Control device

Abstract

To provide a control device that can notify a user of calibration of an inclination sensor.SOLUTION: A control device is installed to a man-powered drive vehicle. The control device includes a control unit. The control unit controls so that a notification unit notifies a user of information on calibration of an inclination sensor. The inclination sensor is configured to output a signal relating to a posture of the man-powered drive vehicle.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a control device. [Background technology]

[0002] Patent Document 1 discloses a control device that uses an inclination sensor to detect the inclination angle of the road surface on which a human-powered vehicle travels. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-7610 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device that notifies a user of information related to the calibration of a tilt sensor. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device provided in a human-powered vehicle. The control device includes a control unit. The control unit controls a notification unit to notify information related to the calibration of an inclination sensor. The inclination sensor is configured to output a signal related to the attitude of the human-powered vehicle.

[0006] According to the control device of the first aspect, it is possible to notify a user, such as a rider, of information relating to the calibration of an inclination sensor that outputs a signal relating to the attitude of the human-powered vehicle. For example, the control device can notify a user whether or not the inclination sensor has been calibrated. The control device can notify a user whether or not the calibration of the inclination sensor is normal. By calibrating the inclination sensor based on the notification from the notification unit, the control device can accurately detect the attitude of the human-powered vehicle.

[0007] In the control device of a second aspect according to the first aspect, the control unit controls the notification unit to notify information relating to the calibration of the tilt sensor when the calibration of the tilt sensor is not performed normally.

[0008] According to the control device of the second aspect, when the attitude of the human-powered vehicle cannot be accurately detected, information regarding calibration of the inclination sensor can be notified to the user. If the inclination sensor is calibrated based on the notification, the control device can, for example, appropriately control the transmission based on the signal output from the inclination sensor. This allows the control device to set the gear ratio of the transmission to an appropriate gear ratio. Therefore, the control device can contribute to optimal driving of the human-powered vehicle.

[0009] In a control device according to a third aspect of the present invention, the control unit controls the notification unit to notify information relating to calibration of the tilt sensor when the output value of the tilt sensor is outside a predetermined range.

[0010] According to the control device of the third aspect, the need for calibration of the inclination sensor can be determined based on the output value of the inclination sensor. When calibration of the inclination sensor is necessary, the control device can notify the user of information regarding calibration of the inclination sensor. When calibration of the inclination sensor is performed based on the notification, the control device can, for example, suitably control the transmission based on the signal output from the inclination sensor. This allows the control device to set the gear ratio of the transmission to a suitable gear ratio. Therefore, the control device can contribute to suitable driving of the human-powered vehicle.

[0011] In the control device of the fourth aspect according to the third aspect, the output value is a value indicating a central tendency of the plurality of values ​​output from the tilt sensor.

[0012] According to the control device of the fourth aspect, the necessity of calibration of the inclination sensor can be accurately determined based on the value indicating the central tendency of the multiple values ​​output from the inclination sensor. Therefore, even if the multiple values ​​output from the inclination sensor vary, the control device can accurately notify information regarding calibration of the inclination sensor.

[0013] In the control device of the fifth aspect according to the fourth aspect, the value indicating central tendency is an average of a plurality of values.

[0014] According to the control device of the fifth aspect, the need for calibration of the inclination sensor can be accurately determined based on the average value of the multiple values ​​output from the inclination sensor. Therefore, even if the multiple values ​​output from the inclination sensor vary, the control device can accurately notify information regarding calibration of the inclination sensor.

[0015] In the control device of the sixth aspect according to the fourth aspect, the value indicating central tendency is a median of the plurality of values.

[0016] According to the control device of the sixth aspect, the need for calibration of the inclination sensor can be accurately determined based on the median value of the multiple values ​​output from the inclination sensor. Therefore, even if the multiple values ​​output from the inclination sensor vary, the control device can accurately notify information regarding calibration of the inclination sensor.

[0017] In the control device of a seventh aspect according to any one of the fourth to sixth aspects, the plurality of values ​​are values ​​output from an inclination sensor while the human-powered vehicle travels a first distance.

[0018] According to the control device of the seventh aspect, the need for calibration of the tilt sensor can be accurately determined based on a plurality of values ​​obtained while the human-powered vehicle travels the first distance, and the control device can therefore accurately report information regarding the calibration of the tilt sensor.

[0019] In the control device of an eighth aspect according to the seventh aspect, the output value is calculated each time the human-powered vehicle travels a first distance.

[0020] According to the control device of the eighth aspect, the necessity of calibration of the tilt sensor can be determined each time the human-powered vehicle travels the first distance, and therefore the control device can accurately notify information relating to the calibration of the tilt sensor.

[0021] In the control device of the ninth aspect according to the seventh or eighth aspect, each of the plurality of values ​​is a value output from the tilt sensor when the human-powered vehicle has traveled a second traveling distance, the second traveling distance being shorter than the first traveling distance.

[0022] According to the control device of the ninth aspect, an output value is calculated based on the value output from the tilt sensor each time the human-powered vehicle travels a second distance. The control device determines the need for calibration of the tilt sensor based on the calculated output value. This reduces the calculation load on the control device when calculating the output value.

[0023] In the control device of a tenth aspect according to any one of the third to ninth aspects, the output value is a pitch angle of the human-powered vehicle.

[0024] According to the control device of the tenth aspect, the inclination sensor is calibrated based on the pitch angle, thereby enabling accurate detection of the inclination of the road surface on which the human-powered vehicle is traveling. The control device can, for example, optimally control the transmission in accordance with the inclination of the road surface on which the human-powered vehicle is traveling. This allows the control device to set the gear ratio of the transmission to an optimal gear ratio. As a result, the control device can contribute to optimal traveling of the human-powered vehicle.

[0025] In the control device of an eleventh aspect according to any one of the third to ninth aspects, the control unit causes the storage unit to store a determination result indicating whether or not the output value is outside a predetermined range.

[0026] According to the control device of the eleventh aspect, information relating to the calibration of the tilt sensor can be notified at an appropriate timing based on the determination result stored in the storage unit.

[0027] In the control device of the twelfth aspect according to the eleventh aspect, the storage unit includes a nonvolatile memory, and the determination result is stored in the nonvolatile memory.

[0028] According to the control device of the twelfth aspect, for example, even when the power supply of the control device is turned off, the determination result can be stored, and when the power supply of the control device is turned on, the control device can notify information related to the calibration of the tilt sensor based on the stored determination result.

[0029] In a control device of a thirteenth aspect according to the eleventh or twelfth aspect, if the new judgment result differs from the judgment result stored in the memory unit, the control unit updates the judgment result stored in the memory unit with the new judgment result.

[0030] According to the control device of the thirteenth aspect, the latest determination result can be stored in the memory unit. Therefore, when the determination result changes, the control device can notify information related to the calibration of the tilt sensor according to the latest determination result.

[0031] In the control device of any one of the eleventh to thirteenth aspects or the fourteenth aspect, when a new determination result differs from the determination result stored in the memory unit, the control unit stores a determination result using the integrated output value in the memory unit. When the integrated output value is outside a predetermined range, the control unit notifies information related to calibration of the tilt sensor. The integrated output value is a value indicating a central tendency of the multiple values ​​used when the new determination result was determined and the multiple values ​​used when the determination result stored in the memory unit was determined.

[0032] According to the control device of the fourteenth aspect, when a new determination result differs from the determination results stored in the memory unit, an integrated output value is calculated based on the multiple values ​​used to determine each determination result. If the calculated integrated output value is outside a predetermined range, the control device notifies information related to the calibration of the inclination sensor. As a result, for example, if the new determination result is incorrect, the control device can suppress notification of information related to the calibration of the inclination sensor based on the incorrect determination result. Therefore, the control device can accurately notify information related to the calibration of the inclination sensor.

[0033] In a control device of a fifteenth aspect according to any one of the eleventh to fourteenth aspects, if a new judgment result differs consecutively from the judgment result stored in the memory unit, the judgment result stored in the memory unit is updated to the new judgment result.

[0034] According to the control device of the fifteenth aspect, for example, if the new determination result is an erroneous result, the control device can suppress notification of information related to the calibration of the inclination sensor based on the erroneous determination result, thereby enabling the control device to accurately notify information related to the calibration of the inclination sensor.

[0035] In the control device of a sixteenth aspect according to any one of the eleventh to fifteenth aspects, the control unit initializes the determination result stored in the memory unit when calibration of the tilt sensor is performed.

[0036] According to the control device of the sixteenth aspect, the determination result in the storage unit can be updated in accordance with the calibration of the tilt sensor.

[0037] In a control device according to a seventeenth aspect of the present invention, the notification unit includes a display unit, and the control unit causes the display unit to display information relating to calibration of the tilt sensor.

[0038] According to the control device of the seventeenth aspect, the user can check information relating to the calibration of the tilt sensor on the display unit, which allows the user to easily check the information relating to the calibration of the tilt sensor.

[0039] In a control device according to an eighteenth aspect of the present invention, the notification unit is provided in the external device, and the control unit transmits information relating to calibration of the tilt sensor to the external device.

[0040] According to the control device of the eighteenth aspect, the user can check information relating to the calibration of the tilt sensor by means of an external device.

[0041] In a nineteenth aspect of the present invention, the control device further includes a first communication unit configured to communicate with a second communication unit provided in the external device. When the connection between the first communication unit and the second communication unit is established, the control unit transmits information about the calibration of the tilt sensor to the external device.

[0042] According to the control device of the nineteenth aspect, when connection with an external device is completed, information regarding the calibration of the inclination sensor can be transmitted to the external device without, for example, a transmission operation being performed on the control device. When connection with the external device is completed, the control device can notify the user of information regarding the calibration of the inclination sensor via the external device. Therefore, the user can easily check information regarding the calibration of the inclination sensor by connecting the external device to the control device.

[0043] In the control device of the twentieth aspect according to the nineteenth aspect, the external device is configured to change the content of the notification depending on the information relating to the calibration of the tilt sensor.

[0044] According to the control device of the twentieth aspect, the external device can accurately notify the user of the details regarding the calibration of the tilt sensor. [Effects of the Invention]

[0045] According to the control device of the present disclosure, it is possible to notify the user of information regarding the calibration of the tilt sensor. [Brief explanation of the drawings]

[0046] [Figure 1] FIG. 1 is a side view of a human-powered vehicle equipped with a control device according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle including the control device according to the first embodiment. [Figure 3] FIG. 3 is a diagram showing an example of an image displayed on an external device in the human-powered vehicle according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of an image displayed on an external device in the human-powered vehicle according to the first embodiment. [Figure 5] FIG. 5 is a diagram showing an example of an image displayed on an external device in the human-powered vehicle according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of a control flow in the control device according to the first embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of a control flow in the control device according to the second embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of a control flow in the control device according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0047] (First embodiment) A control device 30 for a human-powered vehicle will be described with reference to FIGS. 1 to 5. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven at least by human power. As shown in FIG. 1, the human-powered vehicle 10 is, for example, a mountain bike. The human-powered vehicle 10 is not limited to mountain bikes and may be other bicycles such as road bikes, cross bikes, city bikes, cargo bikes, hand cycles, and recumbent bikes, as long as they can be driven at least by human power. The human-powered vehicle 10 may be a one-wheeled vehicle or a vehicle with three or more wheels. The human-powered vehicle 10 may be equipped with an electric drive unit. The electric drive unit is configured to assist the propulsion of the human-powered vehicle 10.

[0048] Hereinafter, the human-powered vehicle 10 may be described using a Cartesian coordinate system having an X-axis, a Y-axis, and a Z-axis. The X-axis corresponds to the front-to-rear direction of the human-powered vehicle 10. The Y-axis corresponds to the left-to-right direction of the human-powered vehicle 10. The Z-axis corresponds to the up-to-down direction of the human-powered vehicle 10. In this specification, the following directional terms "front," "rear," "forward," "rearward," "left," "right," "sideways," "upward," and "downward," as well as any other similar directional terms, refer to those directions determined with reference to a rider at a reference position on the human-powered vehicle 10 (e.g., on the saddle 48A or seat) facing the handlebars 12J.

[0049] The human-powered vehicle 10 includes a frame 12. The frame 12 includes, for example, a head tube 12A, a top tube 12B, a down tube 12C, seat stays 12D, chain stays 12E, and a seat tube 12F. The human-powered vehicle 10 also includes a front fork 12G, a stem 12H, and a handlebar 12J. The front fork 12G and the stem 12H are connected to the head tube 12A. The handlebar 12J is connected to the stem 12H. The human-powered vehicle 10 includes wheels 14, a drivetrain 16, and a transmission system 18. The wheels 14 include a front wheel 14A and a rear wheel 14B. The front wheel 14A is connected to the front fork 12G. The rear wheel 14B is connected to the connection between the seat stays 12D and the chain stays 12E. A seat post 48 is attached to the seat tube 12F. The seat post 48 is configured to adjust the height of the saddle 48A from the road surface by changing the length of the portion that protrudes from the seat tube 12F.

[0050] The drivetrain 16 is configured to transmit manual driving force to the rear wheel 14B. The drivetrain 16 includes a pair of pedals 20, a crank 22, a front chainwheel 24, a chain 26, and a rear sprocket 28. When the crank 22 is rotated by manual driving force applied to the pair of pedals 20, the front chainwheel 24 rotates. The rotational force of the front chainwheel 24 is transmitted to the rear sprocket 28 via the chain 26. The rotation of the rear sprocket 28 rotates the wheel 14. The rear sprocket 28 includes multiple sprockets. The rear sprocket 28 includes multiple sprockets with different numbers of teeth.

[0051] The drivetrain 16 may include a pulley and a belt instead of the front chainwheel 24, rear sprocket 28, and chain 26. The drivetrain 16 may include a bevel gear and a shaft. The crank 22 includes a first crank arm connected to a first axial end of the crankshaft and a second crank arm connected to a second axial end of the crankshaft. The drivetrain 16 may include other components such as a one-way clutch, other sprockets, or other chains. The front chainwheel 24 may include multiple chainwheels. Preferably, the rotation axis of the front chainwheel 24 is coaxial with the rotation axis of the crank 22. The rotation axis of the rear sprocket 28 is coaxial with the rotation axis of the rear wheel 14B.

[0052] The gear shifting system 18 includes a control device 30 and a transmission 32. The control device 30 is provided, for example, in the hub of the rear wheel 14B. The control device 30 may be provided in the frame 12. The control device 30 may be housed in the down tube 12C. The control device 30 may be provided in the transmission 32. The control device 30 operates using power supplied from a battery 34. The battery 34 is provided, for example, in the hub of the rear wheel 14B. The battery 34 may be provided in the frame 12. The battery 34 may be housed in the down tube 12C.

[0053] The transmission 32 is provided in the transmission path of the human-powered driving force. The transmission path of the human-powered driving force is the path along which the human-powered driving force applied to the pedals 20 is transmitted to the wheels 14. The transmission 32 includes an external gearbox. The transmission 32 includes, for example, a rear derailleur 36. The transmission 32 may also include a front derailleur. The transmission 32 of this embodiment includes the rear derailleur 36, the chain 26, and the rear sprocket 28. The rear derailleur 36 switches the rear sprocket 28 that meshes with the chain 26, thereby changing the gear ratio of the transmission 32.

[0054] The gear ratio is determined based on the relationship between the number of teeth on the front chainwheel 24 and the number of teeth on the rear sprocket 28. In one example, the gear ratio is defined as the ratio of the number of teeth on the front chainwheel 24 to the number of teeth on the rear sprocket 28. If the gear ratio is R, the number of teeth on the rear sprocket 28 is TR, and the number of teeth on the front chainwheel 24 is TF, the gear ratio R is expressed as R = TF / TR. The number of teeth on the rear sprocket 28 may be replaced with the rotational speed of the wheel 14, and the number of teeth TF on the front chainwheel 24 may be replaced with the rotational speed of the crank 22. In this case, the gear ratio R is expressed as the ratio of the rotational speed of the wheel 14 to the rotational speed of the crank 22. The transmission 32 may include an internal transmission instead of an external transmission. The internal transmission is provided, for example, in the hub of the rear wheel 14B. The transmission 32 may include a continuously variable transmission instead of an external transmission. The continuously variable transmission is provided, for example, on the hub of the rear wheel 14B.

[0055] The transmission system 18 is configured to be able to change the gear ratio of the transmission device 32 in a manual transmission mode and an automatic transmission mode. The control device 30 has two transmission modes: a manual transmission mode and an automatic transmission mode. The transmission mode can be switched by the rider.

[0056] When the shifting mode is set to the manual shifting mode, the shifting system 18 is configured, for example, to drive the shifting device 32 in response to the operation of the shift operating device 38. The shifting device 32 includes an electric actuator 40. The shifting device 32 operates using power supplied from a battery 34. The shifting device 32 may also be supplied with power from a battery dedicated to the shifting device 32. In this embodiment, the rear derailleur 36 is driven by the electric actuator 40. The electric actuator 40 is provided, for example, in the rear derailleur 36. The electric actuator 40 may be connected to the rear derailleur 36 via a Bowden cable. The electric actuator 40 includes, for example, an electric motor and a reducer connected to the electric motor. When the shifting mode is set to the automatic shifting mode, the shifting system 18 is configured to drive the shifting device 32 in response to input information from the human-powered vehicle 10 and shifting conditions.

[0057] As shown in FIG. 2, the control device 30 includes a storage unit 50 and a control unit 52. The storage unit 50 is a non-volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read Only Memory), a flash memory, and a hard disk. The storage unit 50 stores programs used by the control unit 52 for control. The storage unit 50 stores, for example, information related to gear shift conditions.

[0058] The memory unit 50 stores a plurality of values ​​output from the tilt sensor 64. The plurality of values ​​are values ​​output from the tilt sensor 64 while the human-powered vehicle 10 travels a first traveling distance. The first traveling distance is a preset distance. For example, the first traveling distance is 2 km. Each value included in the plurality of values ​​is a value output from the tilt sensor 64 when the human-powered vehicle 10 travels a second traveling distance. The second traveling distance is a preset distance. The second traveling distance is shorter than the first traveling distance. For example, the second traveling distance is 10 m. Each value included in the plurality of values ​​is a value output from the tilt sensor 64 when the human-powered vehicle 10 travels the second traveling distance.

[0059] The value output from the tilt sensor 64 is a value related to the attitude of the human-powered vehicle 10. The attitude of the human-powered vehicle 10 includes the yaw angle of the human-powered vehicle 10, the roll angle of the human-powered vehicle 10, and the pitch angle of the human-powered vehicle 10. The pitch angle of the human-powered vehicle 10 corresponds to the gradient of the road on which the human-powered vehicle 10 is traveling. The value output from the tilt sensor 64 includes at least one of the yaw angle, roll angle, and pitch angle. For example, the value output from the tilt sensor 64 is the pitch angle of the human-powered vehicle 10 calculated from the value output from the tilt sensor 64. The value output from the tilt sensor 64 may include the yaw angle of the human-powered vehicle 10 calculated from the value output from the tilt sensor 64. The value output from the tilt sensor 64 may also include the roll angle of the human-powered vehicle 10 calculated from the value output from the tilt sensor 64. The storage unit 50 stores the value output from the tilt sensor 64 each time the human-powered vehicle 10 travels the second distance.

[0060] The memory unit 50 stores the determination result. The determination result indicates whether the calibration of the tilt sensor 64 is normal or not. Specifically, the memory unit 50 stores a calibration determination flag. If the calibration determination flag is "0", the determination result indicates that the calibration of the tilt sensor 64 is normal. If the calibration determination flag is "1", the determination result indicates that the calibration of the tilt sensor 64 is not normal.

[0061] The storage unit 50 may include a volatile memory, such as a random access memory (RAM).

[0062] The control unit 52 includes a calculation device such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 52 may include multiple calculation devices. The multiple calculation devices may be located remotely from each other. The control unit 52 is configured to comprehensively control the operation of the entire transmission system 18, for example, by the calculation device executing a program stored in a ROM using a RAM as a work area. The control unit 52 may also control various components mounted on the human-powered vehicle 10 in addition to the transmission 32 of the human-powered vehicle 10. The control unit 52 may also control an electric drive unit, for example.

[0063] The control unit 52 is connected to the vehicle speed sensor 60, the crank rotation sensor 62, the inclination sensor 64, the input device 66, the gear shift operating device 38, and the electric actuator 40 via at least one of an electric cable and a wireless communication device. The control unit 52 is connected to an external device 68 via at least one of an electric cable and a wireless communication device. The control unit 52 is connected to, for example, a dynamo provided in the hub of the rear wheel 14B. The control unit 52 is connected to, for example, the battery 34 provided in the hub of the rear wheel 14B. If the battery 34 is provided in the frame 12, the control unit 52 may be connected to the battery 34 via an electric cable.

[0064] Preferably, the control unit 52 includes a first interface 52A. The first interface 52A is configured to input information detected by the vehicle speed sensor 60. Preferably, the control unit 52 includes a second interface 52B. The second interface 52B is configured to input information detected by the crank rotation sensor 62. Preferably, the control unit 52 includes a third interface 52C. The third interface 52C is configured to input information detected by the tilt sensor 64. Preferably, the control unit 52 includes a fourth interface 52D. The fourth interface 52D is configured to input information received by the input device 66. Preferably, the control unit 52 includes a fifth interface 52E. The fifth interface 52E is configured to input information transmitted from the external device 68. The fifth interface 52E is configured to output information to the external device 68. Preferably, the control unit 52 includes a sixth interface 52F. The sixth interface 52F is configured to input information transmitted from the gear shift operation device 38.

[0065] The first interface 52A to the sixth interface 52F include, for example, at least one of a cable connection port and a wireless communication device. The wireless communication device includes, for example, a short-range wireless communication unit. The short-range wireless communication unit is configured to wirelessly communicate based on a wireless communication standard such as Bluetooth (registered trademark) or ANT+.

[0066] An electric cable connected to the vehicle speed sensor 60 may be fixed to the first interface 52A. An electric cable connected to the crank rotation sensor 62 may be fixed to the second interface 52B. An electric cable connected to the inclination sensor 64 may be fixed to the third interface 52C. An electric cable connected to the input device 66 may be fixed to the fourth interface 52D. The fifth interface 52E is configured to communicate with an interface 68A of an external device 68. The fifth interface 52E is a wireless communication device. An electric cable connected to the external device 68 may be fixed to the fifth interface 52E. An electric cable connected to the gear shift operation device 38 may be connected to the sixth interface 52F. The control unit 52 includes a first communication unit 70. The first communication unit 70 includes the fifth interface 52E.

[0067] The vehicle speed sensor 60 is configured to output information related to the speed of the human-powered vehicle 10 to the control unit 52. The vehicle speed sensor 60 is configured to output a signal corresponding to the rotational speed of the wheel 14. The vehicle speed sensor 60 is provided, for example, so as to be fixed to the hub axle of the hub of the wheel 14. The vehicle speed sensor 60 may also be provided on the chain stay 12E of the human-powered vehicle 10. The vehicle speed sensor 60 includes a magnetic sensor. The vehicle speed sensor 60 is configured to detect the rotational speed of the hub shell relative to the hub axle of the hub of the wheel 14. The vehicle speed sensor 60 is configured, for example, to detect the magnetic field of one or more magnets attached to the spokes, disc brake rotor, or hub of the wheel 14.

[0068] The vehicle speed sensor 60 is configured to output a signal when it detects a magnetic field. The control unit 52 is configured to calculate the traveling speed of the human-powered vehicle 10, for example, based on the time interval or width of the signal output from the vehicle speed sensor 60 as the wheels 14 rotate, and information related to the circumference of the wheels 14. The vehicle speed sensor 60 may have any configuration as long as it is configured to output information related to the speed of the human-powered vehicle 10, and is not limited to a magnetic sensor, but may also include other sensors such as an optical sensor, an acceleration sensor, or a GPS receiver.

[0069] The crank rotation sensor 62 is configured to output information corresponding to the rotational state of the crank 22 to the control unit 52. The crank rotation sensor 62 is configured to detect information corresponding to the rotational speed of the crank 22, for example. The crank rotation sensor 62 is provided to detect the rotational speed of the rear sprocket 28, for example. In this case, the crank rotation sensor 62 is provided to be fixed to the hub axle of the wheel 14. The crank rotation sensor 62 is provided to detect the rotational speed of the rear sprocket 28 relative to the hub axle of the wheel 14, for example. The crank rotation sensor 62 may be configured to detect the top dead center and bottom dead center of the pedals 20 of the human-powered vehicle 10, for example. The crank rotation sensor 62 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet, whose magnetic field strength varies circumferentially, is provided on a member that rotates in conjunction with the rotation shaft of the crank 22, or on the power transmission path between the rotation shaft of the crank 22 and the front chainwheel 24. For example, the crank rotation sensor 62 is provided so that the magnetic field intensity is greatest when the pedal 20 is at its top dead center and when the pedal 20 is at its bottom dead center.

[0070] For example, if no one-way clutch is provided between the rotation shaft of the crank 22 and the front chainwheel 24, an annular magnet may be provided on the front chainwheel 24. The crank rotation sensor 62 may have any configuration as long as it is configured to output information corresponding to the rotation state of the crank 22, and may include an optical sensor, an acceleration sensor, a gyro sensor, a torque sensor, or the like instead of a magnetic sensor.

[0071] The tilt sensor 64 is configured to output a signal related to the attitude of the human-powered vehicle 10. The tilt sensor 64 is provided, for example, on the hub of the wheel 14. The tilt sensor 64 is provided, for example, on the hub of the rear wheel 14B. The tilt sensor 64 includes an angular velocity sensor. The tilt sensor 64 may also include an acceleration sensor.

[0072] The tilt sensor 64 is configured to output information corresponding to angular velocities around the X-axis, Y-axis, and Z-axis. The tilt sensor 64 is mounted on the human-powered vehicle 10 so that the Z-axis is aligned with the direction of gravity in a reference state in which the front wheels 14A and rear wheels 14B are placed on a horizontal surface and the vehicle is upright. The tilt sensor 64 is configured to detect angular velocity around the Z-axis in the reference state. Specifically, the tilt sensor 64 is configured to detect angular velocity in the roll direction in the reference state. Specifically, the tilt sensor 64 is configured so that the positive direction of the Z-axis coincides with the vertical direction in the reference state. The tilt sensor 64 is configured so that the X-axis is aligned with the fore-and-aft direction of the human-powered vehicle 10 in the reference state. The tilt sensor 64 is configured to detect angular velocity around the X-axis in the reference state. Specifically, the tilt sensor 64 is configured so that the yaw direction in the reference state. The tilt sensor 64 is set so that, in the reference state, the positive direction of the X-axis coincides with the forward direction of the human-powered vehicle 10. In the reference state, the tilt sensor 64 is set so that the Y-axis coincides with the left-right direction of the human-powered vehicle 10. In the reference state, the tilt sensor 64 is set to detect angular velocity about the Y-axis. Specifically, in the reference state, the tilt sensor 64 is set to detect angular velocity in the pitch direction.

[0073] The input device 66 is configured to output input information to the control unit 52. The input device 66 includes, for example, a cycle computer. The input device 66 may be detachably attached to the human-powered vehicle 10. The input device 66 may include a smartphone. The input device 66 is configured to notify information related to the calibration of the tilt sensor 64. The input device 66 outputs the information related to the calibration of the tilt sensor 64 based on a signal output from the control unit 52. The input device 66 includes a display unit 66A. The input device 66 displays the information related to the calibration of the tilt sensor 64 on the display unit 66A. The display unit 66A includes, for example, an LED (Light Emitting Diode).

[0074] The external device 68 is, for example, a device that can externally change the settings of the human-powered vehicle 10. The external device 68 includes at least one of a smart device and a personal computer. The smart device includes at least one of a wearable device such as a smart watch, a smartphone, and a tablet computer.

[0075] The external device 68 includes a second communication unit 72. The second communication unit 72 includes an interface 68A. The interface 68A is configured to communicate with the control device 30. The interface 68A includes at least one of a cable connection port and a wireless communication device. The interface 68A is, for example, a wireless communication device. An electric cable connected to the control device 30 may be fixed to the interface 68A. The external device 68 includes a display unit 68B. The display unit 68B includes, for example, a liquid crystal display. The external device 68 notifies information regarding the calibration of the tilt sensor 64 by displaying the information regarding the calibration of the tilt sensor 64 on the display unit 68B.

[0076] The gearshift operating device 38 includes an operating switch that is operated by the user's fingers or the like. Preferably, the gearshift operating device 38 includes an operating switch for upshifting and an operating switch for downshifting. The gearshift operating device 38 is preferably provided on the handlebar 12J.

[0077] When the gear shifting mode is automatic and the state variables related to the driving of the human-powered vehicle 10 satisfy the gear shifting conditions, the control unit 52 controls the transmission 32 to change the gear ratio. The state variables related to the driving of the human-powered vehicle 10 include at least one of cadence, speed, wheel speed, and human-powered driving force acting on the drivetrain 16. For example, the state variables related to the driving of the human-powered vehicle 10 are state variables related to cadence. The control unit 52 controls the transmission 32 to change the gear ratio based on the cadence, for example. When the cadence satisfies the gear shifting conditions, the control unit 52 controls the transmission 32 to change the gear ratio. The cadence includes the rotational speed of the crankshaft of the human-powered vehicle 10. The cadence may be calculated by dividing the rotational speed of the rear wheel 14B of the human-powered vehicle 10 by the gear ratio of the transmission 32.

[0078] If the cadence exceeds the predetermined cadence range, the gear shift condition is met. If the cadence does not exceed the predetermined cadence range, the gear shift condition is not met. The predetermined cadence range is a range equal to or greater than the lower limit cadence and equal to or less than the upper limit cadence. The predetermined cadence range includes the reference cadence. At least one of the lower limit cadence and the upper limit cadence is set relative to the reference cadence. The predetermined cadence range is set based on the inclination state. The inclination state is the gradient of the road surface on which the human-powered vehicle 10 is traveling.

[0079] The control unit 52 calculates, for example, the gradient of the road surface on which the human-powered vehicle 10 is traveling, based on the value output from the inclination sensor 64. The angular velocity sensor used as the inclination sensor 64 detects the angular velocity around each axis. The inclination sensor 64 detects the minute rotation angle per minute period of time. The control unit 52 calculates each angle (yaw angle, roll angle, pitch angle) of the human-powered vehicle 10 at present by adding the minute rotation angle to the rotation angle around each axis. For example, the control unit 52 calculates the current pitch angle of the human-powered vehicle 10 by adding the minute rotation angle around the Y-axis to the rotation angle around the Y-axis. The control unit 52 calculates each angle of the human-powered vehicle 10 at present by integrating the minute rotation angle detected by the inclination sensor 64.

[0080] If there is an error in the calculated minute rotation angle, the calculated angles of the human-powered vehicle 10 will be angles that represent the accumulated error. As the error accumulates, the calculated angles of the human-powered vehicle 10 will deviate from the actual attitude angles of the human-powered vehicle 10. For example, if the calculated pitch angle of the human-powered vehicle 10 deviates from the actual pitch angle of the human-powered vehicle 10, the control unit 52 calculates the deviation from the actual road gradient as the gradient of the road surface on which the human-powered vehicle 10 is traveling. If the calculated pitch angle of the human-powered vehicle 10 deviates from the actual pitch angle of the human-powered vehicle 10, the predetermined cadence range will be incorrectly set based on the calculated road gradient. If the predetermined cadence range is incorrectly set, the control unit 52 may change the gear ratio at a timing that differs from the normal gear shift timing. If the predetermined cadence range is incorrectly set, the control unit 52 may not change the gear ratio at the normal gear shift timing. Therefore, if the calculated angles of the human-powered vehicle 10 deviate from the actual attitude angles of the human-powered vehicle 10, it is desirable to calibrate the inclination sensor 64. For example, if the hub of the rear wheel 14B is attached to the frame 12, it is desirable to calibrate the inclination sensor 64. For example, if the hub of the rear wheel 14B is replaced, it is desirable to calibrate the inclination sensor 64. For example, if the hub of the rear wheel 14B is detached, it is desirable to calibrate the inclination sensor 64. For example, if the inclination sensor 64 has not been calibrated, it is desirable to calibrate the inclination sensor 64.

[0081] The tilt sensor 64 is calibrated by performing a calibration operation in a reference state. For example, the calibration operation is performed by an external device 68. When the control unit 52 receives information regarding the calibration operation of the tilt sensor 64 from the external device 68, the control unit 52 calibrates the tilt sensor 64.

[0082] The control unit 52 controls the notification unit 74 to notify information related to the calibration of the tilt sensor 64. The notification unit 74 includes at least one of the display unit 68B of the external device 68 and the display unit 66A of the input device 66. For example, the control unit 52 transmits information related to the calibration of the tilt sensor 64 to the external device 68. When the connection between the fifth interface 52E and the interface 68A of the external device 68 is completed, the control unit 52 transmits information related to the calibration of the tilt sensor 64 to the external device 68.

[0083] If the tilt sensor 64 has not been calibrated, the control unit 52 generates a signal to notify the external device 68 that the tilt sensor 64 has not been calibrated. For example, if the hub of the rear wheel 14B has been replaced, the tilt sensor 64 has not been calibrated. If the tilt sensor 64 has not been calibrated and the connection between the fifth interface 52E and the interface 68A of the external device 68 has been completed, the control unit 52 transmits the generated signal to the external device 68.

[0084] If the calibration of the tilt sensor 64 is not performed normally, the control unit 52 generates a signal to notify the external device 68 that the calibration of the tilt sensor 64 is not performed normally. If the calibration of the tilt sensor 64 is not performed normally and the connection between the fifth interface 52E and the interface 68A of the external device 68 is completed, the control unit 52 transmits the generated signal to the external device 68. Specifically, if the calibration determination flag stored in the storage unit 50 is "1" and the connection between the fifth interface 52E and the interface 68A of the external device 68 is completed, the control unit 52 transmits the generated signal to the external device 68.

[0085] If the calibration of the tilt sensor 64 fails, the control unit 52 generates a signal for notifying the external device 68 that the calibration of the tilt sensor 64 has failed. If the calibration of the tilt sensor 64 has failed, the control unit 52 transmits the generated signal to the external device 68.

[0086] The control unit 52 causes the information relating to the calibration of the tilt sensor 64 to be displayed, for example, on the display unit 68B of the external device 68. In response to the signal transmitted from the control device 30, the external device 68 displays an image corresponding to the information relating to the calibration of the tilt sensor 64. The external device 68 is configured to notify different content depending on the information relating to the calibration of the tilt sensor 64.

[0087] For example, if the tilt sensor 64 has not been calibrated, the external device 68 displays an image including image P1 shown in FIG. 3. For example, the external device 68 displays a message saying, "The system is not operational because the tilt sensor has not been calibrated. Do you want to calibrate the tilt sensor?" The external device 68 displays options of "YES" and "NO." If "YES" is selected, the external device 68 generates a signal for calibrating the tilt sensor 64. The external device 68 transmits the generated signal to the control device 30. The control device 30 calibrates the tilt sensor 64.

[0088] If the calibration of the tilt sensor 64 has not been performed correctly, the external device 68 displays an image including image P2 shown in FIG. 4. For example, the external device 68 displays a message saying, "The calibration of the tilt sensor may not have been performed correctly. Would you like to calibrate the tilt sensor?" The external device 68 displays options of "YES" and "NO." If "YES" is selected, the external device 68 generates a signal for calibrating the tilt sensor 64. The external device 68 transmits the generated signal to the control device 30. The control device 30 calibrates the tilt sensor 64.

[0089] If the calibration of the tilt sensor 64 fails, the external device 68 displays an image including image P3 shown in FIG. 5. For example, the external device 68 displays a message saying, "The previous calibration of the tilt sensor failed, so automatic gear shifting will not operate. Do you want to calibrate the tilt sensor?" The external device 68 displays options of "YES" and "NO." If "YES" is selected, the external device 68 generates a signal to calibrate the tilt sensor 64. The external device 68 transmits the generated signal to the control device 30. The control device 30 calibrates the tilt sensor 64.

[0090] If the vehicle information of the human-powered vehicle 10 has not been set, the control unit 52 may generate a signal to notify the external device 68 that the vehicle information has not been set. The vehicle information includes, for example, at least one of information related to the number of teeth of the front chainwheel 24 and information related to the number of teeth of the rear sprocket 28. The vehicle information includes, for example, information related to the circumferential length of the wheels 14. The control unit 52 transmits the generated signal to the external device 68. An image notifying the user that the vehicle information has not been set is displayed on the external device 68. The image notifying the user that the vehicle information has not been set may be displayed together with an image for calibrating the inclination sensor 64.

[0091] The control unit 52 executes the control flow shown in Fig. 6 to notify information relating to the calibration of the tilt sensor 64. The control flow shown in Fig. 6 is executed repeatedly.

[0092] In step S10, the control unit 52 measures the travel distance of the human-powered vehicle 10. The control unit 52 measures the travel distance of the human-powered vehicle 10 using a first travel counter and a second travel counter. The control unit 52 measures the travel distance of the human-powered vehicle 10 based on a signal output from the vehicle speed sensor 60, for example. After measuring the travel distance of the human-powered vehicle 10, the control unit 52 proceeds to step S11.

[0093] In step S11, the control unit 52 determines whether the human-powered vehicle 10 has traveled a second traveling distance. The control unit 52 determines whether the second traveling counter has reached the second traveling distance. If the second traveling counter has reached the second traveling distance, the control unit 52 determines that the human-powered vehicle 10 has traveled the second traveling distance. If the second traveling counter has not reached the second traveling distance, the control unit 52 determines that the human-powered vehicle 10 has not traveled the second traveling distance. If the control unit 52 determines that the human-powered vehicle 10 has not traveled the second traveling distance, the control unit 52 proceeds to step S10. If the control unit 52 determines that the human-powered vehicle 10 has traveled the second traveling distance, the control unit 52 proceeds to step S12.

[0094] In step S12, the control unit 52 stores the value output from the tilt sensor 64 in the memory unit 50. The control unit 52 stores the value output from the tilt sensor 64 when the human-powered vehicle 10 has traveled a second traveling distance in the memory unit 50. The control unit 52 stores, for example, the pitch angle in the memory unit 50. After storing the value output from the tilt sensor 64 in the memory unit 50 in step S12, the control unit 52 proceeds to step S13.

[0095] In step S13, the control unit 52 resets the second travel counter. After resetting the second travel counter, the control unit 52 proceeds to step S14.

[0096] In step S14, the control unit 52 calculates the output value of the tilt sensor 64. The output value of the tilt sensor 64 is calculated based on the values ​​of the tilt sensor 64 stored in the storage unit 50. When the storage unit 50 stores multiple values ​​of the tilt sensor 64, the output value of the tilt sensor 64 is a value indicating the central tendency of the multiple values ​​output from the tilt sensor 64. The value indicating the central tendency is the average value of the multiple values. The value indicating the central tendency may also be the median of the multiple values. The output value of the tilt sensor 64 is, for example, a pitch angle. For example, the output value of the tilt sensor 64 is the average value of the multiple pitch angles stored in the storage unit 50. The output value of the tilt sensor 64 may also be, for example, a yaw angle. In this case, the output value of the tilt sensor 64 is, for example, the average value of the multiple yaw angles stored in the storage unit 50. The output value of the tilt sensor 64 may also be, for example, a roll angle. In this case, the output value of the tilt sensor 64 is, for example, the average value of the multiple roll angles stored in the storage unit 50. After calculating the output value of the tilt sensor 64, the control unit 52 proceeds to step S15.

[0097] In step S15, the control unit 52 determines whether the human-powered vehicle 10 has traveled a first traveling distance. The control unit 52 determines whether the first traveling counter has reached the first traveling distance. If the first traveling counter has reached the first traveling distance, the control unit 52 determines that the human-powered vehicle 10 has traveled the first traveling distance. If the first traveling counter has not reached the first traveling distance, the control unit 52 determines that the human-powered vehicle 10 has not traveled the first traveling distance. If the control unit 52 determines that the human-powered vehicle 10 has not traveled the first traveling distance, the control unit 52 proceeds to step S10. If the control unit 52 determines that the human-powered vehicle 10 has traveled the first traveling distance, the control unit 52 proceeds to step S16.

[0098] In step S16, the control unit 52 determines whether the calibration of the inclination sensor 64 is normal. Specifically, the control unit 52 determines whether the output value of the inclination sensor 64 is outside a predetermined range. For example, the control unit 52 compares the absolute value of the output value with the predetermined range. The predetermined range is a range equal to or greater than a predetermined lower limit and equal to or less than a predetermined upper limit. The predetermined lower limit is "0." For example, if the output value of the inclination sensor 64 is a pitch angle, the predetermined upper limit is a value corresponding to a steep gradient. For example, the predetermined upper limit is a value corresponding to a road gradient of 10%. For example, if the output value of the inclination sensor 64 is a pitch angle, the output value is a value indicating the central tendency of multiple pitch angles output from the inclination sensor 64 while the human-powered vehicle 10 has traveled a first traveling distance. If the absolute value of the output value is greater than the predetermined upper limit, the control unit 52 determines that the vehicle has been traveling for a long time on a road with a gradient greater than 10%. On an actual road surface, it is unlikely that a road surface with a gradient value greater than 10% will continue for a long distance corresponding to the first traveling distance. If the control unit 52 determines that the output value of the inclination sensor 64 is outside the predetermined range, it determines that the calibration of the inclination sensor 64 is abnormal. For example, if the output value of the inclination sensor 64 is a roll angle, the predetermined upper limit is a value corresponding to a steep bank. The predetermined upper limit is, for example, a value corresponding to a road surface inclination value of 5%. The predetermined upper limit when the output value of the inclination sensor 64 is a roll angle is different from the predetermined upper limit when the output value of the inclination sensor 64 is a pitch angle. The predetermined upper limit when the output value of the inclination sensor 64 is a roll angle is smaller than the predetermined upper limit when the output value of the inclination sensor 64 is a pitch angle. The predetermined upper limit when the output value of the inclination sensor 64 is a roll angle may be the same as the predetermined upper limit when the output value of the inclination sensor 64 is a pitch angle. If the control unit 52 determines that the output value of the inclination sensor 64 is within the predetermined range, it determines that the calibration of the inclination sensor 64 is abnormal. If the control unit 52 determines that the calibration of the tilt sensor 64 is normal, the process proceeds to step S17. If the control unit 52 determines that the calibration of the tilt sensor 64 is not normal, the process proceeds to step S18.

[0099] In step S17, the control unit 52 sets the calibration determination flag to “0.” The control unit 52 stores in the memory unit 50 a determination result indicating whether the output value of the tilt sensor 64 is outside a predetermined range. If the new determination result differs from the determination result stored in the memory unit 50, the control unit 52 updates the determination result stored in the memory unit 50 with the new determination result. Specifically, if the calibration determination flag stored in the memory unit 50 is “0,” the control unit 52 maintains the current calibration determination flag. If the calibration determination flag stored in the memory unit 50 is “1,” the control unit 52 changes the calibration determination flag to “0.” The control unit 52 updates the calibration determination flag stored in the memory unit 50 by storing the changed calibration determination flag in the memory unit 50. After setting the calibration flag to “0,” the control unit 52 proceeds to step S20. If the calibration determination flag stored in the memory unit 50 is “0,” the control unit 52 may skip the processing of step S17.

[0100] In step S18, the control unit 52 sets the calibration determination flag to “1.” The control unit 52 stores in the memory unit 50 a determination result indicating whether the output value of the tilt sensor 64 is outside a predetermined range. If the new determination result differs from the determination result stored in the memory unit 50, the control unit 52 updates the determination result stored in the memory unit 50 with the new determination result. Specifically, if the calibration determination flag stored in the memory unit 50 is “1,” the control unit 52 maintains the current calibration determination flag. If the calibration determination flag stored in the memory unit 50 is “0,” the control unit 52 changes the calibration determination flag to “1.” The control unit 52 updates the calibration determination flag stored in the memory unit 50 by storing the changed calibration determination flag in the memory unit 50. After setting the calibration determination flag to “1,” the control unit 52 proceeds to step S19. If the calibration determination flag stored in the memory unit 50 is “1,” the control unit 52 may skip the processing of step S17.

[0101] In step S19, the control unit 52 causes information regarding the calibration of the tilt sensor 64 to be notified. If the calibration of the tilt sensor 64 has not been performed normally, the control unit 52 controls the display unit 66A of the input device 66 to notify the rider of the fact that the calibration of the tilt sensor 64 has not been performed normally. For example, the control unit 52 causes an LED in the input device 66 to light up, thereby notifying the rider that the calibration of the tilt sensor 64 has not been performed normally. After causing the control unit 52 to notify the rider of the information regarding the calibration of the tilt sensor 64, the control unit 52 proceeds to step S20. If the information regarding the calibration of the tilt sensor 64 has already been notified by the input device 66, the control unit 52 may skip the processing of step S19.

[0102] In step S20, the control unit 52 resets the first travel counter. After resetting the first travel counter, the control unit 52 proceeds to step S21.

[0103] In step S21, the control unit 52 erases the value output from the tilt sensor 64 from the storage unit 50. For example, the control unit 52 erases from the storage unit 50 a plurality of pitch angles stored in the storage unit 50. The plurality of values ​​stored in the storage unit 50 are erased when the human-powered vehicle 10 has traveled a first traveling distance. After erasing the value output from the tilt sensor 64 from the storage unit 50, the control unit 52 ends the current processing.

[0104] When the calibration determination process is started again and the human-powered vehicle 10 has traveled a second traveling distance, the control unit 52 stores a new value output from the tilt sensor 64 in the memory unit 50. The control unit 52 calculates a new output value of the tilt sensor 64 using the multiple values ​​newly stored in the memory unit 50. In this way, by repeatedly performing the control flow shown in Fig. 6, the control unit 52 calculates the output value of the tilt sensor 64 each time the human-powered vehicle 10 travels a first traveling distance.

[0105] In the control flow shown in Fig. 6, the control unit 52 calculates the output value of the tilt sensor 64 in step S14 each time the human-powered vehicle 10 travels the second traveling distance, but this is not limited to this. The control unit 52 may calculate the output value of the tilt sensor 64 using multiple values ​​stored in the memory unit 50 after the human-powered vehicle 10 has traveled the first traveling distance. The control unit 52 may calculate the output value of the tilt sensor 64 after determining in step S15 that the human-powered vehicle 10 has traveled the first traveling distance.

[0106] When the tilt sensor 64 is calibrated, the control unit 52 initializes the determination results stored in the storage unit 50. Specifically, when the tilt sensor 64 is calibrated, the control unit 52 sets the calibration determination flag to "0." When the tilt sensor 64 is calibrated and the value output from the tilt sensor 64 is stored in the storage unit 50, the control unit 52 deletes the value output from the tilt sensor 64 from the storage unit 50.

[0107] (Second embodiment) The human-powered vehicle 10 according to the second embodiment differs from the human-powered vehicle 10 according to the first embodiment in the processing performed by the control unit 52. Only the parts of the control unit 52 according to the second embodiment that are different from the control unit 52 according to the first embodiment will be described, and overlapping descriptions will be omitted.

[0108] The control unit 52 notifies information related to the calibration of the tilt sensor 64 by executing the control flow shown in Fig. 7. The control flow shown in Fig. 7 is executed repeatedly. When the same processing as that of the control flow shown in Fig. 6 is executed in each step of the control flow shown in Fig. 7, the same step number is assigned and the description thereof may be omitted.

[0109] If the control unit 52 determines in step S15 that the human-powered vehicle 10 has traveled the first distance, the process proceeds to step S30.

[0110] In step S30, the control unit 52 determines whether the calibration of the tilt sensor 64 is normal. Specifically, the control unit 52 determines whether the output value of the tilt sensor 64 is outside a predetermined range. If the control unit 52 determines that the output value of the tilt sensor 64 is outside the predetermined range, it determines that the calibration of the tilt sensor 64 is not normal. If the control unit 52 determines that the output value of the tilt sensor 64 is within the predetermined range, it determines that the calibration of the tilt sensor 64 is normal.

[0111] In step S31, the control unit 52 determines whether the new determination result in step S30 of the current process is the same as the determination result stored in the storage unit 50. If it is determined in step S30 of the current process that the calibration of the tilt sensor 64 is normal and the calibration determination flag stored in the storage unit 50 is "0," the control unit 52 determines that the new determination result is the same as the determination result stored in the storage unit 50. If it is determined in step S30 of the current process that the calibration of the tilt sensor 64 is abnormal and the calibration determination flag stored in the storage unit 50 is "1," the control unit 52 determines that the new determination result is the same as the determination result stored in the storage unit 50. If it is determined in step S30 of the current process that the calibration of the tilt sensor 64 is normal and the calibration determination flag stored in the storage unit 50 is "1," the control unit 52 determines that the new determination result is different from the determination result stored in the storage unit 50. If it is determined in step S30 of the current process that the calibration of the tilt sensor 64 is not normal and the calibration determination flag stored in the memory unit 50 is "0", the control unit 52 determines that the new determination result is different from the determination result stored in the memory unit 50. If it is determined that the new determination result in step S30 of the current process is different from the determination result stored in the memory unit 50, the control unit 52 proceeds to step S32. If it is determined that the new determination result in step S30 of the current process is the same as the determination result stored in the memory unit 50, the control unit 52 proceeds to step S38.

[0112] In step S32, the control unit 52 calculates an integrated output value. The control unit 52 calculates the integrated output value based on the multiple values ​​used when the new determination result was determined and the multiple values ​​used when the determination result stored in the memory unit 50 was determined. The integrated output value is a value that indicates the central tendency of the multiple values ​​used to calculate each output value of each determination result. For example, the integrated output value is the pitch angle. After calculating the integrated output value, the control unit 52 proceeds to step S33.

[0113] In step S33, the control unit 52 determines whether the calibration of the tilt sensor 64 is normal. The control unit 52 uses the integrated output value to determine whether the calibration of the tilt sensor 64 is normal. If the new determination result in step S30 of the current process differs from the determination result stored in the memory unit 50, the control unit 52 uses the integrated output value to determine whether the calibration of the tilt sensor 64 is normal. Specifically, the control unit 52 determines whether the integrated output value is outside a predetermined range. If the control unit 52 determines that the integrated output value is outside the predetermined range, it determines that the calibration of the tilt sensor 64 is abnormal. If the control unit 52 determines that the integrated output value is within the predetermined range, it determines that the calibration of the tilt sensor 64 is normal. If the control unit 52 determines that the calibration of the tilt sensor 64 is normal, the control unit 52 proceeds to step S34. If the control unit 52 determines that the calibration of the tilt sensor 64 is abnormal, the control unit 52 proceeds to step S35.

[0114] In step S34, the control unit 52 sets the calibration judgment flag to "0." If the new judgment result in step S30 of this processing differs from the judgment result stored in the memory unit 50, the control unit 52 stores the judgment result using the integrated output value in the memory unit 50. If the calibration judgment flag stored in the memory unit 50 is "0," the control unit 52 sets the calibration judgment flag to "0" again. If the calibration judgment flag stored in the memory unit 50 is "1," the control unit 52 changes the calibration judgment flag to "0." The control unit 52 updates the calibration judgment flag stored in the memory unit 50 by storing the calibration judgment flag after setting in the memory unit 50. After setting the calibration judgment flag to "0," the control unit 52 proceeds to step S20.

[0115] In step S35, the control unit 52 sets the calibration judgment flag to "1." If the new judgment result in step S30 of this processing differs from the judgment result stored in the memory unit 50, the control unit 52 stores the judgment result using the integrated output value in the memory unit 50. If the calibration judgment flag stored in the memory unit 50 is "1," the control unit 52 sets the calibration judgment flag to "1" again. If the calibration judgment flag stored in the memory unit 50 is "0," the control unit 52 changes the calibration judgment flag to "1." The control unit 52 updates the calibration judgment flag stored in the memory unit 50 by storing the calibration judgment flag after setting in the memory unit 50. After setting the calibration judgment flag to "1," the control unit 52 proceeds to step S36.

[0116] In step S36, the control unit 52 notifies the rider of information related to the calibration of the tilt sensor 64. If the integrated output value is outside the predetermined range, the control unit 52 notifies the rider of information related to the calibration of the tilt sensor 64. Specifically, the control unit 52 controls the input device 66 to notify the rider of information related to the calibration of the tilt sensor 64. For example, the control unit 52 notifies the rider of the need to calibrate the tilt sensor 64 by turning on an LED in the input device 66. After notifying the rider of information related to the calibration of the tilt sensor 64, the control unit 52 proceeds to step S20.

[0117] If the control unit 52 determines in step S31 that the new determination result in step S20 of the current process is the same as the determination result stored in the memory unit 50, the control unit 52 updates the calibration determination flag in step S37. If the calibration determination flag stored in the memory unit 50 is "0," the control unit 52 sets the calibration determination flag to "0" again. If the calibration determination flag stored in the memory unit 50 is "1," the control unit 52 sets the calibration determination flag to "1" again. The control unit 52 updates the calibration determination flag stored in the memory unit 50 by storing the calibration determination flag after setting in the memory unit 50. After updating the calibration determination flag, the control unit 52 proceeds to step S20.

[0118] After resetting the first travel counter in step S20, the control unit 52 proceeds to step S38.

[0119] In step S38, the control unit 52 erases some of the values ​​output from the tilt sensor 64 from the storage unit 50. Specifically, the control unit 52 erases from the storage unit 50 the multiple values ​​that were not used when the calibration determination flag stored in the storage unit 50 was set. For example, when the control unit 52 updated the calibration determination flag in step S37, the control unit 52 erases from the storage unit 50 the multiple values ​​that were not used in calculating the output value in step S14 of the current processing. When the control unit 52 updated the calibration determination flag in step S34 or step S35, the control unit 52 erases from the storage unit 50 the multiple values ​​that were not used in calculating the integrated output value. After erasing some of the values ​​output from the tilt sensor 64 from the storage unit 50, the control unit 52 ends the current processing.

[0120] (Third embodiment) The human-powered vehicle 10 according to the third embodiment differs from the human-powered vehicle 10 according to the first embodiment in the processing performed by the control unit 52. Only the parts of the control unit 52 according to the third embodiment that are different from the control unit 52 according to the first embodiment will be described, and overlapping descriptions will be omitted.

[0121] The control unit 52 notifies information related to the calibration of the tilt sensor 64 by executing the control flow shown in Fig. 8. The control flow shown in Fig. 8 is executed repeatedly. When the same processing as that of the control flow shown in Fig. 6 is executed in each step of the control flow shown in Fig. 8, the same step number is assigned and the description thereof may be omitted.

[0122] If the control unit 52 determines in step S16 that the calibration of the tilt sensor 64 is normal, the control unit 52 proceeds to step S40. If the control unit 52 determines in step S16 that the calibration of the tilt sensor 64 is not normal, the control unit 52 proceeds to step S43.

[0123] In step S40, the control unit 52 determines whether the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50. Specifically, the control unit 52 determines whether the calibration determination flag is "1." If the control unit 52 determines that the calibration determination flag is "1," it determines that the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50. If the control unit 52 determines that the calibration determination flag is "0," it determines that the new determination result in step S16 of the current processing is the same as the determination result stored in the storage unit 50. If the control unit 52 determines that the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50, it proceeds to step S41. If the control unit 52 determines that the new determination result in step S16 of the current processing is the same as the determination result stored in the storage unit 50, it proceeds to step S20.

[0124] In step S41, the control unit 52 determines whether the new determination result in step S16 of the current process is consecutively different. Specifically, the control unit 52 determines whether the calibration of the tilt sensor 64 was determined to be normal in step S16 of the previous process. If the calibration of the tilt sensor 64 was determined to be normal in step S16 of the previous process, the control unit 52 determines that the new determination result in step S16 of the current process is consecutively different. If the calibration of the tilt sensor 64 was determined to be abnormal in step S16 of the previous process, the control unit 52 determines that the new determination result in step S16 of the current process is not consecutively different. The determination result in step S16 of the previous process is stored in the storage unit 50. If the control unit 52 determines that the new determination result in step S16 of the current process is consecutively different, the control unit 52 proceeds to step S42. If the control unit 52 determines that the new determination result in step S16 of the current process is not consecutively different, the control unit 52 proceeds to step S20.

[0125] In step S42, the control unit 52 sets the calibration judgment flag to "0." If the new judgment result in step S16 of the current process is consecutively different from the judgment result stored in the memory unit 50, the control unit 52 updates the judgment result stored in the memory unit 50 based on the new judgment result. Specifically, the control unit 52 changes the calibration judgment flag to "0." The control unit 52 updates the calibration judgment flag stored in the memory unit 50 by storing the changed calibration judgment flag in the memory unit 50. After setting the calibration flag to "0," the control unit 52 proceeds to step S20.

[0126] In step S43, the control unit 52 determines whether the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50. Specifically, the control unit 52 determines whether the calibration determination flag is "0." If the control unit 52 determines that the calibration determination flag is "0," it determines that the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50. If the control unit 52 determines that the calibration determination flag is "1," it determines that the new determination result in step S16 of the current processing is the same as the determination result stored in the storage unit 50. If the control unit 52 determines that the new determination result in step S16 of the current processing is different from the determination result stored in the storage unit 50, it proceeds to step S44. If the control unit 52 determines that the new determination result in step S16 of the current processing is the same as the determination result stored in the storage unit 50, it proceeds to step S20.

[0127] In step S44, the control unit 52 determines whether the new determination result in step S16 of the current processing is consecutively different. Specifically, the control unit 52 determines whether the calibration of the tilt sensor 64 was determined to be abnormal in step S16 of the previous processing. If it was determined to be abnormal in step S16 of the previous processing, the control unit 52 determines that the new determination result in step S16 of the current processing is consecutively different. If it was determined to be normal in step S16 of the previous processing, the control unit 52 determines that the new determination result in step S16 of the current processing is not consecutively different. If the control unit 52 determines that the new determination result in step S16 of the current processing is consecutively different, the control unit 52 proceeds to step S45. If the control unit 52 determines that the new determination result in step S16 of the current processing is not consecutively different, the control unit 52 proceeds to step S20.

[0128] In step S45, the control unit 52 sets the calibration judgment flag to "1." If the new judgment result in step S16 of the current process is consecutively different from the judgment result stored in the memory unit 50, the control unit 52 updates the judgment result stored in the memory unit 50 based on the new judgment result. Specifically, the control unit 52 changes the calibration judgment flag to "1." The control unit 52 updates the calibration judgment flag stored in the memory unit 50 by storing the changed calibration judgment flag in the memory unit 50. After setting the calibration flag to "1," the control unit 52 proceeds to step S19.

[0129] In step S21, the control unit 52 erases the value output from the tilt sensor 64 from the storage unit 50, and then proceeds to step S46.

[0130] In step S46, the control unit 52 stores the determination result in step S16 of the current processing in the storage unit 50. The control unit 52 erases the determination result in step S16 of the previous processing from the storage unit 50. Specifically, the control unit 52 overwrites the determination result in step S16 of the previous processing with the determination result in step S16 of the current processing. After storing the determination result in step S16 of the current processing in the storage unit 50, the control unit 52 ends the current processing.

[0131] The manual shift mode may be omitted from the control device 30 of the embodiment. In the control device 30 of the embodiment, any interface not required for control among the first interface 52A to the sixth interface 52F may be omitted.

[0132] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0133] 10... human-powered vehicle, 30... control device, 32... transmission device, 50... memory unit, 52... control unit, 52E... fifth interface, 64... inclination sensor, 66... ​​input device, 66A... display unit, 68... external device, 68A... interface, 68B... display unit, 70... first communication unit, 72... second communication unit, 74... notification unit

Claims

1. A control device provided in a human-powered vehicle, a control unit that controls the notification unit to notify information related to the calibration of the tilt sensor; The tilt sensor is configured to output a signal related to the attitude of the human-powered vehicle.

2. The control device according to claim 1 , wherein the control unit controls the notification unit to notify information relating to the calibration of the tilt sensor when the calibration of the tilt sensor is not performed normally.

3. The control device according to claim 1 , wherein the control unit controls the notification unit to notify information related to calibration of the tilt sensor when the output value of the tilt sensor is outside a predetermined range.

4. The control device according to claim 3 , wherein the output value is a value indicating a central tendency among a plurality of values ​​output from the tilt sensor.

5. The control device of claim 4 , wherein the value indicating central tendency is an average value of the plurality of values.

6. The control device of claim 4 , wherein the value indicating central tendency is a median of the plurality of values.

7. The control device according to claim 4 , wherein the plurality of values ​​are values ​​output from the tilt sensor while the human-powered vehicle travels a first distance.

8. The control device according to claim 7 , wherein the output value is calculated each time the human-powered vehicle travels the first distance.

9. each value included in the plurality of values ​​is a value output from the tilt sensor when the human-powered vehicle has traveled a second travel distance; The control device according to claim 7 , wherein the second travel distance is shorter than the first travel distance.

10. The control device according to claim 3 , wherein the output value is a pitch angle of the human-powered vehicle.

11. The control device according to claim 4 , wherein the control unit causes a storage unit to store a determination result indicating whether or not the output value is outside the predetermined range.

12. The control device according to claim 11 , wherein the storage unit is a non-volatile memory.

13. The control device according to claim 11 , wherein, when a new determination result differs from a determination result stored in the storage unit, the control unit updates the determination result stored in the storage unit with the new determination result.

14. When the new determination result is different from the determination result stored in the storage unit, the control unit stores the determination result using the integrated output value in the storage unit; If the integrated output value is outside the predetermined range, information regarding calibration of the tilt sensor is notified.

12. The control device according to claim 11, wherein the integrated output value is a value indicating a central tendency of the plurality of values ​​used when the new determination result was determined and the plurality of values ​​used when the determination result stored in the storage unit was determined.

15. The control device according to claim 11, wherein, when a new determination result differs consecutively from the determination result stored in the storage unit, the control unit updates the determination result stored in the storage unit based on the new determination result.

16. The control device according to claim 11 , wherein the control unit initializes the determination result stored in the storage unit when calibration of the tilt sensor is performed.

17. the notification unit includes a display unit, The control device according to claim 1 , wherein the control unit causes the display unit to display information relating to calibration of the tilt sensor.

18. the notification unit is provided in an external device, The control device according to claim 1 , wherein the control unit transmits information relating to calibration of the tilt sensor to the external device.

19. a first communication unit configured to communicate with a second communication unit provided in the external device; The control device according to claim 18 , wherein the control unit transmits information related to calibration of the tilt sensor to the external device when the connection between the first communication unit and the second communication unit is completed.

20. The control device according to claim 19 , wherein the external device is configured to provide different notification content depending on information related to calibration of the tilt sensor.

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