crank shaft, the rotational state of the first rotating body, the state of the tire, the rotational state of the second rotating body, the operating state of the transmission body, the operating state of the derailleur, the rotational state of the motor, the electric energy supplied to the motor, the state of the handlebars, the state of the saddle, and position information of the human-powered vehicle.

2. 2. The control device according to claim 1, wherein the first condition includes a condition regarding the angular acceleration of the crankshaft, and is satisfied when the angular acceleration of the crankshaft is equal to or less than a predetermined angular acceleration.

3. The control device according to claim 2 , wherein the control unit is configured to determine that a condition regarding the angular acceleration of the crankshaft is satisfied based on a signal input from a first detection unit that detects the angular acceleration of the crankshaft.

4. the first condition includes a condition related to a rotation state of the motor, The control device according to claim 1 , wherein the condition regarding the rotation state of the motor includes a condition regarding the rotation speed of the motor, and the condition is satisfied when the rotation speed of the motor is equal to or lower than a predetermined motor rotation speed.

5. the first condition includes a condition related to a rotation state of the motor, The control device according to claim 1 , wherein the condition regarding the rotation state of the motor includes a condition regarding an amount of rotation of the motor, and the condition is satisfied when the amount of rotation of the motor is equal to or less than a predetermined amount of motor rotation.

6. The control device according to claim 4 or 5, wherein the control unit is configured to determine that a condition regarding the rotation state of the motor is satisfied based on a signal input from a second detection unit that detects the rotation state of the motor.

7. The control device according to claim 1 , wherein the first condition includes a condition related to the electric energy supplied to the motor, and is satisfied when a current value of the electric energy is equal to or less than a predetermined current value.

8. 8. The control device according to claim 7, wherein the control unit is configured to determine that a condition regarding the electric energy supplied to the motor is satisfied based on a signal input from a third detection unit that detects the electric energy supplied to the motor.

9. the first condition includes a condition related to a rotation state of the first rotor, 9. The control device according to claim 1, wherein the condition regarding the rotational state of the first rotating body is satisfied when at least one of the rotational speed of the first rotating body is equal to or less than a first rotational speed and the angular acceleration of the first rotating body is equal to or less than a first angular acceleration.

10. 10. The control device according to claim 9, wherein the control unit is configured to determine that a condition regarding the rotational state of the first rotating body is satisfied based on a signal input from a fourth detection unit that detects the rotational state of the first rotating body.

11. the first condition includes a condition related to a rotation state of the second rotating body, 11. The control device according to claim 1, wherein the condition regarding the rotational state of the second rotating body is satisfied when at least one of the rotational speed of the second rotating body is equal to or less than a second rotational speed and the angular acceleration of the second rotating body is equal to or less than a second angular acceleration.

12. The control device according to claim 11, wherein the control unit is configured to determine that a condition regarding the rotational state of the second rotating body is satisfied based on a signal input from a fifth detection unit that detects the rotational state of the second rotating body.

13. the first condition includes a condition related to an operating state of the transmission body; The control device according to claim 1 , wherein the condition regarding the operating state of the transmission body is satisfied when the moving speed of the transmission body is equal to or less than a predetermined moving speed.

14. The control device according to claim 13 , wherein the control unit is configured to determine that a condition regarding the operating state of the transmitting body is satisfied based on a signal input from a sixth detection unit that detects the operating state of the transmitting body.

15. the first condition includes a condition related to the operating state of the derailleur, The derailleur includes a pulley around which the transmission body is wound, 15. The control device according to claim 1, wherein the condition regarding the operating state of the derailleur is satisfied when the rotational speed of the pulley is equal to or less than a predetermined pulley rotational speed.

16. 16. The control device according to claim 15, wherein the control unit is configured to determine that a condition regarding the operating state of the derailleur is satisfied based on a signal input from a seventh detection unit that detects the rotational speed of the pulley.

17. the first condition includes a condition related to the operating state of the derailleur, the derailleur includes a base portion attached to a frame of the human-powered vehicle, and an operating portion attached to the base portion and movable relative to the base portion, 17. The control device according to claim 1, wherein the condition regarding the operating state of the derailleur is satisfied when the operating state of the operating part is in a predetermined operating state.

18. 18. The control device according to claim 17, wherein the control unit is configured to determine that a condition regarding the operating state of the derailleur is satisfied based on a signal input from an eighth detection unit that detects the operating state of the operation unit.

19. the first condition includes a condition related to a state of the crank arm, the condition related to the state of the crank arm includes a condition related to a rotation state of the crank arm, The control device according to claim 1 , wherein the condition regarding the rotational state of the crank arm is satisfied when the rotational state of the crank arm is in a predetermined rotational state.

20. 20. The control device according to claim 19, wherein the control unit is configured to determine that a condition regarding the rotational state of the crank arm is satisfied based on a signal input from a ninth detection unit that detects the rotational state of the crank arm.

21. the first condition includes a condition related to a manual driving force input to the crank arm, 21. The control device according to claim 1, wherein the condition regarding the manual driving force input to the crank arm is satisfied when the manual driving force input to the crank arm is equal to or less than a predetermined manual driving force.

22. 22. The control device according to claim 21, wherein the control unit is provided on at least one of the crank arm and a pedal of the human-powered vehicle, and is configured to determine that a condition related to the human-powered driving force input to the crank arm is satisfied based on a signal input from a tenth detection unit that detects the human-powered driving force input to the crank arm.

23. the control unit is configured to determine that the first condition is satisfied based on a predetermined signal input from an eleventh detection unit, 23. The control device according to claim 1, wherein the eleventh detection unit is configured to output the predetermined signal when a rotational phase of at least one of the crank arm and the crankshaft is at a predetermined rotational phase.

24. A control device for a human-powered vehicle, The human-powered vehicle includes a crank arm to which human-powered driving force is input, a crankshaft connected to the crank arm, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device includes a controller configured to control the motor; The control unit When a first condition related to pedaling is satisfied, the transmission body is driven by the motor and the derailleur is operated to change the gear ratio, The device is configured to determine that the first condition is satisfied based on a signal input from at least one predetermined detector among the plurality of detectors, The control device is configured to be able to change the predetermined detection unit according to a second condition.

25. The control device according to claim 24 , wherein the second condition includes a condition related to an abnormality in the plurality of detectors.

26. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the human-powered vehicle further includes at least one of a suspension and an adjustable seat post; the control device includes a controller configured to control the motor; the control unit is configured to change the gear ratio by driving the transmission body with the motor and operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, The control device, wherein the first condition includes a condition related to at least one of a state of the suspension and a state of the adjustable seat post.

27. A control device for a human-powered vehicle, the human-powered vehicle includes a plurality of drive train elements including a crankshaft, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, and a transmission body configured to engage with the first rotating body and the second rotating body and transmit a driving force between the first rotating body and the second rotating body; the human-powered vehicle further includes a derailleur configured to operate the transmission body to change a transmission ratio of a rotational speed of the wheels relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body; the control device includes a controller configured to control the motor; the control unit is configured to change the gear ratio by driving the transmission body with the motor and operating the transmission body with the derailleur when a first condition related to pedaling is satisfied, The control device, wherein the first condition includes a condition regarding a driving force transmission state between two adjacent drive train elements.

Images