Control system and human-powered vehicle

Abstract

To provide a control system that can contribute to the comfortable running of a human-powered vehicle. [Solution] The vehicle comprises a detection unit that detects detection information regarding the running state of a human-powered vehicle, and a control unit that controls a motor and at least one transmission, wherein the gear shifting operation by the at least one transmission includes a first gear shifting operation that involves driving a chain by the motor, and when the gear shifting operating unit is operated during the first gear shifting operation, the control unit stops or continues driving the motor depending on the first detection result of the detection unit.

Description

[Technical Field]

[0001] The present disclosure relates to control systems and human-powered vehicle technology. [Background technology]

[0002] Conventionally, control systems for controlling human-powered vehicles have been known. For example, Patent Document 1 discloses a control system that controls a motor configured to provide a propulsive force to a human-powered vehicle so as to stop the motor immediately before a gear change. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO2011 / 158220A2 publication Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control system and a human-powered vehicle that can contribute to a comfortable driving experience for the human-powered vehicle. [Means for solving the problem]

[0005] A control system according to a first aspect of the present disclosure includes a detection unit that detects detection information related to the running state of a human-powered vehicle, and a control unit that controls a motor and at least one transmission, wherein the gear shifting operation by the at least one transmission includes a first gear shifting operation involving driving of a chain by the motor, and when a gear shifting operating unit is operated during the first gear shifting operation, the control unit stops or continues driving of the motor depending on the first detection result of the detection unit. The control system of the first aspect can contribute to a comfortable driving experience for human-powered vehicles.

[0006] In the control system of the second aspect according to the first aspect, when the first detection result is equal to or greater than a predetermined threshold, the control unit stops driving the motor and aborts the first gear shifting operation, and then executes a first process to perform the gear shifting operation in accordance with operation of the gear shift operating unit during the first gear shifting operation, and when the first detection result is less than the threshold, executes a second process to continue driving the motor and continue the first gear shifting operation. According to the control system of the second aspect, after the driving of the motor is stopped, the gear ratio of the human-powered vehicle can be changed to a gear ratio according to the operation of the gear change operating unit.

[0007] In the control system of a third aspect according to the second aspect, the gear shifting operation by the at least one transmission includes a second gear shifting operation that does not involve driving the chain by the motor, and the control unit, after canceling the first gear shifting operation in the first processing, performs either the first gear shifting operation in response to operation of the gear shift operating unit during the first gear shifting operation, or the second gear shifting operation in response to operation of the gear shift operating unit during the first gear shifting operation, depending on a second detection result detected by the detection unit. According to the control system of the third aspect, after the first gearshift operation is stopped, either the first gearshift operation or the second gearshift operation can be performed in accordance with the second detection result.

[0008] In the control system of the fourth aspect according to the second aspect, in the second processing, after the first shifting operation is completed, the control unit performs the shifting operation by the at least one transmission in accordance with operation of the shifting operating unit during the first shifting operation. According to the control system of the fourth aspect, after the first gear shift operation is completed, the gear ratio of the human-powered vehicle can be changed to a gear ratio according to the operation of the gear shift operation unit.

[0009] In the control system of the fifth aspect according to the fourth aspect, the gear shifting operation by the at least one transmission includes a second gear shifting operation that does not involve driving the chain by the motor, and the control unit performs either the first gear shifting operation in response to operation of the gear shift operating unit during the first gear shifting operation, or the second gear shifting operation in response to operation of the gear shift operating unit during the first gear shifting operation, depending on a third detection result detected by the detection unit after completion of the first gear shifting operation in the second processing. According to the control system of the fifth aspect, after the first gearshift operation is completed, either the first gearshift operation or the second gearshift operation can be performed according to the second detection result.

[0010] In the control system of the sixth aspect according to the fourth aspect, the detection unit includes at least one of a pedal sensor that detects pedaling of the human-powered vehicle, a vehicle speed sensor that detects the vehicle speed of the human-powered vehicle, and an inclination sensor that detects the inclination of the human-powered vehicle, and the control unit performs either the first process or the second process depending on the first detection result of the detection unit. According to the control system of the sixth aspect, either the first process or the second process can be performed in accordance with any one of the pedaling, vehicle speed, and gradient of the human-powered vehicle.

[0011] A control system according to a seventh aspect of the present disclosure includes a detection unit that detects detection information related to the running state of a human-powered vehicle, and a control unit that controls a motor and at least one transmission, wherein the gear shifting operation by the at least one transmission includes a first gear shifting operation involving driving a chain by the motor, and wherein the control unit, when a pedal is operated during the first gear shifting operation, if a first detection result of the detection unit is equal to or greater than a predetermined threshold, executes a first process to stop driving the motor and abort the first gear shifting operation, and then performs the gear shifting operation by the at least one transmission in accordance with operation of a gear shift operating unit during the first gear shifting operation, and executes a second process to continue driving the motor and continue the first gear shifting operation if the first detection result is less than the threshold. The seventh aspect of the control system can contribute to the comfortable driving of human-powered vehicles.

[0012] In the control system of an eighth aspect according to the seventh aspect, the detection unit includes at least one of a pedal sensor that detects pedaling of the human-powered vehicle, a vehicle speed sensor that detects the vehicle speed of the human-powered vehicle, and an inclination sensor that detects the slope of the human-powered vehicle, and the control unit performs either the first process or the second process according to the first detection result which includes the detection result of any one of the pedal sensor, the vehicle speed sensor, and the inclination sensor. According to the control system of the eighth aspect, either the first process or the second process can be performed in accordance with any one of the pedaling, vehicle speed, and gradient of the human-powered vehicle.

[0013] A human-powered vehicle according to a ninth aspect of the present disclosure includes a rider-operable gear shifting operation unit, pedals, a crank to which the pedals are attached, a front sprocket that can rotate independently of the crank, a rear wheel, a rear sprocket that can rotate independently of the rear wheel, a chain that meshes with the front sprocket and the rear sprocket, a motor that drives the chain, at least one transmission that performs gear shifting operations including a first gear shifting operation involving driving of the chain by the motor, and a control system described in any one of the first to eighth aspects. The control system of the eighth aspect can contribute to the comfortable driving of human-powered vehicles. [Effects of the Invention]

[0014] The control system and human-powered vehicle of the present disclosure can contribute to a comfortable driving experience for the human-powered vehicle. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a side view showing a human-powered vehicle equipped with a control system according to a first embodiment. [Figure 2] FIG. [Figure 3]FIG. 1 is a block diagram showing the electrical configuration of a human-powered vehicle equipped with a control system. [Figure 4] 4 is a first flowchart of control executed by a control unit of the first embodiment. [Figure 5] 6 is a second flowchart of the control executed by the control unit of the first embodiment. [Figure 6] 10 is a first flowchart of control executed by a control unit according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0016] (First embodiment) A human-powered vehicle 1 including a control system 33 according to the first embodiment will be described. Figures 1 to 5 will be used to describe the human-powered vehicle 1 according to the first embodiment.

[0017] The human-powered vehicle 1 is a vehicle that has at least one wheel and can be propelled at least by human driving force. The human-powered vehicle 1 includes 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 that the human-powered vehicle 1 has. The human-powered vehicle 1 includes, for example, a unicycle and a vehicle with two or more wheels. The human-powered vehicle 1 is not limited to vehicles that can be propelled solely by human driving force. The human-powered vehicle 1 also includes E-bikes that use not only human driving force 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 1 is described as an electrically assisted bicycle.

[0018] In this specification, the following directional terms, "front," "rear," "forward," "backward," "left," "right," "sideways," "upward," and "downward," as well as any other similar directional terms, are used to indicate directions of the human-powered vehicle 1.

[0019] The human-powered vehicle 1 includes a gear shifting operation unit 22 that can be operated by a rider, pedals 10c, a crank 10 to which the pedals 10c are attached, a front sprocket 17a that can rotate independently of the crank 10, a rear wheel 16, a rear sprocket 18a that can rotate independently of the rear wheel 16, a chain 19 that meshes with the front sprocket 17a and the rear sprocket 18a, a motor 29 that drives the chain 19, at least one transmission 20 that performs gear shifting operations including a first gear shifting operation involving driving of the chain 19 by the motor 29, and a control system 33. In this embodiment, the gear shifting operations by the at least one transmission 20 further include a second gear shifting operation that does not involve driving of the chain 19 by the motor 29.

[0020] As shown in Figures 1 and 3, in this embodiment, the human-powered vehicle 1 includes a crank 10, a frame 11, a seat 12, a handlebar 13, a front fork 14, a front wheel 15, a rear wheel 16, a first rotating body 17, a second rotating body 18, a chain 19, a transmission 20, an electric actuator 21, a gear shift operation unit 22, a battery 23, a drive unit 24, an assist operation unit 32, and a control system 33.

[0021] The crank 10 includes a crank shaft 10a that is rotatable relative to the frame 11, and a pair of crank arms 10b that are provided at both axial ends of the crank shaft 10a. Pedals 10c are connected to the pair of crank arms 10b, respectively.

[0022] A seat 12 is attached to the frame 11 via a seat post 12a. The frame 11 rotatably supports a handlebar 13 and a front fork 14. The handlebar 13 is configured so that it can be grasped by a rider. When the handlebar 13 rotates relative to the frame 11, the front fork 14 rotates, and the traveling direction of the human-powered vehicle 1 changes.

[0023] The front wheel 15 is rotatably attached to the front fork 14. The rear wheel 16 is rotatably attached to the frame 11. The first rotating body 17 is coupled to the crankshaft 10a. The first rotating body 17 includes, for example, one front sprocket 17a. The first rotating body 17 may include multiple front sprockets 17a. The one front sprocket 17a is configured to rotate in conjunction with the rotation of the crankshaft 10a in a first rotational direction. The first rotational direction is a direction in which, when rotation of the one front sprocket 17a is transmitted to the rear wheel 16, the rear wheel 16 rotates so as to move forward.

[0024] The second rotating body 18 is configured to output human-powered driving force to the rear wheel 16. The second rotating body 18 includes, for example, multiple rear sprockets 18a. The second rotating body 18 may include one rear sprocket 18a. The multiple rear sprockets 18a are connected to the rear wheel 16 via a one-way clutch. The one-way clutch transmits the rotation of the multiple rear sprockets 18a to the rear wheel 16 when the crankshaft 10a rotates in a first rotational direction and the multiple rear sprockets 18a rotate via the single front sprocket 17a and the chain 19. The transmission of the rotation of the multiple rear sprockets 18a to the rear wheel 16 causes the human-powered vehicle 1 to move forward. The one-way clutch does not transmit the rotation of the multiple rear sprockets 18a to the rear wheel 16 when the crankshaft 10a rotates in a second rotational direction opposite to the first rotational direction.

[0025] The multiple rear sprockets 18a are connected to the rear wheel 16 via a one-way clutch, and are thereby able to rotate independently of the rear wheel 16. Because the multiple rear sprockets 18a are able to rotate independently of the rear wheel 16, the rotation of the multiple rear sprockets 18a is not transmitted to the rear wheel 16 when the rotational speed of the rear wheel 16 is faster than the rotational speed of the multiple rear sprockets 18a.

[0026] The transmission 20 includes at least one of an externally mounted transmission and an internally mounted transmission. In this embodiment, the transmission 20 includes an externally mounted transmission. When the transmission 20 includes an externally mounted transmission, the gear ratio of the human-powered vehicle 1 is calculated, for example, by dividing the number of teeth of the front sprocket 17a with which the chain 19 engages by the number of teeth of the rear sprocket 18a with which the chain 19 engages. The externally mounted transmission includes at least one of a front derailleur and a rear derailleur 20a. In this embodiment, the externally mounted transmission includes the rear derailleur 20a. When the first rotating body 17 includes multiple front sprockets 17a, the externally mounted transmission may include a front derailleur.

[0027] The electric actuator 21 is configured to operate the rear derailleur 20a. The electric actuator 21 includes, for example, a motor. The electric actuator 21 may further include, for example, a reducer connected to the output shaft of the motor. The electric actuator 21 may be provided on the rear derailleur 20a, or may be provided at a position on the human-powered vehicle 1 away from the rear derailleur 20a. When the electric actuator 21 is driven to operate the rear derailleur 20a, the chain 19 is shifted between the multiple rear sprockets 18a. When the chain 19 is shifted between the multiple rear sprockets 18a, the gear ratio of the human-powered vehicle 1 is changed.

[0028] The gear shift operating unit 22 is configured to be operated by the rider with his / her hands or fingers. The gear shift operating unit 22 is provided, for example, on the handlebar 13. By operating the gear shift operating unit 22, the rider can perform gear shifting operations to change the gear ratio of the human-powered vehicle 1.

[0029] The battery 23 includes, for example, at least one of a non-rechargeable battery and a rechargeable battery. The rechargeable battery is configured to be rechargeable by power from an external power source. The battery 23 is provided on the frame 11.

[0030] The drive unit 24 is configured to provide a propulsive force to the human-powered vehicle 1 in accordance with the human-powered driving force input to the human-powered vehicle 1. As shown in FIG. 2 , the drive unit 24 includes a housing 25, an output shaft 26, a transmission shaft 27, a first one-way clutch 28, a motor 29, a reducer 30, and a second one-way clutch 31.

[0031] The housing 25 is hollow. The housing 25 includes a pair of through holes 25a that penetrate the housing 25 in the axial direction relative to the rotational center axis C10 of the crankshaft 10a. The crankshaft 10a is inserted into the pair of through holes 25a. The crankshaft 10a protrudes into the external space of the housing 25 through the pair of through holes 25a.

[0032] The output shaft 26 is directly or indirectly connected to the crankshaft 10a. The output shaft 26 has a substantially cylindrical shape. The output shaft 26 is arranged coaxially with the crankshaft 10a. The output shaft 26 is arranged outward of the crankshaft 10a in a radial direction relative to the rotational center axis C10 of the crankshaft 10a. A portion of the output shaft 26 protrudes into the external space of the housing 25 through one of the pair of through holes 25a. One front sprocket 17a is fixed to the output shaft 26 in the external space of the housing 25. The one front sprocket 17a is not shown in FIG. 2.

[0033] The crankshaft 10a is rotatably supported relative to the housing 25 by a first bearing 25b. The output shaft 26 is rotatably supported relative to the housing 25 by a second bearing 25c. The first bearing 25b and the second bearing 25c are disposed, for example, in the internal space of the housing 25. The output shaft 26 rotatably supports the crankshaft 10a via a third bearing 25d. The third bearing 25d is disposed between the outer peripheral surface of the crankshaft 10a and the inner peripheral surface of the output shaft 26.

[0034] The transmission shaft 27 and the first one-way clutch 28 are disposed between the crankshaft 10a and the output shaft 26 in a transmission path of human-powered driving force from the crankshaft 10a to the multiple rear sprockets 18a. The transmission shaft 27 is disposed coaxially with the crankshaft 10a. The transmission shaft 27 is fixed to the outer peripheral surface of the crankshaft 10a. A portion of the transmission shaft 27 is disposed in the internal space of the output shaft 26. The first one-way clutch 28 is disposed between the outer peripheral surface of the transmission shaft 27 and the inner peripheral surface of the output shaft 26. The first one-way clutch 28 is configured to rotate one front sprocket 17a when the crankshaft 10a rotates in a first rotational direction, and to allow relative rotation between the crankshaft 10a and one front sprocket 17a when the crankshaft 10a rotates in a second rotational direction. One front sprocket 17a is connected to the crankshaft 10a via a first one-way clutch 28, and is thereby able to rotate independently of the crank 10.

[0035] The motor 29 is configured to provide a propulsive force to the human-powered vehicle 1. The motor 29 is configured to transmit a rotational force to the chain 19, for example, via the output shaft 26. The motor 29 is provided in the housing 25. The motor 29 is disposed in the internal space of the housing 25. The motor 29 includes a motor output shaft 29a.

[0036] The reducer 30 is configured to connect the motor 29 and the output shaft 26. The reducer 30 is provided in the housing 25. The reducer 30 is arranged in the internal space of the housing 25. The reducer 30 includes, for example, a plurality of external gears 30a. When the motor output shaft 29a rotates, the plurality of external gears 30a rotate. As the plurality of external gears 30a rotate, the motor driving force is transmitted to the output shaft 26, and the output shaft 26 rotates. As the plurality of external gears 30a rotate, the rotation speed of the output shaft 26 decreases relative to the rotation speed of the motor output shaft 29a.

[0037] The second one-way clutch 31 is provided in the reducer 30. The second one-way clutch 31 is configured to transmit the rotation of the motor output shaft 29a to the output shaft 26, but not to transmit the rotation of the output shaft 26 to the motor output shaft 29a.

[0038] 1 is configured to be operated by the rider with his / her hand or finger. The assist operating unit 32 includes, for example, at least one assist switch. By operating the assist operating unit 32, the rider can perform an assist operation to change the mode of the drive unit 24.

[0039] The control system 33 shown in FIG. 3 is configured to control the human-powered vehicle 1. The control system 33 includes a detection unit 36 ​​that detects detection information related to the traveling state of the human-powered vehicle 1, and a control unit 35 that controls the motor 29 and at least one transmission 20. The detection information related to the traveling state is information that indicates the state in which the human-powered vehicle 1 is traveling. The detection information will be described later. In this embodiment, the control system 33 further includes a storage unit 34.

[0040] The storage unit 34 is configured to store the control program and information used in the control process, and includes at least one of a non-volatile memory, a volatile memory, and a hard disk, for example.

[0041] The control unit 35 is configured to execute control related to the control system 33. The control unit 35 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 35 may include one or more microcomputers. The control unit 35 further includes an inverter circuit connected to the motor 29.

[0042] The control unit 35 is configured to communicate with the electric actuator 21, the gear shift operating unit 22, the motor 29, and the assist operating unit 32 via an electric cable or a wireless communication device. By communicating with the electric actuator 21, the control unit 35 can control the electric actuator 21 to operate the rear derailleur 20a.

[0043] When the gearshift operation unit 22 is operated, a signal related to the gearshift operation is output to the control unit 35. The control unit 35 controls the electric actuator 21 in accordance with the signal related to the gearshift operation. The control unit 35 controls the electric actuator 21 in accordance with the signal related to the gearshift operation, and thereby the gear ratio of the human-powered vehicle 1 is changed in accordance with the rider's gearshift operation.

[0044] The control unit 35 communicates with the motor 29, thereby controlling the motor 29 so that the motor output shaft 29a rotates. When the motor output shaft 29a rotates, the motor driving force is transmitted to one front sprocket 17a via the reducer 30 and the output shaft 26. The chain 19 is driven by the motor driving force being transmitted to one front sprocket 17a.

[0045] The drive unit 24 has an assist mode in which it applies a propulsive force to the human-powered vehicle 1, and a non-assist mode in which it does not apply a propulsive force to the human-powered vehicle 1. The control unit 35 is configured to control the motor 29 in either the assist mode or the non-assist mode.

[0046] When controlling the motor 29 in the assist mode, the control unit 35 controls the motor 29 so that the ratio of the motor driving force to the human-powered driving force becomes a predetermined ratio. In this specification, the ratio of the motor driving force to the human-powered driving force is referred to as the assist ratio. When controlling the motor 29 in the non-assist mode, the control unit 35 controls the motor 29 so that no propulsive force is applied to the human-powered vehicle 1. The assist mode may include multiple assist modes. For example, the assist mode may include a first assist mode, a second assist mode in which a higher propulsive force is more likely to be applied than in the first assist mode, and a third assist mode in which a higher propulsive force is more likely to be applied than in the second assist mode.

[0047] When the assist operating unit 32 is operated, a signal related to the assist operation is output to the control unit 35. In response to the signal related to the assist operation, the control unit 35 switches the control of the motor 29 from one of the assist mode and the non-assist mode to the other of the assist mode and the non-assist mode. When the assist mode includes multiple assist modes, the assist operating unit 32 is configured to allow selection of one mode from the multiple assist modes and the non-assist mode. When the assist mode includes multiple assist modes, the control unit 35 controls the motor 29 in one mode selected by the rider via the assist operating unit 32.

[0048] The detection unit 36 ​​is configured to communicate with the control unit 35 via an electric cable or a wireless communication device. The detection unit 36 ​​can output a signal corresponding to the detection information to the control unit 35. The detection information includes information that changes when the human-powered vehicle 1 is traveling. The detection information includes, for example, at least one of gear number information, pedaling information, speed information, inclination information, and acceleration information.

[0049] The gear number information is information that indicates the current gear number of at least one transmission 20. In this embodiment, the gear number information is information that indicates the current gear number of the rear derailleur 20a. The pedaling information is information that changes depending on the pedaling of the human-powered vehicle 1. The pedaling information includes, for example, at least one of torque information, cadence information, and crank angle information.

[0050] The torque information is information that changes depending on the torque input to the human-powered vehicle 1. The torque information includes, for example, at least one of information indicating the torque input to the human-powered vehicle 1, information indicating the power, and information indicating the work. The power and work are calculated from the torque and cadence.

[0051] The cadence information is information that changes according to the cadence of the human-powered vehicle 1. The cadence information includes, for example, information indicating the cadence, which is the number of rotations per minute of the crank 10. The crank angle information is information that changes according to the angle of the crank 10 of the human-powered vehicle 1. The crank angle information includes, for example, information indicating the rotation angle of one pedal 10c, with the top dead center of one pedal 10c being 0°.

[0052] The speed information is information that changes depending on the vehicle speed of the human-powered vehicle 1. For example, the speed information includes at least one of information indicating the vehicle speed of the human-powered vehicle 1, information indicating the rotational speed of the front wheels 15, and information indicating the rotational speed of the rear wheels 16. The inclination information is information that changes depending on the slope of the human-powered vehicle 1. For example, the inclination information includes at least one of information indicating the slope of the road the human-powered vehicle 1 is traveling on and information indicating the pitch angle of the human-powered vehicle 1. The acceleration information is information that changes depending on the acceleration of the human-powered vehicle 1. For example, the acceleration information includes at least one of first acceleration information that indicates the acceleration in the forward direction of the human-powered vehicle 1, and second acceleration information that indicates the acceleration in the vertical direction of the human-powered vehicle 1.

[0053] The detection unit 36 ​​includes at least one sensor that can detect detection information. For example, the detection unit 36 ​​includes at least one of a pedal sensor 38 that detects pedaling of the human-powered vehicle 1, a vehicle speed sensor 39 that detects the vehicle speed of the human-powered vehicle 1, and an inclination sensor 40 that detects the slope of the human-powered vehicle 1. In this embodiment, the detection unit 36 ​​includes a step number sensor 37, a pedal sensor 38, a vehicle speed sensor 39, an inclination sensor 40, and an acceleration sensor 41.

[0054] The gear number sensor 37 is configured to detect the current gear number of at least one transmission 20. In this embodiment, the gear number sensor 37 is configured to detect the current gear number of the rear derailleur 20a. By including the gear number sensor 37, the detection unit 36 ​​can detect gear number information from the detection information.

[0055] The pedal sensor 38 includes a torque sensor 38a, a cadence sensor 38b, and a crank angle sensor 38c. The torque sensor 38a detects at least one of the torque, power, and work input to the human-powered vehicle 1. The torque sensor 38a is configured to detect the torque input to the crank arm 10b using, for example, a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor may include at least one of a metal strain gauge and a semiconductor strain gauge. By including the torque sensor 38a, the detection unit 36 ​​can detect torque information included in the pedaling information from the detection information.

[0056] The cadence sensor 38b detects the cadence of the human-powered vehicle 1. The cadence sensor 38b detects the cadence, for example, by detecting a magnet attached to the crankshaft 10a. The cadence sensor 38b includes a magnetic detection sensor such as a reed switch or a Hall element. By including the cadence sensor 38b, the detection unit 36 ​​can detect cadence information included in the pedaling information among the detection information.

[0057] The crank angle sensor 38c detects the angle of the crank 10. In this embodiment, the crank angle sensor 38c detects the rotation angle of one pedal 10c. The crank angle sensor 38c includes a magnetic detection sensor that outputs a signal according to the strength of a magnetic field. An annular magnet whose magnetic field strength varies circumferentially is provided on the crankshaft 10a or on the power transmission path from the crankshaft 10a to one front sprocket 17a. The crank angle sensor 38c is configured to detect the rotation angle of one pedal 10c according to the strength of the magnetic field detected by the magnetic detection sensor. By including the crank angle sensor 38c, the detection unit 36 ​​can detect crank angle information included in the pedaling information among the detection information.

[0058] The vehicle speed sensor 39 includes a magnetic detection sensor, such as a reed switch or a Hall element. The magnetic detection sensor may be attached to a chain stay of the frame 11 and detect a magnet attached to the rear wheel 16. The vehicle speed sensor 39 can detect the rotational speed of the rear wheel 16 based on the result of detection by the magnetic detection sensor of the magnet attached to the rear wheel 16. The magnetic detection sensor may be attached to the front fork 14 and detect a magnet attached to the front wheel 15. The vehicle speed sensor 39 can detect the rotational speed of the front wheel 15 based on the result of detection by the magnetic detection sensor of the magnet attached to the front wheel 15. In this embodiment, the vehicle speed sensor 39 is configured to detect the vehicle speed of the human-powered vehicle 1 based on the result of detection of the rotational speed of one of the front wheel 15 and the rear wheel 16 and the tire circumference. By including the vehicle speed sensor 39, the detection unit 36 ​​can detect speed information from the detection information.

[0059] The inclination sensor 40 includes, for example, a GPS receiver provided in the human-powered vehicle 1. The GPS receiver is configured to detect the current position of the human-powered vehicle 1. The inclination sensor 40 is configured to detect the slope of the road based on a signal output from the GPS receiver and gradient information included in map information pre-stored in the memory unit 34. By including the inclination sensor 40, the detection unit 36 ​​can detect the gradient information from the detection information.

[0060] The acceleration sensor 41 detects the acceleration of the human-powered vehicle 1. For example, the acceleration sensor 41 detects at least one of the acceleration in the forward direction of the human-powered vehicle 1 and the acceleration in the vertical direction of the human-powered vehicle 1. In this embodiment, the acceleration sensor 41 detects both the acceleration in the forward direction of the human-powered vehicle 1 and the acceleration in the vertical direction of the human-powered vehicle 1. The tilt sensor 40 may detect the pitch angle of the human-powered vehicle 1 based on the vertical acceleration detected by the acceleration sensor 41, for example. By including the acceleration sensor 41, the detection unit 36 ​​can detect acceleration information from the detection information.

[0061] In this embodiment, the control unit 35 is configured to switch between an automatic shifting mode in which the rear derailleur 20a is automatically controlled in accordance with the detection information detected by the detection unit 36, and a manual shifting mode in which the rear derailleur 20a is controlled in accordance with the rider's shifting operation. The human-powered vehicle 1 is provided with a mode operating device for switching from one of the automatic shifting mode and the manual shifting mode to the other of the automatic shifting mode and the manual shifting mode.

[0062] In order for the rear derailleur 20a to shift the chain 19 between the multiple rear sprockets 18a, the chain 19 needs to be driven. In manual gear shifting mode, gear shifting is performed at the rider's discretion. When gear shifting is performed at the rider's discretion, the rider basically operates the gear shift operating unit 22 while pedaling the pedals 10c. When the rider operates the gear shift operating unit 22 while pedaling the pedals 10c, the motor 29 is controlled so as not to drive the chain 19 for gear shifting. Driving the chain 19 for gear shifting will be described later.

[0063] When the rider operates gear shift operating unit 22 while pedaling 10c, electric actuator 21 operates rear derailleur 20a to achieve a gear ratio that corresponds to the operation of gear shift operating unit 22. When rear derailleur 20a operates without driving chain 19 for gear shifting, a second gear shifting operation is performed without driving chain 19 by motor 29.

[0064] In the automatic gear shifting mode, the gear ratio changes even without the rider operating the gear shifting operation unit 22. In the automatic gear shifting mode, for example, if the vehicle speed suddenly decreases, the electric actuator 21 operates the rear derailleur 20a to decrease the gear ratio. For example, if the vehicle speed of the human-powered vehicle 1 suddenly decreases while traveling uphill, the electric actuator 21 operates the rear derailleur 20a to decrease the gear ratio.

[0065] In the automatic gear shifting mode, for example, if the speed of the human-powered vehicle 1 suddenly increases, the electric actuator 21 operates the rear derailleur 20a to increase the gear ratio of the human-powered vehicle 1. For example, if the rider pedals the pedals 10c while traveling on a flat road and the speed of the human-powered vehicle 1 suddenly increases, the electric actuator 21 operates the rear derailleur 20a to increase the gear ratio. By adjusting the gear ratio through the operation of the rear derailleur 20a, the rider can easily ride the human-powered vehicle 1 at a constant cadence.

[0066] In the automatic gear shifting mode, the rear derailleur 20a is operated regardless of the rider's will. When the rear derailleur 20a is operated regardless of the rider's will, the pedals 10c may not be being pedaled. For example, when the human-powered vehicle 1 is traveling downhill or decelerating, it may be desirable to change the gear ratio of the human-powered vehicle 1, but the pedals 10c may not be being pedaled enough to allow the chain 19 to be repositioned between the multiple rear sprockets 18a. When the pedals 10c are not being pedaled, the motor 29 is controlled to drive the chain 19 for gear shifting.

[0067] Electric actuator 21 operates rear derailleur 20a when chain 19 is being driven for gear shifting. When rear derailleur 20a operates when chain 19 is being driven for gear shifting, a first gear shifting operation is performed in which motor 29 drives chain 19.

[0068] By performing the first gear shifting operation, the rear derailleur 20a can change the gear ratio of the human-powered vehicle 1 by switching the chain 19 between the multiple rear sprockets 18a when the pedals 10c are not being pedaled. The first gear shifting operation is performed at least in the automatic gear shifting mode out of the manual gear shifting mode and the automatic gear shifting mode. Whether or not to perform the first gear shifting operation in the manual gear shifting mode may be selected in advance by the rider. If the rider has previously permitted the performance of the first gear shifting operation, the first gear shifting operation may be performed in the manual gear shifting mode. If the rider has previously prohibited the performance of the first gear shifting operation, the first gear shifting operation may be prohibited in the manual gear shifting mode.

[0069] In the automatic gear shifting mode, the rear derailleur 20a can change the gear ratio of the human-powered vehicle 1 in accordance with the gear shifting operation of the gear shifting operation unit 22. By being able to change the gear ratio of the human-powered vehicle 1 in accordance with the gear shifting operation, the rider can freely change the gear ratio of the human-powered vehicle 1 in the automatic gear shifting mode, thereby improving convenience.

[0070] An example of control executed by the control unit 35 will be described below. Figures 4 and 5 are used to explain the example of control executed by the control unit 35. The control unit 35 is configured to execute a first control flow in accordance with the flowcharts shown in Figures 4 and 5.

[0071] The control unit 35 starts the first control flow when a predetermined condition is met. In this embodiment, the control unit 35 starts the first control flow when the human-powered vehicle 1 is powered on. When the first control flow ends, the control unit 35 repeatedly executes the first control flow at predetermined time intervals. In this embodiment, the control unit 35 repeatedly executes the first control flow until the human-powered vehicle 1 is powered off.

[0072] As shown in FIG. 4, in step S11, the control unit 35 acquires vehicle information. In this embodiment, the control unit 35 acquires detection information detected by the detection unit 36. The control unit 35 acquires, for example, the current gear position of the rear derailleur 20a, the torque input to the human-powered vehicle 1, the power, work, cadence, the rotation angle of one pedal 10c, the speed of the human-powered vehicle 1, the slope of the road, the vertical acceleration, and the acceleration in the forward direction of the human-powered vehicle 1. The control unit 35 may acquire only a portion of the information necessary for the processing in step S12 and subsequent steps, out of the current gear position, torque, power, work, cadence, rotation angle, vehicle speed, slope, vertical acceleration, and the acceleration in the forward direction of the human-powered vehicle 1. After performing the processing in step S11, the control unit 35 proceeds to step S12.

[0073] In step S12, if the automatic gear shifting mode is selected and execution of the first gear shifting operation is permitted, the control unit 35 proceeds to step S13. In step S12, if the automatic gear shifting mode is not selected until a predetermined condition is met, the control unit 35 ends the first control flow. For example, if the automatic gear shifting mode is not selected until a predetermined time has elapsed after proceeding to step S12, the control unit 35 ends the first control flow. In step S13, the control unit 35 determines whether a gear shifting execution condition for starting the first gear shifting operation is met.

[0074] The gear change execution condition is met when the pedals 10c are not being pressed while the human-powered vehicle 1 is traveling and the current gear position is not appropriate. A state in which the pedals 10c are not being pressed while the human-powered vehicle 1 is traveling is, for example, a state in which the vehicle speed acquired by the control unit 35 in step S11 is 3 kilometers per hour or more and the cadence acquired by the control unit 35 in step S11 is less than 5 rpm.

[0075] In this embodiment, when the current gear position is inappropriate, it means that the required cadence for achieving the current vehicle speed at the current gear position is a value that makes it difficult for the rider to pedal comfortably. If the pedals 10c are not being pedaled while the human-powered vehicle 1 is traveling, the rear wheel 16 is not rotating in response to pedaling, and the measured cadence value acquired by the control unit 35 in step S11 does not match the required cadence. If the measured cadence value acquired by the control unit 35 does not match the required cadence, it is not possible to determine whether the current gear position is appropriate based on the measured cadence value, and so the control unit 35 estimates the required cadence. In this specification, the required cadence estimated by the control unit 35 is referred to as the estimated cadence.

[0076] The estimated cadence is calculated based on the vehicle speed and cadence acquired by the control unit 35 in step S11. The estimated cadence is calculated, for example, by the following equation (1). C=S*1000*RN / FN / T / 60 (1)

[0077] In equation (1), C is the estimated cadence. S in equation (1) is the vehicle speed acquired by the control unit 35 in step S11. The unit of S in equation (1) is speed per hour. RN in equation (1) is the number of teeth on the rear sprocket 18a according to the current gear position acquired by the control unit 35 in step S11. The number of teeth on the rear sprocket 18a according to the current gear position is the number of teeth on the rear sprocket 18a with which the chain 19 engages. FN in equation (1) is the number of teeth on one front sprocket 17a. T in equation (1) is the tire circumference of the human-powered vehicle 1. The unit of T in equation (1) is meters.

[0078] For example, when the gear ratio of the human-powered vehicle 1 is maintained, the estimated cadence increases or decreases according to the vehicle speed. If the estimated cadence is outside a predetermined threshold range, the control unit 35 determines that the current gear number is inappropriate. The control unit 35 may determine whether the current gear number is appropriate according to information other than the estimated cadence.

[0079] For example, the control unit 35 may determine that the current gear number is inappropriate if the torque input to the human-powered vehicle 1 changes by more than a predetermined threshold. For example, the control unit 35 may determine that the current gear number is inappropriate if the vehicle speed of the human-powered vehicle 1 changes by more than a predetermined threshold. For example, the control unit 35 may determine that the current gear number is inappropriate if the slope of the road changes by more than a predetermined threshold. For example, the control unit 35 may determine whether the current gear number is appropriate based on a combination of two or more of the estimated cadence, torque, vehicle speed, and slope.

[0080] The gear change execution condition is met when the pedals 10c are not being pedaled while the human-powered vehicle 1 is traveling and the current gear number is not appropriate. In this embodiment, the gear change execution condition is met when the vehicle speed acquired by the control unit 35 in step S11 is 3 km / h or more, the cadence acquired by the control unit 35 in step S11 is less than 5 rpm, and the estimated cadence is outside a predetermined threshold range.

[0081] In step S13, if the gear shift execution condition is satisfied, the control unit 35 proceeds to step S18 shown in Fig. 5. If the gear shift execution condition is not satisfied, the control unit 35 proceeds to step S14 shown in Fig. 4.

[0082] After proceeding to step S14, the control unit 35 proceeds to S15 if an intervention operation is input. The intervention operation is an operation for changing the gear ratio of the human-powered vehicle 1 that is interrupted during the processing of the first control flow. In this embodiment, the intervention operation includes a gear shift operation of the gear shift operation unit 22. In step S14, the control unit 35 ends the first control flow if no intervention operation is input until a predetermined condition is satisfied. For example, the control unit 35 ends the first control flow if no intervention operation is input until a predetermined time has elapsed after proceeding to step S14.

[0083] In step S15, the control unit 35 acquires detection information from the detection unit 36 ​​and determines whether or not a manual driving force has been input to the pedal 10c. In this embodiment, the control unit 35 determines whether or not an input condition has been satisfied. The input condition is satisfied when a manual driving force is detected or when it is predicted that a manual driving force has been input to the pedal 10c. The input condition is defined based on the detection information acquired by the control unit 35 in step S15. In this embodiment, the input condition includes any one of the first to ninth input conditions, or a combination of two or more of them.

[0084] The first input condition is met when the torque value acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 Nm. The second input condition is met when the cadence acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 rpm. The third input condition is met when the crank angle acquired by the control unit 35 is less than a predetermined threshold. The predetermined threshold may be, for example, 30°. The fourth input condition is met when the power acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 watts.

[0085] The fifth input condition is met when the work acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 3 joules. The sixth input condition is met when the vehicle speed acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined vehicle speed may be, for example, 3 kilometers per hour. The seventh input condition is met when the slope of the road acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, -3%.

[0086] The eighth input condition is satisfied when the forward acceleration of the human-powered vehicle 1 acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, +1 km / h / s. The ninth input condition is satisfied when the vertical acceleration of the human-powered vehicle 1 acquired by the control unit 35 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, 5 G.

[0087] In this embodiment, the input condition is satisfied when the second input condition, the third input condition, and the sixth input condition are all satisfied. If the input condition is satisfied, the control unit 35 proceeds to step S17. If the input condition is not satisfied, the control unit 35 proceeds to step S16.

[0088] In step S16, control unit 35 controls motor 29 to drive chain 19. Once chain 19 is driven, control unit 35 controls rear derailleur 20a to immediately perform a gear shift in response to an intervention operation, without waiting until the multiple rear sprockets 18a reach a predetermined phase. The predetermined phase is a phase that makes it easy for rear derailleur 20a to switch chain 19 between the multiple rear sprockets 18a when rear derailleur 20a initiates a gear shift.

[0089] In step S16, the rear derailleur 20a is controlled to change the chain 19 so that the number of gears corresponds to the gear shift operation of the gear shift operating unit 22. By changing the chain 19 so that the number of gears corresponds to the gear shift operation, the gear ratio of the human-powered vehicle 1 is changed in accordance with the rider's wishes. After performing the process of step S16, the control unit 35 ends the first control flow.

[0090] In step S17, controller 35 waits until rear sprockets 18a are in a predetermined phase. When rear sprockets 18a are in a predetermined phase, controller 35 starts a gear shift operation of rear derailleur 20a in response to an intervention operation.

[0091] In step S17, the gear shifting operation is initiated when multiple rear sprockets 18a are in a predetermined phase, which makes it easier for rear derailleur 20a to change chain 19. In step S17, the gear shifting operation is initiated when rear derailleur 20a can easily change chain 19, which reduces the impact of the gear shifting operation when a relatively high manual driving force is input to pedal 10c. After performing the process of step S17, controller 35 ends the first control flow.

[0092] If the gear shift execution condition for starting the first gear shift operation is satisfied in step S13, the control unit 35 proceeds to step S18 shown in Fig. 5. In the processing from step S18 onwards, the control unit 35 starts executing the first gear shift operation so as to automatically change the gear ratio in accordance with the detected information. If the gear shift operating unit 22 is operated to change gears while the first gear shift operation is being performed, the timing at which the gear ratio is automatically changed and the timing at which the rider manually changes the gear ratio will overlap.

[0093] In the processing from step S18 onwards, if the gearshift operating unit 22 is operated during the first gearshift operation, the control unit 35 stops or continues driving the motor 29 according to the first detection result of the detection unit 36. By stopping the driving of the motor 29, the control unit 35 aborts the first gearshift operation and prioritizes the manual gearshift operation over the automatic gearshift operation. By continuing the driving of the motor 29, the control unit 35 continues the first gearshift operation and prioritizes the automatic gearshift operation over the manual gearshift operation.

[0094] In this embodiment, when the first detection result is equal to or greater than a predetermined threshold, control unit 35 executes a first process in which it stops driving motor 29 and aborts the first gear shift operation, and then performs a gear shift operation in accordance with operation of gear shift operating unit 22 during the first gear shift operation. When the first detection result is less than the threshold, control unit 35 executes a second process in which it continues driving motor 29 and continues the first gear shift operation. In this embodiment, the first process includes the processes of steps S21 and S22. The second process includes the processes of steps S23 to S25. By executing the first process when the first detection result is equal to or greater than the threshold, and by executing the second process when the first detection result is less than the threshold, control unit 35 can stop or continue driving motor 29 in accordance with the first detection result.

[0095] The first detection result is, for example, detection information detected by the detection unit 36 ​​after the gearshift operating device 22 is operated during the first gearshift operation. The first detection result may be, for example, detection information detected by the detection unit 36 ​​at the time the gearshift operating device 22 is operated during the first gearshift operation. The first detection result includes, among the detection information, at least the detection result of information that is likely to increase when the urgency of the gearshift is high. A case where the urgency of the gearshift is high is a case where it is desirable to change the gear ratio quickly.

[0096] For example, when traveling up a steep slope, it is desirable to quickly reduce the gear ratio, so the first detection result may include the slope of the road detected by the inclination sensor 40 after the operation of the gear shift operating unit 22 during the first gear shift operation.

[0097] When a rider wants to quickly change the gear ratio, it is desirable to operate the rear derailleur 20a to quickly change the gear ratio. When a rider wants to quickly change the gear ratio, it is expected that the rider will pedal 10c to allow the rear derailleur 20a to reposition the chain 19. Because it is expected that the rider will pedal 10c when wanting to quickly change the gear ratio, the first detection result may include pedaling detected by the pedal sensor 38 after the gear shift operating device 22 is operated during the first gear shift operation. For example, the first detection result may include at least one of the torque detected by the torque sensor 38a, the cadence detected by the cadence sensor 38b, and the rotation angle of one pedal 10c detected by the crank angle sensor 38c.

[0098] When the rider pedals 10c, the vehicle speed and acceleration of the human-powered vehicle 1 tend to increase, and therefore the first detection result may include at least one of the vehicle speed detected by the vehicle speed sensor 39 and the acceleration detected by the acceleration sensor 41 after the operation of the gearshift operating unit 22 during the first gearshift operation.

[0099] The control unit 35 executes the first process when the first detection result is equal to or greater than the threshold value, thereby enabling a speedy gear shift operation in accordance with the operation of the gear shift operating unit 22 when the urgency of the gear shift is high. The control unit 35 executes the second process when the first detection result is less than the threshold value, thereby enabling the control unit 35 to continue the first gear shift operation and automatically control the rear derailleur 20a to change the gear ratio of the human-powered vehicle 1 when the urgency of the gear shift is low. The process from step S18 onwards will now be described.

[0100] In step S18, the control unit 35 controls the electric actuator 21 and the motor 29 to perform a first gear shifting operation so as to automatically change the gear ratio in accordance with the detected information. For example, if the estimated cadence calculated by the control unit 35 in step S13 shown in Fig. 4 is below the lower limit of a predetermined range, the first gear shifting operation is performed so as to lower the gear ratio. For example, if the estimated cadence calculated by the control unit 35 in step S13 is greater than the upper limit of the predetermined range, the first gear shifting operation is performed so as to increase the gear ratio.

[0101] In step S18 shown in FIG. 5, the control unit 35 controls the motor 29 to drive the chain 19 for gear shifting. In this embodiment, the control unit 35 controls the motor 29 so that the motor driving force does not exceed a reference value. The reference value is, for example, the motor driving force required to achieve the vehicle speed obtained by the control unit 35 in step S11. By controlling the motor 29 so that the motor driving force does not exceed the reference value, the motor 29 can drive the chain 19 to an extent that does not impart a propulsive force to the human-powered vehicle 1 when the pedals 10c are not being pedaled. By being able to drive the chain 19 to an extent that does not impart a propulsive force to the human-powered vehicle 1, the motor 29 can drive the chain 19 so as not to rotate the rear wheel 16.

[0102] In step S19, if an intervening operation is input during the first gear shifting operation, the control unit 35 proceeds to S20. In this embodiment, the intervening operation in step S19 is operation of the gear shift operating unit 22 during the first gear shifting operation. In step S19, if no intervening operation is input until the first gear shifting operation is completed, the control unit 35 ends the first control flow.

[0103] In step S20, control unit 35 acquires the detection result of detection unit 36. If the acquired detection result satisfies the input condition used in step S15, control unit 35 proceeds to step S21. If the acquired detection result does not satisfy the input condition, control unit 35 proceeds to step S23. The detection result acquired by control unit 35 in step S20 is the first detection result detected by detection unit 36 ​​after gearshift operating unit 22 is operated during the first gearshift operation.

[0104] In step S21, control unit 35 stops driving motor 29 and cancels the first gear shifting operation. After performing the process of step S21, control unit 35 proceeds to step S22. In step S22, control unit 35 controls rear derailleur 20a to perform a gear shifting operation in response to the intervention operation.

[0105] The rider may stop pedaling before the control unit 35 proceeds from step S20 to step S22. Since it is difficult for the rear derailleur 20a to change the chain 19 when the rider has stopped pedaling, the control unit 35 may control the motor 29 in step S22 in accordance with the pedaling.

[0106] For example, in step S22, the control unit 35 acquires the torque detected by the torque sensor 38a. If the acquired torque is less than a predetermined threshold, the control unit 35 performs a first control for when the pedal 10c is not being pedaled. In the first control, the control unit 35 controls the motor 29 to drive the chain 19 for gear shifting. If the acquired torque is equal to or greater than the threshold, the control unit 35 performs a second control for when the pedal 10c is being pedaled. In the second control, the control unit 35 controls the motor 29 so as not to drive the chain 19.

[0107] By controlling the motor 29 in response to pedaling in step S22, the control unit 35 can perform either a first gear shifting operation in response to the operation of the gear shift operating unit 22 during the first gear shifting operation, or a second gear shifting operation in response to the operation of the gear shift operating unit 22 during the first gear shifting operation, in response to the second detection result detected by the detection unit 36 ​​after the first gear shifting operation is canceled in the first process. The second detection result is, for example, the detection result of the detection unit 36 ​​after the first gear shifting operation is canceled. The second detection result is, for example, detection information acquired by the control unit 35 from the detection unit 36 ​​in step S22. The second detection result may be, for example, the detection result of the detection unit 36 ​​at the time the first gear shifting operation is canceled.

[0108] The second detection result includes, among the detection information, information that can detect that the pedal 10c is being pedaled. The second detection result may include, for example, at least one of the torque detected by the torque sensor 38a, the cadence detected by the cadence sensor 38b, and the angle of the crank 10 detected by the crank angle sensor 38c after the first gear shifting operation is stopped.

[0109] In step S22, when pedals 10c are not being pedaled, chain 19 is driven by motor 29, so rear derailleur 20a can change the gear ratio. After performing the process of step S22, control unit 35 ends the first control flow.

[0110] The control unit 35 proceeds to step S23 if the input condition is not satisfied in step S20. For example, the control unit 35 proceeds to step S23 if the pedal 10c is not being pedaled in step S20. In step S23, the control unit 35 continues the first gear shifting operation. If the first gear shifting operation is to be continued, the control unit 35 proceeds to step S24. When the first gear shifting operation is completed, the control unit 35 proceeds from step S24 to step S25.

[0111] In step S25, the control unit 35 controls the rear derailleur 20a to perform a gear shift in response to the intervention operation. By controlling the rear derailleur 20a in step S25, the control unit 35 can, in the second process, after the first gear shift operation is completed, perform a gear shift operation using at least one transmission 20 in response to the operation of the gear shift operating unit 22 during the first gear shift operation. By being able to perform a gear shift operation in response to the operation of the gear shift operating unit 22 during the first gear shift operation, the human-powered vehicle 1 travels at the gear ratio instructed by the rider, which contributes to a more comfortable ride for the human-powered vehicle 1.

[0112] Since the rider may stop pedaling before the control unit 35 proceeds from step S20 to step S25, the control unit 35 may control the motor 29 in accordance with pedaling in step S25.

[0113] For example, in step S25, the control unit 35 acquires the torque detected by the torque sensor 38a. If the acquired torque is less than a predetermined threshold, the control unit 35 performs a first control for when the pedal 10c is not being pedaled. In the first control, the control unit 35 controls the motor 29 to drive the chain 19 for gear shifting. If the acquired torque is equal to or greater than the threshold, the control unit 35 performs a second control for when the pedal 10c is being pedaled. In the second control, the control unit 35 controls the motor 29 so as not to drive the chain 19.

[0114] By controlling the motor 29 in response to pedaling in step S25, the control unit 35 can perform either a first gear shifting operation in response to the operation of the gear shift operating unit 22 during the first gear shifting operation, or a second gear shifting operation in response to the operation of the gear shift operating unit 22 during the first gear shifting operation, in response to the third detection result detected by the detection unit 36 ​​after the first gear shifting operation is completed in the second process. The third detection result is, for example, the detection result of the detection unit 36 ​​after the first gear shifting operation is completed. The third detection result is, for example, detection information acquired by the control unit 35 from the detection unit 36 ​​in step S25. The third detection result may be, for example, the detection result of the detection unit 36 ​​at the time the first gear shifting operation is completed.

[0115] The third detection result includes, among the detection information, information that can detect that the pedal 10c is being pedaled. The third detection result may include, for example, at least one of the torque detected by the torque sensor 38a, the cadence detected by the cadence sensor 38b, and the angle of the crank 10 detected by the crank angle sensor 38c after the first gear shifting operation is completed.

[0116] In step S25, when pedals 10c are not being pedaled, motor 29 drives chain 19, allowing rear derailleur 20a to change the gear ratio. After performing the process of step S25, control unit 35 ends the first control flow.

[0117] By executing the processing from step S18 onwards in the first control flow, for example, when the pedal 10c is operated during the first gear shifting operation, the control unit 35 can execute the first processing if the first detection result of the detection unit 36 ​​is equal to or greater than a predetermined threshold, and execute the second processing if the first detection result is less than the threshold. Since it is expected that the rider will pedal the pedal 10c when he wants to quickly change the gear ratio, by executing the processing from step S18 onwards, the control unit 35 can prioritize manual gear shifting over automatic gear shifting when the rider wants to quickly change the gear ratio. By prioritizing manual gear shifting when the rider wants to quickly change the gear ratio, the rider's wishes are respected and the gear ratio can be changed to the one instructed by the rider, which contributes to a more comfortable ride for the human-powered vehicle 1.

[0118] (Second embodiment) A control system 33 according to a second embodiment will be described. The control system 33 according to the second embodiment will be described with reference to Figs. 4 to 6. The same components as those in the first embodiment will be assigned the same reference numerals as those in the first embodiment, and redundant description will be omitted.

[0119] The control unit 35 of the control system 33 of this embodiment is configured to execute a second control flow. The second control flow differs from the first control flow in the processing from step S18 onwards. The processing from step S18 onwards of the second control flow is shown in FIG. 6. After canceling the first gear shift operation in step S21, the control unit 35 proceeds to step S31.

[0120] In step S31, the control unit 35 determines whether or not to perform assist control. Assist control is control in which the motor 29 provides a propulsive force to the human-powered vehicle 1. The control unit 35 determines to perform assist control when an assist condition is met. The assist condition is met when the motor 29 can provide a propulsive force to the human-powered vehicle 1 in a state in which the rider has selected the assist mode from the assist mode and the non-assist mode. The control unit 35 acquires detection information from the detection unit 36 ​​and determines whether or not the motor 29 can provide a propulsive force to the human-powered vehicle 1 in accordance with the first to third assist conditions.

[0121] The first assist condition is satisfied when the vehicle speed acquired by the control unit 35 in step S31 is equal to or greater than a predetermined threshold. The predetermined threshold may be set, for example, in accordance with legal regulations. The predetermined threshold may be, for example, 25 kilometers per hour. The predetermined threshold may be, for example, 24 kilometers per hour. The predetermined threshold may be, for example, 45 kilometers per hour.

[0122] The second assist condition is satisfied when the torque acquired by the control unit 35 in step S31 is equal to or greater than a predetermined threshold. The third assist condition is satisfied when the crankshaft 10a rotates in the first rotation direction. For example, the control unit 35 can determine whether the crankshaft 10a rotates in the first rotation direction by acquiring a history of detection results of the angle of the crank 10 from the crank angle sensor 38c in step S31.

[0123] In this embodiment, the control unit 35 determines that propulsive force can be applied to the human-powered vehicle 1 by the motor 29 when at least one of the first assist condition and the second assist condition is satisfied. The control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by a determination different from that in this embodiment. For example, the control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by the motor 29 when all of the first assist condition, second assist condition, and third assist condition are satisfied. For example, the control unit 35 may determine that propulsive force can be applied to the human-powered vehicle 1 by the motor 29 when both the first assist condition and the second assist condition are satisfied.

[0124] The control unit 35 proceeds to step S32 when it determines that the rider has selected the assist mode and that the motor 29 can provide propulsive force to the human-powered vehicle 1. In step S32, the control unit 35 performs assist control. When step S32 ends, the control unit 35 proceeds to step S33.

[0125] In step S33, controller 35 waits until rear sprockets 18a reach a predetermined phase, similar to step S17 shown in Figure 4. When rear sprockets 18a reach a predetermined phase, controller 35 initiates a gear shift operation of rear derailleur 20a in response to an intervention operation. As shown in Figure 6, controller 35 performs step S33 and then ends the second control flow.

[0126] In step S34, controller 35 controls rear derailleur 20a to immediately perform a gear shift in response to an intervention operation, without waiting until the multiple rear sprockets 18a reach a predetermined phase. In step S34, controller 35 may control motor 29 in response to pedaling, similar to step S22 shown in Figure 5. As shown in Figure 6, controller 35 performs the process of step S34 and then ends the second control flow.

[0127] By executing the second control flow, for example, when a relatively large torque is input to the human-powered vehicle 1 while the first gearshift operation is stopped, the control unit 35 controls the motor 29 to apply a propulsive force to the human-powered vehicle 1. By controlling the motor 29, the control unit 35 can prioritize assist control over gearshift control when the timing of the gearshift operation in response to an intervention operation and the timing of applying propulsive force overlap.

[0128] (Variation) The description of each embodiment is merely an example of a form that the present invention can take, and is not intended to limit the present invention. For example, the present invention can take the form of a modified example of each embodiment shown below, or a combination of at least two modified examples that are not mutually contradictory.

[0129] For example, the configuration of the human-powered vehicle 1 and the configuration of the control system 33 in each embodiment are examples, and the configuration of the human-powered vehicle 1 and the control system 33 may include various devices not shown in each embodiment, or may not include some of the various devices shown in each embodiment.

[0130] For example, the human-powered vehicle 1 may include a drive source different from the motor 29 of the drive unit 24. The drive source different from the motor 29 may drive the chain 19 when performing the first speed change operation.

[0131] The various thresholds used in the control illustrated in each embodiment are not limited and may be set arbitrarily. The various thresholds may be changed arbitrarily by operating a predetermined operating device, etc.

[0132] The processing contents and processing order of the flowcharts illustrated in each embodiment are merely examples, and the processing contents and processing order can be changed as appropriate within the scope of the present invention. For example, in step S13 shown in Fig. 4, the control unit 35 may determine that the gear change execution condition is met if the pedals 10c are not being operated while the human-powered vehicle 1 is traveling, and if the current gear number is inappropriate when no propulsive force is being applied to the human-powered vehicle 1 by the motor 29. The state in which no propulsive force is being applied to the human-powered vehicle 1 by the motor 29 may be, for example, a state in which the torque acquired by the control unit 35 in step S11 is less than a predetermined threshold.

[0133] For example, in step S17 shown in FIG. 4 and step S33 shown in FIG. 6, controller 35 may control rear derailleur 20a to perform a gear shift operation regardless of the phases of multiple rear sprockets 18a.

[0134] 5, the control unit 35 may determine whether the input condition is satisfied based on the detection result of at least one of the pedal sensor 38, the vehicle speed sensor 39, and the tilt sensor 40. Based on the determination in step S20, the control unit 35 can perform either a first process or a second process based on the first detection result including the detection result of any one of the pedal sensor 38, the vehicle speed sensor 39, and the tilt sensor 40.

[0135] 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" if 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" if the number of options is three or more. [Explanation of symbols]

[0136] 1...human-powered vehicle, 10...crank, 10c...pedal, 16...rear wheel, 17a...front sprocket a, 18a...rear sprocket, 19...chain, 20...transmission, 22...gear change operation unit, 29...motor, 33...control system, 35...control unit, 36...detection unit, 38...pedal sensor, 39...vehicle speed sensor, 40...inclination sensor

Claims

1. a detection unit that detects detection information relating to the running state of the human-powered vehicle; a motor and a control unit that controls at least one transmission; the gear shifting operation by the at least one transmission includes a first gear shifting operation involving driving of a chain by the motor; The control unit stops or continues driving the motor depending on a first detection result of the detection unit when a gearshift operating unit is operated during the first gearshift operation.

2. The control unit When the first detection result is equal to or greater than a predetermined threshold, stopping the driving of the motor and canceling the first gear shifting operation, and then executing a first process to perform the gear shifting operation in response to operation of the gear shift operating unit during the first gear shifting operation; The control system according to claim 1 , further comprising: a second process for continuing the first speed change operation by continuing to drive the motor when the first detection result is less than the threshold value.

3. the gear shifting operation by the at least one transmission includes a second gear shifting operation that does not involve driving of the chain by the motor, After the control unit stops the first gear shift operation in the first process, 3. The control system according to claim 2, wherein, depending on a second detection result detected by the detection unit, either the first gear shift operation in response to operation of the gear shift operating unit during the first gear shift operation or the second gear shift operation in response to operation of the gear shift operating unit during the first gear shift operation is performed.

4. 3. The control system according to claim 2, wherein, in the second process, after the first gearshift operation is completed, the control unit performs the gearshift operation by the at least one transmission in response to operation of the gearshift operating unit during the first gearshift operation.

5. the gear shifting operation by the at least one transmission includes a second gear shifting operation that does not involve driving of the chain by the motor, In the second process, after the first gear shift operation is completed, the control unit:

5. The control system according to claim 4, wherein, depending on a third detection result detected by the detection unit, either the first gear shift operation in response to operation of the gear shift operating unit during the first gear shift operation or the second gear shift operation in response to operation of the gear shift operating unit during the first gear shift operation is performed.

6. the detection unit includes at least one of a pedal sensor that detects pedaling of the human-powered vehicle, a vehicle speed sensor that detects the vehicle speed of the human-powered vehicle, and an inclination sensor that detects the inclination of the human-powered vehicle; The control system according to claim 4 , wherein the control unit performs either the first process or the second process depending on the first detection result of the detection unit.

7. a detection unit that detects detection information relating to the running state of the human-powered vehicle; a motor and a control unit that controls at least one transmission; the gear shifting operation by the at least one transmission includes a first gear shifting operation involving driving of a chain by the motor; When the pedal is operated during the first gear shifting operation, the control unit when a first detection result of the detection unit is equal to or greater than a predetermined threshold, stopping the driving of the motor to abort the first gear shifting operation, and then executing a first process to perform the gear shifting operation by the at least one transmission in accordance with operation of a gear shift operating unit during the first gear shifting operation; When the first detection result is less than the threshold value, a second process is executed to continue driving the motor and to continue the first speed change operation.

8. the detection unit includes at least one of a pedal sensor that detects pedaling of the human-powered vehicle, a vehicle speed sensor that detects the vehicle speed of the human-powered vehicle, and an inclination sensor that detects the inclination of the human-powered vehicle; 8. The control system according to claim 7, wherein the control unit performs either the first process or the second process in accordance with the first detection result including a detection result of any one of the pedal sensor, the vehicle speed sensor, and the tilt sensor.

9. a gear shift operation unit operable by a rider; Pedals and a crank to which the pedal is attached; a front sprocket that is rotatable independently of the crank; The rear wheel and a rear sprocket that can rotate independently from the rear wheel; a chain that meshes with the front sprocket and the rear sprocket; a motor that drives the chain; at least one transmission that performs a gear shifting operation including a first gear shifting operation involving driving of the chain by the motor; A human-powered vehicle comprising the control system according to any one of claims 1 to 8.

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