Calculation device for human-powered vehicle

Abstract

To provide a calculation device for a human-powered vehicle capable of performing calculation related to speed at a suitable timing.SOLUTION: The human-powered vehicle includes a sensor configured to output a detection signal each time a detected portion passes a predetermined position, the human-powered vehicle computing device includes a calculator configured to calculate a predetermined speed related to a movement speed of the detected portion with respect to the sensor based on an output interval of the detection signal, and the calculator is configured to estimate the predetermined speed before the detected portion passes the sensor in a case where the output interval is long.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a computing device for a human-powered vehicle that controls electrical components according to the vehicle speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-25680 Summary of the Invention [Problem to be solved by the invention]

[0004] One of the objects of the present disclosure is to provide a computing device for a human-powered vehicle that can perform calculations at suitable timing. [Means for solving the problem]

[0005] A computing device according to a first aspect of the present disclosure is a computing device for a human-powered vehicle, the human-powered vehicle including a sensor that outputs a detection signal each time a detectable part passes a predetermined position, and a computing unit that calculates a predetermined speed related to the movement speed of the detectable part relative to the sensor based on the output interval of the detection signal, the computing unit being configured to estimate the predetermined speed before the detectable part passes the sensor when the output interval becomes long. In a configuration in which the predetermined speed is calculated based on the output interval, the calculation of the predetermined speed based on the output interval cannot be performed until a detection signal is received, so as the output interval becomes longer, the calculation timing of the predetermined speed becomes later. According to the calculation device of the first aspect, when the output interval becomes longer, the predetermined speed is estimated before the detected part passes the sensor, so the predetermined speed can be estimated before the next detection signal is output. Therefore, calculations related to the speed can be performed at an appropriate timing.

[0006] In the calculation device of a second aspect according to the first aspect of the present disclosure, the calculation unit is configured to estimate the predetermined speed based on a predetermined output interval that is a past output interval when the output interval becomes long. According to the calculation device of the second aspect, the predetermined speed is estimated based on the predetermined output interval, which is a past output interval, and therefore the predetermined speed can be suitably estimated.

[0007] In the calculation device of a third aspect according to the second aspect of the present disclosure, the calculation unit is configured to estimate the predetermined speed when the output interval becomes longer so that the predetermined speed becomes smaller than the predetermined speed calculated based on the predetermined output interval and greater than zero. When the output interval becomes longer, it is estimated that the predetermined speed is decreasing. According to the calculation device of the third aspect, when the output interval becomes longer, the predetermined speed is estimated so that it is smaller than the predetermined speed calculated based on the predetermined output interval and greater than zero, so that the predetermined speed can be suitably estimated.

[0008] In the arithmetic device of a fourth aspect according to the second or third aspect of the present disclosure, the predetermined output interval is a time from the detection timing of the detection signal two times before to the detection timing of the detection signal one time before. According to the calculation device of the fourth aspect, the predetermined speed can be suitably estimated based on the predetermined output interval, which is the time from the detection timing of the detection signal two signals before to the detection timing of the detection signal immediately before.

[0009] In a computing device of a fifth aspect according to any one of the second to fourth aspects of the present disclosure, the computing unit is configured to estimate the predetermined speed before the detected part passes the sensor when the time since the detection signal was detected becomes equal to or longer than a predetermined time based on the predetermined output interval. According to the calculation device of the fifth aspect, when the time since the detection signal is detected exceeds a predetermined time based on a predetermined output interval, the predetermined speed is estimated before the detected part passes the sensor, so that the predetermined speed can be estimated when the output interval becomes long.

[0010] In the calculation device of a sixth aspect according to a fifth aspect of the present disclosure, the calculation unit is configured to calculate the predetermined time based on the predetermined speed calculated based on the predetermined output interval. According to the calculation device of the sixth aspect, the predetermined time can be suitably calculated based on the predetermined speed calculated based on the predetermined output interval.

[0011] In the computing device of the seventh aspect according to the fifth aspect of the present disclosure, the predetermined time is equal to or shorter than the predetermined output interval. According to the computing device of the seventh aspect, since the predetermined time is equal to or shorter than the predetermined output interval, it is possible to suitably determine when the output interval will become longer.

[0012] In the computing device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the computing device further includes a control unit configured to control components mounted on the human-powered vehicle, and the control unit is configured to control the components based on the predetermined speed estimated by the computing unit. According to the calculation device of the eighth aspect, the component is controlled based on the predetermined speed estimated by the calculation unit, so that the component can be controlled early.

[0013] In a ninth aspect of the calculation device according to any one of the first to eighth aspects of the present disclosure, one of the detected part and the sensor is provided on a wheel of the human-powered vehicle, and the predetermined speed is vehicle speed. According to the calculation device of the ninth aspect, calculations relating to vehicle speed can be performed at suitable timing.

[0014] A computing device according to a tenth aspect of the present disclosure is a computing device for a human-powered vehicle, the human-powered vehicle including a sensor that outputs a detection signal each time a detected part passes a predetermined position, and a transmission configured to change a gear ratio, which is the ratio of the rotational speed of a wheel of the human-powered vehicle to the rotational speed of a crankshaft of the human-powered vehicle, and a control unit configured to control the transmission to change the gear ratio based on the output interval of the detection signal, and the control unit configured to control the transmission to change the gear ratio before the detected part passes the sensor if the output interval becomes long. According to the calculation device of the tenth aspect, when the output interval is long, the transmission is controlled to change the gear ratio before the detected part passes the sensor, so that when the output interval is long, calculations related to control of the transmission can be performed before the detected part passes the sensor. Therefore, the calculation device can perform calculations at an appropriate timing.

[0015] In the calculation device of the eleventh aspect according to the tenth aspect of the present disclosure, the control unit is configured to control the transmission to change the gear ratio based on a predetermined speed related to the moving speed of the detected part relative to the sensor, which is calculated based on the output interval. According to the calculation device of the eleventh aspect, the transmission can be controlled so as to obtain an optimum gear ratio for a predetermined speed.

[0016] In the arithmetic device of the twelfth aspect according to the eleventh aspect of the present disclosure, the control unit is configured to estimate the predetermined speed before the detected part passes the sensor when the output interval becomes long, and to control the transmission to change the gear ratio based on the estimated predetermined speed. According to the arithmetic device of the twelfth aspect, the transmission can be controlled so that a suitable gear ratio is achieved for a predetermined speed before the detected portion passes the sensor.

[0017] In the arithmetic device of the thirteenth aspect according to the twelfth aspect of the present disclosure, the control unit is configured to estimate the predetermined speed before the detected part passes the sensor when the output interval becomes long, and to control the transmission to change the gear ratio when the estimated predetermined speed satisfies a gear change condition. According to the arithmetic device of the thirteenth aspect, the gear ratio can be changed based on the estimated predetermined speed.

[0018] In the arithmetic device of aspect 14 according to any one of aspects 10 to 13 of the present disclosure, the control unit is configured to control the transmission so as to reduce the gear ratio before the detected portion passes the sensor when the output interval becomes longer. According to the calculation device of the fourteenth aspect, when the output interval becomes long, the gear ratio can be reduced before the detected part passes the sensor, so that when a decrease in the specified speed is estimated, the gear ratio can be reduced early.

[0019] A computing device according to a fifteenth aspect of the present disclosure is a computing device for a human-powered vehicle, wherein the human-powered vehicle includes: a sensor that outputs a detection signal each time a detected part passes a predetermined position; a transmission device that is provided in a transmission path of human-powered driving force and configured to change a gear ratio, which is the ratio of the rotational speed of a wheel of the human-powered vehicle to the rotational speed of a crankshaft of the human-powered vehicle; and a gear change assist device that is configured to add an auxiliary driving force to the transmission path to assist the gear change ratio by the transmission device, and further includes a control unit that is configured to control the gear change assist device based on the output interval of the detection signal, and when the output interval becomes long and the transmission device operates to change the gear ratio, the control unit is configured to control the gear change assist device so as to output the auxiliary driving force before the detected part passes the sensor. According to the calculation device of the fifteenth aspect, when the output interval is long and the transmission operates to change the gear ratio, the shift assist device is controlled to output auxiliary driving force before the detected part passes the sensor, so that when the output interval is long, calculations related to control of the shift assist device can be performed before the detected part passes the sensor. Therefore, the calculation device can perform calculations at an appropriate timing.

[0020] In the calculation device of the sixteenth aspect according to the fifteenth aspect of the present disclosure, when the rotational speed of the crankshaft of the human-powered vehicle is equal to or lower than a predetermined speed, the control unit is configured to control the gear change assist device to output the auxiliary driving force before the detected part passes the sensor when the output interval becomes longer and when the gear ratio is changed. According to the calculation device of the sixteenth aspect, when the output interval becomes long while the rotation speed of the crankshaft is below a predetermined speed, calculations relating to control of the shift assist device can be performed before the detected part passes the sensor.

[0021] In a calculation device of a seventeenth aspect according to the fifteenth or sixteenth aspect of the present disclosure, the transmission device includes a transmission unit that operates to change the gear ratio, and a drive source of the transmission unit, and the control unit is configured to control the transmission auxiliary device to output the auxiliary drive force before the detected portion passes the sensor when the output interval becomes long and the transmission device operates to change the gear ratio, and to control the drive source so that the transmission unit operates to change the gear ratio. According to the calculation device of the seventeenth aspect, when the output interval is long, calculations relating to the control of the shift assist device and calculations relating to the control of the transmission device can be performed before the detected part passes the sensor.

[0022] In the computing device of the eighteenth aspect according to the seventeenth aspect of the present disclosure, the control unit is configured to control the drive source so that the transmission unit operates to change the gear ratio based on a predetermined speed related to the moving speed of the detected part relative to the sensor, which is calculated based on the output interval. According to the computing device of the eighteenth aspect, the drive source can be controlled so as to achieve an optimum gear ratio for a predetermined speed.

[0023] In the computing device of the 19th aspect according to the 18th aspect of the present disclosure, the control unit is configured to estimate the predetermined speed before the detected part passes the sensor when the output interval becomes long, and to control the driving source so that the transmission part operates to change the gear ratio based on the estimated predetermined speed. According to the computing device of the nineteenth aspect, the drive source can be controlled so as to achieve an optimum gear ratio for the estimated predetermined speed.

[0024] In the arithmetic device of the twentieth aspect according to the nineteenth aspect of the present disclosure, the control unit is configured to estimate the predetermined speed before the detected part passes the sensor when the output interval becomes long, and to control the drive source so that the shifting unit operates to change the gear ratio when the estimated predetermined speed satisfies a shifting condition. According to the calculation device of the twentieth aspect, the gear ratio can be changed based on the estimated predetermined speed.

[0025] In the arithmetic device of aspect 21 according to any one of aspects 17 to 20 of the present disclosure, the control unit is configured to control the shift assist device to output the auxiliary driving force before the detected portion passes the sensor when the output interval becomes long, and to control the driving source so that the shift unit operates to reduce the gear ratio. According to the calculation device of the 21st aspect, when the output interval becomes long, the shift assist device can be controlled to output auxiliary driving force before the detected part passes the sensor, and the driving source can be controlled to reduce the gear ratio.

[0026] In the arithmetic device of the 22nd aspect according to any one of the 10th to 21st aspects of the present disclosure, one of the detected part and the sensor is provided on a wheel of the human-powered vehicle, and the other of the detected part and the sensor is provided on a frame of the human-powered vehicle. According to the calculation device of the twenty-second aspect, the moving speed of the wheel relative to the frame can be calculated at an appropriate timing. [Effects of the Invention]

[0027] The computing device for a human-powered vehicle of the present disclosure can perform calculations at suitable timing. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a side view of a human-powered vehicle on which a control device for a human-powered vehicle according to a first embodiment is mounted. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle of FIG. 1. [Figure 3] 3 is a flowchart of a process executed by the control device of FIG. 2 to control the transmission. [Figure 4] 4 is a timing chart showing an example of the relationship between an actual vehicle speed, a vehicle speed updated by a calculation unit, and a gear ratio. [Figure 5] FIG. 4 is a block diagram showing the electrical configuration of a human-powered vehicle according to a second embodiment. [Figure 6] 3 is a flowchart of a process executed by the control device of FIG. 2 to control the transmission and the transmission assist device. DETAILED DESCRIPTION OF THE INVENTION

[0029] First Embodiment A computing device 60 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 4. FIG.

[0030] 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 whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle will be described as a bicycle.

[0031] The human-powered vehicle 10 includes at least one wheel 12 and a body 14. The at least one wheel 12 includes, for example, a front wheel 12F and a rear wheel 12R. The body 14 includes a frame 16. For example, a saddle 16A is attached to the frame 16.

[0032] The human-powered vehicle 10 further includes, for example, a crank 18 to which human-powered driving force is input. The crank 18 includes, for example, crank arms 20 and a crank shaft 22. The crank shaft 22 is rotatable with respect to, for example, the frame 16. The crank arms 20 are connected to, for example, pedals 24. The crank arms 20 are provided, for example, at each of the axial ends of the crank shaft 22.

[0033] A front fork 26 is connected to the frame 16. A front wheel 12F is attached to the front fork 26. A handlebar 28 is connected to the front fork 26 via a stem 30. A rear wheel 12R is supported by the frame 16. In this embodiment, the crank 18 is connected to the rear wheel 12R by a drive mechanism 32. The rear wheel 12R is driven by the rotation of the crankshaft 22. At least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 18 by the drive mechanism 32.

[0034] The drive mechanism 32 includes at least one first rotating body 34 connected to the crankshaft 22. The at least one first rotating body 34 includes, for example, a front sprocket. The at least one first rotating body 34 may include a pulley or a bevel gear. The crankshaft 22 may be connected to the front sprocket via a one-way clutch.

[0035] The drive mechanism 32 further includes at least one second rotating body 36 and a transmission member 38. The transmission member 38 is configured to transmit the rotational force of the at least one first rotating body 34 to the at least one second rotating body 36. The transmission member 38 includes, for example, a chain. The transmission member 38 may also include a belt or a shaft. The at least one second rotating body 36 includes, for example, a rear sprocket. The at least one second rotating body 36 may also include a pulley or a bevel gear. The chain is wound around, for example, a front sprocket and a rear sprocket. The at least one second rotating body 36 is connected to, for example, the rear wheel 12R. The rear wheel 12R is configured to rotate in conjunction with the rotation of the at least one second rotating body 36.

[0036] The human-powered vehicle 10 is equipped with, for example, at least a part of a control system 40 for human-powered vehicles. The control system 40 includes, for example, a computing device 60 for human-powered vehicles, a sensor 42, a detected part 44, and a component 50 for human-powered vehicles.

[0037] The control system 40 further includes, for example, a battery 46. The battery 46 includes one or more battery elements. The battery element includes a rechargeable battery. For example, the battery 46 is configured to supply power to the computing device 60 and the component 50. For example, the battery 46 is communicatively connected to the computing device 60 via a wired or wireless connection. For example, the battery 46 can communicate with the computing device 60 via power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART). The battery 46 may include a first battery configured to supply power to the computing device 60 and a second battery configured to supply power to the component 50.

[0038] The human-powered vehicle 10 includes a sensor 42. The sensor 42 outputs a detection signal each time the detected portion 44 passes a predetermined position. For example, the detected portion 44 is provided at a first predetermined portion of the human-powered vehicle 10, and the detected portion 44 is provided at a second predetermined portion of the human-powered vehicle 10 that moves relative to the first predetermined portion. One of the first predetermined portion and the second predetermined portion includes a rotating body. In this embodiment, the second predetermined portion includes a rotating body. When the second predetermined portion includes a rotating body, the sensor 42 is connected to the computing device 60, for example, by wire or wirelessly, to transmit a detection signal. When the first predetermined portion includes a rotating body, the sensor 42 is connected to the computing device 60, for example, by wire or wirelessly, to transmit a detection signal. When the first predetermined portion includes a rotating body and the sensor 42 is connected to the computing device 60 by wire to transmit a detection signal, the sensor 42 and the computing device 60 may be connected via a slip ring.

[0039] The rotating body is, for example, the wheel 12 or a member that rotates with the wheel 12. The member that rotates with the wheel 12, for example, rotates integrally with the wheel 12. The member that rotates with the wheel 12 includes, for example, at least one of a hub, a disc brake rotor, and a second rotating body 36. The sensor 42 is configured, for example, to detect the rotational state of the wheel 12. The sensor 42 is configured, for example, to detect information related to the rotational speed of the wheel 12. The sensor 42 includes, for example, a vehicle speed sensor 42A. One of the detected unit 44 and the sensor 42 is provided, for example, on the wheel 12 of the human-powered vehicle 10. One of the detected unit 44 and the sensor 42 is provided, for example, on the rear wheel 12R of the human-powered vehicle 10. One of the detected unit 44 and the sensor 42 may be provided, for example, on the front wheel 12F of the human-powered vehicle 10. The other of the detected unit 44 and the sensor 42 is provided, for example, on the frame 16 of the human-powered vehicle 10. For example, the detected part 44 is provided on the wheel 12 of the human-powered vehicle 10 or a member that rotates together with the wheel 12 , and the sensor 42 is provided on the frame 16 .

[0040] The detectable portion 44 includes, for example, a magnet. The magnet is provided, for example, on the hub. The magnet is provided, for example, on the hub via a disc brake rotor. The magnet may be provided on a spoke of the wheel 12. The magnet may be provided on the second rotating body 36. The rotating body may be provided with multiple detectable portions 44. When multiple detectable portions 44 are provided on the rotating body, the multiple detectable portions 44 may be arranged, for example, at equal intervals in the circumferential direction of the rotating body. When multiple detectable portions 44 are provided on the rotating body, the multiple detectable portions 44 may be provided on the rotating body separately. When multiple detectable portions 44 are provided on the rotating body, the multiple detectable portions 44 may be provided on the rotating body by arranging the multiple detectable portions 44 on a single annular support portion attached to the rotating body. The sensor 42 is configured, for example, to output a detection signal a predetermined number of times during one rotation of the rotating body. The predetermined number corresponds to the number of detectable portions 44.

[0041] The sensor 42 is provided, for example, at a portion of the frame 16 that can face the detected portion 44. If the detected portion 44 includes a magnet, the sensor 42 is configured, for example, to output a predetermined signal by the magnetic force of the magnet when the detected portion 44 approaches. The sensor 42 may include a reed switch, a magnetic sensor such as an anisotropic magnetoresistance (AMR) sensor, or a Hall IC.

[0042] The computing device 60 for a human-powered vehicle includes, for example, a computing unit 64. The computing device 60 includes, for example, a control device 62. The control device 62 includes, for example, the computing unit 64. The computing unit 64 includes, for example, a computing processing device that executes a predetermined control program. For example, the computing processing device included in the computing unit 64 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The computing processing devices included in the computing unit 64 may be provided in multiple locations that are separate from each other. When the computing processing devices of the computing unit 64 are provided in multiple locations that are separate from each other, each part of the computing processing device of the computing unit 64 may be connected to each other so that they can communicate with each other via a wireless communication device. The computing unit 64 may include one or more microcomputers.

[0043] The arithmetic device 60 further includes, for example, a storage unit 66. The storage unit 66 is, for example, connected to the control device 62 so as to be able to communicate with it via wire or wirelessly. For example, the storage unit 66 stores a control program and information used in the control process. The storage unit 66 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory. The volatile memory includes, for example, a random access memory (RAM).

[0044] The calculation unit 64 calculates a predetermined speed related to the movement speed of the detection target unit 44 relative to the sensor 42 based on the output interval of the detection signal. The movement speed of the detection target unit 44 relative to the sensor 42 is, for example, the rotational speed of the wheel 12. The predetermined speed is, for example, the vehicle speed. When the predetermined speed is the vehicle speed, the calculation unit 64 calculates the rotational speed of the wheel 12 as the movement speed of the detection target unit 44 relative to the sensor 42 based on, for example, the output interval of the detection signal. The calculation unit 64 calculates the vehicle speed by multiplying the calculated rotational speed of the wheel 12 by the circumferential length of the wheel 12. The circumferential length of the wheel 12 is stored in advance in, for example, the memory unit 66. The predetermined speed may be a value related to the rotational speed of the wheel 12 other than the vehicle speed. The value related to the rotational speed of the wheel 12 is, for example, the rotational speed of the wheel 12. When the predetermined speed is the rotational speed of the wheel 12, the calculation unit 64 may be configured not to calculate the vehicle speed from the rotational speed of the wheel 12.

[0045] The predetermined speed may be the rotational speed of the crankshaft 22. When the predetermined speed is the rotational speed of the crankshaft 22, the calculation unit 64 calculates the rotational speed of the crankshaft 22, for example, by dividing the rotational speed of the wheels 12 by the current gear ratio. When the predetermined speed is the rotational speed of the crankshaft 22, the calculation unit 64 may be configured to calculate the rotational speed of the crankshaft 22 from the rotational speed of the wheels 12 using a predetermined value stored in advance in the storage unit 66, rather than the current gear ratio. The predetermined value is, for example, the median of the gear ratios that can be achieved by the transmission 52.

[0046] The calculation unit 64 is configured, for example, to calculate the predetermined speed each time the detection target portion 44 passes the sensor 42. The calculation unit 64 is configured, for example, to calculate the predetermined speed each time a detection signal is input from the sensor 42.

[0047] The calculation unit 64 is configured to estimate the predetermined speed before the detected part 44 passes the sensor 42 when the output interval becomes long.

[0048] For example, when the output interval is long, the calculation unit 64 is configured to estimate the predetermined speed based on a predetermined output interval, which is a past output interval. The predetermined output interval is, for example, the time from the detection timing of the detection signal two times before to the detection timing of the detection signal one time before. When the predetermined output interval is the time from the detection timing of the detection signal two times before to the detection timing of the detection signal one time before, the predetermined output interval is equal to the previous output interval. The predetermined output interval may be set based on an output interval earlier than the previous one. The predetermined output interval may be set based on an output interval two or more times before. The predetermined output interval may be set based on multiple past output intervals.

[0049] The calculation unit 64 is configured to estimate the predetermined speed before the detected portion 44 passes the sensor 42, for example, when the time since the detection signal is detected is equal to or longer than a predetermined time TX based on a predetermined output interval. The predetermined time TX is, for example, equal to or shorter than the predetermined output interval. The predetermined time TX may be, for example, equal to the predetermined output interval. The predetermined time TX may be shorter than the predetermined output interval. When the predetermined time TX is equal to the predetermined output interval, for example, the calculation unit 64 is configured to estimate the predetermined speed before the detected portion 44 passes the sensor 42, for example, when the output interval is longer than the previous output interval.

[0050] An example of an example of a case where the output interval becomes longer is when the output interval becomes longer than the previous output interval. For example, if the predetermined output interval is equal to the previous output interval and the predetermined time TX is equal to or shorter than the predetermined output interval, and the next detection signal is not detected even after the predetermined time TX has elapsed since the detection of the detection signal, the output interval becomes longer than the previous output interval. The calculation unit 64 is configured to estimate the predetermined speed, for example, when the next detection signal is not detected even after the predetermined time TX has elapsed since the detection of the detection signal.

[0051] The calculation unit 64 may be configured to calculate the predetermined time TX based on a predetermined speed calculated based on a predetermined output interval. For example, when a detection signal is input, the calculation unit 64 calculates the predetermined speed based on the output interval. Assuming that the calculated predetermined speed is maintained, the calculation unit 64 calculates an estimated time when the next detection signal will be input. The calculation unit 64 sets the time from the time when the detection signal is input to the estimated time as the predetermined time TX. The output interval used to calculate the predetermined speed corresponds to the predetermined output interval.

[0052] The calculation unit 64 is configured to estimate the predetermined speed so that, for example, when the output interval is long, the predetermined speed becomes smaller than the predetermined speed calculated based on the predetermined output interval and larger than zero. The calculation unit 64 is configured to estimate the predetermined speed for each calculation cycle, for example, when a predetermined time TX has elapsed since the detection of a detection signal but the next detection signal is not detected. The calculation unit 64 is configured to estimate the predetermined speed so that the predetermined speed gradually decreases for each calculation cycle, for example, when a predetermined time TX has elapsed since the detection of a detection signal but the next detection signal is not detected.

[0053] The calculation unit 64 is configured to estimate the predetermined speed based on, for example, a first time from the time when the previous detection signal was detected to an estimated time, which is a calculation point in time for estimating the predetermined speed. The estimated time is, for example, the time when a predetermined time TX has elapsed since the time when the previous detection signal was detected and the time at which each calculation cycle of the calculation unit 64 has elapsed after the predetermined time TX has elapsed. The estimated time is, for example, the time when each calculation cycle of the calculation unit 64 has elapsed from the time when the previous detection signal was detected to the time when the next detection signal is detected. The calculation unit 64 is configured to estimate, as the predetermined speed, a value obtained by dividing a predetermined amount of rotation of the rotating body based on the first time. Because the first time increases with each calculation cycle, when the estimated time coincides with the time when the next detection signal is actually detected, the first time and the output interval from the time when the previous detection signal was detected to the estimated time when the next detection signal is actually detected become equal. The calculation unit 64 is configured to estimate the predetermined speed so that, for example, when the estimated time coincides with the time when the next detection signal is actually detected, the predetermined speed estimated based on the first time coincides with the predetermined speed calculated based on the output interval from the time when the previous detection signal was detected to the time when the next detection signal is actually detected.

[0054] Specifically, for example, if the sensor 42 is configured to output one detection signal during one rotation of the rotating body, the calculation unit 64 is configured to estimate the rotation speed of the wheel 12 by dividing 1 by a first time that increases with each calculation cycle. Therefore, as the time since the previous detection of the detection signal increases, the rotation speed of the wheel 12 estimated by the calculation unit 64 decreases. For example, if the sensor 42 is configured to output N detection signals during one rotation of the rotating body, the calculation unit 64 is configured to estimate the rotation speed of the wheel 12 by dividing 1 / N by the first time that increases with each calculation cycle. For example, if the sensor 42 is configured to output one detection signal during one rotation of the rotating body, the calculation unit 64 may be configured to estimate the vehicle speed by dividing the circumference of the wheel 12 by the first time that increases with each calculation cycle.

[0055] The calculation unit 64 may be configured to estimate the predetermined speed by, for example, performing a predetermined filter process on the predetermined speed calculated based on the predetermined output interval. The predetermined filter may include, for example, an LPF (Low Pass Filter). The calculation unit 64 may be configured to estimate, as the predetermined speed, a value obtained by multiplying the predetermined speed calculated based on the predetermined output interval by a predetermined value smaller than 1. When the output interval is long, the calculation unit 64 may be configured to estimate, as the predetermined speed, a value obtained by subtracting a predetermined value from the predetermined speed calculated based on the predetermined output interval.

[0056] The calculation unit 64 may be configured to estimate the predetermined speed such that, when the estimated predetermined speed becomes equal to or less than a first predetermined speed, the predetermined speed gradually becomes zero. The first predetermined speed is, for example, a speed at which the human-powered vehicle 10 is estimated to stop. The first predetermined speed is, for example, greater than 0 km / h and equal to or less than 5 km / h. The first predetermined speed is, for example, greater than 2 km / h and equal to or less than 4 km / h.

[0057] For example, if a next detection signal is detected before a predetermined time TX has elapsed since the detection of a detection signal, the calculation unit 64 updates the predetermined speed to the predetermined speed calculated based on the output interval. For example, if a next detection signal is detected after a predetermined time TX has elapsed since the detection of a detection signal, the calculation unit 64 updates the predetermined speed based on the estimated predetermined speed. For example, if a next detection signal is detected after a predetermined time TX has elapsed since the detection of a detection signal, the calculation unit 64 updates the predetermined speed to the predetermined speed calculated based on the output interval.

[0058] The computing device 60 further includes, for example, a control unit 68 configured to control the components 50 mounted on the human-powered vehicle 10. The control device 62 includes, for example, the control unit 68. The control unit 68 includes, for example, an arithmetic processing unit that executes a predetermined control program. For example, the arithmetic processing unit included in the control unit 68 includes a CPU or an MPU. The arithmetic processing units included in the control unit 68 may be provided in multiple locations that are separate from each other. When the arithmetic processing units of the control unit 68 are provided in multiple locations that are separate from each other, each part of the arithmetic processing unit of the control unit 68 may be connected to each other so that they can communicate with each other via a wireless communication device. The control unit 68 may include one or more microcomputers.

[0059] At least a part of the calculation unit 64 and at least a part of the control unit 68 may be configured as an integrated unit. The entire calculation unit 64 may be configured separately from the control unit 68. At least a part of the calculation unit 64 may be provided in the sensor 42. At least a part of the control unit 68 may be provided in the component 50.

[0060] The control unit 68 is configured to control the component 50 based on, for example, a predetermined speed. The control unit 68 is configured to control the component 50 based on, for example, a predetermined speed estimated by the calculation unit 64. For example, when a next detection signal is detected before a predetermined time TX has elapsed since the detection of a detection signal, the control unit 68 controls the component 50 based on a predetermined speed calculated based on the output interval. For example, when a next detection signal is detected after a predetermined time TX has elapsed since the detection of a detection signal, the control unit 68 controls the component 50 based on the estimated predetermined speed until a next detection signal is detected. For example, when a next detection signal is detected after a predetermined time TX has elapsed since the detection of a detection signal, the control unit 68 controls the component 50 based on a predetermined speed calculated based on the output interval.

[0061] The human-powered vehicle 10 includes a transmission 52 configured to change the gear ratio, which is the ratio of the rotational speed of the wheels 12 of the human-powered vehicle 10 to the rotational speed of the crankshaft 22 of the human-powered vehicle 10. In this embodiment, the component 50 includes the transmission 52. The transmission 52 is configured to be able to change the gear ratio in stages, for example. The transmission 52 is configured to be able to change the gear ratio of the human-powered vehicle 10 according to the number of gears. The gear ratio of the human-powered vehicle 10 is, for example, the ratio of the rotational speed of the rear wheels 12R to the rotational speed of the crankshaft 22. The transmission 52 is provided on the frame 16, for example. The transmission 52 includes, for example, at least one of a rear derailleur and a front derailleur. The transmission 52 includes, for example, an external derailleur. The external derailleur may include, for example, a rear derailleur. The transmission 52 may include an internal transmission. The internal transmission is provided, for example, in the hub of the rear wheel 12R. The transmission 52 may include a CVT (Continuously Variable Transmission).

[0062] The transmission 52 includes, for example, an electric transmission. The transmission 52 is operated, for example, by electric power. The transmission 52 includes, for example, a shifting unit 52A that operates to change the gear ratio, and a drive source 52B for the shifting unit 52A. The drive source 52B includes, for example, a motor. The gear ratio is changed by the drive source 52B being driven. When the transmission 52 includes an external shifting unit, the shifting unit 52A includes, for example, a derailleur.

[0063] The control unit 68 is configured to control the transmission 52 to change the gear ratio based on, for example, the output interval of the detection signal. The control unit 68 is configured to control the transmission 52 to change the gear ratio based on, for example, a predetermined speed related to the moving speed of the detected part 44 relative to the sensor 42, which is calculated based on the output interval. The control unit 68 is configured to control the drive source 52B so that the transmission unit 52A operates to change the gear ratio based on, for example, a predetermined speed related to the moving speed of the detected part 44 relative to the sensor 42, which is calculated based on the output interval.

[0064] The control unit 68 is configured to control the transmission 52 to change the gear ratio when a gear change condition related to a predetermined speed is satisfied, for example. The gear change condition includes, for example, at least one of a first gear change condition and a second gear change condition. The first gear change condition is satisfied, for example, when the predetermined speed is equal to or less than a first threshold. The control unit 68 is configured to control the transmission 52 to reduce the gear ratio when the predetermined speed is equal to or less than the first threshold. The first gear change condition is satisfied, for example, when the predetermined speed is equal to or greater than a second threshold. The control unit 68 is configured to control the transmission 52 to increase the gear ratio when the predetermined speed is equal to or greater than the second threshold. The second threshold is greater than the first threshold. The second gear change condition is satisfied, for example, when the predetermined speed is equal to or less than a third threshold. The control unit 68 is configured to control the transmission 52 to reduce the gear ratio to a predetermined gear ratio or less when the predetermined speed is equal to or less than the third threshold. The predetermined gear ratio is, for example, a gear ratio that is suitable when the human-powered vehicle 10 starts traveling. The predetermined gear ratio is, for example, the minimum gear ratio that can be achieved by the transmission 52. The predetermined gear ratio may be a gear ratio greater than the minimum gear ratio. When the predetermined gear ratio is greater than the minimum gear ratio, the control unit 68 may be configured, for example, to control the transmission 52 so that the gear ratio does not change when the predetermined speed becomes equal to or less than a third threshold value while the gear ratio is smaller than the predetermined gear ratio. When the predetermined gear ratio is greater than the minimum gear ratio, the control unit 68 may be configured, for example, to control the transmission 52 so that the gear ratio does not become smaller than the predetermined gear ratio when the predetermined speed becomes equal to or less than the third threshold value. The third threshold value is, for example, smaller than the first threshold value.

[0065] The predetermined speed used in the first gear shifting condition is, for example, a value related to the rotational speed of the wheels 12. The predetermined speed used in the first gear shifting condition is, for example, one of the rotational speed of the crankshaft 22 and the vehicle speed. The predetermined speed used in the second gear shifting condition is, for example, a value related to the rotational speed of the wheels 12. The predetermined speed used in the first gear shifting condition is, for example, one of the rotational speed of the crankshaft 22 and the vehicle speed. The predetermined speed used in the first gear shifting condition may be the same as or different from the predetermined speed used in the second gear shifting condition. The predetermined speed used in the first gear shifting condition is, for example, the rotational speed of the crankshaft 22, and the predetermined speed used in the second gear shifting condition is, for example, the vehicle speed.

[0066] For example, when the output interval becomes longer, control unit 68 is configured to control transmission 52 so as to change the gear ratio before detected portion 44 passes sensor 42. Controlling transmission 52 so as to change the gear ratio before detected portion 44 passes sensor 42 means, for example, when calculation unit 64 determines that the output interval has become longer, control unit 68 sends a gear change command to transmission 52 to cause transmission 52 to start a gear change operation without waiting for the input of the next detection signal. For example, when transmission 52 receives the gear change command, it starts driving drive source 52B.

[0067] When the output interval is long, the control unit 68 estimates the predetermined speed, for example, before the detected portion 44 passes the sensor 42. The control unit 68 is configured to control the transmission 52 to change the gear ratio based on the estimated predetermined speed. When the output interval is long, the control unit 68 estimates the predetermined speed before the detected portion 44 passes the sensor 42, and when the estimated predetermined speed satisfies the gear shift condition, the control unit 68 controls the transmission 52 to change the gear ratio. When the output interval is long, the control unit 68 estimates the predetermined speed before the detected portion 44 passes the sensor 42, and controls the drive source 52B based on the estimated predetermined speed so that the transmission 52A operates to change the gear ratio. When the output interval is long, the control unit 68 is configured to control the transmission 52 to reduce the gear ratio before the detected portion 44 passes the sensor 42. For example, when the output interval becomes long, the control unit 68 is configured to estimate a predetermined speed before the detected part 44 passes the sensor 42, and when the estimated predetermined speed satisfies the gear change condition, to control the driving source 52B so that the gear change unit 52A operates to change the gear ratio.

[0068] For example, when a next detection signal is detected before a predetermined time TX has elapsed since a detection signal was detected, the control unit 68 determines whether or not the gear shift condition is satisfied based on the predetermined speed calculated based on the output interval. For example, when a next detection signal is detected after a predetermined time TX has elapsed since a detection signal was detected, the control unit 68 determines whether or not the gear shift condition is satisfied based on the estimated predetermined speed until the next detection signal is detected. For example, when a next detection signal is detected after a predetermined time TX has elapsed since a detection signal was detected, the control unit 68 determines whether or not the gear shift condition is satisfied based on the predetermined speed calculated based on the output interval.

[0069] The process by which the control device 62 controls the transmission 52 based on a predetermined speed will be described with reference to Fig. 3. For example, when power is supplied to the control device 62, the control device 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 3. When the flowchart of Fig. 3 ends, the control device 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0070] In step S11, the control device 62 determines whether or not a detection signal has been input. If a detection signal has been input, the control device 62 proceeds to step S12. In step S12, the control device 62 calculates a predetermined speed based on the output interval, and proceeds to step S13. If a detection signal has been input for the first time since the human-powered vehicle 10 started traveling in step S11, the control device 62 may calculate the predetermined speed in step S12 based on a predetermined output interval stored in the memory unit 66.

[0071] In step S13, the control device 62 updates the predetermined speed to the calculated predetermined speed, and proceeds to step S14. In step S14, the control device 62 sets a predetermined time TX, and proceeds to step S18. The control device 62 sets the predetermined time TX based on, for example, the output interval used in step S12 or the predetermined speed calculated in step S13. The output interval used in step S12 corresponds to the predetermined output interval.

[0072] If a detection signal is not input in step S11, the control device 62 proceeds to step S15. In step S15, the control device 62 determines whether the output interval is equal to or longer than a predetermined time. For example, if the state in which no detection signal is input since the previous detection signal was input is equal to or longer than the predetermined time TX, the control device 62 determines that the output interval is equal to or longer than the predetermined time TX. If the output interval is equal to or longer than the predetermined time TX in step S15, the control device 62 proceeds to step S16. In step S16, the control device 62 estimates the predetermined speed and proceeds to step S17. If the state in which the output interval is equal to or longer than the predetermined time TX continues, the control device 62 estimates the predetermined speed so that the predetermined speed gradually decreases as the output interval becomes longer. For example, if the state in which the output interval is equal to or longer than the predetermined time TX continues, the control device 62 estimates the predetermined speed based on the time from when the previous detection signal was input until the process of step S16 is executed. The time from when the previous detection signal was input until the process of step S16 is executed corresponds to, for example, the first time. In step S17, the control device 62 updates the predetermined speed to the estimated predetermined speed, and proceeds to step S18.

[0073] If the output interval is not equal to or longer than the predetermined time TX in step S15, the control device 62 ends the process. If a detection signal is not input and the output interval is not equal to or longer than the predetermined time TX in steps S11 and S15, the control device 62 maintains the previously calculated predetermined speed as the predetermined speed. If the output interval is not equal to or longer than the predetermined time TX in step S15, the control device 62 may proceed to step S18.

[0074] In step S18, the control device 62 determines whether the predetermined speed satisfies the gear change conditions. For example, the control device 62 determines whether the predetermined speed satisfies the gear change conditions based on the predetermined speed updated in step S13 or step S17. If the predetermined speed does not satisfy the gear change conditions, the control device 62 ends the processing. If the predetermined speed satisfies the gear change conditions, the control device 62 proceeds to step S19. In step S19, the control device 62 controls the transmission 52 to change the gear ratio, and ends the processing.

[0075] An example of the relationship between the actual vehicle speed VA, the vehicle speed VX updated by the calculation unit 64, and the gear ratio will be described with reference to Figure 4. During the period from time t10 to time t13, the actual vehicle speed VA increases. During the period from time t13 to time t21, the actual vehicle speed VA decreases. After time t21, the actual vehicle speed is 0 km / h.

[0076] Time t11 indicates the time when the detection signal is input to the calculation unit 64. At time t11, the calculation unit 64 sets a predetermined time TX based on, for example, the output interval from time t10 when the previous detection signal was detected to time t11.

[0077] Time t12 indicates the time at which the detection signal is input to the calculation unit 64. Time t12 is the time before the predetermined time TX set at time t11 has elapsed. At time t12, before the predetermined time TX has elapsed since time t11, the detection signal is input to the calculation unit 64, so the calculation unit 64 calculates the vehicle speed based on the output interval from time t11 to time t12 and updates the calculated vehicle speed as vehicle speed VX. At time t12, the calculation unit 64 sets the predetermined time TX, for example, based on the output interval from time t11 to time t12. Since the vehicle speed VX calculated at time t12 satisfies the gear shift condition for increasing the gear ratio, the transmission 52 is controlled to increase the gear ratio.

[0078] Time t13 indicates the time when the detection signal is input to the calculation unit 64. Time t13 is the time before the predetermined time TX set at time t12 has elapsed. At time t13, before the predetermined time TX has elapsed from time t12, the detection signal is input to the calculation unit 64, so the calculation unit 64 calculates the vehicle speed based on the output interval from time t12 to time t13 and updates the calculated vehicle speed as vehicle speed VX. At time t13, the calculation unit 64 sets the predetermined time TX based on, for example, the output interval from time t12 to time t13.

[0079] Time t14 is the time when the predetermined time TX set at time t13 has elapsed. Because the predetermined time TX has elapsed since time t13, the calculation unit 64 estimates the vehicle speed so that it is slower than the vehicle speed calculated based on the output interval from time t12 to time t13, and updates the estimated vehicle speed as vehicle speed VX. After time t14, the calculation unit 64 estimates the vehicle speed so that it is slower for each calculation cycle, and sequentially updates the estimated vehicle speed as vehicle speed VX. After time t14, the calculation unit 64 estimates the vehicle speed based on, for example, a first time period from time t13, when the previous detection signal was detected, to the time of calculation.

[0080] Time t15 indicates the time when the detection signal is input to the calculation unit 64. The calculation unit 64 calculates the vehicle speed based on the output interval from time t13 to time t15, and updates the calculated vehicle speed as the vehicle speed VX. At time t15, the vehicle speed estimated based on the first time period from time t13 to the time of calculation matches the vehicle speed based on the output interval from time t13 to the time when the detection signal is input to the calculation unit 64. At time t15, the calculation unit 64 sets the predetermined time TX, for example, based on the output interval from time t13 to time t15.

[0081] At time t16, the predetermined time TX set at time t15 has elapsed. The calculation unit 64 updates the vehicle speed VX to the vehicle speed estimated in the same manner as at time t14.

[0082] Time t17 indicates the time when the detection signal is input to the calculation unit 64. The calculation unit 64 calculates the vehicle speed and sets the predetermined time TX, similar to time t15.

[0083] Time t18 is the time when the predetermined time TX set at time t17 has elapsed. The calculation unit 64 updates the vehicle speed VX to the vehicle speed estimated in the same manner as at time t14.

[0084] Time t19 indicates the time when the detection signal is input to the calculation unit 64. The calculation unit 64 calculates the vehicle speed and sets the predetermined time TX, similar to time t15.

[0085] Time t20 is the time when the predetermined time TX set at time t19 has elapsed. The calculation unit 64 updates the vehicle speed VX to the estimated vehicle speed in the same manner as at time t14.

[0086] Time t21 indicates the time when vehicle speed VX becomes equal to or less than the first predetermined speed. At time t21, calculation unit 64 gradually updates vehicle speed VX to 0 km / h. Time t22 indicates the time when vehicle speed VX becomes 0 km / h.

[0087] The dashed two-dot line in Figure 4 indicates the vehicle speed VY and gear ratio when the predetermined speed is always calculated based on the output interval, even when the output interval is long. Even during deceleration, the vehicle speed VY is not updated until a detection signal is detected, so the deviation of the vehicle speed VY from the actual vehicle speed VA increases during deceleration. If the actual vehicle speed VA is decelerated rapidly, and the gear ratio is determined using the vehicle speed VY, there is a risk that the gear ratio will be changed in multiple stages when the detection signal is detected and the vehicle speed VY is updated.

[0088] According to the calculation device 60 of this embodiment, when the output interval becomes long, the predetermined speed is estimated based on past output intervals, so that it is possible to prevent the deviation from the actual predetermined speed from becoming too large when the predetermined speed is decelerated. According to the calculation device 60 of this embodiment, the control unit 68 can control the transmission 52 to change the gear ratio based on the estimated predetermined speed, so that the gear ratio can be changed based on the predetermined speed that has a small deviation from the actual predetermined speed.

[0089] Second Embodiment A computing device 60 for a human-powered vehicle according to a second embodiment will be described with reference to Figures 5 and 6. In the computing device 60 for a human-powered vehicle according to the second embodiment, components common to those in the first embodiment are assigned the same reference numerals as in the first embodiment, and redundant explanations will be omitted.

[0090] The human-powered vehicle 10 of this embodiment includes a shift assist device 54 configured to apply an auxiliary driving force to the transmission path to assist the transmission device 52 in changing the gear ratio. The component 50 of this embodiment includes the shift assist device 54. The component 50 of this embodiment includes, for example, the transmission device 52 and the shift assist device 54.

[0091] The transmission 52 of this embodiment includes, for example, an external transmission. The transmission assist device 54, for example, transmits an auxiliary driving force to the transmission member 38 so as to move the transmission member 38. The transmission assist device 54 is connected, for example, to at least one of the first rotating body 34, the second rotating body 36, and the transmission member 38. The transmission assist device 54 includes, for example, a motor. The transmission assist device 54 may be an assist device configured to impart propulsive force to the human-powered vehicle 10. The control unit 68 of this embodiment may further include a drive circuit for the motor of the transmission assist device 54. The drive circuit is provided, for example, in the transmission assist device 54. The drive circuit is connected, for example, to the control unit 68 so as to be able to communicate with the control unit 68 via wire or wirelessly. For example, the drive circuit drives the motor in response to a control signal from the control unit 68.

[0092] When the gear change assist device 54 includes an assist device, the assist device is configured, for example, to apply a propulsive force to the human-powered vehicle 10 based on the human-powered driving force applied to the human-powered vehicle 10. The assist device is configured, for example, not to apply a propulsive force to the human-powered vehicle 10 when the human-powered driving force is equal to or less than a predetermined human-powered driving force. The predetermined human-powered driving force is, for example, equal to or less than 5 Nm. The predetermined human-powered driving force is, for example, 0 Nm. The assist device is configured, for example, not to apply a propulsive force to the human-powered vehicle 10 when the rotational speed of the crankshaft 22 is equal to or less than a predetermined rotational speed. The predetermined rotational speed is, for example, equal to or less than 5 rpm. The predetermined rotational speed is, for example, 0 rpm. The assist device is configured, for example, not to apply a propulsive force to the human-powered vehicle 10 when the vehicle speed is equal to or less than a predetermined vehicle speed. The predetermined vehicle speed is, for example, equal to or less than 5 km / h. The predetermined vehicle speed is, for example, 0 km / h.

[0093] For example, when the rotational speed of the crankshaft 22 is equal to or lower than a predetermined rotational speed and the gear ratio is changed, the control unit 68 is configured to control the gear change assist device 54 to output an auxiliary driving force. For example, when the rotational speed of the crankshaft 22 is equal to or lower than a predetermined rotational speed and the gear ratio is changed, the control unit 68 is configured to control the gear change assist device 54 to output an auxiliary driving force that enables the gear change unit 52A to perform an operation to change the gear ratio. For example, when the rotational speed of the crankshaft 22 is equal to or lower than a predetermined rotational speed and the gear ratio is changed, the control unit 68 is configured to control the gear change assist device 54 to output an auxiliary driving force that does not impart propulsive force to the human-powered vehicle 10.

[0094] For example, when the rotational speed of the crankshaft 22 is below a predetermined speed and the human-powered vehicle 10 is traveling, the control unit 68 is configured to control the gear change assist device 54 to output an auxiliary driving force and to control the drive source 52B so that the gear change unit 52A operates to change the gear ratio if the gear change condition is satisfied. When the human-powered vehicle 10 is traveling with the rotational speed of the crankshaft 22 below a predetermined speed, this corresponds to, for example, the human-powered vehicle 10 coasting. The gear change condition of this embodiment includes, for example, the second gear change condition of the first embodiment. For example, when the human-powered vehicle 10 is traveling with the rotational speed of the crankshaft 22 below a predetermined speed and the predetermined speed becomes below a third threshold, the control unit 68 is configured to control the gear change assist device 54 to output an auxiliary driving force and to control the drive source 52B so that the gear change unit 52A operates to reduce the gear ratio. For example, when the human-powered vehicle 10 is traveling with the rotational speed of the crankshaft 22 being equal to or less than a predetermined speed, the control unit 68 is configured to control the transmission auxiliary device 54 to output auxiliary driving force when the predetermined speed becomes equal to or less than a third threshold value, and to control the transmission device 52 so that the gear ratio becomes a predetermined gear ratio.

[0095] The control unit 68 of this embodiment is configured to control the gear shift assist device 54 based on the output interval of the detection signal. When the output interval becomes longer and the gear shift device 52 operates to change the gear ratio, the control unit 68 of this embodiment is configured to control the gear shift assist device 54 to output an auxiliary drive force before the detected portion 44 passes the sensor 42. For example, when the output interval becomes longer and the gear shift device 52 operates to change the gear ratio, the control unit 68 is configured to control the gear shift assist device 54 to output an auxiliary drive force before the detected portion 44 passes the sensor 42, and to control the drive source 52B so that the gear shift unit 52A operates to change the gear ratio.

[0096] Controlling the transmission assist device 54 to output an auxiliary drive force before the detected portion 44 passes the sensor 42 means, for example, when the calculation unit 64 determines that the output interval has become longer, without waiting for the next detection signal, that the control unit 68 transmits a drive command to the transmission assist device 54 to output an auxiliary drive force. Controlling the transmission assist device 54 to output an auxiliary drive force before the detected portion 44 passes the sensor 42, and controlling the drive source 52B so that the shifting unit 52A operates to change the gear ratio, means, for example, when the calculation unit 64 determines that the output interval has become longer, without waiting for the next detection signal, that the control unit 68 transmits a drive command to the transmission assist device 54 to output an auxiliary drive force, and transmits a shift command to the transmission 52 to start a gear change operation.

[0097] For example, when the rotational speed of the crankshaft 22 of the human-powered vehicle 10 is equal to or lower than a predetermined speed, the control unit 68 is configured to control the gear shift assist device 54 to output an auxiliary driving force before the detected portion 44 passes the sensor 42 when the output interval is long and when the gear ratio is to be changed. The control unit 68 is configured to control the gear shift assist device 54 to output an auxiliary driving force before the detected portion 44 passes the sensor 42 when the output interval is long and to control the driving source 52B so that the gear change unit 52A operates to change the gear ratio. For example, when the rotational speed of the crankshaft 22 of the human-powered vehicle 10 is higher than a predetermined speed, the control unit 68 is configured to control the gear shift assist device 54 not to output an auxiliary driving force and to control the driving source 52B so that the gear change unit 52A changes the gear ratio when the output interval is long and when the gear ratio is to be changed. For example, when the output interval becomes long, the control unit 68 is configured to control the shift assist device 54 to output auxiliary driving force before the detected part 44 passes the sensor 42, and to control the driving source 52B so that the shift unit 52A operates to reduce the gear ratio.

[0098] Referring to Figure 6, a process in which the control device 62 controls the transmission device 52 and the shift assist device 54 based on a predetermined speed will be described. For example, when power is supplied to the control device 62, the control device 62 starts the process and proceeds to step S11 of the flowchart shown in Figure 6. When the flowchart in Figure 6 ends, the control device 62 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0099] In steps S11 to S17 of Fig. 6, the same processing as in steps S11 to S17 of Fig. 3 is executed. In step S18 of Fig. 6, if the predetermined speed does not satisfy the gear shift condition, the processing is terminated. In step S18 of Fig. 6, if the predetermined speed satisfies the gear shift condition, the processing proceeds to step S21.

[0100] In step S21, the control unit 68 determines whether the rotation speed of the crankshaft 22 is equal to or less than a predetermined speed. If the rotation speed of the crankshaft 22 is equal to or less than the predetermined rotation speed, the control unit 68 proceeds to step S22. In step S22, the control unit 68 controls the drive source 52B and the shift assist device 54 and ends the process. For example, the control unit 68 controls the drive source 52B and the shift assist device 54 so as to achieve a gear ratio based on the shifting condition satisfied in step S18.

[0101] If the rotation speed of the crankshaft 22 is not equal to or lower than the predetermined rotation speed in step S21, the control unit 68 proceeds to step S23. In step S23, the control unit 68 controls the drive source 52B and ends the process. For example, the control unit 68 controls the drive source 52B so that the gear ratio is based on the gear change condition satisfied in step S18.

[0102] <Example of change> The explanations for each embodiment are intended to exemplify possible forms of a computing device for a human-powered vehicle and are not intended to limit the forms. A computing device for a human-powered vehicle according to the present disclosure may take the form of, for example, modified examples of the embodiments shown below, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts common to the respective embodiments are assigned the same reference numerals as the respective embodiments, and their description will be omitted.

[0103] The calculation unit 64 may be configured to estimate the predetermined speed based on the degree of increase in the output interval or the degree of decrease in the predetermined speed. For example, the calculation unit 64 may be configured to estimate the predetermined speed so that the greater the degree of increase in the output interval, the smaller the predetermined speed. The degree of increase in the output interval may be the difference between the previous output interval and the output interval before last, or may be the ratio of the previous output interval to the output interval before last. For example, the calculation unit 64 may be configured to estimate the predetermined speed so that the greater the degree of decrease in the predetermined speed, the smaller the predetermined speed. The degree of decrease in the predetermined speed may be the difference between the previous predetermined speed and the predetermined speed before last, or may be the ratio of the previous predetermined speed to the predetermined speed before last.

[0104] The calculation unit 64 may be configured to estimate the predetermined speed so that it is equal to the predetermined speed calculated based on the predetermined output interval when the output interval is long. If the estimated predetermined speed is equal to the predetermined speed calculated based on the predetermined output interval, the predetermined speed is estimated without waiting for the next detection signal, allowing the calculation unit 64 to perform calculations at an appropriate timing. The calculation unit 64 may be configured to estimate the predetermined speed so that it is zero when the output interval is long, for example. If the estimated predetermined speed is zero, the predetermined speed is estimated without waiting for the next detection signal, allowing the calculation unit 64 to perform calculations at an appropriate timing.

[0105] When the output interval is long, the calculation unit 64 may be configured to estimate the predetermined speed based on an acceleration sensor provided on the human-powered vehicle 10. The acceleration sensor detects, for example, the acceleration in the forward direction of the human-powered vehicle 10. The calculation unit 64 is configured to estimate the predetermined speed such that, for example, the smaller the acceleration is and the more negative the acceleration, the smaller the predetermined speed becomes. In this modified example, the calculation unit 64 may be configured to estimate the predetermined speed without using the predetermined output interval.

[0106] The calculation unit 64 may determine that the output interval will be longer based on the acceleration detected by an acceleration sensor provided in the human-powered vehicle 10. For example, when the acceleration detected by the acceleration sensor is a negative value, the calculation unit 64 is configured to estimate the predetermined speed based on the predetermined output interval before the detected portion 44 passes the sensor 42. In this modified example, the calculation unit 64 may be configured to estimate the predetermined speed based on the predetermined output interval without setting the predetermined time TX when the acceleration detected by the acceleration sensor becomes a negative value. In this modified example, the calculation unit 64 may be configured to estimate the predetermined speed based on the predetermined output interval and the acceleration without setting the predetermined time TX when the acceleration detected by the acceleration sensor becomes a negative value.

[0107] The control unit 68 may be configured to control the transmission 52 to increase the gear ratio before the detected portion 44 passes the sensor 42 when the output interval is long. When the predetermined gear ratio is greater than the minimum gear ratio that can be achieved by the transmission 52 and when the current gear ratio is smaller than the predetermined gear ratio, the control unit 68 is configured to, for example, change the gear ratio to increase it so that the gear ratio becomes the predetermined gear ratio when the predetermined speed becomes equal to or less than a third threshold. In this modified example, the control unit 68 may be configured to change the gear ratio to increase it when the predetermined speed becomes equal to or less than a fourth threshold.

[0108] In the first embodiment, when the output interval becomes long, the control unit 68 may be configured to control the components 50 other than the gear shifting device 52 based on the predetermined speed estimated before the detected part 44 passes the sensor 42. The components 50 other than the gear shifting device 52 include, for example, at least one of an assist device, a battery 46, a braking device, a suspension, an adjustable seat post, a lamp, and a display device.

[0109] In the first embodiment, the control unit 68 may be configured not to control the component 50 based on the estimated predetermined speed. In this modified example, the predetermined speed estimated by the calculation unit 64 is stored in, for example, the storage unit 66. The predetermined speed estimated by the calculation unit 64 may be configured to be output from the storage unit 66 to an external device, for example.

[0110] In the second embodiment, the transmission 52 may include a manual transmission. In this modification, the control unit 68 determines that the transmission 52 operates to change the gear ratio in accordance with, for example, an operation input to a transmission operating device and an output from a detection unit that detects at least one of the operation of the manual transmission. In this modification, the control unit 68 is configured, for example, not to control the transmission 52, but to control the shift assist device 54.

[0111] One of the sensor 42 and the detected part 44 may be provided on the crank 18, and the other of the sensor 42 and the detected part 44 may be provided on the frame 16. In this modified example, the rotating body included in one of the first predetermined part and the second predetermined part is the crank 18. The rotating body includes, for example, at least one of the crank axle 22, the crank arm 20, and the pedal 24. When the rotating body is the crank 18, the calculation unit 64 calculates the rotational speed of the crank axle 22 as the moving speed of the detected part 44 relative to the sensor 42, for example, based on the output interval of the detection signal. In this modified example, the predetermined speed is related to, for example, the rotational speed of the crank 18. In this modified example, the predetermined speed related to the rotational speed of the crank 18 is, for example, the rotational speed of the crank 18. The predetermined speed related to the rotational speed of the crank 18 is, for example, the rotational speed of the crank axle 22. The predetermined speed related to the rotational speed of the crank 18 may also be the rotational speed of the wheel 12. The predetermined speed related to the rotational speed of the crank 18 may be the vehicle speed. When the rotating body is the crank 18 and the predetermined speed related to the rotational speed of the crank 18 is the rotational speed of the wheel 12, the calculation unit 64 calculates the rotational speed of the wheel 12, for example, by dividing the rotational speed of the crank 18 by the gear ratio.

[0112] The sensor 42 may include a sensor whose output periodically changes depending on the rotation angle of the rotating body. For example, the sensor 42 may include a torque sensor that detects the manual driving force. The manual driving force is minimum when the crank arm 20 is at top dead center or bottom dead center. In this modified example, when the detected part 44 is at a predetermined position, it corresponds to the rotation angle of the crankshaft 22 when the crank arm 20 is at top dead center or bottom dead center. In this modified example, for example, the detection signal output each time the detected part 44 passes the predetermined position corresponds to the minimum manual driving force. The calculation unit 64 calculates the predetermined speed based on the frequency of the manual driving force, which is the output interval of the minimum manual driving force. For example, the calculation unit 64 is configured to estimate the predetermined speed when the output interval of the minimum manual driving force becomes longer.

[0113] The first predetermined portion may be a portion that moves linearly relative to the second predetermined portion. In this modified example, at least one of the first predetermined portion and the second predetermined portion is provided on, for example, a suspension or an adjustable seat post.

[0114] The sensor 42 may include an optical sensor. When the sensor 42 includes an optical sensor, for example, the optical sensor includes a light receiving element, and the detected portion 44 includes a light emitting element. The detected portion 44 may include a slit that allows light to pass through.

[0115] 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.

[0116] 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]

[0117] 10...human-powered vehicle, 12...wheel, 16...frame, 22...crankshaft, 42...sensor, 44...detected part, 50...component, 52...transmission device, 52A...transmission part, 52B...driving source, 54...transmission auxiliary device, 60...computing device, 64...computing part, 68...control part.

Claims

1. A computing device for a human-powered vehicle, the human-powered vehicle includes a sensor that outputs a detection signal every time the detected part passes a predetermined position; a calculation unit that calculates a predetermined speed related to the moving speed of the detection target relative to the sensor based on the output interval of the detection signal; The calculation unit is configured to estimate the predetermined speed before the detected part passes the sensor when the output interval becomes long.

2. The computing device according to claim 1 , wherein the computing unit is configured to estimate the predetermined speed based on a predetermined output interval that is a past output interval when the output interval becomes long.

3. 3. The computing device according to claim 2, wherein the calculation unit is configured to estimate the predetermined speed so that, when the output interval becomes longer, the predetermined speed becomes smaller than the predetermined speed calculated based on the predetermined output interval and greater than zero.

4. 3. The arithmetic device according to claim 2, wherein the predetermined output interval is a time period from the detection timing of the detection signal two times before to the detection timing of the detection signal one time before.

5. 3. The computing device according to claim 2, wherein the computing unit is configured to estimate the predetermined speed before the detected portion passes the sensor when the time since the detection signal is detected becomes equal to or longer than a predetermined time based on the predetermined output interval.

6. The computing device according to claim 5 , wherein the computing unit is configured to calculate the predetermined time based on the predetermined speed calculated based on the predetermined output interval.

7. The computing device according to claim 5 , wherein the predetermined time is equal to or shorter than the predetermined output interval.

8. a control unit configured to control components mounted on the human-powered vehicle; The computing device according to claim 1 , wherein the control unit is configured to control the component based on the predetermined speed estimated by the computing unit.

9. one of the detected part and the sensor is provided on a wheel of the human-powered vehicle, The computing device according to claim 1 , wherein the predetermined speed is a vehicle speed.

10. A computing device for a human-powered vehicle, the human-powered vehicle includes a sensor that outputs a detection signal each time a detected part passes a predetermined position, and a transmission configured to change a gear ratio that is a ratio of a rotational speed of a crankshaft of the human-powered vehicle to a rotational speed of a wheel of the human-powered vehicle, a control unit configured to control the transmission device to change the gear ratio based on an output interval of the detection signal; The control unit is configured to control the transmission device so as to change the gear ratio before the detected portion passes the sensor when the output interval becomes long.

11. The computing device according to claim 10 , wherein the control unit is configured to control the transmission to change the gear ratio based on a predetermined speed related to a moving speed of the detected part relative to the sensor, the speed being calculated based on the output interval.

12. 12. The computing device according to claim 11, wherein the control unit is configured to estimate the predetermined speed before the detected portion passes the sensor when the output interval becomes long, and to control the transmission to change the gear ratio based on the estimated predetermined speed.

13. 13. The computing device according to claim 12, wherein the control unit is configured to estimate the predetermined speed before the detected portion passes the sensor when the output interval becomes long, and to control the transmission device to change the gear ratio when the estimated predetermined speed satisfies a gear change condition.

14. The computing device according to claim 10 , wherein the control unit is configured to control the transmission so as to reduce the gear ratio before the detected portion passes the sensor when the output interval becomes long.

15. A computing device for a human-powered vehicle, The human-powered vehicle includes a sensor that outputs a detection signal each time a detected part passes a predetermined position, a transmission device that is provided in a transmission path of human-powered driving force and configured to change a gear ratio that is a ratio of a rotational speed of a crankshaft of the human-powered vehicle to a rotational speed of a wheel of the human-powered vehicle, and a transmission assist device that is configured to add an auxiliary driving force to the transmission path to assist the transmission device in changing the gear ratio, a control unit configured to control the shift assist device based on an output interval of the detection signal, The control unit is a computing device configured to control the shift assist device so as to output the auxiliary driving force before the detected portion passes the sensor when the output interval becomes long and the shift device operates to change the gear ratio.

16. 16. The computing device according to claim 15, wherein, when the rotational speed of the crankshaft of the human-powered vehicle is equal to or lower than a predetermined speed, the control unit is configured to control the gear change assist device to output the auxiliary driving force before the detected part passes the sensor when the output interval becomes longer and when the gear ratio is changed.

17. the transmission device includes a transmission unit that operates to change the gear ratio, and a drive source for the transmission unit, 16. The computing device according to claim 15, wherein the control unit is configured to control the shift assist device to output the auxiliary driving force before the detected portion passes the sensor when the output interval becomes long and the transmission device operates to change the gear ratio, and to control the drive source so that the transmission unit operates to change the gear ratio.

18. 18. The computing device according to claim 17, wherein the control unit is configured to control the drive source so that the transmission unit operates to change the gear ratio, based on a predetermined speed related to a moving speed of the detected part relative to the sensor, the speed being calculated based on the output interval.

19. 19. The computing device according to claim 18, wherein the control unit is configured to estimate the predetermined speed before the detected portion passes the sensor when the output interval becomes long, and to control the drive source so that the transmission unit operates to change the gear ratio based on the estimated predetermined speed.

20. 20. The computing device according to claim 19, wherein the control unit is configured to estimate the predetermined speed before the detected portion passes the sensor when the output interval becomes long, and to control the drive source so that the transmission unit operates to change the gear ratio when the estimated predetermined speed satisfies a transmission condition.

21. 18. The computing device according to claim 17, wherein the control unit is configured to control the shift assist device to output the auxiliary driving force before the detected part passes the sensor when the output interval becomes long, and to control the driving source so that the shift unit operates to reduce the gear ratio.

22. one of the detected part and the sensor is provided on a wheel of the human-powered vehicle, The computing device according to claim 10 or 15, wherein the other of the detected part and the sensor is provided on a frame of the human-powered vehicle.

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