Controller for human-powered vehicles

Abstract

To provide a controller for a human-powered vehicle which can suitably perform a speed change operation of a derailleur.SOLUTION: A control unit of a controller for a human-powered vehicle switches a control state between a first control state and a second control state according to a first parameter and a second parameter. When the control state is the first control state and a pedaling state is a predetermined pedaling state, the control unit controls a motor to drive a transmission body so that a derailleur operates the transmission body to change a gear ratio. When the control state is the second control state and the pedaling state is the predetermined pedaling state, the control unit suppresses driving of the transmission body by the motor compared with when the control state is the first control state and the pedaling state is the predetermined pedaling state. The first parameter includes at least one of a first acceleration and a first inclination angle concerning a first direction, and the second parameter includes at least one of a second acceleration and a second inclination angle concerning a second direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

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

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

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that allows a derailleur to perform gear shifting operations in an optimal manner. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device further including a control unit configured to control the motor, the control unit being configured to control the motor in a control state selected from a plurality of control states including a first control state and a second control state, and being configured to switch the control state between the first control state and the second control state in accordance with a first parameter and a second parameter, When the control state is the first control state and a pedaling state related to pedaling is a predetermined pedaling state, the derailleur is configured to control the motor to operate the transmission body to drive the transmission body so as to change the gear ratio, and when the control state is the second control state and the pedaling state is the predetermined pedaling state, the derailleur is configured to suppress driving of the transmission body by the motor more than when the control state is the first control state and the pedaling state is the predetermined pedaling state, the first parameter includes at least one of a first acceleration of the human-powered vehicle with respect to a first direction of the human-powered vehicle and a first lean angle of the human-powered vehicle with respect to the first direction, and the second parameter includes at least one of a second acceleration of the human-powered vehicle with respect to a second direction of the human-powered vehicle different from the first direction and a second lean angle of the human-powered vehicle with respect to the second direction. According to the control device of the first aspect, when the pedaling state is a predetermined pedaling state, the control unit can suppress drive of the transmission body by the motor in accordance with at least one of the first acceleration and first angular velocity and at least one of the second acceleration and second angular velocity. Therefore, if at least one of the first acceleration and first angular velocity and at least one of the second acceleration and second angular velocity are not suitable for derailleur shifting, the control unit can suppress derailleur shifting, allowing the derailleur to perform gear shifting favorably. Because the control device of the first aspect switches control states in accordance with parameters related to multiple directions, it can determine whether the state of the human-powered vehicle is not suitable for derailleur shifting more accurately than using a single parameter.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the control unit is configured to switch from the second control state to the first control state when, in the second control state, the first parameter becomes equal to or greater than a first value and the second parameter becomes equal to or greater than a second value. According to the control device of the second aspect, when the first parameter is equal to or greater than the first value and the second parameter is equal to or greater than the second value, the control state is switched from the second control state to the first control state, so that when the human-powered vehicle is traveling in a manner that causes the vehicle to move significantly, it is easy to switch the control state to the first control state.

[0007] In the control device of a third aspect according to the first or second aspect of the present disclosure, the control unit is configured to switch the control state between the first control state and the second control state depending on the first parameter, the second parameter, and vehicle speed. According to the control device of the third aspect, the control state can be switched between the first control state and the second control state in accordance with the first parameter, the second parameter, and the vehicle speed.

[0008] In the control device of a fourth aspect according to the third aspect of the present disclosure, the control unit is configured to switch the control state between the first control state and the second control state in accordance with fluctuations in the first parameter, the second parameter, and the vehicle speed. According to the control device of the fourth aspect, the control unit can switch the control state between the first control state and the second control state in accordance with fluctuations in the first parameter, the second parameter, and the vehicle speed.

[0009] In the control device of a fifth aspect according to any one of the first to fourth aspects of the present disclosure, the control unit is configured to switch the control state between the first control state and the second control state depending on the first parameter, the second parameter, and the rotational speed of the crankshaft. According to the control device of the fifth aspect, the control state can be switched between the first control state and the second control state in accordance with the first parameter, the second parameter, and the rotational speed of the crankshaft.

[0010] In the control device of a sixth aspect according to any one of the first to fifth aspects of the present disclosure, the control unit is configured to switch the control state between the first control state and the second control state depending on the first parameter, the second parameter, and the manual driving force input to the crankshaft. According to the control device of the sixth aspect, the control state can be switched between the first control state and the second control state in accordance with the first parameter, the second parameter, and the rotation speed of the crankshaft.

[0011] In the control device of a seventh aspect according to any one of the first to sixth aspects of the present disclosure, the control unit is configured to switch the control state between the first control state and the second control state according to the first parameter, the second parameter, and a third parameter, and the third parameter includes at least one of a third acceleration of the human-powered vehicle with respect to a third direction of the human-powered vehicle different from the first direction and the second direction, and a third tilt angle of the human-powered vehicle with respect to the third direction. According to the control device of the seventh aspect, the control state can be switched between the first control state and the second control state in accordance with the first parameter, the second parameter, and the third parameter.

[0012] In the control device of an eighth aspect according to a seventh aspect of the present disclosure, the first direction is orthogonal to the second direction and the third direction, and the second direction is orthogonal to the third direction. According to the control device of the eighth aspect, the first direction, second direction, and third direction are perpendicular to each other, so the control unit can switch the control state between the first control state and the second control state in accordance with the three-dimensional movement of the human-powered vehicle.

[0013] In the control device of a ninth aspect according to the eighth aspect of the present disclosure, the first parameter includes the first acceleration, the second parameter includes the second acceleration, and the third parameter includes the third acceleration, and the control unit is configured to switch from the second control state to the first control state when, in the second control state, the resultant force of the first acceleration, the second acceleration, and the third acceleration falls outside a predetermined resultant force range. According to the control device of the ninth aspect, when the resultant force of the first acceleration, the second acceleration, and the third acceleration falls outside a predetermined resultant force range in the second control state, the control state can be switched from the second control state to the first control state.

[0014] In the control device of a tenth aspect according to any one of the first to ninth aspects of the present disclosure, one of the first direction and the second direction is parallel to a roll axis of the human-powered vehicle. According to the control device of the tenth aspect, the control state can be switched between the first control state and the second control state by the first parameter or the second parameter in the direction parallel to the roll axis of the manually driven axis.

[0015] In the control device of an eleventh aspect according to any one of the first to ninth aspects of the present disclosure, one of the first direction and the second direction is parallel to a roll axis of the human-powered vehicle, and the other of the first direction and the second direction is parallel to a pitch axis of the human-powered vehicle. According to the control device of the eleventh aspect, the control state can be switched between a first control state and a second control state by using a first parameter or a second parameter in a direction parallel to the roll axis of the human-powered shaft and a direction parallel to the pitch axis of the human-powered vehicle, respectively.

[0016] In the control device of a twelfth aspect according to any one of the first to eleventh aspects of the present disclosure, the first parameter includes the first acceleration, and the second parameter includes the second acceleration. According to the control device of the twelfth aspect, the control state can be switched between the first control state and the second control state by the first acceleration and the second acceleration.

[0017] In a control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the first direction intersects with a roll axis of the human-powered vehicle, the first parameter includes the first acceleration, and the second parameter includes the second acceleration, and the control unit is configured to maintain the control state in the second control state when, in the second control state, the first acceleration is equal to or greater than a first predetermined acceleration and the second acceleration is equal to or less than a second predetermined acceleration. According to the control device of the thirteenth aspect, when the first acceleration is equal to or greater than the first predetermined acceleration and the second acceleration is equal to or less than the second predetermined acceleration in the second control state, the control state can be maintained in the second control state.

[0018] In the control device of the fourteenth aspect according to any one of the first to thirteenth aspects of the present disclosure, the control unit is configured to switch from the first control state to the second control state when the vehicle speed becomes equal to or lower than a predetermined vehicle speed in the first control state. According to the control device of the fourteenth aspect, when the vehicle speed in the first control state becomes equal to or lower than a predetermined vehicle speed, the control state can be switched from the first control state to the second control state.

[0019] In the control device of a fifteenth aspect according to any one of the first to eleventh aspects of the present disclosure, the first parameter includes the first tilt angle, and the second parameter includes the second tilt angle. According to the control device of the fifteenth aspect, the control state can be maintained in the second control state in accordance with the first tilt angle and the second tilt angle.

[0020] A control device according to a sixteenth aspect according to any one of the first to fifteenth aspects of the present disclosure, further comprising a detection unit that detects the first parameter and the second parameter. According to the control device of the sixteenth aspect, the first parameter and the second parameter can be suitably detected by the detection section.

[0021] In the control device of the seventeenth aspect according to the sixteenth aspect of the present disclosure, the detection unit includes an angular velocity sensor with two or more axes. According to the control device of the seventeenth aspect, the first parameter and the second parameter can be suitably detected by two or more angular velocity sensors.

[0022] In the control device of an eighteenth aspect according to the seventeenth aspect of the present disclosure, the detection unit includes a gyro sensor. According to the control device of the eighteenth aspect, the first parameter and the second parameter can be suitably detected by the gyro sensor.

[0023] A control device according to a nineteenth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device further including a control unit configured to control the motor in a control state selected from a plurality of control states including a first control state and a second control state, and the control state is selected from the first control state and the second control state. and a control system configured to switch between two control states, and when the control state is the first control state and a pedaling state related to pedaling is a predetermined pedaling state, the derailleur is configured to control the motor to drive the transmission body so as to change the gear ratio by operating the transmission body, and when the control state is the second control state and the pedaling state is the predetermined pedaling state, the control system is configured to suppress driving of the transmission body by the motor more than when the control state is the first control state and pedaling has stopped, and when the amount of movement of the human-powered vehicle in a first direction intersecting the roll axis of the human-powered vehicle is equal to or greater than a first movement amount and when the amount of movement in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount, the second control state is selected. According to the control device of the nineteenth aspect, when the pedaling state is a predetermined pedaling state, if the amount of movement of the human-powered vehicle in a first direction intersecting the roll axis of the human-powered vehicle is equal to or greater than a first movement amount, and the amount of movement in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount, the second control state is selected, thereby suppressing the driving of the transmission body by the motor, thereby allowing the derailleur to perform gear shifting operations optimally.

[0024] In the control device of aspect 20 according to any one of aspects 1 to 19 of the present disclosure, the derailleur includes an electric actuator that operates the derailleur to manipulate the transmission body, and the control unit is configured to change the gear ratio by controlling the electric actuator and the motor when a gear shift condition is satisfied when the control state is the first control state and the pedaling state is the specified pedaling state. According to the control device of the twentieth aspect, when the control state is the first control state and the pedaling state is a predetermined pedaling state and the gear change conditions are satisfied, the gear change ratio can be suitably changed by controlling the electric actuator and the motor. [Effects of the Invention]

[0025] The control device for a human-powered vehicle disclosed herein allows the derailleur to perform gear shifting operations in an optimal manner. [Brief explanation of the drawings]

[0026] [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. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. 1. [Figure 3] FIG. 2 is a cross-sectional view of the drive unit of FIG. [Figure 4] 3 is a flowchart of a process executed by the control unit of FIG. 2 to switch the control state. [Figure 5] 3 is a flowchart of a process executed by the control unit of FIG. 2 to control the motor and the derailleur. DETAILED DESCRIPTION OF THE INVENTION

[0027] <Embodiment> 1 to 5, a control system 70 for a human-powered vehicle will be described.

[0028] A human-powered vehicle is a vehicle that has at least one wheel and can be propelled at least by human power. Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. There is no limit to the number of wheels a human-powered vehicle has. Human-powered vehicles also include, for example, one-wheeled vehicles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be propelled solely by human power. Human-powered vehicles include E-bikes that use not only human power but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles, the propulsion of which is assisted by an electric motor. In the following embodiments, the human-powered vehicle will be described as an electrically assisted bicycle.

[0029] 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 and transmit driving force between the first rotating body 14 and the second rotating body 18.

[0030] 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 axial end of the crankshaft 12, and the crank arm 28B is provided at a second axial end of the crankshaft 12. For example, the human-powered vehicle 10 includes two pedals 30. For example, one of the two pedals 30 is coupled to the crank arm 28A. The other of the two pedals 30 is coupled 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.

[0031] 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.

[0032] 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.

[0033] 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 and to transmit 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.

[0034] For example, the at least one first rotating body 14 and the crankshaft 12 may be arranged coaxially. The at least one first rotating body 14 and the crankshaft 12 may not be arranged coaxially. For example, if 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 multiple gears, a sprocket and a chain, a pulley and a belt, or a shaft and a bevel gear. For example, the at least one first rotating body 14 includes at least one first sprocket.

[0035] 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 do not have to be arranged coaxially. For example, if 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 multiple gears, a sprocket and a chain, a pulley and a belt, or a shaft and a bevel gear. For example, the at least one second rotating body 18 includes at least one second sprocket.

[0036] At least one second rotating body 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 driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates in conjunction 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.

[0037] 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 it via a wired or wireless connection. 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).

[0038] The human-powered vehicle 10 includes, for example, a derailleur 42. The derailleur 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 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.

[0039] The derailleur 42 is configured to operate the transmission body 20 to change the transmission ratio of the rotational speed of the wheel 16 to the rotational speed of the crankshaft 12. The derailleur 42 includes, for example, at least one of a front derailleur and a rear derailleur. When the derailleur 42 includes at least one of a front derailleur and a rear derailleur, the transmission body 20 includes a chain.

[0040] The derailleur 42, for example, moves the transmission body 20, which is engaged with one of the plurality of sprockets, to another of the plurality of sprockets. The derailleur 42 includes, for example, an electric actuator 44 that operates the derailleur 42 to manipulate the transmission body 20.

[0041] The derailleur 42 is configured to operate the transmission body 20 to change the transmission ratio of the rotational speed of the wheels 16 relative to the rotational speed of the crankshaft 12. For example, the derailleur 42 is provided in a transmission path of the human-powered driving force in the human-powered vehicle 10 and is configured to change the transmission ratio. For example, the derailleur 42 operates the transmission body 20 to change the first rotating body 14 or the second rotating body 18 that is engaged with the transmission body 20, thereby changing the transmission ratio. The relationship between the transmission 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 represents the transmission ratio. In equation (1), W represents the rotational speed of the wheels 16. In equation (1), C represents the rotational speed of the crankshaft 12. Equation (1): R = W (rpm) / C (rpm)

[0042] For example, the derailleur 42 can change the gear ratio for at least one gear stage. For example, the derailleur 42 is configured to operate the transmission body 20 to change the at least one gear stage. For example, the at least one gear stage is set according to at least one of the first rotating body 14 and the second rotating body 18. For example, if the at least one gear stage includes multiple gear stages, a different gear ratio is set for each of the multiple gear stages. For example, the higher the gear stage, the larger the gear ratio.

[0043] For example, if the at least one first rotating body 14 includes a plurality of first rotating bodies 14 and the 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, if the at least one first rotating body 14 includes one first rotating body 14 and the 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, if the at least one first rotating body 14 includes a plurality of first rotating bodies 14 and the 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.

[0044] For example, the derailleur 42 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 gear shift stage that can be achieved by the derailleur 42. For example, the sprocket with the largest number of teeth among the sprockets corresponds to the largest gear shift stage that can be achieved by the derailleur 42.

[0045] When the derailleur 42 includes a front derailleur, the plurality of first rotating bodies 14 includes, for example, two or three first sprockets. For example, the plurality of first rotating bodies 14 includes two first sprockets.

[0046] When the derailleur 42 includes a front derailleur, for example, the derailleur 42 is configured to move the transmission body 20 from one of the plurality of first rotating bodies 14 to another of the plurality of first rotating bodies 14 during a gear shifting operation. The front derailleur operates the transmission body 20 to change the engagement state between at least one first rotating body 14 and the transmission body 20, thereby changing the gear ratio. For example, the plurality of first rotating bodies 14 includes a plurality of first sprockets.

[0047] For example, if the derailleur 42 includes a rear derailleur, at least one second rotating body 18 includes two to 20 second sprockets. For example, the plurality of second rotating bodies 18 includes 12 second sprockets.

[0048] The motor 22 is configured to drive the transmission body 20. For example, the motor 22 is configured to provide propulsive force to the human-powered vehicle 10 in response to 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 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 is configured to transmit rotational force to the first rotating body 14.

[0049] The human-powered vehicle 10 further includes a housing 46 in which the motor 22 is mounted. The motor 22 and the housing 46 form a drive unit 48. 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 rotational force to the transmission body 20, for example, without passing through the at least one first rotating body 14. For example, if the motor 22 is configured to transmit 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.

[0050] 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 the output of the motor 22. For example, the output section 50 is configured to transmit a rotational force of the crankshaft 12 and the 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 an end 50A of the output section 50 so as to rotate integrally with the output section 50.

[0051] 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 manual drive force. For example, the reducer 52 includes at least one reduction section. For example, the at least one reduction section includes a first reduction section 52A, a second reduction section 52B, and a third reduction section 52C. The reducer 52 may include one, two, or four or more reduction sections.

[0052] For example, the first reduction gear portion 52A receives the rotational torque of the motor 22. For example, the first reduction gear portion 52A includes 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.

[0053] 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 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.

[0054] For example, the third reduction gear portion 52C receives the rotational torque of the motor 22 via the second reduction gear portion 52B. For example, the third reduction gear portion 52C transmits the rotational torque of the motor 22 to the output unit 50. For example, the third reduction gear portion 52C includes two gears that mesh with each other. The third reduction gear portion 52C may include a belt and a pulley instead of the gears. The third reduction gear portion 52C may include a sprocket and a chain instead of the gears.

[0055] 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 the power transmission path from the crankshaft 12 to the at least one first rotating body 14. For example, the first one-way clutch 54 is provided between the crankshaft 12 and the output portion 50.

[0056] 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 first rotating body 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.

[0057] 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 the 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.

[0058] 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.

[0059] 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.

[0060] For example, the vehicle speed detection unit 58 is configured to output a detection signal a predetermined number of times during one rotation of the wheel 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 wheel 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 wheel 16 and information related to the circumference of the wheel 16. For example, the memory unit 74 stores information related to the circumference of the wheel 16.

[0061] 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 communicably connected to the control unit 72 via 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.

[0062] For example, the manual driving force detection unit 60 is provided on a component included in the transmission path of the manual driving force or in the vicinity of a component included in the transmission path of the manual driving force. For example, the component included in the transmission path of the manual driving force includes the crankshaft 12 and a component 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.

[0063] The manual driving force detection unit 60 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge. The manual driving force detection unit 60 may have any configuration as long as it can acquire information related to the manual driving force.

[0064] 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.

[0065] 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 via 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.

[0066] For example, the crank rotation state detection unit 62 includes a magnetic sensor that outputs a signal according to the strength of the 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 rotating body 14, or the power transmission path from the crankshaft 12 to at least one first rotating body 14. For example, the annular magnet includes one south pole and one north pole. The one south pole and the one north pole each extend continuously for 180° around the axis of the crankshaft 12.

[0067] 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 rotating body 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 speed of the crankshaft 12 and the rotation speed of the at least one first rotating body 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.

[0068] 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 based on 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.

[0069] The crank rotation state detection unit 62 may be configured to detect the amount of rotation of 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 at least one second rotating body 18. For example, the information corresponding to the rotation speed of 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.

[0070] The control device 70 for a human-powered vehicle includes a control unit 72. For example, the control unit 72 includes a processing unit that executes a predetermined control program. For example, the processing unit included in the control unit 72 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0071] For example, the arithmetic processing units included in the control unit 72 may be provided in multiple locations that are separate from one another. When the arithmetic processing units are provided in multiple locations that are separate from one another, the respective parts of the arithmetic processing units may be 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.

[0072] 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 via a 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).

[0073] 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.

[0074] 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 consisting of a pair of transistors connected in series, are connected in parallel. For example, the inverter circuit may have a current sensor that detects the 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.

[0075] The control unit 72 is configured to control the motor 22. For example, the control unit 72 is configured to control the motor 22 in accordance with 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 propulsion force in accordance with 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 in accordance with the human-powered driving force detected by the human-powered driving force detection unit 60.

[0076] For example, the control unit 72 is configured to control the motor 22 in response to at least one of the rotational speed of the crankshaft 12 detected by the crank rotation state detection unit 62 and the rotational 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 to provide propulsive force to the human-powered vehicle 10 in response to at least one of the human-powered driving force and the rotational speed of the crankshaft 12. The predetermined first vehicle speed is, for example, a speed specified by law. The predetermined first vehicle speed is, for example, 25 km / h or 27.5 km / h.

[0077] 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.

[0078] 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 the suppression level of the output fluctuation of the motor 22 when the output of the motor 22 decreases.

[0079] For example, the control unit 72 is configured to control the motor 22 so that the ratio of the assist force to the manual driving force is a predetermined ratio. For example, the manual driving force corresponds to the propulsive force of the human-powered vehicle 10 generated by the user rotating the crankshaft 12. For example, the manual driving force corresponds to the driving force input to at least one first rotor 14 by the user rotating the crankshaft 12.

[0080] 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 the propulsion force of the human-powered vehicle 10 generated by the rotation of the motor 22. For example, if the drive unit 48 includes a reducer 52, the assist force corresponds to the output of the reducer 52.

[0081] 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 rotational speed of the crankshaft 12 and the rotational 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 rotational speed of the crankshaft 12 and the rotational speed of the at least one first rotating body 14, and the vehicle speed.

[0082] For example, the manual driving force is expressed by at least one of torque and power. For example, when the manual driving force is expressed by torque, the manual driving force is referred to as manual torque. For example, the power of the manual driving force is the product of the torque applied to the crankshaft 12 and the rotational speed of the crankshaft 12.

[0083] 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 referred to as assist torque. For example, when the assist force is represented by power, the assist force is referred to as assist power. For example, the assist power is the product of the output torque of the reducer 52 and the rotational 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.

[0084] 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.

[0085] The control unit 72 is configured to control the motor 22 in a control state selected from a plurality of control states including a first control state and a second control state. For example, when the pedaling state related to pedaling is a predetermined pedaling state, the control unit 72 is configured to control the motor 22 in either the first control state or the second control state. The predetermined pedaling state includes, for example, a state in which the drive state of the transmission body 20 does not favorably perform gear shifting even when the electric actuator 44 is operated. The predetermined pedaling state includes, for example, a state in which the rotational speed of the crankshaft 12 is equal to or lower than a predetermined rotational speed. The predetermined rotational speed is, for example, equal to or higher than 0 rpm and equal to or lower than 10 rpm. The predetermined rotational speed is, for example, greater than 0 rpm. The predetermined rotational speed is, for example, 5 rpm. The predetermined rotational speed may also be 3 rpm. The predetermined rotational speed may be set based on the rotational speed at which the crankshaft 12 oscillates when the rider stops pedaling. The control unit 72 may be configured to determine that the pedaling state is a predetermined pedaling state when the manual driving force is equal to or less than the stop determination driving force, which is, for example, a manual torque of 1 Nm or more and 5 Nm or less.

[0086] When the control state is the first control state and the pedaling state related to pedaling is a predetermined pedaling state, the control unit 72 is configured to control the motor 22 to drive the transmission body 20 so that the derailleur 42 operates the transmission body 20 to change the gear ratio. When the control state is the second control state and the pedaling state is a predetermined pedaling state, the control unit 72 is configured to suppress driving of the transmission body 20 by the motor 22 more than when the control state is the first control state and the pedaling state is the predetermined pedaling state. In this specification, when the pedaling state is the predetermined pedaling state, the control unit 72 controls the motor 22 to drive the transmission body 20, and the derailleur 42 changes the gear ratio by driving the transmission body 20, which may be referred to as a predetermined gear change. The predetermined gear change is, for example, a gear change that does not depend on human driving force. When the control state is the second control state, the predetermined gear change is less likely to be performed than when the control state is the first control state. When the control state is the second control state, the control unit 72, for example, prohibits the execution of a predetermined gear shift.

[0087] When the pedaling state is the predetermined pedaling state, the manual driving force is small, and therefore the control unit 72, for example, stops the motor 22 or controls the motor 22 so that the output torque of the motor 22 is zero. When the pedaling state is the predetermined pedaling state and the control unit 72 causes the motor 22 to drive the transmission body 20, the control unit 72 drives the motor 22 so that the output torque of the motor 22 is greater than 0 Nm.

[0088] When performing the predetermined gear shift, the control unit 72 is configured to control the motor 22 so that the output torque of the first body of revolution 14 by the motor 22 is maintained at or below a predetermined torque. For example, the predetermined torque is set to a torque at which the wheels 16 of the human-powered vehicle 10 do not rotate when driven by the motor 22 when the wheels 16 are in contact with the ground and the human-powered vehicle 10 is stopped. For example, 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.

[0089] When the predetermined speed change is performed, the control unit 72 is configured to stop driving the motor 22, for example, depending on the load on the motor 22. For example, the control unit 72 is configured to stop the motor 22 when the load on the motor 22 is equal to or greater than a predetermined load after starting driving the motor 22 at the predetermined speed change. The predetermined load is set to, for example, a value that allows determination of whether a foreign object or the like has become caught in at least one of the transmission body 20, the first rotating body 14, and the second rotating body 18.

[0090] The control unit 72 is configured to change the gear ratio by controlling the electric actuator 44 and the motor 22 when a gear change condition is satisfied, for example, when the control state is a first control state and the pedaling state is a predetermined pedaling state. The gear change condition relates to, for example, at least one of the driving environment and driving state of the human-powered vehicle 10. The driving environment of the human-powered vehicle 10 includes, for example, at least one of the gradient of the road surface and the road resistance. The driving state of the human-powered vehicle 10 includes, for example, at least one of the vehicle speed, the rotational speed of the crankshaft 12, the human-powered driving force, and the tilt angle of the human-powered vehicle 10. The gear change condition may be satisfied based on an operation signal from the gear change operating device instead of or in addition to, at least one of the driving environment and driving state of the human-powered vehicle 10.

[0091] For example, when the gear shift condition is satisfied when the control state is the second control state and the pedaling state is the predetermined pedaling state, the control unit 72 is configured to control the electric actuator 44 and the motor 22 so that changes to the gear ratio are suppressed more than when the gear shift condition is satisfied when the control state is the first control state and the pedaling state is the predetermined pedaling state. For example, when the gear shift condition is satisfied when the control state is the second control state and the pedaling state is the predetermined pedaling state, the control unit 72 does not change the gear ratio. For example, when the gear shift condition is satisfied when the control state is the second control state and the pedaling state is the predetermined pedaling state, the control unit 72 does not drive the electric actuator 44 and the motor 22. For example, when the control state is the second control state and the pedaling state is the predetermined pedaling state, the control unit 72 prohibits driving the electric actuator 44 and the motor 22.

[0092] For example, when the pedaling state is not a predetermined pedaling state, the control unit 72 is configured to drive the electric actuator 44 to change the gear ratio when a gear shift condition is satisfied. When the pedaling state is not a predetermined pedaling state, the transmission body 20 is in a driven state, so that the drive of the electric actuator 44 can complete the change of the gear ratio by the derailleur 42 even when the motor 22 is stopped.

[0093] The control unit 72 is configured to, for example, switch the control state from the first control state to the second control state when a first switching condition is satisfied in the first control state, and to, for example, switch the control state from the second control state to the first control state when a second switching condition is satisfied in the second control state.

[0094] The control unit 72 is configured to switch the control state between a first control state and a second control state in accordance with a first parameter and a second parameter. The first parameter includes at least one of a first acceleration of the human-powered vehicle 10 with respect to a first direction of the human-powered vehicle 10 and a first tilt angle of the human-powered vehicle 10 with respect to the first direction. The second parameter includes at least one of a second acceleration of the human-powered vehicle 10 with respect to a second direction of the human-powered vehicle 10 different from the first direction and a second tilt angle of the human-powered vehicle 10 with respect to the second direction.

[0095] The control unit 72 may be configured to switch the control state between the first control state and the second control state in response to a comparison between the first parameter and the second parameter and threshold values ​​set for each of the first parameter and the second parameter. The control unit 72 may be configured to switch the control state between the first control state and the second control state in response to a calculated value of an arithmetic expression into which the first parameter and the second parameter are substituted.

[0096] The first switching condition includes, for example, a condition related to the first parameter and the second parameter. The first switching condition may further include a condition related to a parameter other than the first parameter and the second parameter. The second switching condition includes, for example, a condition related to the first parameter and the second parameter. The second switching condition may further include a condition related to a parameter other than the first parameter and the second parameter. The first parameter includes, for example, a first acceleration, and the second parameter includes, for example, a second acceleration. The first parameter includes, for example, a first tilt angle, and the second parameter includes, for example, a second tilt angle.

[0097] The control device 70 further includes, for example, a detection unit 76 that detects the first parameter and the second parameter. The control unit 72 is configured to switch the control state between the first control state and the second control state in response to the output of the detection unit 76.

[0098] The detection unit 76 includes, for example, inertial sensors for multiple axes. The detection unit 76 includes, for example, inertial sensors for three axes. The detection unit 76 may also include inertial sensors for four or more axes. Each of the multiple axes of the inertial sensor is configured to form an angle of 90 degrees with the other axes, for example.

[0099] One of the first direction and the second direction is, for example, parallel to the roll axis of the human-powered vehicle 10. One of the first direction and the second direction is, for example, parallel to the roll axis of the human-powered vehicle 10, and the other of the first direction and the second direction is, for example, parallel to the pitch axis of the human-powered vehicle 10. The other of the first direction and the second direction may be parallel to the roll axis of the human-powered vehicle 10. The roll axis of the human-powered vehicle 10 extends, for example, in the fore-and-aft direction of the human-powered vehicle 10. The pitch axis of the human-powered vehicle 10 extends, for example, in the lateral direction of the human-powered vehicle 10. The yaw axis of the human-powered vehicle 10 extends, for example, in the up-and-down direction of the human-powered vehicle 10.

[0100] The detection unit 76 includes, for example, a two- or more-axis angular velocity sensor 76A. The detection unit 76 includes, for example, a three-axis angular velocity sensor 76A. The detection unit 76 may include a four- or more-axis angular velocity sensor 76A. When the detection unit 76 includes a three-axis angular velocity sensor 76A, the detection unit 76 includes, for example, a gyro sensor.

[0101] The two or more axis angular velocity sensor 76A is configured to detect angular velocities around two or more axes, for example, the roll axis, pitch axis, and yaw axis, of the human-powered vehicle 10. The three-axis angular velocity sensor 76A is configured to detect angular velocities around the roll axis, pitch axis, and yaw axis, of the human-powered vehicle 10.

[0102] The detection unit 76 may include, for example, a two- or more-axis acceleration sensor 76B. The detection unit 76 may include, for example, a three-axis acceleration sensor 76B. The detection unit 76 may include, for example, a four- or more-axis acceleration sensor 76B.

[0103] The two or more axis acceleration sensor 76B is configured to detect acceleration in the axial direction of two or more axes, for example, the roll axis, pitch axis, and yaw axis of the human-powered vehicle 10. The three-axis acceleration sensor 76B is configured to detect acceleration in the axial direction of the roll axis, pitch axis, and yaw axis of the human-powered vehicle 10.

[0104] The detection unit 76 may include both the angular velocity sensor 76A and the acceleration sensor 76B. When the detection unit 76 includes both the angular velocity sensor 76A and the acceleration sensor 76B, the angular velocity sensor 76A and the acceleration sensor 76B may be configured as a single sensor unit. When the detection unit 76 includes both the angular velocity sensor 76A and the acceleration sensor 76B, the multiple axes of the acceleration sensor 76B may coincide with the multiple axes of the acceleration sensor 76B, for example.

[0105] The control unit 72 is configured to switch the control state between the first control state and the second control state in accordance with, for example, the first parameter, the second parameter, and the vehicle speed. The control unit 72 is configured to switch the control state between the first control state and the second control state in accordance with, for example, the first parameter, the second parameter, and fluctuations in the vehicle speed.

[0106] The control unit 72 is configured to switch the control state between a first control state and a second control state in accordance with the first parameter, the second parameter, and the rotation speed of the crankshaft 12, for example.

[0107] The control unit 72 is configured to switch the control state between a first control state and a second control state in accordance with, for example, the first parameter, the second parameter, and the manual driving force input to the crankshaft 12.

[0108] The control unit 72 is configured to switch the control state between a first control state and a second control state in accordance with, for example, a first parameter, a second parameter, and a third parameter. The third parameter includes, for example, at least one of a third acceleration of the human-powered vehicle 10 in a third direction of the human-powered vehicle 10 different from the first direction and the second direction, and a third tilt angle of the human-powered vehicle 10 in the third direction. The first direction is, for example, perpendicular to the second direction and the third direction. The second direction is, for example, perpendicular to the third direction.

[0109] The first switching condition corresponds, for example, to a state in which the human-powered vehicle 10 is not suitable for performing a predetermined gear shift. States that are not suitable for performing a predetermined gear shift include, for example, when the human-powered vehicle 10 is parked, when the human-powered vehicle 10 is undergoing maintenance, and when the human-powered vehicle 10 is being transported. The first switching condition includes, for example, at least one of the first to third examples. When the first switching condition includes two or more of the first to third examples, the control unit 72 is configured, for example, to switch the control state from the first control state to the second control state when all of the first switching conditions are satisfied. When the first switching condition includes two or more of the first to third examples, the control unit 72 may be configured to switch the control state from the first control state to the second control state when at least one of the first switching conditions is satisfied.

[0110] A first example of the first switching condition relates to, for example, vehicle speed. For example, the control unit 72 is configured to switch from the first control state to the second control state when, in the first control state, the vehicle speed becomes equal to or less than a predetermined vehicle speed. The first switching condition is satisfied when, in the first control state, the vehicle speed becomes equal to or less than the predetermined vehicle speed. The predetermined vehicle speed is set to, for example, a value that allows for determining whether the human-powered vehicle 10 is parked. The predetermined vehicle speed is, for example, 0 km / h. The predetermined vehicle speed may be greater than 0 km / h.

[0111] A second example of the first switching condition relates to, for example, the first acceleration and the second acceleration. In the second example of the first switching condition, for example, the first direction intersects with the roll axis of the human-powered vehicle 10, the first parameter includes a first acceleration, and the second parameter includes a second acceleration. In the second example of the first switching condition, the control unit 72 is configured to switch the control state from the first control state to the second control state when, in the first control state, the first acceleration is equal to or greater than a first predetermined acceleration and the second acceleration is equal to or less than a second predetermined acceleration.

[0112] The control unit 72 may be configured to maintain the control state in the second control state, for example, when the first acceleration is equal to or greater than a first predetermined acceleration and the second acceleration is equal to or less than a second predetermined acceleration. The control unit 72 is configured to maintain the control state in the second control state, for example, even if the second switching condition is satisfied in the second control state, when the first acceleration is equal to or greater than the first predetermined acceleration and the second acceleration is equal to or less than the second predetermined acceleration. When the first acceleration is equal to or greater than the first predetermined acceleration and the second acceleration is equal to or less than the second predetermined acceleration, this corresponds to, for example, a state in which the human-powered vehicles 10 are transported lined up on a transporter in a direction intersecting the transport direction.

[0113] A third example of the first switching condition relates to, for example, the amount of movement of the human-powered vehicle 10. For example, the control unit 72 is configured to switch from the first control state to the second control state when, in the first control state, the amount of movement of the human-powered vehicle 10 in a first direction intersecting the roll axis of the human-powered vehicle 10 is equal to or greater than a first movement amount, and the amount of movement in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount.

[0114] The control unit 72 is configured to select the second control state, for example, when the amount of movement of the human-powered vehicle 10 in a first direction intersecting the roll axis of the human-powered vehicle 10 is equal to or greater than a first movement amount, and the amount of movement in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount. The control unit 72 is configured to maintain the control state in the second control state, even if the second switching condition is satisfied in the second control state, when the amount of movement of the human-powered vehicle 10 in the first direction intersecting the roll axis is equal to or greater than the first movement amount, and the amount of movement in the direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount. When the amount of movement of the human-powered vehicle 10 in the first direction intersecting the roll axis is equal to or greater than the first movement amount, and the amount of movement in the direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount, this corresponds to, for example, a state in which the human-powered vehicle 10 is transported lined up in a direction intersecting the transport direction on a transport vehicle.

[0115] The second switching condition corresponds, for example, to a state where the human-powered vehicle 10 is in a state suitable for performing a predetermined gear shift. The second switching condition is satisfied, for example, when the state of the human-powered vehicle 10 changes from a state unsuitable for performing a predetermined gear shift to a state suitable for performing a predetermined gear shift. An example of a state suitable for performing a predetermined gear shift is a state where a rider gets on the human-powered vehicle 10 and the human-powered vehicle 10 starts traveling. The second switching condition includes, for example, at least one of the first to eleventh examples. When the second switching condition includes two or more of the first to eleventh examples, the control unit 72 is configured, for example, to switch the control state from the second control state to the first control state when all of the second switching conditions are satisfied. When the second switching condition includes two or more of the first to eleventh examples, the control unit 72 may be configured to switch the control state from the second control state to the first control state when at least one second switching condition is satisfied.

[0116] In a first example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, the acceleration in the pitch direction in the second control state becomes greater than a first determination value. The first determination value is, for example, 0 m / s 2 is.

[0117] In a second example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, in the second control state, the acceleration in the pitch direction is greater than a first determination value and the vehicle speed is greater than a first vehicle speed, which is, for example, 0 km / h.

[0118] In a third example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, in the second control state, the acceleration in the pitch direction is greater than a first determination value, the vehicle speed is greater than a first vehicle speed, and the rotation speed of the crankshaft 12 is greater than a first rotation speed. The first rotation speed is, for example, 0 rpm.

[0119] In a fourth example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, in the second control state, the acceleration in the pitch direction is greater than a first determination value, the vehicle speed is greater than a first vehicle speed, and the manual driving force is greater than a first manual driving force, where the first manual driving force is, for example, 10 Nm.

[0120] In a fifth example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, in the second control state, the amount of change in acceleration in the pitch direction is greater than a predetermined amount of change in the pitch direction, the amount of change in vehicle speed is greater than a predetermined amount of change in vehicle speed, and the rotational speed of the crankshaft 12 is greater than the first rotational speed. The predetermined amount of change in the pitch direction is, for example, 0 m / s 2 The predetermined vehicle speed change amount is, for example, 0 km / h. When the detected acceleration in the pitch direction is greater than the acceleration in the pitch direction detected previously, the control unit 72 may determine that the change amount of the acceleration in the pitch direction is greater than the predetermined pitch direction change amount. When the detected vehicle speed is greater than the vehicle speed detected previously, the control unit 72 may determine that the change amount of the vehicle speed is greater than the predetermined vehicle speed change amount.

[0121] In a sixth example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, for example, in the second control state, the first parameter becomes equal to or greater than a first value and the second parameter becomes equal to or greater than a second value. The first value is, for example, an acceleration in one of the first direction, the second direction, and the third direction, and is equal to or greater than 0 m / s. 2 The second value is, for example, an acceleration in one of the first direction, the second direction, and the third direction that is different from the first direction, and is greater than 0 m / s 2 is greater than.

[0122] In a seventh example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state in accordance with, for example, the first parameter, the second parameter, and the vehicle speed. In the seventh example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, in the second control state, the acceleration in the first direction is greater than the first determination value, the acceleration in the second direction is greater than the first determination value, and the vehicle speed is greater than the first vehicle speed.

[0123] In an eighth example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state in accordance with, for example, the first parameter, the second parameter, and fluctuations in vehicle speed. In the eighth example of the second switching condition, the control unit 72 is configured to switch from the second control state to the first control state when, in the second control state, the fluctuation in acceleration in the first direction is greater than the first fluctuation, the fluctuation in acceleration in the second direction is greater than the second fluctuation, and the fluctuation in vehicle speed is greater than the first vehicle speed fluctuation.

[0124] When the variation in acceleration in the first direction is greater than the first variation, for example, it is when the amount of change in acceleration in the first direction over a predetermined period is greater than the first amount of change. When the variation in acceleration in the second direction is greater than the second variation, for example, it is when the amount of change in acceleration in the second direction over a predetermined period is greater than the second amount of change. When the variation in vehicle speed is greater than the first vehicle speed variation, for example, it is when the amount of change in vehicle speed over a predetermined period is greater than the first amount of change in vehicle speed. The amount of change in acceleration is expressed, for example, by dividing the acceleration acquired by the detection unit 76 by the predetermined period. The amount of change in acceleration may be, for example, the difference between the acquired acceleration and the acceleration acquired before the predetermined period. The first amount of change is, for example, 0 m / s 2 When the amount of change in acceleration in the first direction during the predetermined period is larger than the first amount of change, for example, the acceleration in the first direction during the predetermined period is 0 m / s 2 The second change amount is, for example, when the speed changes more than 0 m / s 2When the amount of change in acceleration in the second direction during the predetermined period is larger than the second amount of change, for example, the acceleration in the second direction during the predetermined period is 0 m / s 2 The first vehicle speed change amount is, for example, 0 km / h. When the vehicle speed change amount in the predetermined period is larger than the first vehicle speed change amount, for example, when the vehicle speed in the predetermined period is 0 m / s 2 When the detected acceleration in the first direction is greater than the previously detected acceleration in the first direction, the control unit 72 may determine that the amount of change in acceleration in the first direction is greater than the first amount of change. When the detected acceleration in the second direction is greater than the previously detected acceleration in the second direction, the control unit 72 may determine that the amount of change in acceleration in the second direction is greater than the second amount of change. When the detected vehicle speed is greater than the previously detected vehicle speed, the control unit 72 may determine that the amount of change in vehicle speed is greater than the first vehicle speed change.

[0125] In a ninth example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state, for example, in accordance with the first parameter, the second parameter, and the rotational speed of the crankshaft 12. In the ninth example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state, for example, when the first parameter is equal to or greater than a first value, the second parameter is equal to or greater than a second value, and the rotational speed of the crankshaft 12 is equal to or greater than the first rotational speed.

[0126] In a tenth example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state, for example, in accordance with the first parameter, the second parameter, and the manual driving force input to the crankshaft 12. In the tenth example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state, for example, when the first parameter is equal to or greater than a first value, the second parameter is equal to or greater than a second value, and the manual driving force is equal to or greater than a first manual driving force.

[0127] In an eleventh example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state in accordance with, for example, the first parameter, the second parameter, and the third parameter. In an eleventh example of the second switching condition, the first parameter includes a first acceleration, the second parameter includes a second acceleration, and the third parameter includes a third acceleration, and the control unit 72 is configured to switch from the second control state to the first control state when, in the second control state, the resultant force of the first acceleration, the second acceleration, and the third acceleration falls outside a predetermined resultant force range. In an eleventh example of the second switching condition, the control unit 72 is configured to switch the control state from the second control state to the first control state when, for example, equation (2) is satisfied. x, y, and z in equation (2) correspond to the first acceleration, the second acceleration, and the third acceleration. In equation (2), the standard gravitational acceleration is set as the predetermined resultant force. When equation (2) is satisfied, the human-powered vehicle 10 is moving in any three-dimensional direction. The predetermined resultant force may be set to a range equal to or greater than the first predetermined resultant force and equal to or less than the second predetermined resultant force.

number

[0128] The process of changing the control state 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.

[0129] In step S11, the control unit 72 determines whether the control state is the first control state. If the control state is the first control state, the control unit 72 proceeds to step S12. In step S12, the control unit 72 determines whether a first switching condition is satisfied. If the first switching condition is satisfied, the control unit 72 proceeds to step S13. If the first switching condition is not satisfied, the control unit 72 ends the processing of FIG. 4. In step S13, the control unit 72 switches the control state to the second control state, and ends the processing of FIG. 4.

[0130] If the control state is not the first control state in step S11, the control unit 72 proceeds to step S14. In this embodiment, if the control state is not the second control state, the control state is the first control state. In step S14, the control unit 72 determines whether the second switching condition is satisfied. If the second switching condition is satisfied, the control unit 72 proceeds to step S15. If the second switching condition is not satisfied, the control unit 72 ends the processing of FIG. 4. In step S15, the control unit 72 switches the control state to the first control state and ends the processing of FIG. 4.

[0131] The process by which the control unit 72 controls the motor 22 and the derailleur 42 will be described with reference to Figure 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 Figure 5. When the flowchart of Figure 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.

[0132] In step S21, the control unit 72 determines whether the control state is the first control state. If the control state is not the first control state, the control unit 72 ends the processing of FIG. 5. If the control state is the first control state, the control unit 72 proceeds to step S22. In step S22, the control unit 72 determines whether the pedaling state is a predetermined pedaling state. If the pedaling state is not the predetermined pedaling state, the control unit 72 ends the processing of FIG. 5. If the pedaling state is the predetermined pedaling state, the control unit 72 proceeds to step S23.

[0133] In step S23, the control unit 72 determines whether the gear shifting conditions are satisfied. If the gear shifting conditions are not satisfied, the control unit 72 ends the processing in FIG. 5. If the gear shifting conditions are satisfied, the control unit 72 proceeds to step S24. In step S24, the control unit 72 controls the motor 22 and the derailleur 42, and then ends the processing in FIG. 5.

[0134] In step S24, the control unit 72 is configured to control the motor 22 and the derailleur 42 so as to change the gear ratio in the gear shift direction corresponding to the gear shift condition satisfied in step S23, for example.

[0135] <Example of change> The descriptions of the embodiments are examples of possible forms of a control device for a human-powered vehicle and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two mutually consistent modified examples. In the modified examples below, parts that are common to the embodiments are given the same reference numerals as in the embodiments, and descriptions thereof will be omitted.

[0136] The control unit 72 may execute the predetermined gear shift when the shifting condition is satisfied when the pedaling state is a predetermined pedaling state in the second control state and when a predetermined condition is also satisfied. The predetermined condition is satisfied, for example, when a predetermined gear shift operating unit that is operable by the user to permit the predetermined gear shift when the control state is the second control state. The predetermined condition may include only a portion of the gear shifting conditions.

[0137] The first switching condition may be satisfied when the second switching condition is not satisfied. In this modification, for example, when all of the conditions included in the second switching condition, among the first to eleventh examples of the second switching condition, are not satisfied, the control unit 72 may determine that the first switching condition is satisfied.

[0138] The first parameter may include a first acceleration and the second parameter may include a second angular velocity. The first parameter may include a first angular velocity and the second parameter may include a second acceleration.

[0139] The derailleur 42 may be a manual derailleur 42. In this modified example, the control unit 72 is configured to control the motor 22 to switch the control state of the motor 22 in response to movement of a shifter for operating the derailleur 42. For example, a signal from a sensor that detects movement of a Bowden cable connected to a gear shifting device is input to the control unit 72, and the control unit 72 can determine that a gear shifting condition is met in response to the movement of the gear shifting device.

[0140] The motor 22 does not have to be configured to provide propulsive force to the human-powered vehicle 10. In this modified example, the motor 22 is configured to generate an output torque that can drive the transmission body 20 when the pedaling state is a predetermined pedaling state, for example.

[0141] The control unit 72 is configured to switch the control state between a first control state and a second control state according to a first parameter and a second parameter, and other configurations can be omitted as appropriate as long as the first parameter includes at least one of a first acceleration and a first tilt angle and the second parameter includes at least one of a second acceleration and a second tilt angle.

[0142] The control unit 72 is configured to switch the control state between a first control state and a second control state, and to select the second control state when the amount of movement of the human-powered vehicle 10 in a first direction intersecting the roll axis of the human-powered vehicle 10 is equal to or greater than the first movement amount, and the amount of movement in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount. Other components can be omitted as appropriate. In this modified example, the control unit 72 does not have to be configured to switch the control state between the first control state and the second control state in accordance with the first parameter and the second parameter.

[0143] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more.

[0144] As used in this specification, ordinal numbers such as "first, second, and third" are used merely to distinguish between multiple elements having the same name and do not have any special meaning. [Explanation of symbols]

[0145] 10...human-powered vehicle, 12...crankshaft, 14...first rotating body, 16...wheel, 18...second rotating body, 20...transmission body, 22...motor, 42...derailer, 44...electric actuator, 70...control device, 72...control unit, 76...detection unit, 76A...angular velocity sensor.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. a controller configured to control the motor; The control unit configured to control the motor in a control state selected from a plurality of control states including a first control state and a second control state; The control state is switched between the first control state and the second control state in response to a first parameter and a second parameter; When the control state is the first control state and a pedaling state related to pedaling is a predetermined pedaling state, the derailleur is configured to control the motor to drive the transmission body so as to change the gear ratio by operating the transmission body, When the control state is the second control state and the pedaling state is the predetermined pedaling state, the driving of the transmission body by the motor is suppressed more than when the control state is the first control state and the pedaling state is the predetermined pedaling state, the first parameter includes at least one of a first acceleration of the human-powered vehicle with respect to a first direction of the human-powered vehicle and a first tilt angle of the human-powered vehicle with respect to the first direction; the second parameter includes at least one of a second acceleration of the human-powered vehicle with respect to a second direction of the human-powered vehicle that is different from the first direction, and a second tilt angle of the human-powered vehicle with respect to the second direction.

2. 2. The control device according to claim 1, wherein the control unit is configured to switch from the second control state to the first control state when, in the second control state, the first parameter becomes equal to or greater than a first value and the second parameter becomes equal to or greater than a second value.

3. The control device according to claim 1 , wherein the control unit is configured to switch the control state between the first control state and the second control state in accordance with the first parameter, the second parameter, and a vehicle speed.

4. 4. The control device according to claim 3, wherein the control unit is configured to switch the control state between the first control state and the second control state in accordance with fluctuations in the first parameter, the second parameter, and the vehicle speed.

5. 2. The control device according to claim 1, wherein the control unit is configured to switch the control state between the first control state and the second control state in accordance with the first parameter, the second parameter, and the rotational speed of the crankshaft.

6. 2. The control device according to claim 1, wherein the control unit is configured to switch the control state between the first control state and the second control state in accordance with the first parameter, the second parameter, and a manual driving force input to the crankshaft.

7. the control unit is configured to switch the control state between the first control state and the second control state in accordance with the first parameter, the second parameter, and a third parameter; 2. The control device according to claim 1, wherein the third parameter includes at least one of a third acceleration of the human-powered vehicle with respect to a third direction of the human-powered vehicle that is different from the first direction and the second direction, and a third tilt angle of the human-powered vehicle with respect to the third direction.

8. the first direction is perpendicular to the second direction and the third direction; The control device according to claim 7 , wherein the second direction is perpendicular to the third direction.

9. the first parameter includes the first acceleration; the second parameter includes the second acceleration; the third parameter includes the third acceleration; 9. The control device according to claim 8, wherein the control unit is configured to switch from the second control state to the first control state when, in the second control state, a resultant force of the first acceleration, the second acceleration, and the third acceleration falls outside a predetermined resultant force range.

10. The control device according to claim 1 , wherein one of the first direction and the second direction is parallel to a roll axis of the human-powered vehicle.

11. one of the first direction and the second direction is parallel to a roll axis of the human-powered vehicle; The control device according to claim 1 , wherein the other of the first direction and the second direction is parallel to a pitch axis of the human-powered vehicle.

12. the first parameter includes the first acceleration; The control device of claim 1 , wherein the second parameter includes the second acceleration.

13. the first direction intersects with a roll axis of the human-powered vehicle; the first parameter includes the first acceleration; the second parameter includes the second acceleration; 2. The control device according to claim 1, wherein the control unit is configured to maintain the control state in the second control state when, in the second control state, the first acceleration is equal to or greater than a first predetermined acceleration and the second acceleration is equal to or less than a second predetermined acceleration.

14. The control device according to claim 1 , wherein the control unit is configured to switch from the first control state to the second control state when the vehicle speed in the first control state becomes equal to or lower than a predetermined vehicle speed.

15. the first parameter includes the first tilt angle; The control device according to claim 1 , wherein the second parameter includes the second tilt angle.

16. The control device according to claim 1 , further comprising a detection unit that detects the first parameter and the second parameter.

17. The control device according to claim 16 , wherein the detection unit includes an angular velocity sensor having two or more axes.

18. The control device according to claim 17 , wherein the detection unit includes a gyro sensor.

19. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. a controller configured to control the motor; The control unit configured to control the motor in a control state selected from a plurality of control states including a first control state and a second control state; The control state is configured to be switched between the first control state and the second control state, When the control state is the first control state and a pedaling state related to pedaling is a predetermined pedaling state, the derailleur is configured to control the motor to drive the transmission body so as to change the gear ratio by operating the transmission body, When the control state is the second control state and the pedaling state is the predetermined pedaling state, driving of the transmission body by the motor is suppressed more than when the control state is the first control state and pedaling stops, a control device configured to select the second control state when an amount of movement of the human-powered vehicle in a first direction intersecting a roll axis of the human-powered vehicle is equal to or greater than a first movement amount, and an amount of movement of the human-powered vehicle in a direction different from the first direction is equal to or less than a second movement amount that is smaller than the first movement amount.

20. The derailleur includes an electric actuator that operates the derailleur to operate the transmission body, 2. The control device according to claim 1, wherein the control unit is configured to change the gear ratio by controlling the electric actuator and the motor when a gear change condition is satisfied when the control state is the first control state and the pedaling state is the predetermined pedaling state.

Images