Control device for human-powered vehicle

Abstract

To provide a control device for a human-powered vehicle that is able to suitably control a motor.SOLUTION: A control device for a human-powered vehicle includes a control unit. The human-powered vehicle includes: a crankshaft configured to receive a human driving force; a first rotating body connected to the crankshaft; a wheel; a second rotating body connected to the wheel; a transmission body configured to engage with the first rotating body and the second rotating body to transmit a driving force between the first rotating body and the second rotating body; and a motor configured to drive the transmission body. The control unit is configured to control the motor and, when a predetermined condition is satisfied, is configured to drive the motor such that rotational torque of the first rotating body by the motor is maintained at predetermined torque or less. The predetermined condition includes a first condition that rotation of the crankshaft is stopped, and the predetermined torque is 1 Nm or more and 10 Nm or less.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, the human-powered vehicle disclosed in Patent Document 1 includes a motor capable of transmitting driving force to the vehicle. [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] An object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably control a motor. [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, comprising a control unit, the human-powered vehicle including a crankshaft configured to receive human-powered driving force, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, 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, and a motor configured to drive the transmission body, the control unit is configured to control the motor and to drive the motor such that, when a predetermined condition is satisfied, a rotational torque of the first rotating body by the motor is maintained equal to or less than a predetermined torque, the predetermined conditions including a first condition that rotation of the crankshaft is stopped, and the predetermined torque is 1 Nm or more and 10 Nm or less. According to the control device of the first aspect, when rotation of the crankshaft is stopped, the motor is driven so that the rotational torque of the first rotating body caused by the motor is maintained below a predetermined torque, so that the motor can be suitably controlled so as to transmit driving force to the transmission body while suppressing the motor from providing a propulsive force to the human-powered vehicle.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the predetermined torque is equal to or greater than 2 Nm and equal to or less than 10 Nm. According to the control device of the second aspect, when the rotation of the crankshaft is stopped, it is possible to more suitably suppress the application of propulsive force by the motor to the human-powered vehicle while transmitting driving force to the transmission body by the motor.

[0007] In the control device of a third aspect according to the first or second aspect of the present disclosure, the predetermined torque is set in accordance with a gear ratio of the human-powered vehicle. According to the control device of the third aspect, when a predetermined condition is satisfied, the motor can be suitably controlled in accordance with the gear ratio.

[0008] A control device according to a fourth aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit, the human-powered vehicle including a crankshaft configured to receive human-powered driving force, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, and a motor configured to drive the transmission body, the control unit is configured to control the motor and to drive the transmission body by driving the motor at or below a predetermined current value when predetermined conditions are satisfied, the predetermined conditions including a first condition that rotation of the crankshaft is stopped, and the predetermined current value is greater than a standby current value of the motor and is less than 5 A. According to the control device of the fourth aspect, when the rotation of the crankshaft is stopped, the motor is driven at a current value equal to or lower than a predetermined current value, so that the motor can be suitably controlled to transmit driving force to the transmission body while suppressing the motor from providing a propulsive force to the human-powered vehicle.

[0009] In the control device of a fifth aspect according to the fourth aspect of the present disclosure, the predetermined current value is 2A or less. According to the control device of the fifth aspect, when the rotation of the crankshaft is stopped, it is possible to more suitably suppress the application of propulsive force by the motor to the human-powered vehicle while transmitting driving force to the transmission body by the motor.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the human-powered vehicle further includes a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheels relative to the rotational speed of the crankshaft, and the predetermined condition further includes a second condition under which the derailleur changes the gear ratio by operating the transmission body. According to the control device of the sixth aspect, when the rotation of the crankshaft is stopped and the gear ratio is changed, the motor can be suitably controlled to suppress the application of propulsive force to the human-powered vehicle by the motor. According to the control device of the sixth aspect, when the gear ratio is not changed, the control unit does not drive the motor, thereby reducing power consumption.

[0011] In the control device of the seventh aspect according to the sixth aspect of the present disclosure, the control unit is configured to drive the motor to impart a propulsive force to the human-powered vehicle in accordance with at least one of the human-powered driving force or the rotational speed of the crankshaft when the vehicle speed of the human-powered vehicle is equal to or lower than a predetermined first vehicle speed, and is configured to control the derailleur, and is configured not to operate the derailleur when the vehicle speed of the human-powered vehicle is within a predetermined vehicle speed range that includes the predetermined first vehicle speed and the predetermined condition is satisfied. According to the control device of the seventh aspect, when the speed of the human-powered vehicle is within a predetermined speed range including a first predetermined speed and a predetermined condition is satisfied, the derailleur is not operated, so the frequency of derailleur operation can be reduced, and therefore the control unit can reduce power consumption.

[0012] In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the predetermined condition further includes a third condition that the wheel is rotating. According to the control device of the eighth aspect, when the rotation of the crankshaft is stopped and the wheels are rotating, the motor can be suitably controlled to suppress the application of propulsive force to the human-powered vehicle by the motor. According to the control device of the eighth aspect, when the wheels are not rotating, the control unit does not drive the motor, thereby reducing power consumption.

[0013] In the control device of a ninth aspect according to any one of the first to eighth aspects of the present disclosure, the control unit is configured to determine that rotation of the crankshaft has stopped when the rotation speed of the crankshaft is equal to or lower than a predetermined rotation speed. According to the control device of the ninth aspect, even if the crankshaft has not completely stopped, the motor can be suitably controlled so as to transmit driving force to the transmission body while suppressing the motor from providing propulsive force to the human-powered vehicle.

[0014] In the control device of a tenth aspect according to any one of the first to ninth aspects of the present disclosure, the control unit is configured to drive the motor so that the rotational speed of the first rotating body is equal to or less than an estimated rotational speed, and the estimated rotational speed is calculated based on a gear ratio of the human-powered vehicle and a vehicle speed of the human-powered vehicle. According to the control device of the tenth aspect, the motor is configured to be driven so that the rotational speed of the first rotating body is equal to or lower than the estimated rotational speed, so that the motor can be suitably controlled so as to transmit driving force to the transmission body while suppressing the motor from providing propulsive force to the human-powered vehicle.

[0015] In the control device of an eleventh aspect according to any one of the first to tenth aspects of the present disclosure, the control unit is configured to stop driving of the motor depending on the load of the motor when the predetermined condition is satisfied. According to the control device of the eleventh aspect, when a predetermined condition is satisfied, driving of the motor in a state where the load on the motor is high is suppressed.

[0016] In the control device of the twelfth aspect according to the eleventh aspect of the present disclosure, the control unit is configured to start driving the motor based on the predetermined condition being satisfied, and then stop driving the motor when the load on the motor is equal to or greater than a predetermined load. According to the control device of the twelfth aspect, when a predetermined condition is satisfied, driving of the motor in a state where the load on the motor is equal to or greater than a predetermined load is suppressed.

[0017] In the control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the predetermined condition includes a fourth condition in which the first condition is satisfied after a condition in which the manual driving force input to the crankshaft is equal to or greater than a predetermined driving force is satisfied. According to the control device of the thirteenth aspect, when the condition that the manual driving force input to the crankshaft is equal to or greater than a predetermined driving force is met and the rotation of the crankshaft is stopped, the motor can be suitably controlled so that the application of propulsive force by the motor to the human-powered vehicle is suppressed. Effect of the Invention

[0018] The control device for a human-powered vehicle according to the present disclosure can suitably control the motor. [Brief description of the drawings]

[0019] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. [Diagram 3] FIG. 2 is a cross-sectional view of a drive unit for the human-powered vehicle of FIG. [Figure 4] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the motor and the derailleur. [Diagram 5] 10 is a flowchart of a process executed by a control unit in a modified example to control a motor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] <Embodiment> A control device 70 for a human-powered vehicle will be described with reference to Figs. 1 to 4. A human-powered vehicle is a vehicle that has at least one wheel and can be driven at least by human-powered driving force. For example, human-powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that a human-powered vehicle has is not limited. For example, human-powered vehicles include vehicles with one wheel and two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven only by human-powered driving force. Human-powered vehicles include E-bikes that use not only human-powered driving force but also the driving force of an electric motor for propulsion. E-bikes include electric-assisted bicycles whose propulsion is assisted by an electric motor. In the following, in each embodiment, a human-powered vehicle will be described as a bicycle.

[0021] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, wheels 16, a second rotating body 18, a transmission body 20, and a motor 22. The crankshaft 12 is configured to receive human-powered driving force. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheels 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit driving force between the first rotating body 14 and the second rotating body 18.

[0022] For example, the human-powered vehicle 10 further includes a vehicle body 24. For example, the vehicle body 24 includes a frame 26. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 26. For example, the human-powered vehicle 10 includes a crank 28. The crank 28 includes the crankshaft 12 and two crank arms 28A and 28B. For example, the crank arm 28A is provided at a first end of the crankshaft 12 in the axial direction, and the crank arm 28B is provided at a second end of the crankshaft 12 in the axial direction. For example, the human-powered vehicle 10 includes two pedals 30. For example, one of the two pedals 30 is connected to the crank arm 28A. The other of the two pedals 30 is connected to the crank arm 28B. For example, the rear wheel 16R is driven by the rotation of the crankshaft 12. For example, the rear wheel 16R is supported by the frame 26.

[0023] A front wheel 16F is attached to the frame 26 via a front fork 32. A handlebar 36 is connected to the front fork 32 via a stem 34.

[0024] For example, the human-powered vehicle 10 further includes a drive mechanism 38. For example, at least one of the front wheel 16F and the rear wheel 16R and the crank 28 are connected by the drive mechanism 38. In this embodiment, the rear wheel 16R and the crank 28 are connected by the drive mechanism 38.

[0025] For example, the drive mechanism 38 includes at least one first rotating body 14, at least one second rotating body 18, and a transmission body 20. The at least one first rotating body 14 is connected to the crankshaft 12. The at least one second rotating body 18 is connected to the wheels 16. The transmission body 20 is configured to engage with the at least one first rotating body 14 and the at least one second rotating body 18 to transmit a driving force between the at least one first rotating body 14 and the at least one second rotating body 18. For example, the transmission body 20 transmits the rotational force of the at least one first rotating body 14 to the at least one second rotating body 18.

[0026] For example, the at least one first rotating body 14 and the crankshaft 12 are arranged coaxially. The at least one first rotating body 14 and the crankshaft 12 may not be arranged coaxially. For example, when the at least one first rotating body 14 and the crankshaft 12 are not arranged coaxially, the at least one first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism. The first transmission mechanism may include a plurality of gears, may include a sprocket and a chain, may include a pulley and a belt, or may include a shaft and a bevel gear. For example, the at least one first rotating body 14 includes at least one first sprocket.

[0027] For example, the at least one second rotating body 18 and the rear wheel 16R are arranged coaxially. The at least one second rotating body 18 and the rear wheel 16R may not be arranged coaxially. For example, when the at least one second rotating body 18 and the rear wheel 16R are not arranged coaxially, the at least one second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism. The second transmission mechanism may include a plurality of gears, may include a sprocket and a chain, may include a pulley and a belt, or may include a shaft and a bevel gear. For example, the at least one second rotating body 18 includes at least one second sprocket.

[0028] At least one of the second rotating bodies 18 and the rear wheel 16R are connected via a third one-way clutch. For example, the third one-way clutch includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch. The third one-way clutch is configured to transmit a driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates in association with the forward rotation of the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the speed at which the rear wheel 16R rotates forward is higher than the speed at which the second rotating body 18 rotates forward.

[0029] 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 control device 70 and the motor 22. For example, the battery 40 is connected to the control device 70 so as to be able to communicate with the control device 70 via wired or wireless communication. For example, the battery 40 can communicate with the control device 70 via Power Line Communication (PLC), a Controller Area Network (CAN), or a Universal Asynchronous Receiver / Transmitter (UART).

[0030] The human-powered vehicle 10 further includes, for example, a transmission 42. The transmission 42 is provided, for example, in a transmission path of the human-powered driving force in the human-powered vehicle 10, and is configured to change a gear ratio. The gear ratio is, for example, the ratio of the rotational speed of the wheels 16 to the rotational speed of the crank 28. The rotational speed of the wheels 16 includes, for example, the rotational speed of the drive wheels.

[0031] The transmission 42 includes, for example, at least one of a derailleur 42A and an internal gear shifter. The human-powered vehicle 10 of this embodiment further includes a derailleur 42A. The transmission 42 of this embodiment includes the derailleur 42A. The derailleur 42A is configured to operate the transmission body 20 to change the transmission ratio of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12. The derailleur 42A includes, for example, at least one of a front derailleur and a rear derailleur. When the derailleur 42A includes at least one of a front derailleur and a rear derailleur, the transmission body 20 includes a chain.

[0032] The derailleur 42A, for example, moves the transmission body 20 engaged with one of the plurality of sprockets to another of the plurality of sprockets. When the transmission 42 includes an internal transmission, the internal transmission is provided, for example, in a hub of the rear wheel 16R. The internal transmission may include a CVT (Continuously Variable Transmission). The transmission 42 includes, for example, an electric actuator 44. The electric actuator 44 is configured, for example, to operate the transmission 42. The electric actuator 44 is configured, for example, to operate the derailleur 42A.

[0033] The derailleur 42A is configured to operate the transmission body 20 to change the gear ratio of the rotational speed of the wheels 16 relative to the rotational speed of the crankshaft 12. For example, the derailleur 42A is provided in a transmission path of the human-powered driving force in the human-powered vehicle 10, and is configured to change the gear ratio. For example, the derailleur 42A operates the transmission body 20 to change the engagement state of at least one of the at least one first rotating body 14 and the at least one second rotating body 18 with the transmission body 20, thereby changing the gear ratio. The relationship between the gear ratio, the rotational speed of the wheels 16, and the rotational speed of the crankshaft 12 is expressed by Equation (1). In Equation (1), R indicates the gear ratio. In Equation (1), W indicates the rotational speed of the wheels 16. In Equation (1), C indicates the rotational speed of the crankshaft 12. Equation (1): R = W (rpm) / C (rpm)

[0034] For example, the derailleur 42A can change the gear ratio for at least one gear shift stage. For example, the derailleur 42A is configured to operate the transmission body 20 to change the at least one gear shift stage. For example, the at least one gear shift stage is set according to at least one of the at least one first rotating body 14 and the at least one second rotating body 18. For example, when the at least one gear shift stage includes a plurality of gear shift stages, a different gear shift ratio is set for each of the plurality of gear shift stages. For example, the higher the gear shift stage, the larger the gear shift ratio.

[0035] For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed change stage is set according to a combination of one of the plurality of first rotating bodies 14 and one of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes one first rotating body 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed change stage is set according to the number of the plurality of second rotating bodies 18. For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes one second rotating body 18, the speed change stage is set according to the number of the plurality of first rotating bodies 14.

[0036] For example, the derailleur 42A shifts a chain engaged with one of the sprockets to another of the sprockets. For example, the sprocket with the smallest number of teeth among the sprockets corresponds to the smallest number of gears that can be achieved by the derailleur 42A. For example, the sprocket with the largest number of teeth among the sprockets corresponds to the largest number of gears that can be achieved by the derailleur 42A.

[0037] When the derailleur 42A includes a front derailleur, for example, the first rotating bodies 14 include two or more and three or less first sprockets. For example, the first rotating bodies 14 include two first sprockets.

[0038] When the derailleur 42A includes a front derailleur, for example, the derailleur 42A is configured to move the transmission body 20 from one of the multiple first rotating bodies 14 to another of the multiple first rotating bodies 14 in a gear shifting operation. The front derailleur operates the transmission body 20 to change the engagement state between at least one of the first rotating bodies 14 and the transmission body 20, thereby changing the gear ratio. For example, the multiple first rotating bodies 14 include a plurality of first sprockets.

[0039] For example, when the derailleur 42A includes a rear derailleur, the at least one second rotating body 18 includes 2 to 20 second sprockets. For example, the plurality of second rotating bodies 18 includes 12 second sprockets.

[0040] The motor 22 is configured to drive the transmission body 20. For example, the motor 22 is configured to impart a propulsive force to the human-powered vehicle 10 in response to the human-powered driving force. For example, the motor 22 includes one or more electric motors. For example, the electric motor included in the motor 22 is, for example, a brushless motor. For example, the motor 22 is configured to transmit a rotational force to a power transmission path of the human-powered driving force from the two pedals 30 to at least one second rotating body 18. For example, the motor 22 drives the transmission body 20 via at least one first rotating body 14. In this embodiment, the motor 22 is provided on the frame 26 of the human-powered vehicle 10 and configured to transmit a rotational force to the first rotating body 14.

[0041] The human-powered vehicle 10 further includes a housing 46 in which the motor 22 is provided. A drive unit 48 is configured to include the motor 22 and the housing 46. The housing 46 is attached to the frame 26. The housing 46 rotatably supports the crankshaft 12. The motor 22 may be configured to transmit a rotational force to the transmission body 20, for example, without passing through the at least one first rotating body 14. For example, when the motor 22 is configured to transmit a rotational force to the transmission body 20 without passing through the at least one first rotating body 14, a sprocket that engages with the transmission body 20 is provided on the output shaft of the motor 22 or on a transmission member to which the force of the output shaft is transmitted.

[0042] For example, the drive unit 48 further includes an output section 50. For example, the output section 50 and the crankshaft 12 are coaxially arranged. For example, the output section 50 is configured to transmit a manual driving force and an output of the motor 22. For example, the output section 50 is configured to transmit a rotational force of the crankshaft 12 and an output of the motor 22. For example, the output section 50 has a cylindrical shape. For example, the output section 50 is provided on the outer periphery of the crankshaft 12 around the central axis of rotation. For example, at least one first rotor 14 is connected to a first end 50A of the output section 50 so as to rotate integrally with the output section 50.

[0043] For example, the drive unit 48 includes a reducer 52. For example, the reducer 52 is provided between the motor 22 and a power transmission path of the human-powered driving force. For example, the reducer 52 includes at least one reduction portion. For example, the at least one reduction portion includes a first reduction portion 52A, a second reduction portion 52B, and a third reduction portion 52C. The reducer 52 may include one, two, or four or more reduction portions.

[0044] For example, the first reduction gear portion 52A transmits the rotational torque of the motor 22. For example, the first reduction gear portion 52A includes, for example, two gears that mesh with each other. The first reduction gear portion 52A may include a belt and a pulley instead of the gears. The first reduction gear portion 52A may include a sprocket and a chain instead of the gears.

[0045] For example, the second reduction gear portion 52B receives the rotational torque of the motor 22 via the first reduction gear portion 52A. For example, the second reduction gear portion 52B includes, for example, two gears that mesh with each other. The second reduction gear portion 52B may include a belt and a pulley instead of the gears. The second reduction gear portion 52B may include a sprocket and a chain instead of the gears.

[0046] For example, the third reduction speed reduction portion 52C receives the rotational torque of the motor 22 via the second reduction speed reduction portion 52B. For example, the third reduction speed reduction portion 52C transmits the rotational torque of the motor 22 to the output portion 50. For example, the third reduction speed reduction portion 52C includes, for example, two gears that mesh with each other. The third reduction speed reduction portion 52C may include a belt and a pulley instead of the gears. The third reduction speed reduction portion 52C may include a sprocket and a chain instead of the gears.

[0047] For example, the drive unit 48 further includes a first one-way clutch 54. For example, the first one-way clutch 54 is provided in a power transmission path from the crankshaft 12 to the at least one first rotor 14. For example, the first one-way clutch 54 is provided between the crankshaft 12 and the output portion 50.

[0048] For example, the first one-way clutch 54 is configured to rotate the first rotating body 14 forward when the crankshaft 12 rotates forward, and to allow relative rotation between the crankshaft 12 and at least one of the first rotating bodies 14 when the crankshaft 12 rotates backward. For example, the first one-way clutch 54 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

[0049] For example, the drive unit 48 further includes a second one-way clutch 56. For example, the second one-way clutch 56 is provided in a power transmission path from the motor 22 to at least one first rotor 14. For example, the second one-way clutch 56 is provided in the reducer 52.

[0050] For example, the second one-way clutch 56 is configured to transmit the rotational force of the motor 22 to the output unit 50. For example, the second one-way clutch 56 is configured to suppress the rotational force of the crankshaft 12 from being transmitted to the motor 22 when the crankshaft 12 rotates forward. For example, the second one-way clutch 56 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

[0051] For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 58. For example, the vehicle speed detection unit 58 is communicably connected to the control unit 72 by wire or wirelessly. For example, the vehicle speed detection unit 58 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 58 is configured to detect information related to the rotational speed of the wheels 16. For example, the vehicle speed detection unit 58 is configured to detect a magnet provided on at least one of the front wheels 16F and the rear wheels 16R.

[0052] For example, the vehicle speed detection unit 58 is configured to output a predetermined number of detection signals during one rotation of the wheels 16. For example, the predetermined number is 1. For example, the vehicle speed detection unit 58 outputs a signal corresponding to the rotation speed of the wheels 16. The control unit 72 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed of the wheels 16 and information relating to the circumference of the wheels 16. For example, the memory unit 74 stores information relating to the circumference of the wheels 16.

[0053] For example, the human-powered vehicle 10 further includes a human-powered driving force detection unit 60. The human-powered driving force detection unit 60 is communicatively connected to the control unit 72 by wire or wirelessly. The human-powered driving force detection unit 60 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered driving force includes information related to the human-powered driving force input to the human-powered vehicle 10.

[0054] For example, the manual driving force detection unit 60 is provided on a member included in the transmission path of the manual driving force or in the vicinity of a member included in the transmission path of the manual driving force. For example, the members included in the transmission path of the manual driving force include the crankshaft 12 and a member that transmits the manual driving force between the crankshaft 12 and at least one first rotor 14. For example, the manual driving force detection unit 60 is provided on a power transmission unit configured to transmit the manual driving force from the crankshaft 12 to the output unit 50. For example, the power transmission unit is provided on the outer periphery of the crankshaft 12.

[0055] The manual driving force detection unit 60 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, etc. The strain sensor includes a strain gauge. The manual driving force detection unit 60 may have any configuration as long as it can obtain information related to the manual driving force.

[0056] For example, the manual driving force detection unit 60 may be provided on the crank arms 28A, 28B or on at least one of the two pedals 30. For example, when the manual driving force detection unit 60 is provided on at least one of the two pedals 30, the manual driving force detection unit 60 may include a sensor that detects pressure applied to at least one of the two pedals 30. For example, the manual driving force detection unit 60 may be provided on a chain included in the transmission body 20. For example, when the manual driving force detection unit 60 is provided on the chain, the manual driving force detection unit 60 may include a sensor that detects tension of the chain.

[0057] For example, the human-powered vehicle 10 further includes a crank rotation state detection unit 62. For example, the crank rotation state detection unit 62 is communicatively connected to the control unit 72 by wire or wirelessly. The crank rotation state detection unit 62 detects the amount of rotation of at least one of the crankshaft 12 and the at least one first rotating body 14. For example, the crank rotation state detection unit 62 is configured to detect information corresponding to the rotation speed of the crankshaft 12. For example, the crank rotation state detection unit 62 is configured to detect information corresponding to the rotation speed of the at least one first rotating body 14. The information corresponding to the rotation speed of the crankshaft 12 includes an angular acceleration of the crankshaft 12. The information corresponding to the rotation speed of the at least one first rotating body 14 includes an angular acceleration of the at least one first rotating body 14.

[0058] For example, the crank rotation state detection unit 62 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. The crank rotation state detection unit 62 includes an annular magnet with multiple magnetic poles arranged in the circumferential direction. The annular magnet is provided between the crankshaft 12, at least one first rotor 14, or a power transmission path from the crankshaft 12 to the at least one first rotor 14. For example, the annular magnet includes one S pole and one N pole. The one S pole and the one N pole each extend continuously for 180° around the axis of the crankshaft 12.

[0059] For example, the crank rotation state detection unit 62 outputs a signal corresponding to at least one of the rotation speed of the crankshaft 12 and the rotation speed of the at least one first rotor 14. For example, the crank rotation state detection unit 62 is configured to output a detection signal corresponding to the rotation angle of the crankshaft 12 during one rotation of at least one of the rotation speeds of the crankshaft 12 and the at least one first rotor 14. The crank rotation state detection unit 62 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of a magnetic sensor.

[0060] For example, the crank rotation state detection unit 62 is provided on the frame 26 of the human-powered vehicle 10. For example, when the crank rotation state detection unit 62 is provided on the frame 26, the crank rotation state detection unit 62 may be configured to include a vehicle speed sensor. When the crank rotation state detection unit 62 includes a vehicle speed sensor, the control unit 72 may be configured to calculate the rotation speed of the crankshaft 12 according to the vehicle speed detected by the vehicle speed sensor and the gear ratio. For example, the crank rotation state detection unit 62 may be provided in the drive unit 48.

[0061] The crank rotation state detection unit 62 may be configured to detect the amount of rotation of the at least one second rotating body 18. The crank rotation state detection unit 62 may be configured to detect information corresponding to the rotation speed of the at least one second rotating body 18. For example, the information corresponding to the rotation speed of the at least one second rotating body 18 includes the angular acceleration of the at least one second rotating body 18. For example, the crank rotation state detection unit 62 may output a signal corresponding to the rotation speed of the at least one second rotating body 18.

[0062] The control device 70 for a human-powered vehicle includes a control unit 72. For example, the control unit 72 includes a calculation processing unit that executes a predetermined control program. For example, the calculation processing unit included in the control unit 72 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0063] For example, the arithmetic processing device included in the control unit 72 may be provided in multiple locations that are separate from one another. For example, a part of the arithmetic processing device may be provided in the human-powered vehicle 10, and another part of the arithmetic processing device may be provided in a server connected to the Internet. When the arithmetic processing device is provided in multiple locations that are separate from one another, the parts of the arithmetic processing device are connected to each other so that they can communicate with each other via a wireless communication device. The control unit 72 may include one or more microcomputers.

[0064] For example, the control device 70 further includes a storage unit 74. For example, the storage unit 74 is communicably connected to the control unit 72 by wire or wirelessly. For example, the storage unit 74 stores a control program and information used in the control process. For example, the storage unit 74 includes, for example, a nonvolatile memory and a volatile memory. For example, the nonvolatile memory includes 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. For example, the volatile memory includes a Random Access Memory (RAM).

[0065] For example, the control device 70 may further include a drive circuit for the motor 22. For example, the control unit 72 and the drive circuit are provided in the housing 46. The control unit 72 and the drive circuit may be provided on the same circuit board. For example, the drive circuit is connected to the control unit 72 so as to be able to communicate with each other via a wire or wirelessly. For example, the drive circuit drives the motor 22 in response to a control signal from the control unit 72.

[0066] For example, the drive circuit is electrically connected to the motor 22. For example, the drive circuit controls the supply of power from the battery 40 to the motor 22. For example, the drive circuit includes an inverter circuit. For example, the inverter circuit includes a plurality of transistors. For example, the inverter circuit includes a configuration in which a plurality of inverter units, each of which is made up of a pair of transistors connected in series, are connected in parallel. For example, the inverter circuit may have a current sensor that detects a current flowing through the inverter circuit. For example, the current sensor is connected to the control unit 72 so as to be able to communicate with the control unit 72 via wire or wirelessly.

[0067] The control unit 72 is configured to control the motor 22. For example, the control unit 72 is configured to control the motor 22 depending on the state of the human-powered vehicle 10. For example, the control unit 72 is configured to control the motor 22 so as to change the propulsive force depending on the human-powered driving force input to the human-powered vehicle 10. For example, the control unit 72 is configured to control the motor 22 depending on the human-powered driving force detected by the human-powered driving force detection unit 60.

[0068] For example, the control unit 72 is configured to control the motor 22 in response to at least one of the rotation speed of the crankshaft 12 detected by the crank rotation state detection unit 62 and the rotation speed of the at least one first rotor 14. For example, the control unit 72 is configured to control the motor 22 in response to the vehicle speed of the human-powered vehicle 10 detected by the vehicle speed detection unit 58. When the vehicle speed of the human-powered vehicle 10 is equal to or lower than a predetermined first vehicle speed, the control unit 72 is configured to drive the motor 22 so as to impart a propulsive force to the human-powered vehicle 10 in response to at least one of the human-powered driving force or the rotation speed of the crankshaft 12. The predetermined first vehicle speed is, for example, a speed prescribed by law. The predetermined first vehicle speed is, for example, 25 km / h or 27.5 km / h.

[0069] The control unit 72 may be configured to drive the motor 22 in response to information transmitted from outside the drive unit 48. The information transmitted from outside the drive unit 48 may include an operation signal of an assist operation device that can be operated by the user.

[0070] For example, the control unit 72 is configured to control the motor 22 so that the assist level by the motor 22 becomes a predetermined assist level. For example, the assist level includes at least one of the ratio of the output of the motor 22 to the human-powered driving force input to the human-powered vehicle 10, the maximum output of the motor 22, and a suppression level of the output fluctuation of the motor 22 when the output of the motor 22 decreases.

[0071] For example, the control unit 72 is configured to control the motor 22 so that the ratio of the assist force to the human-powered driving force becomes a predetermined ratio. For example, the human-powered driving force corresponds to the propulsive force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12. For example, the human-powered driving force corresponds to the driving force input to at least one first rotor 14 by the user rotating the crankshaft 12.

[0072] For example, the assist force includes a driving force input to the first rotor 14 in accordance with the output of the motor 22. For example, the assist force corresponds to a propulsive force of the human-powered vehicle 10 generated by the rotation of the motor 22. For example, in the case where the drive unit 48 includes a reducer 52, the assist force corresponds to the output of the reducer 52.

[0073] The predetermined ratio may not be constant, but may vary depending on the human-powered driving force. The predetermined ratio may not be constant, but may vary depending on at least one of the rotation speed of the crankshaft 12 and the rotation speed of the at least one first rotating body 14. The predetermined ratio may not be constant, but may vary depending on the vehicle speed of the human-powered vehicle 10. The predetermined ratio may not be constant, but may vary depending on any two or all of the human-powered driving force, at least one of the rotation speed of the crankshaft 12 and the rotation speed of the at least one first rotating body 14, and the vehicle speed.

[0074] For example, the human-powered driving force is expressed by at least one of torque and power. For example, when the human-powered driving force is expressed by torque, the human-powered driving force is described as human-powered torque. For example, the power of the human-powered driving force is the product of the torque applied to the crankshaft 12 and the rotation speed of the crankshaft 12.

[0075] For example, the assist force is represented by at least one of torque and power. For example, when the assist force is represented by torque, the assist force is described as assist torque. For example, when the assist force is represented by power, the assist force is described as assist power. For example, the assist power is the product of the output torque of the reducer 52 and the rotation speed of the output shaft of the reducer 52. For example, the ratio of the assist force to the manual driving force may be the ratio of the assist torque to the manual torque, or may be the ratio of the assist power to the manual power.

[0076] For example, the control unit 72 is configured to control the motor 22 so that the assist force is equal to or less than the maximum assist force. For example, the control unit 72 is configured to control the motor 22 so that the assist torque is equal to or less than the maximum assist torque. For example, the maximum assist torque is a value in the range of 20 Nm to 200 Nm. For example, the maximum assist torque is determined by at least one of the output characteristics of the motor 22 and the control mode. The control unit 72 may be configured to control the motor 22 so that the assist power is equal to or less than the maximum assist power.

[0077] For example, the control unit 72 is configured to control the derailleur 42A. For example, the control unit 72 is configured to control the derailleur 42A in response to a gear shift command. For example, the gear shift command corresponds to at least one of an output from a gear shift operation device that can be operated by a user and a gear shift condition. For example, the gear shift command includes a gear shift command for increasing the gear ratio and a gear shift command for decreasing the gear ratio. The gear shift condition relates to at least one of the driving environment and driving state of the human-powered vehicle 10, for example. The driving environment of the human-powered vehicle 10 includes at least one of the gradient of the road surface and the road resistance, for example. The driving state of the human-powered vehicle 10 includes at least one of the vehicle speed, the rotation speed of the crankshaft 12, the human-powered driving force, and the tilt angle of the human-powered vehicle 10, for example.

[0078] The control unit 72 is configured to control the motor 22 so that the motor 22 drives the transmission body 20 when a predetermined condition is satisfied. The control unit 72 is configured to control the motor 22 so that a drive condition of the motor 22 is satisfied when a predetermined condition is satisfied. The drive condition of the motor 22 includes, for example, a condition for driving the motor 22 so that a propulsive force is not applied to the human-powered vehicle 10 by driving the motor 22. The drive condition of the motor 22 includes, for example, a condition for driving the motor 22 so that the wheels 16 do not rotate when the wheels 16 of the human-powered vehicle 10 are in contact with the ground and the human-powered vehicle 10 is stopped. When a predetermined condition is satisfied, the control unit 72 drives the motor 22 so that the transmission body 20 is driven so that the derailleur 42A can change gears, and so that the wheels 16 do not rotate.

[0079] The predetermined condition includes a first condition that the rotation of the crankshaft 12 has stopped. The first condition is, for example, a condition that can determine that the rider has stopped pedaling. The state in which the rotation of the crankshaft 12 has stopped includes, for example, a state in which the rotation speed of the crankshaft 12 is equal to or lower than a predetermined rotation speed. For example, the control unit 72 is configured to determine that the rotation of the crankshaft 12 has stopped when the rotation speed of the crankshaft 12 is equal to or lower than a predetermined rotation speed. For example, the control unit 72 determines that the first condition is satisfied when the rotation speed of the crankshaft 12 is equal to or lower than a predetermined rotation speed. The predetermined rotation speed is, for example, equal to or lower than 5 rpm and equal to or higher than 0 rpm. The predetermined rotation speed is, for example, 3 rpm. The predetermined rotation speed may be greater than 0 rpm. The predetermined rotation speed may be set based on the rotation speed at which the crankshaft 12 oscillates when the rider has stopped pedaling. The control unit 72 may be configured to determine that the rotation of the crankshaft 12 has stopped when the manual driving force is equal to or less than a stop determination driving force. The stop determination driving force is, for example, a manual torque of 1 Nm or more and 5 Nm or less.

[0080] The predetermined condition further includes a second condition that the derailleur 42A changes the gear ratio by operating the transmission body 20. The second condition corresponds to, for example, a gear shift command. For example, when a gear shift command is received, the control unit 72 determines that the second condition is satisfied.

[0081] For example, the predetermined conditions further include a third condition that the wheels 16 are rotating. The control unit 72 is configured to determine that the wheels 16 are rotating when the vehicle speed is equal to or higher than a predetermined vehicle speed. For example, the control unit 72 determines that the third condition is satisfied when the vehicle speed is equal to or higher than the predetermined vehicle speed.

[0082] For example, the predetermined condition includes a fourth condition in which the first condition is satisfied after the condition that the human-powered driving force input to the crankshaft 12 is equal to or greater than the predetermined driving force is satisfied. The fourth condition is, for example, a condition in which it is possible to determine that a rider is riding on the human-powered vehicle 10. The predetermined human-powered driving force is set based on the human-powered driving force detected by the human-powered driving force detection unit 60 when an operator rotates the crankshaft 12 by hand with the wheels 16 of the human-powered vehicle 10 lifted from the ground. The predetermined human-powered driving force is, for example, greater than the stop determination driving force. The predetermined human-powered driving force may be equal to or less than the stop determination driving force. The predetermined human-powered driving force is, for example, a torque in a range of 5 Nm or more and 40 Nm or less.

[0083] The control unit 72 determines that the fourth condition is satisfied when, for example, the first condition is satisfied within a predetermined period after the condition that the manual driving force input to the crankshaft 12 is equal to or greater than a predetermined driving force is satisfied. The control unit 72 determines that the fourth condition is satisfied when, for example, the first condition is satisfied after a driving force equal to or greater than the predetermined driving force is detected multiple times. The control unit 72 determines that the fourth condition is satisfied when, for example, the first condition is satisfied after a driving force equal to or greater than the predetermined driving force and a driving force less than the predetermined driving force are repeatedly detected multiple times.

[0084] When the predetermined conditions include all of the first condition, the second condition, the third condition, and the fourth condition, the control unit 72 determines that the predetermined conditions are satisfied, for example, when a gear shift command is issued while the human-powered vehicle 10 with the rider on board is traveling and the rotation speed of the crankshaft 12 is equal to or lower than a predetermined rotation speed. For example, the control unit 72 is configured to drive the motor 22 and control the derailleur 42A in response to a gear shift command when the human-powered vehicle 10 with the rider on board is traveling and the rotation of the crankshaft 12 is stopped.

[0085] When the human-powered vehicle 10 with a rider on board is traveling and the rotation of the crankshaft 12 has stopped, a gear shift command is issued, for example, including a case where the gear ratio is set to a predetermined gear ratio or lower as the vehicle speed decreases. When the human-powered vehicle 10 with a rider on board is traveling and the rotation of the crankshaft 12 has stopped, a gear shift command is issued, for example, including a case where the gear shift operation device is operated while the rider has stopped pedaling.

[0086] The drive conditions of the motor 22 include at least one of a first drive condition and a second drive condition. When a predetermined condition is satisfied, the control unit 72 is configured to control the motor 22 so that, for example, both the first drive condition and the second drive condition are satisfied.

[0087] The first drive condition includes a condition for driving the motor 22 so that the rotation torque of the first rotating body 14 by the motor 22 is maintained at or below a predetermined torque. For example, when the predetermined condition is satisfied, the control unit 72 is configured to drive the motor 22 so that the rotation torque of the first rotating body 14 by the motor 22 is maintained at or below a predetermined torque. The predetermined torque is equal to or greater than 1 Nm and equal to or less than 10 Nm. For example, the predetermined torque is equal to or greater than 2 Nm and equal to or less than 10 Nm. For example, the predetermined torque is a torque at which the wheels 16 do not rotate when the motor 22 is driven when the wheels 16 of the human-powered vehicle 10 are in contact with the ground and the human-powered vehicle 10 is stopped.

[0088] For example, the predetermined torque is set according to the gear ratio of the human-powered vehicle 10. The predetermined torque may be constant regardless of the gear ratio. When the predetermined torque is set according to the gear ratio of the human-powered vehicle 10, for example, the predetermined torque when the gear ratio is equal to or less than the predetermined gear ratio may be different from the predetermined torque when the gear ratio exceeds the predetermined gear ratio. The predetermined torque when the gear ratio is equal to or less than the predetermined gear ratio is 2 Nm, and the predetermined torque when the gear ratio exceeds the predetermined gear ratio is 5 Nm, for example. The predetermined torque may be set in three or more stages according to the gear ratio. The predetermined torque may be set to be larger as the gear ratio becomes smaller. The predetermined torque may be set to be smaller as the gear ratio becomes smaller.

[0089] The second drive condition includes a condition for driving the transmission body 20 by driving the motor 22 at a predetermined current value or less. For example, when the predetermined condition is satisfied, the control unit 72 is configured to drive the transmission body 20 by driving the motor 22 at a predetermined current value or less. The predetermined current value is greater than the standby current value of the motor 22 and is 5 A or less. For example, the predetermined current value is 2 A or less. For example, the predetermined current value is 1.5 A or less. For example, the predetermined current value is 1.2 A. For example, the predetermined current value is 1 A. The standby current value is, for example, a current value in an unloaded state of the motor 22.

[0090] For example, the control unit 72 is configured to drive the motor 22 so that the rotation speed of the first rotating body 14 is equal to or lower than the estimated rotation speed. The estimated rotation speed is calculated based on the gear ratio of the human-powered vehicle 10 and the vehicle speed of the human-powered vehicle 10. For example, when a predetermined condition is satisfied, the control unit 72 is configured to drive the motor 22 so that the rotation speed of the first rotating body 14 is equal to or lower than the estimated rotation speed. When the crankshaft 12 is not rotating while the wheels 16 are rotating, the estimated rotation speed is equal to or higher than the actual rotation speed of the crankshaft 12. The estimated rotation speed is calculated, for example, by equation (2). In equation (2), CX represents the estimated rotation speed. In equation (2), V represents the vehicle speed. In equation (2), R represents the gear ratio. In equation (2), L represents the circumference of the wheels 16. Formula (2): CX(rpm)=[V(km / h)×1000] / [R×60×L(m)]

[0091] For example, the control unit 72 is configured not to operate the derailleur 42A when the vehicle speed of the human-powered vehicle 10 is within a predetermined vehicle speed range including a predetermined first vehicle speed and a predetermined condition is satisfied. The predetermined vehicle speed range may be, for example, a range of 20 km / h or more and 30 km / h or less, or a range of 22 km / h or more and 28 km / h or less. For example, the control unit 72 is configured to operate the derailleur 42A and drive the motor 22 to drive the transmission body 20 when the vehicle speed is outside a predetermined vehicle speed range including the predetermined first vehicle speed and a second condition is satisfied. For example, the control unit 72 is configured not to operate the derailleur 42A and not to drive the motor 22 when the vehicle speed is faster than the predetermined first vehicle speed and a predetermined condition is satisfied.

[0092] For example, when a predetermined condition is satisfied, the control unit 72 is configured to stop driving the motor 22 according to the load on the motor 22. For example, the control unit 72 is configured to start driving the motor 22 based on the predetermined condition being satisfied, and then stop driving the motor 22 when the load on the motor 22 is equal to or greater than a predetermined load. The predetermined load is set to a value that can determine whether a foreign object or the like is caught in at least one of the transmission body 20, the first rotating body 14, and the second rotating body 18, for example.

[0093] The process of controlling the motor 22 and the derailleur 42A by the control unit 72 will be described with reference to Fig. 4. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0094] In step S11, the control unit 72 determines whether or not a predetermined condition is satisfied. If the predetermined condition is not satisfied, the control unit 72 ends the process. If the predetermined condition is satisfied, the control unit 72 proceeds to step S12.

[0095] In step S12, the control unit 72 determines whether the vehicle speed is within a predetermined vehicle speed range. If the vehicle speed is not within the predetermined vehicle speed range, the control unit 72 ends the process. If the vehicle speed is within the predetermined vehicle speed range, the control unit 72 proceeds to step S13.

[0096] In step S13, the control unit 72 drives the motor 22 so that the drive conditions for the motor 22 are satisfied, and then the process proceeds to step S14. In step S14, the control unit 72 determines whether the load on the motor 22 is equal to or greater than a predetermined load. If the load on the motor 22 is equal to or greater than the predetermined load, the control unit 72 proceeds to step S15. If the load on the motor 22 is not equal to or greater than the predetermined load, the control unit 72 proceeds to step S17.

[0097] In step S15, the control unit 72 controls the derailleur 42A to change the gear ratio, and proceeds to step S16. In step S16, the control unit 72 determines whether or not the change in the gear ratio has been completed. If the change in the gear ratio has not been completed, the control unit 72 proceeds to step S14. If the change in the gear ratio has been completed, the control unit 72 proceeds to step S17. In step S16, the control unit 72 determines that the change in the gear ratio has been completed, for example, if a predetermined shifting period has elapsed since the start of the change in the gear ratio. Step S16 may be omitted. If step S16 is omitted, the control unit 72 proceeds from step S15 to step S17.

[0098] In step S17, the control unit 72 stops driving the motor 22 and ends the process. The control unit 72 may be configured to drive the motor 22 so that the motor 22 can propel the manual driving force when the manual driving force becomes greater than the first driving force during the execution of the process of FIG.

[0099] In the process of Fig. 4, step S12 may be omitted. When step S12 is omitted, the control unit 72 proceeds to step S13 if the determination in step S11 is YES. In the process of Fig. 4, step S14 may be omitted. When step S14 is omitted, the control unit 72 proceeds to step S15 after the process of step S13. When step S14 is omitted, the control unit 72 proceeds to step S15 if the determination in step S16 is NO.

[0100] <Example of change> The description of the embodiments is merely an example of possible forms of a control device for a human-powered vehicle according to the present disclosure, and is not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure may take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two modified examples that are not mutually contradictory. In the modified examples below, parts that are common to the embodiments are given the same reference numerals as the embodiments, and descriptions thereof are omitted.

[0101] The control unit 72 may be configured not to control the derailleur 42A. When the control unit 72 is configured not to control the derailleur 42A, for example, the control unit 72 may determine whether the second condition is satisfied based on a signal output from a gear shifting device. When the control unit 72 is configured not to control the derailleur 42A, the derailleur 42A may be a manual derailleur that does not include the electric actuator 44. A process in which the control unit 72 controls the motor 22 but does not control the derailleur 42A will be described with reference to Fig. 5. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S21 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped. In step S21, the control unit 72 determines whether or not a predetermined condition is satisfied. If the predetermined condition is not satisfied, the control unit 72 ends the process. If the predetermined condition is satisfied, the control unit 72 proceeds to step S22. In step S22, the control unit 72 drives the motor 22 so that the drive condition of the motor 22 is satisfied, and the process proceeds to step S23. In step S23, the control unit 72 determines whether or not the motor stop condition is satisfied. If the motor stop condition is not satisfied, the control unit 72 executes the process of step S23 again. If the motor stop condition is satisfied, the control unit 72 proceeds to step S24. The motor stop condition is satisfied, for example, when a predetermined period of time has elapsed since the motor 22 was driven. The predetermined period of time includes, for example, a period until the travel distance of the human-powered vehicle 10 reaches a predetermined distance. The predetermined distance is set, for example, based on laws and regulations. The predetermined distance is, for example, 2 m. The motor stop condition may be satisfied, for example, when the load on the motor 22 is equal to or greater than a predetermined load. In step S24, the control unit 72 stops driving the motor 22 and ends the process. The control unit 72 may be configured to drive the motor 22 in response to at least one of the manual driving force and the rotation speed of the crankshaft 12 so that the motor 22 can propel the manual driving force when the manual driving force becomes greater than the first driving force during the execution of the process of FIG.

[0102] If the derailleur 42A is a manual derailleur that does not include the electric actuator 44, the predetermined first vehicle speed may be different from when the derailleur 42A includes the electric actuator 44. A manual derailleur is connected to the gear shifting device, for example, via a Bowden cable. For example, when the derailleur 42A is a manual derailleur that does not include the electric actuator 44, the predetermined first vehicle speed is faster than when the derailleur 42A includes the electric actuator 44.

[0103] The control unit 72 may be configured to determine that a predetermined condition is always satisfied when the human-powered vehicle 10 is coasting. Coasting includes, for example, a case where the wheels 16 are rotating and the estimated rotation speed of the crankshaft 12 is equal to or lower than the rotation speed of the crankshaft 12 detected by the crank rotation state detection unit 62.

[0104] The control unit 72 may be configured to always determine that a predetermined condition is satisfied when the crankshaft 12 is stopped rotating, regardless of the traveling state of the human-powered vehicle 10. When the crankshaft 12 is stopped rotating, the control unit 72 may always drive the motor 22, regardless of the traveling state of the human-powered vehicle 10.

[0105] The control unit 72 may be configured not to drive the motor 22 when a predetermined condition is satisfied and when the tire air pressure is within a predetermined range from an initial value to a predetermined value. The predetermined range is used to determine a state in which a rider is not riding on the human-powered vehicle 10. The control unit 72 is configured to be able to acquire the initial value based on, for example, the output of a detection unit that detects the tire air pressure. The initial value is, for example, the tire air pressure when the rider is not riding on the human-powered vehicle 10.

[0106] The term "at least one" as used herein means "one or more" of the desired options. As an example, the term "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the term "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0107] 10... human-powered vehicle, 12... crankshaft, 14... first rotating body, 16... wheel, 18... second rotating body, 20... transmission body, 22... motor, 42A... derailleur, 70... control device, 72... control unit.

Claims

1. A control device for a human-powered vehicle, A control unit is provided, The human-powered vehicle includes a crankshaft configured to receive human-powered driving force, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, 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, and a motor configured to drive the transmission body, The control unit is configured to control the motor; the motor is driven so that a rotation torque of the first rotating body caused by the motor is maintained equal to or less than a predetermined torque when a predetermined condition is satisfied, the predetermined condition includes a first condition that rotation of the crankshaft is stopped, A control device, wherein the predetermined torque is greater than or equal to 1 Nm and less than or equal to 10 Nm.

2. The control device according to claim 1 , wherein the predetermined torque is equal to or greater than 2 Nm and equal to or less than 10 Nm.

3. The control device according to claim 1 , wherein the predetermined torque is set in accordance with a gear ratio of the human-powered vehicle.

4. A control device for a human-powered vehicle, A control unit is provided, The human-powered vehicle includes a crankshaft configured to receive human-powered driving force, a first rotating body connected to the crankshaft, wheels, a second rotating body connected to the wheels, 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, and a motor configured to drive the transmission body, The control unit is configured to control the motor; When a predetermined condition is satisfied, the motor is driven at a current value equal to or less than a predetermined current value to drive the transmission body, the predetermined condition includes a first condition that rotation of the crankshaft is stopped, A control device, wherein the predetermined current value is greater than a standby current value of the motor and is 5A or less.

5. The control device according to claim 4 , wherein the predetermined current value is 2 A or less.

6. 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 to a rotational speed of the crankshaft; 5. The control device according to claim 1, wherein the predetermined condition further includes a second condition that the derailleur changes the gear ratio by operating the transmission body.

7. The control unit is when a vehicle speed of the human-powered vehicle is equal to or lower than a predetermined first vehicle speed, the motor is driven so as to impart a propulsive force to the human-powered vehicle in accordance with at least one of the human-powered driving force or the rotational speed of the crankshaft, configured to control the derailleur; 7. The control device according to claim 6, wherein the control device is configured not to operate the derailleur when the predetermined condition is satisfied within a predetermined vehicle speed range including the first predetermined vehicle speed of the human-powered vehicle.

8. The control device according to claim 1 or 4, wherein the predetermined conditions further include a third condition that the wheel is rotating.

9. The control device according to claim 1 , wherein the control unit is configured to determine that the rotation of the crankshaft has stopped when the rotation speed of the crankshaft is equal to or lower than a predetermined rotation speed.

10. the control unit is configured to drive the motor so that a rotation speed of the first rotating body is equal to or less than an estimated rotation speed, The control device according to claim 1 , wherein the estimated rotation speed is calculated based on a gear ratio of the human-powered vehicle and a vehicle speed of the human-powered vehicle.

11. The control device according to claim 1 , wherein the control unit is configured to stop driving the motor in accordance with a load on the motor when the predetermined condition is satisfied.

12. The control device according to claim 11, wherein the control unit is configured to, after starting driving of the motor based on the predetermined condition being satisfied, stop driving of the motor when a load on the motor is equal to or greater than a predetermined load.

13. 6. The control device according to claim 1, wherein the predetermined condition includes a fourth condition that the first condition is satisfied after a condition that the manual driving force input to the crankshaft is equal to or greater than a predetermined driving force is satisfied.

Images