CONTROL DEVICE FOR HUMAN-POWERED VEHICLE AND CONTROL SYSTEM FOR HUMAN-POWERED VEHICLE

Abstract

To provide a control device for a human-power drive vehicle and a control system for a human-power drive vehicle which can suitably control a transmission of the human-power drive vehicle.SOLUTION: A human-power drive vehicle includes a control section for controlling a transmission according to a control state. The control section can switch the control state from one of a first control state and a second control state to the other of the first control state and the second control state according to a result of comparison between a rotation speed of a wheel and a rotation speed of a rotary member. The control section controls the transmission in the first control state so as to restrict at least one of a case where a transmission ratio becomes larger than a first transmission ratio and a case where the transmission ratio becomes smaller than a second transmission ratio. The control section controls the transmission in the second control state so as to allow at least one of the case where the transmission ratio becomes larger than the first transmission ratio and the case where the transmission ratio becomes smaller than the second transmission ratio.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] For example, Patent Document 1 discloses a control device for a human-powered vehicle that controls a transmission. The control device of Patent Document 1 controls the transmission in accordance with the vehicle speed of the human-powered vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-25680 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a control device for a human-powered vehicle and a control system for a human-powered vehicle that can suitably control a transmission. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a transmission that changes a gear ratio, wheels, and a rotating member that is rotatable relative to the wheels and is included in a power transmission path of a human-powered driving force, and a control unit that controls the transmission in accordance with a control state, the control unit being configured to be able to switch the control state from one of a first control state and a second control state to the other of the first control state and the second control state in accordance with a comparison result between the rotational speed of the wheels and the rotational speed of the rotating member, the control unit controlling the transmission in the first control state to restrict at least one of the gear ratio being greater than a first gear ratio and the gear ratio being smaller than a second gear ratio, and controlling the transmission in the second control state to allow at least one of the gear ratio being greater than the first gear ratio and the gear ratio being smaller than the second gear ratio. According to the control device of the first aspect, the control state can be switched between a first control state and a second control state depending on the result of comparing the rotational speed of the wheel and the rotational speed of the rotating member, thereby enabling the transmission to be controlled in an optimal manner.

[0006] In a control device of a second aspect according to the first aspect, the control unit is configured to be able to switch the control state from one of the first control state and the second control state to the other of the first control state and the second control state depending on a ratio of a rotational speed of the rotating member to a rotational speed of the wheel. According to the control device of the second aspect described above, the control state can be switched between the first control state and the second control state depending on the ratio of the rotational speed of the rotating member to the rotational speed of the wheel, thereby enabling the transmission to be controlled appropriately.

[0007] In the control device of a third aspect according to the second aspect, the control unit controls the transmission in the second control state when at least one of the following cases is true: the ratio is smaller than a first ratio that is greater than 1, and the ratio is greater than a second ratio that is smaller than 1, and controls the transmission in the first control state when at least one of the following cases is true: the ratio is greater than or equal to the first ratio, and the ratio is less than or equal to the second ratio. According to the control device of the third aspect, the control state can be switched between a first control state and a second control state in accordance with the ratio of the rotational speed of the rotating member to the rotational speed of the wheel.

[0008] A control device according to a fourth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a transmission that changes a gear ratio, wheels, and a rotating member that is rotatable relative to the wheels and is included in a power transmission path of human-powered force, and a control unit that controls the transmission in accordance with a control state, the control unit being configured to be able to switch the control state from one of a first control state and a second control state to the other of the first control state and the second control state in accordance with a ratio of a rotational speed of the rotating member to the rotational speed of the wheels, controlling the transmission in the second control state when the ratio is smaller than a first ratio that is greater than 1 and when the ratio is larger than a second ratio that is smaller than 1, and controlling the transmission in the first control state when the ratio is greater than or equal to the first ratio and when the ratio is less than or equal to the second ratio. According to the control device of the fourth aspect, the control state can be switched between the first control state and the second control state in accordance with the ratio of the rotational speed of the rotating member to the rotational speed of the wheels, and therefore the transmission can be controlled in accordance with the ratio of the rotational speed of the rotating member to the rotational speed of the wheels.

[0009] In the control device of a fifth aspect according to the third or fourth aspect, the control unit controls the transmission in the second control state when the ratio is smaller than the first ratio and greater than the second ratio, controls the transmission in the first control state when the ratio is equal to or greater than the first ratio, and controls the transmission in the first control state when the ratio is equal to or less than the second ratio. According to the control device of the fifth aspect, the control state can be switched between the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheels, so that the transmission can be suitably controlled according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheels.

[0010] Any of the third to fifth aspects One In the control device of the sixth aspect according to the above, the first ratio is equal to or less than 1.3, and the second ratio is equal to or greater than 0.7. According to the control device of the sixth aspect, the first ratio is 1.3 or less, and the second ratio is 0.7 or more, and therefore the control state can be switched between the first control state and the second control state depending on the first ratio being greater than 1 and less than 1.3, and the second ratio being less than 1 and greater than 0.7.

[0011] In the control device of a seventh aspect according to any one of the third to sixth aspects, the control unit controls the transmission in the second control state when the deceleration of the human-powered vehicle is equal to or greater than a predetermined deceleration. According to the control device of the seventh aspect, the transmission can be controlled in the second control state in accordance with the deceleration of the human-powered vehicle.

[0012] In the control device of the eighth aspect according to any one of the third to seventh aspects, the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the ratio in a first period is less than or equal to a first difference. According to the control device of the eighth aspect, the transmission can be controlled in the second control state according to the difference between the maximum and minimum values ​​of the ratio in the first period.

[0013] In the control device of a ninth aspect according to any one of the third to eighth aspects, the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the rotational speed of the rotating member in a second period is less than or equal to a second difference. According to the control device of the ninth aspect, the transmission can be controlled in the second control state in accordance with the difference between the maximum and minimum values ​​of the rotational speed of the rotating member in the second period.

[0014] In the control device of a tenth aspect according to any one of the third to ninth aspects, the control unit controls the transmission in the second control state when an acceleration of the human-powered vehicle is equal to or lower than a predetermined acceleration. According to the control device of the tenth aspect, the transmission can be controlled in the second control state in response to the acceleration of the human-powered vehicle.

[0015] In the control device of an eleventh aspect according to any one of the third to tenth aspects, the control unit controls the transmission in the second control state when the rotational speed of a crankshaft of the human-powered vehicle is equal to or lower than a predetermined rotational speed. According to the control device of the eleventh aspect, the transmission can be controlled in the second control state in accordance with the rotational speed of the crankshaft of the human-powered vehicle.

[0016] In the control device of a 12th aspect according to any one of the 1st to 11th aspects, the control unit controls the transmission in the second control state according to a third value obtained by multiplying a first value related to the rotational speed of the wheel by a second value related to the rotational speed of the wheel at a time different from the first value. According to the control device of the twelfth aspect, the transmission can be controlled in the second control state in accordance with a third value obtained by multiplying a first value related to the rotational speed of the wheel by a second value related to the rotational speed of the wheel at a time different from the first value.

[0017] In a control device of a thirteenth aspect according to the twelfth aspect, the first value is a value corresponding to a first angle of the wheel or one of the rotating members in a third period during which the wheel or one of the rotating members rotates through a predetermined angle, the second value is a value corresponding to a second angle of the wheel or one of the rotating members in a fourth period during which the wheel or one of the rotating members rotates through the predetermined angle, the third period and the fourth period do not overlap with each other and are continuous, the first angle is an angle through which the wheel or one of the rotating members rotates through a third angle from a start of the third period, and the second angle is an angle through which the wheel or one of the rotating members rotates through the third angle from a start of the fourth period. According to the control device of the thirteenth aspect, the transmission can be controlled in the second control state in accordance with a first value corresponding to a first angle of one of the wheels or the rotating member in the third period, and a second value corresponding to a second angle of one of the wheels or the rotating member in the fourth period.

[0018] In the control device of a 14th aspect according to any one of the 10th to 13th aspects, the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the rotational speed of the rotating member in a fifth period is a third difference or less. According to the control device of the fourteenth aspect, the transmission can be controlled in the second control state in accordance with the difference between the maximum and minimum values ​​of the rotational speed of the rotating member in the fifth time period.

[0019] In the control device of a fifteenth aspect according to the first to fourteenth aspects, the control unit controls the transmission in the second control state when a vehicle speed of the human-powered vehicle is equal to or lower than a first vehicle speed. According to the control device of the fifteenth aspect, the transmission can be controlled in the second control state in accordance with the vehicle speed of the human-powered vehicle.

[0020] In the control device of a sixteenth aspect according to the first to fifteenth aspects, the control unit controls the transmission to change the gear ratio in accordance with at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle. According to the control device of the sixteenth aspect, the transmission can be controlled to change the gear ratio in accordance with at least one of the running state of the human-powered vehicle and the running environment of the human-powered vehicle.

[0021] In the control device of a 17th aspect according to the first to sixteenth aspects, the control unit controls the transmission to change the gear ratio when a parameter relating to at least one of the rotational speed of a crankshaft of the human-powered vehicle and the vehicle speed of the human-powered vehicle is outside a predetermined range. According to the control device of the seventeenth aspect, the transmission can be controlled to change the gear ratio in accordance with a parameter related to at least one of the rotation speed of the crankshaft of the human-powered vehicle and the vehicle speed of the human-powered vehicle.

[0022] In the control device of an eighteenth aspect according to the first to seventeenth aspects, the rotating member is a rear sprocket. According to the control device of the eighteenth aspect, the transmission can be controlled in accordance with the rotational speed of the rear sprocket.

[0023] A control system according to a 19th aspect of the present disclosure is a control system for a human-powered vehicle, comprising a control device for a human-powered vehicle of any one of the 1st to 18th aspects, a power generation device provided on the wheel, a first detection unit that detects the rotational speed of the wheel, and a second detection unit that detects the rotational speed of the rotating member, wherein the first detection unit detects a power generation pulse of the power generation device. According to the control system of the nineteenth aspect, the transmission can be controlled in response to the power generation pulse of the power generation device. Effect of the Invention

[0024] The control device for a human-powered vehicle and the control system for a human-powered vehicle disclosed herein can suitably control the transmission of a human-powered vehicle. [Brief description of the drawings]

[0025] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment; [Diagram 2] 1 is a block diagram showing an electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment; [Diagram 3] FIG. 2 is a cross-sectional view of the hub of FIG. 1. [Figure 4] 3 is a first portion of a flowchart of a process executed by the control unit of FIG. 2 to control a transmission device. [Diagram 5] 3 is a second part of a flowchart of a process executed by the control unit of FIG. 2 to control the transmission. [Figure 6] 3 is a third portion of a flowchart of a process executed by the control unit in FIG. 2 to control the transmission. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] <Embodiment> A control system 60 for a human-powered vehicle and a control device 80 for a human-powered vehicle according to an embodiment will be described with reference to Figs. 1 to 6. FIG. 1 shows a human-powered vehicle 10 to which a control device 80 is related. The human-powered vehicle 10 has at least one wheel 12 and is a vehicle that can be driven at least by human-powered driving force. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels 12 that the human-powered vehicle 10 has is not limited. The human-powered vehicle 10 also includes, for example, one-wheeled vehicles and vehicles that have three or more wheels 12. The human-powered vehicle 10 is not limited to vehicles that can be driven only by human-powered driving force. The human-powered vehicle 10 includes E-bikes that use not only human-powered 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 embodiment, the human-powered vehicle 10 will be described as a bicycle.

[0027] The human-powered vehicle 10 includes wheels 12. The human-powered vehicle 10 further includes a vehicle body 14. The wheels 12 include a front wheel 12F and a rear wheel 12R. The vehicle body 14 includes a frame 16 and a front fork 18. A handlebar 20 is connected to the front fork 18 via a stem 22.

[0028] The human-powered vehicle 10 further includes a crank 24 to which human-powered driving force is input. The crank 24 includes a crank shaft 26 that is rotatable with respect to the frame 16, and a pair of crank arms 28 provided at axial ends of the crank shaft 26. A pedal 30 is respectively connected to each crank arm 28.

[0029] In this embodiment, the drive wheel is the rear wheel 12R. The rear wheel 12R is driven by the rotation of the crank 24. The crank 24 is connected to the rear wheel 12R by a drive mechanism 32. The drive mechanism 32 includes a first rotating body 34A connected to the crank shaft 26. The crank shaft 26 may be connected to the first rotating body 34A so as to rotate integrally with the first rotating body 34A, or may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 34A forward when the crank 24 rotates forward, and to allow relative rotation between the crank 24 and the first rotating body 34A when the crank 24 rotates backward. The first rotating body 34A includes a sprocket, a pulley, or a bevel gear.

[0030] The drive mechanism 32 further includes a second rotating body 34B and a connecting member 38. The connecting member 38 transmits the rotational force of the first rotating body 34A to the second rotating body 34B. The second rotating body 34B includes a sprocket, a pulley, or a bevel gear. The connecting member 38 includes, for example, a chain, a belt, or a shaft.

[0031] The human-powered vehicle 10 includes a rotating member 36 that is rotatable relative to the wheels 12 and is included in a power transmission path of the human-powered driving force. Preferably, the rotating member 36 is a rear sprocket 36A.

[0032] In this embodiment, the rear wheel 12R is connected to the crank 24 by the drive mechanism 32, but at least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 24 by the drive mechanism 32.

[0033] When the rotating member 36 is the rear sprocket 36A, the rotating member 36 is connected to the rear wheel 12R. A second one-way clutch 40 is preferably provided between the rotating member 36 and the rear wheel 12R. As shown in FIG. 3, the second one-way clutch 40 is included in a hub 42. The hub 42 includes a hub axle 44 and a hub shell 46. The hub axle 44 is integrated with the axle of the rear wheel 12R and supported by the frame 16. The hub shell 46 rotates relative to the axle of the rear wheel 12R and the hub axle 44. The hub shell 46 includes a flange 46A having a spoke attachment portion for attachment to the spokes of the human-powered vehicle 10. The spoke attachment portion includes a hole. The spokes of the rear wheel 12R are attached to the hub shell 46 via the spoke attachment portion. The rotating member 36 is attached to a rotating member attachment portion 48 of the hub 42.

[0034] The second one-way clutch 40 is configured to rotate the rear wheel 12R forward when the rotating member 36 rotates forward, and to allow relative rotation between the rotating member 36 and the rear wheel 12R when the rotating member 36 rotates backward. The second one-way clutch 40 is provided between the rotating member attachment portion 48 and the hub shell 46. The second one-way clutch 40 may be configured by a roller clutch or a pawl-type clutch.

[0035] The human-powered vehicle 10 includes a transmission 50 that changes the gear ratio R. The transmission 50 is provided in the transmission path of the human-powered driving force in the human-powered vehicle 10. The gear ratios R corresponding to the gear stages are different from each other. The number of gear stages is, for example, in the range of 3 to 30. The gear ratio R of the human-powered vehicle 10 is the ratio of the rotation speed of the wheels 12 to the rotation speed of the crankshaft 26. Preferably, the gear ratio R of the human-powered vehicle 10 is the ratio of the rotation speed of the driving wheels to the rotation speed of the crankshaft 26. In this embodiment, the gear ratio R is the ratio of the rotation speed of the rear wheels 12R to the rotation speed of the crankshaft 26. The gear ratio R is expressed by Equation 1. In Equation 1, the rotation speed of the driving wheels may be replaced with the number of teeth of the front sprocket, and the rotation speed of the crankshaft 26 may be replaced with the number of teeth of the rear sprocket 36A. (Formula 1):R=W / C R indicates the gear ratio R. W indicates the rotational speed of the drive wheels. C indicates the rotation speed of the crankshaft 26 .

[0036] The transmission 50 includes, for example, at least one of a rear derailleur 52, a front derailleur, and an internal gear shifter. The transmission 50 may include a continuously variable transmission. Preferably, the transmission 50 includes an electric gear shifter configured to be operated by an actuator. The actuator includes an electric actuator. The actuator includes, for example, a motor.

[0037] When the transmission 50 includes the rear derailleur 52, the rear derailleur 52 is provided at the rear end of the frame 16. When the transmission 50 includes the rear derailleur 52, the drive mechanism 32 includes a plurality of second rotating bodies 34B. In response to the driving of the rear derailleur 52, the second rotating body 34B around which the connecting member 38 is wound is changed from one second rotating body 34B to another second rotating body 34B, thereby changing the gear ratio R of the human-powered vehicle 10. When the transmission 50 includes a front derailleur, the drive mechanism 32 includes a plurality of first rotating bodies 34A. In response to the driving of the front derailleur, the first rotating body 34A around which the connecting member 38 is wound is changed from one first rotating body 34A to another first rotating body 34A, thereby changing the gear ratio R of the human-powered vehicle 10. When the transmission 50 includes an internal transmission, the internal transmission is provided in, for example, the hub 42 of the rear wheel 12R.

[0038] Preferably, the human-powered vehicle 10 includes a first battery 54A and a second battery 54B. The first battery 54A and the second battery 54B include one or more battery elements. The battery element includes a rechargeable battery. As shown in FIG. 1, for example, the first battery 54A is provided inside a down tube of the human-powered vehicle 10. Preferably, the first battery 54A is configured to supply power to a drive unit of the human-powered vehicle 10. Preferably, the drive unit includes an electric motor that assists the propulsion of the human-powered vehicle 10. The first battery 54A may be configured to supply power to the control device 80. As shown in FIG. 3, the second battery 54B is included in the hub 42. In this embodiment, the second battery 54B is configured to supply power to the control device 80. The second battery 54B may be configured to supply power to the drive unit of the human-powered vehicle 10.

[0039] The control system 60 for a human-powered vehicle includes a control device 80 for a human-powered vehicle, a power generation device 62, a first detection unit 64, and a second detection unit 66. The power generation device 62 is provided on the wheel 12. The first detection unit 64 detects the rotation speed of the wheel 12. The second detection unit 66 detects the rotation speed of the rotating member 36.

[0040] As shown in FIG. 2 and FIG. 3, the power generating device 62 is preferably included in the hub 42. In this embodiment, the power generating device 62 is a hub dynamo. The hub dynamo is, for example, a claw-pole type generator. The hub dynamo includes, for example, a first magnet 68 and a coil 70. The first magnet 68 is attached to the inner periphery of the hub shell 46. The first magnet 68 includes a plurality of magnetic poles arranged in the circumferential direction of the hub 42. The plurality of magnetic poles are configured such that S poles and N poles are arranged alternately. The number of the plurality of magnetic poles is, for example, 8. In this case, the number of S poles and N poles is 4 each. The number of the plurality of magnetic poles is, for example, 16. In this case, the number of S poles and N poles is 8 each. The number of the plurality of magnetic poles is, for example, 32. In this case, the number of S poles and N poles is 16 each. The coil 70 is attached to the axle so as not to rotate relative to the hub axle 44 of the rear wheel 12R. The rotation of the first magnet 68 together with the hub shell 46 relative to the hub axle 44 generates a current in the coil 70 .

[0041] The electric power generated by the power generation device 62 is preferably charged to the second battery 54B. The electric power generated by the power generation device 62 may be charged to the first battery 54A. The electric power generated by the power generation device 62 may be transmitted to an electric component provided in the human-powered vehicle 10 without passing through either the first battery 54A or the second battery 54B. Preferably, the power generation device 62 is connected to at least one of the first battery 54A and the second battery 54B via an electric cable. The transmission 50 may be operated by the electric power supplied from the power generation device 62. The transmission 50 may be operated by the electric power supplied from at least one of the first battery 54A and the second battery 54B, or by the electric power supplied from a dedicated power source mounted on the transmission 50.

[0042] 2 , preferably, the first detection unit 64 detects a current generated by the power generation device 62. The first detection unit 64 detects a current flowing through a coil 70 of the power generation device 62. A change in the current flowing through the coil 70 corresponds to a change in the rotation phase of the first magnet 68 that rotates together with the wheel 12. In a case where the power generation device 62 includes multiple coils 70, the first detection unit 64 may detect a current flowing through one coil 70 of the multiple coils 70 of the power generation device 62.

[0043] Preferably, the first detection unit 64 detects a power generation pulse of the power generation device 62. Preferably, the first detection unit 64 detects a predetermined signal included in the power generation pulse. The predetermined signal is a signal that is detected every time the wheel 12 rotates. The signal that is detected every time the wheel 12 rotates corresponds to, for example, a current value when the current flowing through the coil 70 of the power generation device 62 is at a reference value. The reference value is when the current value is 0. The signal that is detected every time the wheel 12 rotates may correspond to a current value when the current flowing through the coil 70 of the power generation device 62 is at a maximum value or a minimum value.

[0044] As shown in Figs. 2 and 3, the second detection unit 66 includes a magnetic sensor 66A. The magnetic sensor 66A outputs a signal according to a change in the magnetic field of the second magnet 72. The second magnet 72 has a plurality of magnetic poles arranged in the circumferential direction of the hub 42. The plurality of magnetic poles are configured such that S poles and N poles are arranged alternately. The number of the plurality of magnetic poles is, for example, eight. In this case, the number of S poles and the number of N poles are each four. The second magnet 72 is, for example, annular.

[0045] The second magnet 72 is provided inside the hub 42. An annular member 74 is attached to the rotating member attachment portion 48. The annular member 74 is configured to be able to rotate integrally with the rotating member attachment portion 48. The annular member 74 is disposed inside the hub 42. The annular member 74 includes a second magnet attachment portion 74A. The second magnet 72 is attached to the annular member 74 via the second magnet attachment portion 74A. The magnetic sensor 66A is attached to a base 76 provided inside the hub 42. The second detection portion 66 detects the rotation speed of the rotating member 36 by a signal corresponding to a change in the magnetic field of the second magnet 72. The second detection portion 66 may have any configuration as long as it can detect the rotation speed of the rotating member 36, and may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor instead of the magnetic sensor 66A.

[0046] The control device 80 includes a control unit 82. The control unit 82 includes a processor that executes a predetermined control program. The processor includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The processor may be provided in a plurality of locations that are separate from one another. The control unit 82 may include one or a plurality of microcomputers.

[0047] Preferably, the control unit 82 operates on power supplied from the second battery 54B. The control unit 82 may operate on power supplied from the first battery 54A instead of or in addition to the power supplied from the second battery 54B. The control unit 82 may operate on power supplied from the power generation device 62. The control unit 82 is communicatively connected to the second battery 54B via an electric cable. The control unit 82 may be communicatively connected to the second battery 54B via a wireless communication device. The control unit 82 is configured to be communicatively connected to the second battery 54B by, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART). The control unit 82 is connected to the first detection unit 64, the second detection unit 66, and the gear shift device 50 via an electric cable. The control unit 82 may be connected to the first detection unit 64, the second detection unit 66, and the gear shift device 50 via a wireless communication device.

[0048] Preferably, the control device 80 includes a storage unit 84. The storage unit 84 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). The storage unit 84 stores information used in various control processes and various control programs. The storage unit 84 stores, for example, information related to the circumference of the wheel 12.

[0049] Preferably, the control unit 82 controls the transmission 50 to change the gear ratio R in response to at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10. Preferably, the running state of the human-powered vehicle 10 includes a parameter related to at least one of the rotation speed of the crankshaft 26 of the human-powered vehicle 10 and the vehicle speed of the human-powered vehicle 10. When the parameter related to at least one of the rotation speed of the crankshaft 26 of the human-powered vehicle 10 and the vehicle speed of the human-powered vehicle 10 is outside a predetermined range, the control unit 82 controls the transmission 50 to change the gear ratio R. In this embodiment, the parameter related to at least one of the vehicle speed of the human-powered vehicle 10 and the rotation speed of the crankshaft 26 includes the rotation speed of the crankshaft 26. For example, the rotation speed of the crankshaft 26 is the cadence. The rotation speed of the crankshaft 26 is calculated in response to at least one of the rotation speed of the wheels 12 and the rotation speed of the rotating member 36. The rotation speed of the crankshaft 26 is calculated by dividing the rotation speed of the wheels 12 by the gear ratio R. The rotation speed of the crankshaft 26 may also be calculated by dividing the rotation speed of the rotating member 36 by the gear ratio R. The human-powered vehicle 10 may be equipped with a cadence detection unit that detects the rotation speed of the crankshaft 26. In this case, the rotation speed of the crankshaft 26 may be configured to be detected by the cadence detection unit.

[0050] Preferably, control unit 82 controls transmission 50 so that the gear ratio R becomes larger when the rotation speed of crankshaft 26 becomes higher than a predetermined range. Preferably, control unit 82 controls transmission 50 so that the gear ratio R becomes smaller when the rotation speed of crankshaft 26 becomes lower than the predetermined range. Control unit 82 may control transmission 50 so that the gear ratio R becomes smaller when the rotation speed of crankshaft 26 becomes higher than the predetermined range, and may control transmission 50 so that the gear ratio R becomes larger when the rotation speed of crankshaft 26 becomes lower than the predetermined range.

[0051] The parameter related to at least one of the rotation speed of the crankshaft 26 and the vehicle speed of the human-powered vehicle 10 may include the vehicle speed of the human-powered vehicle 10. In this case, the control unit 82 controls the transmission 50 so that the gear ratio R becomes larger when the vehicle speed becomes higher than a predetermined range. The control unit 82 controls the transmission 50 so that the gear ratio R becomes smaller when the vehicle speed becomes lower than the predetermined range. The control unit 82 may control the transmission 50 so that the gear ratio R becomes smaller when the vehicle speed becomes higher than the predetermined range, and control the transmission 50 so that the gear ratio R becomes larger when the vehicle speed becomes lower than the predetermined range.

[0052] At least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 may include both the rotation speed of the crankshaft 26 and the vehicle speed of the human-powered vehicle 10. At least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 may include at least one of the human-powered driving force, the road gradient of the road on which the human-powered vehicle 10 runs, and the running resistance of the human-powered vehicle 10, instead of or in addition to at least one of the parameters related to at least one of the vehicle speed of the human-powered vehicle 10 and the rotation speed of the crankshaft 26. In this case, the control unit 82 may control the transmission 50 to change the gear ratio R in accordance with at least one of the human-powered driving force, the road gradient of the road on which the human-powered vehicle 10 runs, and the running resistance of the human-powered vehicle 10, instead of or in addition to at least one of the parameters related to at least one of the vehicle speed of the human-powered vehicle 10 and the rotation speed of the crankshaft 26.

[0053] The control unit 82 controls the transmission 50 according to the control state. Preferably, the control unit 82 is configured to be able to switch the control state from one of the first control state and the second control state to the other of the first control state and the second control state according to a result of comparing the rotational speed of the wheels 12 and the rotational speed of the rotating member 36.

[0054] The control unit 82 controls the transmission 50 in the first control state to restrict at least one of the following: the gear ratio R being greater than the first gear ratio R1, and the gear ratio R being smaller than the second gear ratio R2. The first gear ratio R1 is smaller than the maximum gear ratio R among the gear ratios R that can be changed by the transmission 50. The second gear ratio R2 is larger than the minimum gear ratio R among the gear ratios R that can be changed by the transmission 50. The first gear ratio R1 and the second gear ratio R2 are stored in advance in the storage unit 84, for example. Preferably, the control unit 82 is allowed to control the transmission 50 in the second control state to change the gear ratio R to a gear ratio R greater than the first gear ratio R1. Preferably, in the second control state, the control unit 82 controls the transmission 50 so that at least one of the following is permitted: the gear ratio R is greater than the first gear ratio R1; and the gear ratio R is smaller than the second gear ratio R2.

[0055] In this embodiment, the control unit 82 controls the transmission 50 in the first control state to restrict the gear ratio R from becoming smaller than the second gear ratio R2, and controls the transmission 50 in the first control state to allow the gear ratio R to be changed in a direction in which the gear ratio R becomes larger. In this embodiment, the control unit 82 is allowed to control the transmission 50 in the second control state to change the gear ratio R to a gear ratio R smaller than the second gear ratio R2.

[0056] Preferably, the control unit 82 is configured to be able to switch the control state from one of the first control state and the second control state to the other of the first control state and the second control state depending on the ratio A of the rotational speed of the rotating member 36 to the rotational speed of the wheels 12.

[0057] Preferably, the control unit 82 controls the transmission 50 in the first control state when at least one of the following occurs: when the ratio A is equal to or greater than the first ratio A1; and when the ratio A is equal to or less than the second ratio A2. Preferably, the control unit 82 controls the transmission 50 in the first control state when the ratio A is equal to or greater than the first ratio A1. Preferably, the control unit 82 controls the transmission 50 in the first control state when the ratio A is equal to or less than the second ratio A2.

[0058] Preferably, the control unit 82 controls the transmission 50 in the second control state when at least one of the following cases is true: when the ratio A is smaller than a first ratio A1 that is greater than 1, and when the ratio A is greater than a second ratio A2 that is less than 1. Preferably, the control unit 82 controls the transmission 50 in the second control state when the ratio A is smaller than the first ratio A1 and when the ratio A is greater than the second ratio A2.

[0059] Preferably, the first ratio A1 is equal to or less than 1.5. Preferably, the first ratio A1 is equal to or less than 1.3. For example, the first ratio A1 is 1.1. Preferably, the second ratio A2 is equal to or greater than 0.4. Preferably, The second ratio A2 is equal to or greater than 0.7. For example, the second ratio A2 is 0.9.

[0060] Preferably, the control unit 82 updates the ratio A every time a predetermined detection signal is output from the second detection unit 66. Preferably, when the control unit 82 controls the transmission 50 in the first control state, the control unit 82 controls the transmission 50 in the first control state unless the condition that the ratio A is smaller than the first ratio A1 and larger than the second ratio A2 consecutively in a predetermined period is satisfied. For example, the predetermined period is a period in which the wheel 12 rotates once. When the ratio A is equal to or larger than the first ratio A1, the rotating member 36 rotates faster than the wheel 12 by the first ratio A1 or more. When the ratio A is equal to or smaller than the second ratio A2, the wheel 12 rotates faster than the rotating member 36 by the second ratio A2 or more. In these cases, it is estimated that the rotating member 36 is spinning freely with respect to the wheel 12. The control unit 82 estimates that the driving force applied to the rotating member 36 is smaller in at least one of the cases where the ratio A is greater than or equal to the first ratio A1 and where the ratio A is less than or equal to the second ratio A2, compared to the cases where the ratio A is smaller than the first ratio A1 and greater than the second ratio A2.

[0061] Preferably, the control unit 82 controls the transmission 50 in the second control state when the deceleration of the human-powered vehicle 10 is equal to or greater than a predetermined deceleration. The control unit 82 calculates the deceleration of the human-powered vehicle 10 in the traveling direction of the human-powered vehicle 10, for example, in accordance with the output of the first detection unit 64. The deceleration is expressed as a value that increases as the human-powered vehicle 10 decelerates.

[0062] Preferably, the control unit 82 controls the transmission 50 in the second control state when the difference between the maximum and minimum values ​​of the ratio A in the first period is equal to or smaller than the first difference. When the difference between the maximum and minimum values ​​of the ratio A in the first period is equal to or smaller than the first difference, it is estimated that the connecting member 38 and the rotating member 36 are firmly engaged with each other, and therefore the tension of the connecting member 38 is high. The first period is, for example, the period in which the crankshaft 26 rotates once.

[0063] Preferably, the control unit 82 controls the transmission 50 in the second control state when the difference between the maximum and minimum values ​​of the rotational speed of the rotating member 36 in the second period is equal to or smaller than the second difference. For example, when the transmission 50 is shifted to a gear with a lower gear ratio R on flat ground, the difference between the maximum and minimum values ​​of the rotational speed of the rotating member 36 in the second period becomes larger than the second difference. The second period is, for example, the period in which the crankshaft 26 makes one rotation.

[0064] The period for one rotation of the crankshaft 26 is estimated from at least one of the period for one rotation of the wheels 12 and the period for one rotation of the rotating member 36. The period for one rotation of the crankshaft 26 is calculated, for example, by dividing the period for one rotation of the wheels 12 by the gear ratio R. The period for one rotation of the crankshaft 26 may also be calculated, for example, by dividing the period for one rotation of the rotating member 36 by the gear ratio R.

[0065] Preferably, when the acceleration of the human-powered vehicle 10 is equal to or less than a predetermined acceleration, the control unit 82 controls the transmission 50 in the second control state. The control unit 82 calculates the acceleration of the human-powered vehicle 10 in the traveling direction of the human-powered vehicle 10 in accordance with the output of the first detection unit 64, for example.

[0066] Preferably, the control unit 82 controls the transmission 50 in the second control state when the rotational speed of the crankshaft 26 of the human-powered vehicle 10 is equal to or lower than a predetermined rotational speed. The rotational speed of the crankshaft 26 is calculated according to at least one of the rotational speed of the wheels 12 and the rotational speed of the rotating member 36. The rotational speed of the crankshaft 26 is calculated by dividing the rotational speed of the wheels 12 by the gear ratio R. The rotational speed of the crankshaft 26 may also be calculated by dividing the rotational speed of the rotating member 36 by the gear ratio R.

[0067] Preferably, the control unit 82 controls the transmission 50 in the second control state according to a third value obtained by multiplying a first value related to the rotational speed of the wheels 12 by a second value related to the rotational speed of the wheels 12 at a time point different from the first value. Preferably, the first value and the second value are current values ​​in the power generation pulse of the power generation device 62 detected by the first detection unit 64.

[0068] Preferably, the first value is a value corresponding to a first angle of one of the wheels 12 or the rotating member 36 in a third period during which one of the wheels 12 or the rotating member 36 rotates through a predetermined angle. The second value is a value corresponding to a second angle of one of the wheels 12 or the rotating member 36 in a fourth period during which one of the wheels 12 or the rotating member 36 rotates through a predetermined angle. The third period and the fourth period do not overlap each other and are continuous. The first angle is an angle by which one of the wheels 12 or the rotating member 36 rotates through the third angle from the start of the third period. The second angle is an angle by which one of the wheels 12 or the rotating member 36 rotates through the third angle from the start of the fourth period. Preferably, the first value is a value corresponding to a first angle of the wheels 12 in a third period during which the wheels 12 rotate through a predetermined angle. Preferably, the second value is a value corresponding to a second angle of the wheels 12 in a fourth period during which the wheels 12 rotate through a predetermined angle.

[0069] The predetermined angle is an angle through which one of the wheels 12 or the rotating member 36 rotates once. The angle through which one of the wheels 12 or the rotating member 36 rotates once is, for example, an angle through which one of the wheels 12 or the rotating member 36 rotates 360 degrees from the start of the third period or the fourth period. The predetermined angle may be an angle through which one of the wheels 12 or the rotating member 36 rotates half a turn. The angle through which one of the wheels 12 or the rotating member 36 rotates half a turn is, for example, an angle through which one of the wheels 12 or the rotating member 36 rotates 180 degrees from the start of the third period or the fourth period. For example, the predetermined angle is 180 degrees from top dead center to bottom dead center, or from bottom dead center to top dead center.

[0070] Preferably, the third angle is a predetermined angle. IncludedThe third angle includes a plurality of angles. For example, when the predetermined angle is 360 degrees, which is the angle of one rotation of the crankshaft 26, the third angle includes angles up to 360 degrees, one degree at a time, from the start of the third period or the fourth period. Preferably, the third value is calculated by multiplying the first value and the second value, which correspond to the angle values ​​of the third period and the fourth period, respectively. For example, when the predetermined angle is 360 degrees, which is the angle of one rotation of the crankshaft 26, the third angle includes angles up to 360 degrees, one degree at a time, from the start of the third period or the fourth period. The rotation angle of the crankshaft 26 is It may be the angle for each detection period by the first detection unit 64 until it reaches 360 degrees.

[0071] Preferably, when the sum of the third values ​​at each angle among the predetermined angles is equal to or greater than a predetermined value, control unit 82 controls transmission 50 in the second control state. Preferably, when the third period is one cycle, control unit 82 controls transmission 50 in the second control state when the sum of the third values ​​at each angle from 0 degrees to 360 degrees maintains a predetermined value or greater for two cycles or more. Preferably, when the fourth period is one cycle, control unit 82 controls transmission 50 in the second control state when the sum of the third values ​​at each angle from 0 degrees to 360 degrees maintains a predetermined value or greater for two cycles or more.

[0072] When the wheels 12 rotate at a constant rotational speed in one rotation, the sum of the third values ​​becomes large. When the wheels 12 rotate while the rotational speed changes in one rotation, the sum of the third values ​​becomes small. For example, when the human-powered vehicle 10 starts to run uphill, the sum of the third values ​​becomes large. Therefore, the third value can be used to estimate when the human-powered vehicle 10 starts to run uphill.

[0073] Preferably, control unit 82 controls transmission 50 in the second control state when a difference between the maximum and minimum rotational speeds of rotating member 36 in a fifth period is equal to or smaller than a third difference. The fifth period is a period in which crankshaft 26 makes one rotation.

[0074] Preferably, the control unit 82 controls the transmission 50 in the second control state when the vehicle speed of the human-powered vehicle 10 is equal to or lower than a first vehicle speed. The first vehicle speed is, for example, 0 km per hour.

[0075] Preferably, the control unit 82 performs a first high load determination X1, for example, to determine the moment when the human-powered vehicle 10 starts climbing from a flat road. Preferably, the control unit 82 determines that the first high load determination X1 is satisfied when all of the following first condition, second condition, and third condition are satisfied. Preferably, when the first high load determination X1 is satisfied, the control unit 82 controls the transmission 50 in the second control state.

[0076] The first condition is 10 human-powered vehicles. Decrease in The first condition is satisfied when the speed is equal to or greater than a predetermined deceleration. The second condition is satisfied when the difference between the maximum and minimum values ​​of ratio A in the first period is equal to or less than a first difference. The third condition is satisfied when the difference between the maximum and minimum values ​​of the rotational speed of rotating member 36 in the second period is equal to or less than a second difference. The control unit 82 makes a judgment in the order of, for example, the first condition, the second condition, and the third condition.

[0077] The order of determining the first condition, the second condition, and the third condition may be changed. The control unit 82 may determine that the first high load determination X1 is satisfied when any one or more of the first condition, the second condition, and the third condition are satisfied.

[0078] Preferably, the control unit 82 performs a second high load judgment X2 when the first high load judgment X1 is not satisfied. Cases when the first high load judgment X1 is not satisfied include, for example, a case where the human-powered vehicle 10 starts halfway up a slope. The control unit 82 performs a second high load judgment X2 to determine a case where the human-powered vehicle 10 starts halfway up a slope. Preferably, the control unit 82 determines that the second high load judgment X2 is satisfied when all of the following fourth, fifth, sixth, and seventh conditions are satisfied. Preferably, the control unit 82 controls the transmission 50 in the second control state when the second high load judgment X2 is satisfied.

[0079] The fourth condition is that 10 human-powered vehicles Add The first condition is satisfied when the rotational speed of the crankshaft 26 is equal to or lower than a predetermined acceleration. The fifth condition is satisfied when the rotational speed of the crankshaft 26 is equal to or lower than a predetermined rotational speed. The sixth condition is satisfied when the difference between the maximum and minimum values ​​of the rotational speed of the rotating member 36 in the fifth period is equal to or lower than the third difference. The seventh condition is satisfied when the sum of the third values ​​at each of the predetermined angles is equal to or higher than a predetermined value. The control unit 82 makes a judgment in the order of, for example, the fourth condition, the fifth condition, the sixth condition, and the seventh condition.

[0080] The order of determining the fourth condition, the fifth condition, the sixth condition, and the seventh condition may be changed. The control unit 82 may determine that the second high load determination X2 is satisfied when any one or more of the fourth condition, the fifth condition, the sixth condition, and the seventh condition are satisfied.

[0081] The control unit 82 preferably controls the transmission 50 in the second control state when either the first high load judgment X1 or the second high load judgment X2 is satisfied. The control unit 82 preferably makes a judgment about the second high load judgment X2 when it is determined that the first high load judgment X1 is not satisfied. The control unit 82 may make a judgment about the first high load judgment X1 when it is determined that the second high load judgment X2 is not satisfied.

[0082] 4 to 6, the process by which control unit 82 controls transmission 50 will be described. When power is supplied to control unit 82, control unit 82 starts the process and proceeds to step S11 of the flowchart shown in Fig. 4. When the flowchart in Fig. 4 ends, control unit 82 repeats the process from step S11 after a predetermined period until the supply of power is stopped.

[0083] In step S11, the control unit 82 determines whether the vehicle speed of the human-powered vehicle 10 is equal to or less than a first vehicle speed. If the vehicle speed of the human-powered vehicle 10 is equal to or less than the first vehicle speed in step S11, the control unit 82 proceeds to step S12. In step S12, the control unit 82 controls the transmission 50 in the second control state and ends the process. If the control state is the second control state in step S12, the control unit 82 maintains the second control state and controls the transmission 50. If the control state is the first control state in step S12, the control unit 82 switches from the first control state to the second control state and controls the transmission 50 in the second control state.

[0084] If the vehicle speed of the human-powered vehicle 10 is greater than the first vehicle speed in step S11, the control unit 82 proceeds to step S13. In step S13, the control unit 82 determines whether the ratio A is greater than or equal to the first ratio A1. If the ratio A is greater than or equal to the first ratio A1 in step S13, the control unit 82 proceeds to step S14. If the ratio A is less than the first ratio A1 in step S13, the control unit 82 proceeds to step S15.

[0085] In step S15, the control unit 82 determines whether the ratio A is equal to or less than the second ratio A2. If the ratio A is equal to or less than the second ratio A2 in step S15, the control unit 82 proceeds to step S14. In step S14, the control unit 82 controls the transmission 50 in the first control state, and ends the process. In step S14, the control unit 82 determines whether the control state is the second control state. 1 In the control state, 1 The control state is maintained and the transmission 50 is controlled. In step S14, the control unit 82 2 In the control state, 2 From the control state 1 Switch to the control state, 1 In the control state, the transmission 50 is controlled.

[0086] In step S15, when the ratio A is greater than the second ratio A2, the control unit 82 proceeds to step S16. The determinations in steps S16 to S18 in FIG. 5 are determinations regarding the first high load determination X1. In step S16, the control unit 82 , 10 human-powered vehicles In step S16, it is determined whether the deceleration is equal to or greater than a predetermined deceleration. , 10 human-powered vehicles If the deceleration is equal to or greater than the predetermined deceleration, the control unit 82 proceeds to step S17.

[0087] In step S17, the control unit 82 determines whether the difference between the maximum and minimum values ​​of the ratio A in the first period is equal to or smaller than the first difference. If the difference between the maximum and minimum values ​​of the ratio A in the first period is equal to or smaller than the first difference in step S17, the control unit 82 proceeds to step S18.

[0088] In step S18, the control unit 82 determines whether the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the second time period is equal to or less than the second difference. If the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the second time period is equal to or less than the second difference in step S18, the control unit 82 proceeds to step S19.

[0089] In step S19, the control unit 82 controls the transmission 50 in the second control state and ends the process. If the control state is the second control state in step S19, the control unit 82 maintains the second control state and controls the transmission 50. If the control state is the first control state in step S19, the control unit 82 switches from the first control state to the second control state and controls the transmission 50 in the second control state.

[0090] In step S16 , 10 human-powered vehiclesIf the deceleration is smaller than the predetermined deceleration, the control unit 82 proceeds to step S20. If, in step S17, the difference between the maximum and minimum values ​​of the ratio A in the first period is greater than the first difference, the control unit 82 proceeds to step S20. If, in step S18, the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the second period is greater than the second difference, the control unit 82 proceeds to step S20.

[0091] The determinations in steps S20 to S23 in FIG. 6 are determinations regarding the second high load determination X2. , 10 human-powered vehicles In step S20, it is determined whether the acceleration is equal to or lower than a predetermined acceleration. , 10 human-powered vehicles If the acceleration is equal to or less than the predetermined acceleration, the control unit 82 proceeds to step S21. , 10 human-powered vehicles If the acceleration is greater than the predetermined acceleration, the control unit 82 ends the process.

[0092] In step S21, the control unit 82 determines whether the rotation speed of the rotating member 36 is equal to or lower than a predetermined rotation speed. If the rotation speed of the rotating member 36 is equal to or lower than the predetermined rotation speed in step S21, the control unit 82 proceeds to step S22. If the rotation speed of the rotating member 36 is higher than the predetermined rotation speed in step S21, the control unit 82 ends the process.

[0093] In step S22, the control unit 82 determines whether the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the fifth time period is equal to or less than the third difference. If the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the fifth time period is equal to or less than the third difference in step S22, the control unit 82 proceeds to step S23. If the difference between the maximum and minimum values ​​of the rotation speed of the rotating member 36 in the fifth time period is greater than the third difference in step S22, the control unit 82 ends the process.

[0094] In step S23, the control unit 82 determines whether the sum of the third values ​​at each of the predetermined angles is equal to or greater than a predetermined value. If the sum of the third values ​​at each of the predetermined angles is equal to or greater than the predetermined value in step S23, the control unit 82 proceeds to step S24. If the sum of the third values ​​at each of the predetermined angles is smaller than the predetermined value in step S23, the control unit 82 ends the process.

[0095] In step S24, the control unit 82 controls the transmission 50 in the second control state and ends the process. If the control state is the second control state in step S24, the control unit 82 maintains the second control state and controls the transmission 50. If the control state is the first control state in step S24, the control unit 82 switches from the first control state to the second control state and controls the transmission 50 in the second control state.

[0096] <Modification> The explanations of the embodiments are examples of forms that a control device for a human-powered vehicle and a control system for a human-powered vehicle according to the present disclosure can take, and are not intended to limit the forms. A control device for a human-powered vehicle and a control system for a human-powered vehicle according to the present disclosure can take forms, for example, modified versions of the embodiments shown below, and combinations of at least two mutually compatible modified versions. In the following modified versions, parts that are common to the embodiments are given the same reference numerals as the embodiments, and descriptions thereof are omitted.

[0097] The first value may be a value corresponding to a fourth angle of the crankshaft 26 in a sixth period in which the crankshaft 26 rotates through the predetermined angle. The second value may be a value corresponding to a fifth angle of the crankshaft 26 in a seventh period in which the crankshaft 26 rotates through the predetermined angle. The sixth and seventh periods do not overlap each other and are consecutive. The fourth angle is Crankshaft 26 The angle rotated through the sixth angle from the start of the sixth period. The fifth angle is Crankshaft 26 This is the angle rotated through the 6th angle from the start of the 7th period.

[0098] The first detection unit 64 may be a vehicle speed sensor. The vehicle speed sensor is configured to detect information related to the vehicle speed of the human-powered vehicle 10. The vehicle speed sensor outputs a signal corresponding to the rotation speed of the wheel 12. The control unit 82 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed of the wheel 12 and information related to the circumference of the wheel 12. The vehicle speed sensor may include, for example, a magnetic reed constituting a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed sensor may be attached to a chain stay of the frame 16 of the human-powered vehicle 10. In this case, the vehicle speed sensor is configured to detect a magnet attached to the rear wheel 12R. The vehicle speed sensor may be provided in the front fork 18. In this case, the vehicle speed sensor is configured to be able to detect a magnet attached to the front wheel 12F. For example, the vehicle speed sensor is configured to detect the magnet once by a reed switch when the wheel 12 rotates once. The vehicle speed sensor may have any configuration as long as it can acquire information related to the vehicle speed of the human-powered vehicle 10, and is not limited to a configuration that detects magnets provided on the wheels 12. For example, the vehicle speed sensor may be configured to detect slits provided in a disc brake. For example, the vehicle speed sensor may be configured to include an optical sensor or the like. For example, the vehicle speed sensor may be configured to include a GPS (Global Positioning System) receiver. When the vehicle speed sensor includes a GPS receiver, the control unit 82 can calculate the vehicle speed according to the time and the traveled distance.

[0099] The rotating member 36 may be at least one of the crankshaft 26, the first rotating body 34A, and a pulley provided on the rear derailleur 52. In this case, the second detector 66 is configured to detect the rotational speed of at least one of the crankshaft 26, the first rotating body 34A, and the pulley provided on the rear derailleur 52.

[0100] The human-powered vehicle 10 may omit either the first battery 54A or the second battery 54B. When the first battery 54A is omitted, the electrical components provided in the human-powered vehicle 10 are configured to be supplied with power from the second battery 54B. When the second battery 54B is omitted, the electrical components provided in the human-powered vehicle 10 are configured to be supplied with power from the first battery 54A.

[0101] The term "at least one" as used herein means "one or more" of the desired options. As an example, the term "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the term "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more. [Explanation of symbols]

[0102] 10...human-powered vehicle, 12...wheel, 26...crankshaft, 36...rotating member, 36A...rear sprocket, 50...transmission device, 60...control system, 62...power generation device, 64...first detection unit, 66...second detection unit, 80...control device, 82...control unit.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes a transmission that changes a gear ratio, wheels, and a rotating member that is rotatable relative to the wheels and is included in a power transmission path of the human-powered driving force, a control unit that controls the transmission in accordance with a control state; The control unit is the control state is switchable from one of a first control state and a second control state to the other of the first control state and the second control state according to a comparison result between a rotation speed of the wheel and a rotation speed of the rotating member, controlling the transmission device in the first control state to restrict at least one of the speed ratio being greater than a first speed ratio and the speed ratio being smaller than a second speed ratio; controlling the transmission so that, in the second control state, at least one of the gear ratio being greater than the first gear ratio and the gear ratio being smaller than the second gear ratio is permitted; the control state is switchable from one of the first control state and the second control state to the other of the first control state and the second control state in accordance with a ratio of a rotational speed of the rotating member to a rotational speed of the wheel; controlling the transmission in the second control state when the ratio is smaller than a first ratio that is greater than 1 and when the ratio is greater than a second ratio that is less than 1; A control device that controls the transmission in the first control state when the ratio is equal to or greater than the first ratio and when the ratio is equal to or less than the second ratio.

2. A control device for a human-powered vehicle, The human-powered vehicle includes a transmission that changes a gear ratio, wheels, and a rotating member that is rotatable relative to the wheels and is included in a power transmission path of the human-powered driving force, a control unit that controls the transmission in accordance with a control state; The control unit is the control state is switchable from one of a first control state and a second control state to the other of the first control state and the second control state in accordance with a ratio of a rotational speed of the rotating member to a rotational speed of the wheel; controlling the transmission in the second control state when the ratio is smaller than a first ratio that is greater than 1 and when the ratio is greater than a second ratio that is less than 1; A control device that controls the transmission in the first control state when the ratio is equal to or greater than the first ratio and when the ratio is equal to or less than the second ratio.

3. The control unit is When the ratio is smaller than the first ratio and when the ratio is greater than the second ratio, controlling the transmission in the second control state; 3. The control device according to claim 1, wherein the transmission is controlled in the first control state when the ratio is equal to or greater than the first ratio, and the transmission is controlled in the first control state when the ratio is equal to or less than the second ratio.

4. the first ratio is less than or equal to 1.3; The control device according to claim 1 , wherein the second ratio is equal to or greater than 0.

7.

5. The control device according to claim 1 , wherein the control unit controls the transmission in the second control state when a deceleration of the human-powered vehicle is equal to or greater than a predetermined deceleration.

6. the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the ratio in a first period is equal to or smaller than a first difference; The control device according to claim 1 , wherein the first period is a period in which a crankshaft of the human-powered vehicle makes one rotation.

7. the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the rotation speed of the rotating member in a second period is equal to or smaller than a second difference; The control device according to claim 1 , wherein the second period is a period in which a crankshaft of the human-powered vehicle makes one rotation.

8. The control device according to claim 1 , wherein the control unit controls the transmission in the second control state when an acceleration of the human-powered vehicle is equal to or lower than a predetermined acceleration.

9. The control device according to claim 1 , wherein the control unit controls the transmission in the second control state when a rotation speed of a crankshaft of the human-powered vehicle is equal to or lower than a predetermined rotation speed.

10. 10. The control device according to claim 1, wherein the control unit controls the transmission in the second control state in accordance with a third value obtained by multiplying a first value related to the rotational speed of the wheel by a second value related to the rotational speed of the wheel at a time point different from the first value.

11. A control device for a human-powered vehicle, The human-powered vehicle includes a transmission that changes a gear ratio, wheels, and a rotating member that is rotatable relative to the wheels and is included in a power transmission path of the human-powered driving force, a control unit that controls the transmission in accordance with a control state; The control unit is the control state is switchable from one of a first control state and a second control state to the other of the first control state and the second control state according to a comparison result between a rotation speed of the wheel and a rotation speed of the rotating member, controlling the transmission device in the first control state to restrict at least one of the speed ratio being greater than a first speed ratio and the speed ratio being smaller than a second speed ratio; controlling the transmission so that, in the second control state, at least one of the gear ratio being greater than the first gear ratio and the gear ratio being smaller than the second gear ratio is permitted; A control device that controls the transmission in the second control state in accordance with a third value obtained by multiplying a first value related to the rotational speed of the wheel by a second value related to the rotational speed of the wheel at a time different from the first value.

12. the first value corresponds to a first angle of one of the wheel or the rotating member during a third period in which the one of the wheel or the rotating member rotates through a predetermined angle; the second value corresponds to a second angle of either the wheel or the rotating member during a fourth period in which either the wheel or the rotating member rotates through the predetermined angle; the third period and the fourth period do not overlap and are continuous with each other; the first angle is an angle that one of the wheel or the rotating member has rotated through a third angle from a start point of the third period; 12. The control device according to claim 10, wherein the second angle is an angle that one of the wheel or the rotating member has rotated through the third angle from a start point of the fourth period.

13. 13. The control device according to claim 8, wherein the control unit controls the transmission in the second control state when a difference between a maximum value and a minimum value of the rotational speed of the rotating member in a fifth time period is equal to or smaller than a third difference.

14. The control device according to claim 1 , wherein the control unit controls the transmission in the second control state when a vehicle speed of the human-powered vehicle is equal to or lower than a first vehicle speed.

15. 15. The control device according to claim 1, wherein the control unit controls the transmission to change the gear ratio in accordance with at least one of a running state of the human-powered vehicle and a running environment of the human-powered vehicle.

16. 16. The control device according to claim 1, wherein the control unit controls the transmission to change the gear ratio when a parameter relating to at least one of a rotational speed of a crankshaft of the human-powered vehicle and a vehicle speed of the human-powered vehicle is outside a predetermined range.

17. The control device of claim 1 , wherein the rotating member is a rear sprocket.

18. 1. A control system for a human-powered vehicle, comprising: A control device for a human-powered vehicle according to any one of claims 1 to 16; A power generation device provided on the wheel; A first detection unit that detects a rotation speed of the wheel; a second detection unit that detects the rotation speed of the rotating member, The first detection unit detects a power generation pulse of the power generation device.

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