Control device for human powered vehicle

Abstract

To provide a control device for a human powered vehicle that can properly control a speed changer.SOLUTION: A control device for a human powered vehicle is provided with a control part that controls a speed changer that changes a ratio of a rotation speed of a wheel to a rotation speed of a crank shaft of the human powered vehicle. The control part is configured to control the speed changer so that starting of speed change operation by the speed changer is delayed until a predetermined period time elapses, in accordance with human driving power inputted to the human powered vehicle, when a speed change condition for controlling the speed changer so that the ratio is changed is satisfied; and is configured to control the speed changer so that the speed change operation is started without delaying the starting of the operation, when the speed change condition is satisfied and when a state concerning the speed changer is a predetermined state.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, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a transmission of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-47085 A 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 transmission. [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, and includes a control unit that controls a transmission that changes a ratio of the rotational speed of the wheels to the rotational speed of the crankshaft of the human-powered vehicle, and the control unit is configured to control the transmission so as to delay the start of a gear change operation by the transmission until a predetermined period of time has elapsed, in accordance with the human-powered driving force input to the human-powered vehicle, when a gear change condition is met for controlling the transmission to change the ratio, and to control the transmission so as to start the gear change operation without executing the delay, when the gear change condition is met and a state related to the transmission is in a predetermined state. According to the control device of the first aspect, when a state related to the transmission is a predetermined state, the gear ratio can be changed early because the gear shift operation is started without delay, and therefore the control unit can suitably control the transmission.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the predetermined state includes a state in which the ratio is within a predetermined ratio range. According to the control device of the second aspect, when the ratio is within a predetermined ratio range, the gear shift operation can be started without executing a delay.

[0007] In the control device of a third aspect according to the first or second aspect of the present disclosure, the transmission includes an external transmission that shifts the chain of the human-powered vehicle from one of a plurality of sprockets to another one. According to the control device of the third aspect, in a human-powered vehicle including an external transmission, if the state relating to the transmission is a predetermined state, it is possible to start a gear shift operation without executing a delay.

[0008] In the control device of a fourth aspect according to the third aspect of the present disclosure, the predetermined state includes a state in which the rotational angles of the plurality of sprockets are within a predetermined angle range. According to the control device of the fourth aspect, when the rotation angles of the multiple sprockets are within a predetermined angle range, the gear shift operation can be started without executing a delay.

[0009] In the control device of a fifth aspect according to the fourth aspect of the present disclosure, the one of the plurality of sprockets around which the chain is wound before the start of the shifting operation has at least one first shifting promotion region, the predetermined angle range is set based on a rotation angle between the at least one first shifting promotion region, and the at least one first shifting promotion region is configured to promote the shifting operation when the ratio is increased. According to the control device of the fifth aspect, when the rotational angles of the multiple sprockets are within a predetermined angle range that is set based on the rotational angles between the first gear shift promotion regions, the gear shift operation can be started without executing a delay.

[0010] In the control device of a sixth aspect in accordance with the fourth aspect of the present disclosure, the other one of the plurality of sprockets around which the chain is wound after the shifting operation is completed has at least one second shifting promotion region, the specified angle range is set based on a rotation angle between the at least one second shifting promotion region, and the at least one second shifting promotion region is configured to promote the shifting operation when the ratio is reduced. According to the control device of the sixth aspect, when the rotational angles of the multiple sprockets are within a predetermined angle range that is set based on the rotational angles between the second gear shift promotion regions, the gear shift operation can be started without executing a delay.

[0011] In the control device of a seventh aspect according to the third or fourth aspect of the present disclosure, the predetermined state includes a state in which the number of at least one first shift promotion region included in one of the plurality of sprockets around which the chain is wound before the shift operation is started is within a first predetermined number range, and the at least one first shift promotion region is configured to promote the shift operation when the ratio is increased. According to the control device of the seventh aspect, when the number of at least one first shift promotion region is within the first predetermined number range, the shift operation can be started without executing a delay.

[0012] In the control device of an eighth aspect according to any one of the third, fourth, and seventh aspects of the present disclosure, the predetermined state includes a state in which the number of at least one second shift promotion region included in another one of the plurality of sprockets around which the chain is wound after the shift operation is completed is within a second predetermined number range, and the at least one second shift promotion region is configured to promote the shift operation when the ratio is reduced. According to the control device of the eighth aspect, when the number of at least one second shift promotion region is within the first predetermined number range, the shift operation can be started without executing a delay.

[0013] In the control device of a ninth aspect according to any one of the third to eighth aspects of the present disclosure, the predetermined state includes a state in which the winding length of the chain around the other one of the plurality of sprockets is within a predetermined length range. According to the control device of the ninth aspect, if the winding length of the chain around another one of the plurality of sprockets is within a predetermined length range, the gear shifting operation can be started without executing a delay.

[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 calculate the predetermined period so that operation of the transmission is completed when the manual driving force is equal to or less than a predetermined driving force. According to the control device of the tenth aspect, the operation of the transmission can be completed when the manual driving force is equal to or less than a predetermined driving force, so that deterioration of the transmission performance is suppressed.

[0015] In the control device of an eleventh aspect according to the third aspect of the present disclosure, the control unit is configured to calculate the predetermined period so that the operation of the transmission is completed when the manual driving force is equal to or less than a predetermined driving force, and the one of the plurality of sprockets around which the chain is wound before the start of the shifting operation has at least one first shifting promotion region, and the predetermined period is calculated based on the rotation angle between the at least one first shifting promotion region, and the at least one first shifting promotion region is configured to promote the shifting operation when the ratio is increased. According to the control device of the eleventh aspect, the operation of the transmission can be completed when the manual driving force is equal to or less than a predetermined driving force, thereby suppressing deterioration of the transmission performance.

[0016] In the control device of a twelfth aspect according to the third aspect of the present disclosure, the control unit is configured to calculate the predetermined period so that the operation of the transmission is completed when the manual driving force is equal to or less than a predetermined driving force, and the other one of the plurality of sprockets around which the chain is wound after completion of the shifting operation has at least one second shifting promotion region, the predetermined period is set based on a rotation angle between the at least one second shifting promotion region, and the at least one second shifting promotion region is configured to promote the shifting operation when the ratio is reduced. According to the control device of the twelfth aspect, the operation of the transmission can be completed when the manual driving force is equal to or less than a predetermined driving force, thereby suppressing deterioration of the transmission performance.

[0017] In the control device of a thirteenth aspect according to the eleventh or twelfth aspect of the present disclosure, the predetermined period is calculated based on a winding length of the chain around the other one of the plurality of sprockets. According to the control device of the thirteenth aspect, the gear shifting operation can be started based on a predetermined period of time calculated based on the winding length of the chain around another one of the multiple sprockets. Effect of the Invention

[0018] The control device for a human-powered vehicle according to the present disclosure can suitably control the transmission. [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] 2 is a side view showing the second rotating body of FIG. 1. [Diagram 3] FIG. 2 is a block diagram showing the electrical configuration of 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 transmission. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] <Embodiment> A control device 60 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, and a transmission body 20. 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 60 and the transmission 42. For example, the battery 40 is connected to the control device 60 so as to be able to communicate with the control device 60 via wired or wireless communication. For example, the battery 40 can communicate with the control device 60 via Power Line Communication (PLC), a Controller Area Network (CAN), or a Universal Asynchronous Receiver / Transmitter (UART).

[0030] The human-powered vehicle 10 includes, for example, a transmission 42. The transmission 42 changes the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12 of the human-powered vehicle 10. 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 the ratio R. The ratio R is, for example, the ratio R 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 at least one of an external transmission 42A and an internal transmission. In this embodiment, the transmission 42 includes the external transmission 42A that transfers the chain of the human-powered vehicle 10 from one of a plurality of sprockets to another. The transmission 42 in this embodiment includes the external transmission 42A. The external transmission 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12. The external transmission 42A includes, for example, at least one of a front derailleur and a rear derailleur. When the external transmission 42A includes at least one of a front derailleur and a rear derailleur, the transmission body 20 includes a chain.

[0032] The external transmission 42A, for example, moves the transmission body 20 engaged with one of the plurality of sprockets to another one 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 42B. The electric actuator 42B is configured, for example, to operate the transmission 42. The electric actuator 42B is configured, for example, to operate the external transmission 42A.

[0033] The external transmission 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12. For example, the external transmission 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 ratio R. For example, the external transmission 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 ratio R. The relationship between the ratio R, 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 ratio R. 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 external transmission 42A can change the ratio R for at least one shift stage. For example, the external transmission 42A is configured to operate the transmission body 20 to change the at least one shift stage. For example, the at least one 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 shift stage includes a plurality of shift stages, a different ratio R is set for each of the plurality of shift stages. For example, the higher the shift stage, the larger the ratio R.

[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 external transmission 42A moves a chain engaged with one of the multiple sprockets to another of the multiple sprockets. For example, a combination of a sprocket with the smallest number of teeth among the multiple first sprockets and a sprocket with the largest number of teeth among the multiple second sprockets corresponds to the smallest gear shifting stage that can be realized by the external transmission 42A. For example, a combination of a sprocket with the largest number of teeth among the multiple first sprockets and a sprocket with the smallest number of teeth among the multiple second sprockets corresponds to the largest gear shifting stage that can be realized by the external transmission 42A.

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

[0038] When the external transmission 42A includes a front derailleur, for example, the external transmission 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 ratio R. For example, the multiple first rotating bodies 14 include a plurality of sprockets.

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

[0040] When the external transmission 42A includes a rear derailleur, for example, at least one of the multiple second rotating bodies 18 includes at least two shifting promotion regions 22 in the circumferential direction. The at least two shifting promotion regions 22 are, for example, set individually in at least one of the multiple second rotating bodies 18. The at least two shifting promotion regions 22 are regions that promote movement of the transmission body 20 from one of the multiple second rotating bodies 18 to another adjacent one of the multiple second rotating bodies 18 by the rear derailleur.

[0041] When the at least two shift promotion regions 22 are set individually in each of the multiple second rotating bodies 18, for example, the at least two shift promotion regions 22 may be different in all of the multiple second rotating bodies 18, or at least two may be the same. At least one of the multiple second rotating bodies 18 may not include at least two shift promotion regions 22. For example, the smallest second sprocket among the multiple second sprockets does not include at least two shift promotion regions 22, and the other second sprockets include at least two shift promotion regions 22.

[0042] When at least two shifting promotion regions 22 are set individually for each of the plurality of second rotating bodies 18, for example, the at least two shifting promotion regions 22 include a first shifting promotion region 22A and a second shifting promotion region 22B. The first shifting promotion region 22A, for example, promotes movement of a chain from one of the plurality of sprockets to another of the plurality of second sprockets. The at least one first shifting promotion region 22A is configured to promote a shifting operation when the ratio R is increased. The first shifting promotion region 22A, for example, promotes movement of a chain from a second sprocket having a larger number of teeth among the plurality of sprockets to a sprocket having a smaller number of teeth among the plurality of sprockets. The first shifting promotion region 22A includes, for example, a sprocket tooth having a structure that makes it easy for the chain to come off the sprocket tooth.

[0043] The second gear shifting promotion region 22B, for example, promotes movement of a chain from another one of the multiple sprockets to one of the multiple sprockets. At least one second gear shifting promotion region 22B is configured to promote a gear shifting operation when the ratio R is reduced. The second gear shifting promotion region 22B, for example, promotes movement of a chain from a sprocket having a smaller number of teeth among the multiple sprockets to a sprocket having a larger number of teeth among the multiple sprockets. The second gear shifting promotion region 22B includes, for example, sprocket teeth having a structure that makes it easy for the chain to engage with the sprocket teeth.

[0044] Fig. 4 shows one of the multiple second rotating bodies 18. In one of the multiple second rotating bodies 18 shown in Fig. 4, for example, four first gear shift promotion regions 22A and four second gear shift promotion regions 22B are provided. The four first gear shift promotion regions 22A and the four second gear shift promotion regions 22B are provided alternately in the circumferential direction of one of the multiple second rotating bodies 18, for example.

[0045] In the case where the external transmission 42A includes a front derailleur, for example, at least one of the multiple first rotating bodies 14 may be provided with a gear shifting promotion region 22, similar to at least one of the multiple second rotating bodies 18.

[0046] For example, the human-powered vehicle 10 further includes a gear shift operation device 44. The gear shift operation device 44 is provided, for example, on the handlebar 36. The gear shift operation device 44 includes, for example, a first operation portion for increasing the ratio R and a second operation portion for decreasing the ratio R.

[0047] For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 46. For example, the vehicle speed detection unit 46 is communicably connected to the control unit 62 by wire or wirelessly. For example, the vehicle speed detection unit 46 is configured to detect information related to the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 46 is configured to detect information related to the rotational speed of the wheels 16. For example, the vehicle speed detection unit 46 is configured to detect a magnet provided on at least one of the front wheels 16F and the rear wheels 16R.

[0048] For example, the vehicle speed detection unit 46 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 46 outputs a signal corresponding to the rotation speed of the wheels 16. The control unit 62 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 64 stores information relating to the circumference of the wheels 16.

[0049] For example, the human-powered vehicle 10 further includes a human-powered driving force detection unit 48. The human-powered driving force detection unit 48 is communicatively connected to the control unit 62 by wire or wirelessly. The human-powered driving force detection unit 48 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.

[0050] For example, the manual driving force detection unit 48 is provided on a member provided 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 power transmission unit is provided on the outer periphery of the crankshaft 12.

[0051] The manual driving force detection unit 48 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, etc. The strain sensor includes a strain gauge. The manual driving force detection unit 48 may have any configuration as long as it can obtain information related to the manual driving force.

[0052] For example, the manual driving force detection unit 48 may be provided in the crank arms 28A, 28B or at least one of the two pedals 30. For example, when the manual driving force detection unit 48 is provided in at least one of the two pedals 30, the manual driving force detection unit 48 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 48 may be provided in a chain included in the transmission body 20. For example, when the manual driving force detection unit 48 is provided in the chain, the manual driving force detection unit 48 may include a sensor that detects tension of the chain.

[0053] For example, the human-powered vehicle 10 further includes a crank rotation state detection unit 50. For example, the crank rotation state detection unit 50 is communicably connected to the control unit 62 by wire or wirelessly. The crank rotation state detection unit 50 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 50 is configured to detect information corresponding to the rotation speed of the crankshaft 12. For example, the crank rotation state detection unit 50 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.

[0054] For example, the crank rotation state detection unit 50 includes a magnetic sensor that outputs a signal according to the strength of a magnetic field. The crank rotation state detection unit 50 includes an annular magnet with multiple magnetic poles arranged in a 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.

[0055] For example, the crank rotation state detection unit 50 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 rotating body 14. For example, the crank rotation state detection unit 50 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 rotating body 14. The crank rotation state detection unit 50 may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of a magnetic sensor.

[0056] For example, the crank rotation state detection unit 50 is provided on the frame 26 of the human-powered vehicle 10. For example, when the crank rotation state detection unit 50 is provided on the frame 26, the crank rotation state detection unit 50 may be configured to include a vehicle speed sensor. When the crank rotation state detection unit 50 includes the vehicle speed sensor, the control unit 62 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 ratio R.

[0057] The crank rotation state detection unit 50 may be configured to detect the amount of rotation of the at least one second rotating body 18. The crank rotation state detection unit 50 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 50 may output a signal corresponding to the rotation speed of the at least one second rotating body 18.

[0058] For example, the human-powered vehicle 10 further includes a gradient detection unit 52. The gradient detection unit 52 includes, for example, at least one of an inclination sensor and a Global Positioning System (GPS) receiver. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. When the gradient detection unit 52 includes a GPS receiver, map information including information about the gradient of the road is stored in advance in the memory unit 64, and the control unit 62 acquires the gradient of the road at the current location of the human-powered vehicle 10.

[0059] The control device 60 for a human-powered vehicle includes a control unit 62. For example, the control unit 62 includes a calculation processing unit that executes a predetermined control program. For example, the calculation processing unit included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0060] For example, the arithmetic processing device included in the control unit 62 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 62 may include one or more microcomputers.

[0061] For example, the control device 60 further includes a storage unit 64. For example, the storage unit 64 is communicably connected to the control unit 62 by wire or wirelessly. For example, the storage unit 64 stores a control program and information used in the control process. For example, the storage unit 64 includes, for example, a non-volatile memory and a volatile memory. For example, the non-volatile 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).

[0062] The control unit 62 controls the transmission 42. When a shifting condition is met for controlling the transmission 42 to change the ratio R, the control unit 62 is configured to control the transmission 42 so as to delay the start of a shifting operation by the transmission 42 until a predetermined period has elapsed, in accordance with the human-powered driving force input to the human-powered vehicle 10. When the shifting condition is met and the state related to the transmission 42 is a predetermined state, the control unit 62 is configured to control the transmission 42 so as to start the shifting operation without executing a delay.

[0063] The gear shift condition relates to at least one of the driving state and driving environment of the human-powered vehicle 10, for example. The driving state includes at least one of the rotation speed of the crankshaft 12, the human-powered driving force, and the vehicle speed, for example. The driving environment includes the gradient of the road, for example. At least one of the driving state and the driving environment includes driving resistance, for example. The driving resistance includes at least one of the air resistance, the rolling resistance, the gradient resistance, and the acceleration resistance, for example.

[0064] The gear shifting conditions include, for example, at least one of the rotation speed of the crankshaft 12, the human driving force, and the vehicle speed. In this embodiment, the gear shifting conditions include the rotation speed of the crankshaft 12. For example, when the rotation speed of the crankshaft 12 is greater than an upper threshold, the control unit 62 controls the transmission 42 to increase the ratio R, and when the rotation speed of the crankshaft 12 is less than a lower threshold, the control unit 62 controls the transmission 42 to decrease the ratio R.

[0065] When the shifting condition includes the manual driving force, the shifting condition is satisfied, for example, when the manual driving force is outside a first range. When the shifting condition includes the vehicle speed, the shifting condition is satisfied, for example, when the vehicle speed is outside a second range.

[0066] The shifting condition includes at least one of the gradient of the road and the running resistance, for example. When the shifting condition includes the gradient of the road, the shifting condition is satisfied, for example, when the gradient of the road is outside a third range. When the shifting condition includes the running resistance, the shifting condition is satisfied, for example, when the running resistance is outside a fourth range.

[0067] The control unit 62 is configured, for example, to calculate the predetermined period of time so that the operation of the transmission 42 is completed when the manual driving force is equal to or less than a predetermined driving force. The predetermined driving force is set, for example, to a value that ensures the shifting performance of the transmission 42. The control unit 62 may change the predetermined driving force according to the ratio R. For example, the control unit 62 is configured to calculate the predetermined period of time so that the operation of the transmission 42 is started when the manual driving force is equal to or less than a predetermined driving amount, and the operation of the transmission 42 is completed when the manual driving force is equal to or less than the predetermined driving amount.

[0068] One of the multiple sprockets around which the chain is wound before the start of a gear shifting operation has, for example, at least one first gear shifting promotion region 22A. The predetermined period is calculated, for example, based on the rotation angle between the at least one first gear shifting promotion region 22A. When there is one at least one first gear shifting promotion region 22A, for example, the rotation angle between the first gear shifting promotion region 22A is 360 degrees. When there are two at least one first gear shifting promotion regions 22A and they are arranged at equal intervals, for example, the rotation angle between the first gear shifting promotion regions 22A is 180 degrees. It is preferable that three or more first gear shifting promotion regions 22A are provided on the sprocket so that the rotation angles between the first gear shifting promotion regions 22A are all 150 degrees or less.

[0069] For example, when changing to increase ratio R, control unit 62 calculates the predetermined period based on the rotation angle between first gear shifting promotion regions 22A of the sprocket around which the chain is wound before the start of a gear shifting operation. For example, when changing to increase ratio R, control unit 62 is configured to control external gear shifter 42A so that external gear shifter 42A operates when the first gear shifting promotion region 22A of the sprocket around which the chain is wound before the start of a gear shifting operation is in a corresponding position to the chain.

[0070] One of the multiple sprockets around which the chain is wound after the start of a gear shifting operation has, for example, at least one second gear shifting promotion region 22B. The predetermined period is set, for example, based on the rotation angle between the at least one second gear shifting promotion region 22B. When there is one at least one second gear shifting promotion region 22B, for example, the rotation angle between the second gear shifting promotion region 22B is 360 degrees. When there are two at least one second gear shifting promotion regions 22B and they are equally spaced apart, for example, the rotation angle between the second gear shifting promotion regions 22B is 180 degrees. It is preferable that three or more second gear shifting promotion regions 22B are provided on the sprocket so that the rotation angles between the second gear shifting promotion regions 22B are all 150 degrees or less.

[0071] For example, when changing the ratio R to be smaller, the control unit 62 calculates the predetermined period based on the rotation angle between the second gear shift promotion regions 22B. For example, when changing the ratio R to be smaller, the control unit 62 calculates the predetermined period based on the rotation angle between the second gear shift promotion regions 22B of the sprocket around which the chain is wound after the shifting operation is completed. For example, when changing the ratio R to be smaller, the control unit 62 is configured to control the external gear shifter 42A so that the external gear shifter 42A operates when the second gear shift promotion region 22B of the sprocket around which the chain is wound after the shifting operation is completed and the chain are in a corresponding position.

[0072] The predetermined period is calculated, for example, based on the length of the chain wrapped around another one of the multiple sprockets. The length of the chain wrapped around the other one of the multiple sprockets corresponds, for example, to the length of the chain that engages with the teeth of the sprocket around which the chain is wrapped after the shifting operation is completed ... wrapped around the other one of the multiple sprockets. For example, the length of the chain wrapped around the other one of the multiple sprockets is stored in advance in the memory unit 64.

[0073] For example, the predetermined period is calculated based on the manual driving force, the rotation angle between at least one first shift promotion region 22A or the rotation angle between at least one second shift promotion region 22B, and the winding length of the chain. For example, the predetermined period is calculated based on the manual driving force, the rotation angle between at least one first shift promotion region 22A or the rotation angle between at least one second shift promotion region 22B, and the winding length of the chain, as well as the time required for communication between the control unit 62 and the transmission 42.

[0074] The control unit 62 determines that the state related to the transmission 42 is the predetermined state, for example, if the operation of the transmission 42 is not completed when the manual driving force is equal to or less than a predetermined driving force even if the start of the shifting operation by the transmission 42 is delayed. The control unit 62 may determine that the state related to the transmission 42 is the predetermined state if the predetermined period is longer than the upper limit period. The control unit 62 may determine that the state related to the transmission 42 is the predetermined state if the predetermined period is calculated so as to delay the start of the shifting operation by the transmission 42 until the rotation angle of the crankshaft 12 becomes larger than the upper limit rotation angle.

[0075] The predetermined state includes, for example, a state in which the ratio R is within a predetermined ratio range. The predetermined ratio range is set to a value that ensures the shifting performance of the transmission 42, for example.

[0076] The predetermined state includes, for example, a state in which the rotational angles of the multiple sprockets are within a predetermined angle range. The predetermined angle range is set based on the rotational angle between at least one first shift promotion region 22A. When changing the ratio R so that the ratio R becomes larger, for example, the predetermined angle range is set based on the rotational angle between at least one first shift promotion region 22A. The predetermined angle range is set based on the rotational angle between at least one second shift promotion region 22B. When changing the ratio R so that the ratio R becomes smaller, for example, the predetermined angle range is set based on the rotational angle between at least one second shift promotion region 22B.

[0077] The predetermined state includes, for example, a state in which the number of at least one first gear shifting promotion region 22A included in one of the plurality of sprockets around which the chain is wound before the start of a gear shifting operation is within a first predetermined number range. The first predetermined number range may be different for each ratio R. The first predetermined number range is, for example, equal to or less than the first predetermined number.

[0078] The predetermined state includes, for example, a state in which the number of at least one second gear shifting promotion region 22B included in another one of the plurality of sprockets around which the chain is wound after the gear shifting operation is completed is within a second predetermined number range. The second predetermined number range may be different for each ratio R. The second predetermined number range is, for example, equal to or less than the second predetermined number.

[0079] The predetermined state includes, for example, a state in which the length of the chain wrapped around another one of the plurality of sprockets is within a predetermined length range, for example, equal to or less than a predetermined length.

[0080] The process of control of the transmission 42 by the control unit 62 will be described with reference to Fig. 4. For example, when power is supplied to the control unit 62, the control unit 62 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 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0081] In step S11, the control unit 62 determines whether or not the gear shift condition is satisfied. If the gear shift condition is not satisfied in step S11, the control unit 62 ends the process. If the gear shift condition is satisfied, the control unit 62 proceeds to step S12.

[0082] In step S12, the control unit 62 determines whether or not the state related to the transmission 42 is a predetermined state. If the state related to the transmission 42 is a predetermined state, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission 42 to start a gear shifting operation, and ends the process.

[0083] If the state related to the transmission 42 is not a predetermined state in step S12, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether or not shifting can be started. For example, the control unit 62 determines that shifting can be started when a predetermined period of time has elapsed since the shifting conditions were met. If shifting cannot be started, the control unit 62 performs the determination of step S14 again. If shifting can be started, the control unit 62 proceeds to step S15. In step S15, the control unit 62 controls the transmission 42 to start a shifting operation, and ends the process.

[0084] <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.

[0085] The control unit 62 may be configured to be able to determine whether the transmission 42 is an external transmission 42A or an internal transmission. When the control unit 62 determines that the transmission 42 is an internal transmission, the control unit 62 may be configured to control the transmission 42 so as not to execute the delay.

[0086] 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]

[0087] 10... human-powered vehicle, 12... crankshaft, 16... wheel, 22A... first gear shift promotion region, 22B... second gear shift promotion region, 42... transmission, 42A... external gear shifter, 60... control device, 62... control unit.

Claims

1. A control device for a human-powered vehicle, a control unit for controlling a transmission that changes a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle; The control unit is when a gear change condition for controlling the gear change device to change the ratio is satisfied, the gear change device is controlled in accordance with a human-powered driving force input to the human-powered vehicle so as to delay the start of a gear change operation by the gear change device until a predetermined period of time has elapsed, a control device configured to control the transmission to start the gear shift operation without executing the delay when the gear shift condition is satisfied and a state related to the transmission is a predetermined state.

2. The control device according to claim 1 , wherein the predetermined condition includes a condition in which the ratio is within a predetermined ratio range.

3. 2. The control device according to claim 1, wherein the transmission includes an external derailleur that shifts a chain of the human-powered vehicle from one of a plurality of sprockets to another of the plurality of sprockets.

4. The control device according to claim 3 , wherein the predetermined state includes a state in which the rotational angles of the plurality of sprockets are within a predetermined angle range.

5. the one of the plurality of sprockets around which the chain is wound prior to the start of the shifting operation has at least one first shifting facilitation region; The predetermined angle range is set based on a rotation angle between the at least one first shift promotion region, The control system of claim 4 , wherein the at least one first shift facilitating region is configured to facilitate the shifting action when the ratio is increased.

6. the other one of the plurality of sprockets around which the chain is wound after the completion of the shifting operation has at least one second shifting promotion region; The predetermined angle range is set based on a rotation angle between the at least one second shift promotion region, The control system of claim 4 , wherein the at least one second shift facilitating region is configured to facilitate the shifting action when the ratio is decreased.

7. the predetermined state includes a state in which a number of at least one first shift promotion region included in the one of the plurality of sprockets around which the chain is wound before the start of the shift operation is within a first predetermined number range, The control system of claim 3 , wherein the at least one first shift facilitating region is configured to facilitate the shifting action when the ratio is increased.

8. the predetermined state includes a state in which a number of at least one second shift promotion region included in the other one of the plurality of sprockets around which the chain is wound after the shift operation is completed is within a second predetermined number range, The control system of claim 3 , wherein the at least one second shift facilitating region is configured to facilitate the shifting action when the ratio is decreased.

9. The control device according to claim 3 , wherein the predetermined state includes a state in which a winding length of the chain around the other one of the plurality of sprockets is within a predetermined length range.

10. The control device according to claim 1 , wherein the control unit is configured to calculate the predetermined period of time such that an operation of the transmission is completed in a state in which the manual driving force is equal to or less than a predetermined driving force.

11. The control unit is configured to calculate the predetermined period of time so that the operation of the transmission is completed in a state in which the manual driving force is equal to or less than a predetermined driving force, the one of the plurality of sprockets around which the chain is wound prior to the start of the shifting operation has at least one first shifting facilitation region; The predetermined period is calculated based on a rotation angle between the at least one first shift promotion region, The control system of claim 3 , wherein the at least one first shift facilitating region is configured to facilitate the shifting action when the ratio is increased.

12. The control unit is configured to calculate the predetermined period of time so that the operation of the transmission is completed in a state in which the manual driving force is equal to or less than a predetermined driving force, the other one of the plurality of sprockets around which the chain is wound after the completion of the shifting operation has at least one second shifting promotion region; The predetermined period is set based on a rotation angle between the at least one second shift promotion region, The control system of claim 3 , wherein the at least one second shift facilitating region is configured to facilitate the shifting action when the ratio is decreased.

13. The control device according to claim 11 or 12, wherein the predetermined period is calculated based on a winding length of the chain around the other one of the plurality of sprockets.

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