Control device for human-powered vehicles

Abstract

To provide a control device for a human-powered vehicle that is able to suitably control a component for the human-powered vehicle.SOLUTION: A control device for a human-powered vehicle, which includes a transmission configured to perform a shifting operation, comprises a control unit configured to control the shifting operation of the transmission. The control unit is configured to control the shifting operation of the transmission such that a shift stage of the transmission falls within a predetermined range in accordance with at least one of a traveling state of the human-powered vehicle and a rider state of the human-powered vehicle and is configured to change the predetermined range in accordance with a posture of the human-powered vehicle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 controls components for the human-powered vehicle according to predetermined conditions. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 10-511621 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a control device for a human-powered vehicle that suitably controls components for the human-powered vehicle. [Means for solving the problem]

[0005] A control device according to a first aspect of the present invention is a control device for a human-powered vehicle, the human-powered vehicle including a first rotating body, a second rotating body, a transmission member that transmits driving force between the first rotating body and the second rotating body, and a component for the human-powered vehicle, wherein at least one of the first rotating body and the second rotating body includes a plurality of rotating bodies, and the component includes a transmission that performs a gear change operation to move the transmission member from one of the plurality of rotating bodies to another of the plurality of rotating bodies, and a control unit configured to be able to control the gear change operation of the transmission in accordance with control conditions defined based on at least one of the running state of the human-powered vehicle and the state of a rider of the human-powered vehicle, the control unit having a first state in which it determines whether the control condition is met, and a second state in which it does not determine whether the control condition is met, and the control unit switches between the first state and the second state in accordance with the rotational states of the plurality of rotating bodies. According to the control device of the first aspect, by switching between the first state and the second state depending on the rotational state of the rotating body, it is possible to perform suitable control of the rotational state of the rotating body. This makes it possible to suitably control components for human-powered vehicles. In the second state, it is not necessary to determine whether the control conditions are met, thereby reducing the calculation load on the control unit.

[0006] In a control device of a second aspect according to the first aspect, the human-powered vehicle further includes a generator that generates electricity as the human-powered vehicle travels, and the control unit switches between the first state and the second state depending on the power generation state of the generator. According to the control device of the second aspect, by switching between the first state and the second state depending on the power generation state of the generator, it is possible to perform suitable control over the power generation state of the generator.

[0007] A control device according to a third aspect of the present invention is a control device for a human-powered vehicle, the human-powered vehicle including a generator that generates electricity as the human-powered vehicle travels, and components for the human-powered vehicle, the components including at least one of a drive unit and an alarm unit, and a control unit configured to be able to control the components in accordance with control conditions defined based on at least one of the traveling state of the human-powered vehicle and the state of a rider of the human-powered vehicle, and the control unit decides whether or not to control the components in accordance with the power generation state of the generator. According to the control device of the third aspect, if the power generation state of the generator is not suitable for controlling the components, the components are not controlled, thereby enabling the components for the human-powered vehicle to be controlled in a suitable manner.

[0008] In the control device of a fourth aspect according to the third aspect, the control unit has a first state in which it determines whether the control condition is met and a second state in which it does not determine whether the control condition is met, and the control unit switches between the first state and the second state depending on the power generation state of the generator. According to the control device of the fourth aspect, by switching between the first state and the second state depending on the power generation state of the generator, it is possible to perform suitable control over the power generation state of the generator.

[0009] The control device of the fifth aspect according to the third or fourth aspect further comprises a detection unit that detects at least one of a traveling state of the human-powered vehicle and a state of a rider of the human-powered vehicle, and the control unit is configured to be able to control the component in accordance with the control condition when a predetermined signal is input from the detection unit. According to the control device of the fifth aspect, when a predetermined signal is input from the detection unit, the component can be controlled.

[0010] In the control device of a sixth aspect according to the third or fourth aspect, the human-powered vehicle further comprises a first rotating body, a second rotating body, and a transmission member that transmits driving force between the first rotating body and the second rotating body, at least one of the first rotating body and the second rotating body includes a plurality of rotating bodies, the generator generates electricity in accordance with the rotation of the plurality of rotating bodies, the component includes a transmission that performs a gear change operation to move the transmission member from one of the plurality of rotating bodies to another of the plurality of rotating bodies, the control unit is configured to be able to control the gear change operation of the transmission in accordance with control conditions that are defined based on at least one of a running state of the human-powered vehicle and a state of a rider of the human-powered vehicle, and the control unit decides whether or not to perform the gear change operation of the transmission in accordance with a power generation state of the generator. According to the control device of the sixth aspect, the transmission can be controlled in accordance with the power generation state of the generator.

[0011] In the control device of the seventh aspect according to any one of the first, second and sixth aspects, a detection unit is further provided that detects at least one of the running state of the human-powered vehicle and the state of a rider of the human-powered vehicle, and the control unit is configured to be able to control the transmission in accordance with the control conditions when a predetermined signal is input from the detection unit. According to the control device of the seventh aspect, when a predetermined signal is input from the detection section, the transmission can be controlled.

[0012] In the control device of an eighth aspect according to the seventh aspect, the detection unit is configured to be able to detect the rotation speeds of the plurality of rotating bodies. According to the control device of the eighth aspect, the transmission can be controlled in accordance with the output of the detection section that detects the rotational speeds of a plurality of rotating bodies.

[0013] In the control device of a ninth aspect according to the second or sixth aspect, the control unit is configured to be able to switch between a first power state and a second power state that consumes less power than the first power state, and is configured to be able to switch to the second power state when, in the first power state, the rotational speed of the plurality of rotating bodies remains below a predetermined first speed for a predetermined first period or more. According to the control device of the ninth aspect, if, in the first power state, the rotation speed of multiple rotating bodies remains below a predetermined first speed for a predetermined first period or longer, power consumption can be reduced by switching to the second power state.

[0014] In the control device of a tenth aspect according to the ninth aspect, the control unit is configured to be able to switch between the first power state, the second power state, and a third power state that consumes less power than the second power state, and is configured to be able to switch to the third power state when, in the second power state, the rotational speed of the plurality of rotating bodies remains below a predetermined second speed for more than a predetermined second period. According to the control device of the tenth aspect, if the rotation speed of multiple rotating bodies remains below a predetermined second speed for a predetermined second period or longer in the second power state, power consumption can be reduced by switching to the third power state.

[0015] In the control device of the eleventh aspect according to the tenth aspect, the control unit is configured to be able to switch to the first power state or the second power state in at least one of the following cases: when, in the third power state, the rotational speed of the plurality of rotating bodies becomes equal to or greater than a predetermined third speed; and when the power generation amount of the generator becomes equal to or greater than a predetermined power generation amount. According to the control device of the eleventh aspect, in at least one case in which the rotational speed of the multiple rotating bodies becomes equal to or higher than a predetermined third speed in the third power state, the control unit can operate suitably by switching to the first power state or the second power state.

[0016] In the control device of the twelfth aspect according to the tenth or eleventh aspect, the control unit is configured to be able to control the transmission so that, if the rotation angle of the plurality of rotating bodies is less than a predetermined angle during the period from when the transmission starts the shifting operation in the first power state until when the transmission is switched to the second power state or the third power state, the transmission does not perform the shifting operation until a predetermined waiting period has elapsed after the transmission is switched to the first power state. According to the control device of the twelfth aspect, if the rotational angle of multiple rotating bodies is less than a predetermined angle during the period from when the transmission starts a gear shifting operation in the first power state until it is switched to the second power state or the third power state, the gear shifting operation can be suppressed until a predetermined waiting period has elapsed after switching to the first power state.

[0017] In the control device of the thirteenth aspect according to the twelfth aspect, the predetermined waiting period is a period from when the transmission starts the gear shifting operation until the rotational angle of the plurality of rotating bodies becomes equal to or greater than a predetermined angle. According to the control device of the thirteenth aspect, the gear shifting operation can be suppressed until a period has elapsed from when the transmission starts the gear shifting operation until the rotation angles of the plurality of rotating bodies reach or exceed a predetermined angle.

[0018] In the control device of aspect 14 according to aspect 12 or aspect 13, the control unit is configured to control the transmission to perform the gear shifting operation even if a predetermined waiting period has not elapsed after switching to the first power state, when the human-powered vehicle is traveling downhill and / or when the plurality of rotating bodies are spinning freely, and when the rotational angle of the plurality of rotating bodies is less than a predetermined angle during the period from when the transmission starts the gear shifting operation in the first power state until when the transmission switches to the second power state or the third power state. According to the control device of the fourteenth aspect, it is possible to prevent the transmission from not performing a gear change operation when the human-powered vehicle is traveling downhill or when multiple rotating bodies are spinning freely.

[0019] In the control device of a fifteenth aspect according to any one of the twelfth to fourteenth aspects, the predetermined angle varies depending on the gear position of the transmission. According to the control device of the fifteenth aspect, a suitable predetermined angle can be set for each gear position of the transmission.

[0020] In the control device of aspect 16 according to any one of aspects 10 to 15, a memory unit is further provided, and the control unit is configured to store information regarding the shifting operation of the transmission in the memory unit when switching from the first power state to the second power state or the third power state. According to the control device of the sixteenth aspect, information relating to the gear shifting operation of the transmission can be maintained even in the second power state or the third power state.

[0021] In the control device of aspect 17 according to any one of aspects 1, 2, and 6 to 11, the control unit is configured to control the transmission so that it can perform the gear change operation multiple times in a predetermined third period when the human-powered vehicle is traveling downhill and / or when the multiple rotating bodies are spinning freely. According to the control device of the seventeenth aspect, it is possible to prevent the transmission from not performing a gear shift operation when the human-powered vehicle is traveling downhill or when multiple rotating bodies are spinning freely.

[0022] In the control device of an eighteenth aspect according to any one of the first, second, sixth to eleventh, and seventeenth aspects, the control unit is configured to control the transmission so that it can perform one gear change operation in a predetermined fourth period when the human-powered vehicle is not traveling downhill and when the plurality of rotating bodies are not spinning freely. According to the control device of the eighteenth aspect, it is possible to prevent the transmission from performing multiple gear shift operations in the predetermined fourth period.

[0023] In the control device of aspect 19 according to any one of aspects 1, 2, and 6 to 18, the control unit is configured to be controllable to start the gear shifting operation of the transmission according to the phase of the plurality of rotating bodies. According to the control device of the nineteenth aspect, the gear shift operation can be started when the rotational phases of the plurality of rotating bodies are suitable for starting the gear shift operation of the transmission.

[0024] In the control device of aspect 20 according to any one of aspects 1, 2, and 6 to 19, the control unit is configured to be able to control the gear shifting operation of the transmission so that the gear position of the transmission falls within a predetermined range in accordance with at least one of the running state of the human-powered vehicle and the state of the rider of the human-powered vehicle, and is configured to be able to change the predetermined range in accordance with the attitude of the human-powered vehicle. According to the control device of the twentieth aspect, the transmission can be controlled so that the transmission is in a gear range that is suitable for the attitude of the human-powered vehicle.

[0025] In the control device of a twenty-first aspect according to the twentieth aspect, the attitude of the human-powered vehicle includes a pitch angle of a body of the human-powered vehicle. According to the control device of the twenty-first aspect, the transmission can be controlled so that the transmission is in a gear range suitable for the pitch angle of the body of the human-powered vehicle.

[0026] In the control device of aspect 22 according to aspect 20 or aspect 21, the control unit is configured to control the gear shifting operation of the transmission when a parameter relating to at least one of the running state of the human-powered vehicle and the state of a rider of the human-powered vehicle exceeds a predetermined parameter range, and is configured to be able to change the predetermined parameter range when the gear stage of the transmission is outside the predetermined range. According to the control device of the twenty-second aspect, when the gear position of the transmission is outside a predetermined range, the predetermined parameter range can be changed to control the transmission so that the gear position of the transmission becomes an appropriate gear position.

[0027] In the control device of the 23rd aspect according to the 22nd aspect, the predetermined parameter range is a range greater than or equal to a first threshold value and less than or equal to a second threshold value, and the control unit decreases the second threshold value when the gear position of the transmission is smaller than the predetermined range, and increases the first threshold value when the gear position of the transmission is greater than the predetermined range. According to the control device of the twenty-third aspect, when the gear position of the transmission is smaller than the predetermined range, the second threshold value can be reduced, and when the gear position is larger than the predetermined range, the first threshold value can be reduced.

[0028] In the control device of the twenty-fourth aspect according to any one of the first, second, and sixth to twenty-third aspects, the transmission is a rear external transmission. According to the control device of the twenty-fourth aspect, the rear external transmission can be suitably controlled.

[0029] In the control device of aspect 25 according to any one of aspects 1 to 24, at least one of the driving state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes at least one of the attitude of the human-powered vehicle, acceleration, crank rotation speed, human-powered driving force, vehicle speed, rider heart rate, and driving load. According to the control device of the twenty-fifth aspect, the transmission can be suitably controlled in accordance with at least one of the attitude of the human-powered vehicle, acceleration, crank rotation speed, human-powered driving force, vehicle speed, rider's heart rate, and running load.

[0030] A control device according to a 26th aspect of the present invention is a control device for a human-powered vehicle, the human-powered vehicle including a first rotating body, a second rotating body, a transmission member that transmits driving force between the first rotating body and the second rotating body, and a component for the human-powered vehicle, at least one of the first rotating body and the second rotating body includes a plurality of rotating bodies, the component includes a transmission that performs a gear change operation to move the transmission member from one of the plurality of rotating bodies to another of the plurality of rotating bodies, a detection unit that rotates integrally with the plurality of rotating bodies and is configured to detect the rotational speeds of the plurality of rotating bodies using detectable units provided on the plurality of rotating bodies, and a control unit that is configured to control the gear change operation of the transmission in accordance with control conditions defined based on at least one of the traveling state of the human-powered vehicle and the state of a rider of the human-powered vehicle, and the control unit decides whether or not to perform the gear change operation of the transmission in accordance with the rotational states of the plurality of rotating bodies. According to the control device of the twenty-sixth aspect, it is possible to determine whether or not to perform a gear change operation in the transmission depending on the rotational state of multiple rotating bodies, thereby enabling the components for a human-powered vehicle to be controlled in an appropriate manner.

[0031] A transmission system according to a 27th aspect of the present invention is a transmission system for a human-powered vehicle, comprising the control device according to the 2nd or 6th aspect, the transmission, and the generator, wherein the transmission is configured to be operable by the electric power generated by the generator. According to the transmission system of the twenty-seventh aspect, in a human-powered vehicle equipped with a transmission configured to be operable by electric power generated by a generator, components for the human-powered vehicle can be suitably controlled. [Effects of the Invention]

[0032] The control device for a human-powered vehicle of the present disclosure can suitably control components for a human-powered vehicle. [Brief explanation of the drawings]

[0033] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment; [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the control device for the human-powered vehicle according to the embodiment. [Figure 3] 3 is a flowchart of a process executed by the control unit of FIG. 2 to switch between a first state and a second state. [Figure 4] 3 is a first portion of a flowchart of a process executed by the control unit of FIG. 2 to control the shifting operation of the transmission. [Figure 5] 3 is a second part of a flowchart of a process executed by the control unit of FIG. 2 to control the shifting operation of the transmission. [Figure 6] 3 is a flowchart of a process executed by the control unit of FIG. 2 to change a parameter range. [Figure 7] 3 is a flowchart of a process executed by the control unit of FIG. 2 to switch the power state. [Figure 8] 3 is a flowchart of a process executed by the control unit of FIG. 2 to store information about a gear shift operation in a storage unit when switching the power state. [Figure 9] 3 is a flowchart of a process executed by the control unit of FIG. 2 to prohibit a gear change command when switching to a first power state. [Figure 10] 10 is a flowchart of a process executed by a control unit of a first modified example, for prohibiting a gear change command when switching to a first power state. [Figure 11] 10 is a flowchart of a process executed by a control unit of a second modified example to switch between a first state and a second state. DETAILED DESCRIPTION OF THE INVENTION

[0034] <Embodiment> A transmission system 50 for a human-powered vehicle and a control device 60 for a human-powered vehicle according to an embodiment will be described with reference to FIGS. 1 to 9. The human-powered vehicle 10 is a vehicle that can be driven at least by human driving force. The human-powered vehicle 10 is not limited in the number of wheels, and includes, for example, one-wheeled vehicles and vehicles with three or more wheels. The human-powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, and recumbent bikes, as well as electric bicycles (E-bikes). Electric bicycles include power-assisted bicycles that use an electric motor to assist the vehicle's propulsion. In the following embodiments, the human-powered vehicle 10 will be described as a bicycle.

[0035] The human-powered vehicle 10 includes a first rotating body 12, a second rotating body 14, a transmission member 16 that transmits driving force between the first rotating body 12 and the second rotating body 14, and human-powered vehicle components 18. At least one of the first rotating body 12 and the second rotating body 14 includes multiple rotating bodies 20. The human-powered vehicle 10 further includes a body 22, wheels 24, and a crank 26. The wheels 24 include a rear wheel 24A and a front wheel 24B. The body 22 includes a frame 28. The crank 26 includes a crank shaft 26A that is rotatable relative to the frame 28 and crank arms 26B that are respectively provided at axial ends of the crank shaft 26A. Pedals 30 are respectively connected to the crank arms 26B. The rear wheel 24A is driven by rotation of the crank 26. The rear wheel 24A is supported by the frame 28. The crank 26 and the rear wheel 24A are connected by a drive mechanism 32. The drive mechanism 32 includes a first rotating body 12, a second rotating body 14, and a transmission member 16. The crankshaft 26A and the first rotating body 12 may be connected via a first one-way clutch. The first one-way clutch is configured to rotate the first rotating body 12 forward when the crank 26 rotates forward, and to prevent the first rotating body 12 from rotating backward when the crank 26 rotates backward. The first rotating body 12 includes a sprocket, a pulley, or a bevel gear. The transmission member 16 transmits the rotational force of the first rotating body 12 to the second rotating body 14. The transmission member 16 includes, for example, a chain, a belt, or a shaft.

[0036] The second rotating body 14 is connected to the rear wheel 24A. The second rotating body 14 includes a sprocket, a pulley, or a bevel gear. A second one-way clutch is preferably provided between the second rotating body 14 and the rear wheel 24A. The second one-way clutch is configured to rotate the rear wheel 24A forward when the second rotating body 14 rotates forward, and to prevent the rear wheel 24A from rotating backward when the second rotating body 14 rotates backward. The rear wheel 24A of the human-powered vehicle 10 has a hub 40. The hub 40 of the rear wheel 24A has a hub axle 42, a hub rotating body that rotates relative to the hub axle 42 and rotates integrally with the rear wheel 24A, and a freewheel that rotates relative to the hub axle 42 and supports the second rotating body 14. Preferably, a second one-way clutch is provided between the hub rotating body and the freewheel.

[0037] A front wheel 24B is attached to the frame 28 via a front fork 34. A handlebar 36 is connected to the front fork 34 via a stem 38. In this embodiment, the rear wheel 24A is connected to the crank 26 by the drive mechanism 32, but at least one of the rear wheel 24A and the front wheel 24B may be connected to the crank 26 by the drive mechanism 32.

[0038] The component 18 includes a transmission 52. The transmission 52 performs a gear shifting operation to move the transmission member 16 from one of the plurality of rotating bodies 20 to another of the plurality of rotating bodies 20. The transmission 52 includes an actuator 54. The actuator 54 includes, for example, an electric motor. The transmission 52 performs a gear shifting operation by driving the actuator 54. Preferably, the transmission 52 includes an external gear shifter. Preferably, the transmission 52 is a rear external gear shifter. When the transmission 52 is a rear external gear shifter, the second rotating body 14 corresponds to the plurality of rotating bodies 20. The transmission 52 gradually changes the gear ratio R, which indicates the rotational speed of the rear wheel 24A relative to the rotational speed of the crank 26, through the gear shifting operation. A larger number indicates a gear stage corresponding to a larger gear ratio R.

[0039] Preferably, the human-powered vehicle 10 further includes a generator 56 that generates electricity as the human-powered vehicle 10 travels. The generator 56 is provided, for example, on the hub 40 of the rear wheel 24A. The generator 56 includes, for example, a hub dynamo. The generator 56 generates electricity as the rear wheel 24A rotates in conjunction with the rotation of the second rotating body 14. Preferably, the electricity generated by the generator 56 is supplied to a battery 58. The generator 56 may include a capacitor, and the capacitor may supply electricity to the component 18 and the control device 60.

[0040] Preferably, the human-powered vehicle 10 includes a battery 58. The battery 58 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 58 supplies power to the components 18 and the control device 60. The battery 58 is preferably connected to a control unit 62 of the control device 60 so as to be able to communicate with the control unit 62 via wired or wireless communication. The battery 58 can communicate with the control unit 62 via power line communication (PLC), for example.

[0041] The transmission system 50 for a human-powered vehicle includes a control device 60, a transmission 52, and a generator 56. The transmission 52 is configured to be operable by electric power generated by the generator 56. Preferably, the transmission system 50 further includes a battery 58.

[0042] The control device 60 includes a control unit 62. The control unit 62 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 arithmetic processing units may be provided in multiple locations that are separate from each other. The control unit 62 may include one or multiple microcomputers. Preferably, the control device 60 further includes a memory unit 64. The memory unit 64 stores various control programs and information used for various control processes. The memory unit 64 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0043] The control unit 62 is configured to be able to control the gear shifting operation of the transmission 52 in accordance with a control condition defined based on at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10. Preferably, the control unit 62 is configured to control the gear shifting operation of the transmission 52 when a parameter P related to at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 exceeds a predetermined parameter range WP. The control condition is met, for example, when the parameter P exceeds the predetermined parameter range WP. When the control condition is met in the first state, the control unit 62 sets a gear shift event and issues a gear shift command to the transmission 52 in accordance with the gear shift event. The actuator 54 of the transmission 52 is driven in accordance with the gear shift command.

[0044] At least one of the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 includes at least one of the attitude of the human-powered vehicle 10, acceleration, crank rotation speed, human-powered driving force, vehicle speed, rider heart rate, and driving load.

[0045] In one example, the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 are the rotational speed of the crank 26, and the parameter P is the rotational speed of the crank 26. For example, the control unit 62 increases the gear ratio R when the rotational speed of the crank 26 exceeds the upper limit of the parameter range WP, and decreases the gear ratio R when the rotational speed of the crank 26 exceeds the lower limit of the parameter range WP. When the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 include the rotational speed of the crank 26, the parameter P includes the rotational speed of the crank 26, and preferably, the control device 60 includes a crank rotation sensor.

[0046] In another example, the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 are pitch angle D, and the parameter P is pitch angle D. For example, when the pitch angle D becomes equal to or greater than a first angle D1 corresponding to an uphill slope, the control unit 62 executes a gear change operation so as to shift to a gear where the gear ratio R is equal to or less than a predetermined gear ratio RX. When the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 include pitch angle D, the parameter P includes pitch angle D, and preferably, the control device 60 includes at least one of an inclination sensor and a GPS (global positioning system) receiver.

[0047] The running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 may include at least one of the human-powered force input to the human-powered vehicle 10, the running load, and the rider's heart rate, instead of or in addition to at least one of the rotational speed of the crank 26 and the pitch angle D. When the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 include the human-powered force, the parameter P includes the torque or power of the human-powered force, and preferably the detection unit 66 includes a torque sensor. When the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 include running resistance, the parameter P includes a parameter related to the running resistance, and preferably the detection unit 66 includes at least one of a torque sensor, a wind sensor, and an inclination sensor. When the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 include the rider's heart rate, the parameter P includes the rider's heart rate, and preferably the control unit 60 includes a heart rate sensor.

[0048] Preferably, the control device 60 further includes a detection unit 66 that detects at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10. Preferably, the detection unit 66 is configured to detect the rotational speed V of the multiple rotating bodies 20. Preferably, the detection unit 66 rotates integrally with the multiple rotating bodies 20 and is configured to detect the rotational speed V of the multiple rotating bodies 20 using detectable units provided on the multiple rotating bodies 20. The detectable units include, for example, magnets. The detection unit 66 is preferably configured to output detection signals a predetermined number of times per rotation of the multiple rotating bodies 20. The predetermined number is preferably one. The detection unit 66 outputs a signal corresponding to the rotational speed V of the multiple rotating bodies 20. Preferably, the detection unit 66 includes magnetic reeds that form a reed switch, or a Hall element. The detection unit 66 detects a magnet attached to a freewheel that is attached to the hub axle 42 of the hub 40 of the rear wheel 24A of the human-powered vehicle 10 and rotates integrally with the multiple rotating bodies 20. In this embodiment, the detection unit 66 is configured so that the reed switch detects the magnet once each time the multiple rotating bodies 20 rotate once. Because the rotational speed V of the multiple rotating bodies 20 and the rotational speed of the crank 26 can be converted into each other using the gear ratio R, the detection unit 66 may be a crank rotation sensor. In this case, the detection unit 66 may be configured to detect a magnet provided on the crank 26 instead of a magnet provided on the freewheel. The detection unit 66 may be configured to output a detection signal to the control unit 62 each time it detects a magnet, or may be configured to calculate the rotational speed V and output a detection signal including the calculation result to the control unit 62. The detection unit 66 may be configured to output a detection signal related to power generation by the generator 56. The detection unit 66 may be configured to output a detection signal related to the vehicle speed of the human-powered vehicle 10 as a detection signal related to power generation by the generator 56. In this case, the detection unit 66 may be configured to detect a magnet provided on the wheel 24.

[0049] The control unit 62 has a first state in which it determines whether or not a control condition is satisfied, and a second state in which it does not determine whether or not a control condition is satisfied. The control unit 62 switches between the first state and the second state depending on the rotation states of the multiple rotating bodies 20.

[0050] Preferably, the control unit 62 is configured to be able to control the component 18 in accordance with the control condition when a predetermined signal is input from the detection unit 66. The predetermined signal includes, for example, a signal input from the detection unit 66 to the control unit 62 when the rotational speed V of the multiple rotating bodies 20 is equal to or greater than the speed VA. If the detection unit 66 is configured to output a detection signal to the control unit 62 each time it detects a magnet, the predetermined signal corresponds to a detection signal at an interval corresponding to the rotational speed V of the multiple rotating bodies 20 being equal to or greater than the speed VA. If the detection unit 66 is configured to calculate the rotational speed V and output a detection signal including the calculation result to the control unit 62, the predetermined signal corresponds to a signal including the calculation result corresponding to the rotational speed V of the multiple rotating bodies 20 being equal to or greater than the speed VA. The speed VA includes, for example, a rotational speed V corresponding to a state in which the generator 56 can generate power equal to or greater than a predetermined power generation amount.

[0051] The control unit 62 is configured to control the transmission 52 to perform multiple gear shift operations during a predetermined third period T3 when the human-powered vehicle 10 is traveling downhill and / or when the multiple rotating bodies 20 are spinning. The predetermined third period T3 corresponds to the period from when the gear shift operation of the transmission 52 is started to when it is completed. The predetermined third period T3 may be determined by the rotation angle A of the multiple rotating bodies 20 or by time. The predetermined third period T3 may be set for each gear position of the transmission 52. The predetermined third period T3 may be set for each gear position and shift direction of the transmission 52. For example, the control unit 62 determines that the multiple rotating bodies 20 are spinning when the rotation speed of the rear wheel 24A is greater than the rotation speed V of the multiple rotating bodies 20 and the difference between the rotation speed V of the multiple rotating bodies 20 and the rotation speed of the rear wheel 24A is equal to or greater than a predetermined difference. When multiple rotating bodies 20 are spinning freely, the rotational speed V of the multiple rotating bodies 20 may be zero. The control unit 62 determines that the human-powered vehicle 10 is traveling downhill, for example, based on the output of an attitude detection unit 68 that detects the attitude of the human-powered vehicle 10.

[0052] The control unit 62 is configured to control the transmission 52 to perform one gear shift operation during a predetermined fourth period T4 when the human-powered vehicle 10 is not traveling downhill and when the multiple rotating bodies 20 are not spinning. The predetermined fourth period T4 corresponds to the period from when the gear shift operation of the transmission 52 is started to when it is completed. The predetermined fourth period T4 may be determined by the rotation angle A of the multiple rotating bodies 20 or by time. The predetermined fourth period T4 may be set for each gear position of the transmission 52. Preferably, the predetermined third period T3 and the predetermined fourth period T4 are equal. The predetermined third period T3 and the predetermined fourth period T4 may be different. The predetermined fourth period T4 may be set for each gear position and gear shift direction of the transmission 52.

[0053] When the torque applied to the plurality of rotating bodies 20 is equal to or greater than a predetermined torque, multiple gearshift operations within a predetermined fourth period T4 cause the rider to feel uncomfortable. When the torque applied to the plurality of rotating bodies 20 is less than the predetermined torque, the rider feels little uncomfortable even if multiple gearshift operations are performed within a predetermined third period T3. When the human-powered vehicle 10 is traveling downhill and the plurality of rotating bodies 20 are spinning, the torque applied to the plurality of rotating bodies 20 is less than the predetermined torque, so that gearshift operations can be prioritized.

[0054] The control unit 62 is configured to be controllable to start the gear shifting operation of the transmission 52 in accordance with the phases of the multiple rotating bodies 20. The control unit 62 is configured to be controllable to start the gear shifting operation of the transmission 52 when the phases of the multiple rotating bodies 20 are in a predetermined phase. The predetermined phase includes a phase in which the phases of the multiple rotating bodies 20 are suitable for the gear shifting operation. The predetermined phase is set, for example, in accordance with the phase of a structure for engaging the transmission members 16 provided on the multiple rotating bodies 20.

[0055] The process of switching between the first state and the second state will be described with reference to Fig. 3. When power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S11 of the flowchart shown in Fig. 3. When the flowchart of Fig. 3 ends, the control unit 62 repeats the process from step S11 after a predetermined period until the supply of power is stopped.

[0056] In step S11, the control unit 62 determines whether a predetermined signal has been input. If the predetermined signal has been input, the control unit 62 proceeds to step S12. In step S12, the control unit 62 sets the first state. If the second state has been set, the control unit 62 switches to the first state. If the first state has been set, the control unit 62 maintains the first state.

[0057] If the predetermined signal is not input in step S11, the control unit 62 proceeds to step S13. In step S13, the control unit 62 sets the second state. If the first state is set, the control unit 62 switches to the second state. If the second state is set, the control unit 62 maintains the second state.

[0058] 4 and 5, a process for controlling the gear shifting operation of transmission 52 will be described. When power is supplied to control unit 62, control unit 62 starts the process and proceeds to step S21 of the flowchart shown in Fig. 4. When the flowcharts of Fig. 4 and 5 end, control unit 62 repeats the process from step S21 after a predetermined period until the supply of power is stopped.

[0059] In step S21, the control unit 62 acquires the parameter range WP and proceeds to step S22. In step S22, the control unit 62 determines whether or not the first state is in effect. If the first state is not in effect, the control unit 62 terminates the processing. If the first state is in effect, the control unit 62 proceeds to step S23. In step S23, the control unit 62 determines whether or not the control condition is met. For example, if the rotation speed of the crank 26 is outside the parameter range WP acquired in step S21, the control unit 62 determines that the control condition is met. If the control condition is met, the control unit 62 proceeds to step S24.

[0060] In step S24, the control unit 62 sets a gear change event, and proceeds to step S25. For example, when a condition for changing the gear stage so that the gear ratio R increases is met, the control unit 62 sets a flag for increasing the gear ratio R, and when a condition for changing the gear stage so that the gear ratio R decreases is met, the control unit 62 sets a flag for decreasing the gear ratio R.

[0061] In step S25, the control unit 62 determines whether a gear change event has already been set. For example, if a gear change event has been set according to a condition other than the control condition, or if a gear change event was set in step S24 in a previous control cycle, the control unit 62 proceeds to step S26. In step S26, the control unit 62 determines whether the gear change event already set and the gear change event set in step S24 are in opposite gear change directions. For example, if a flag for increasing the gear ratio R is set in the gear change event already set and a flag for decreasing the gear ratio R is set in the gear change event set in step S24, the control unit 62 determines that the gear change event already set and the gear change event set in step S24 are in opposite gear change directions. For example, if a flag for decreasing the gear ratio R is set in the gear change event already set and a flag for increasing the gear ratio R is set in the gear change event set in step S24, the control unit 62 determines that the gear change event already set and the gear change event set in step S24 are in opposite gear change directions. If the control unit 62 determines that the shifting direction of the already set shifting event and the shifting event set in step S24 are opposite to each other, the control unit 62 proceeds to step S27.

[0062] The control unit 62 resets the gear shift event in step S27 and ends the processing. Preferably, the control unit 62 resets both the gear shift event that has already been set and the gear shift event that was set in step S24. The control unit 62 may reset only one of the gear shift event that has already been set and the gear shift event that was set in step S24. Specifically, the control unit 62 may reset the gear shift event that has already been set, or may reset the gear shift event that was set in step S24.

[0063] If the control condition is not satisfied in step S23, the control unit 62 proceeds to step S28. In step S28, the control unit 62 determines whether a gear shift event has already been set. For example, if a gear shift event has been set in accordance with a condition different from the control condition, or if a gear shift event was set in step S24 in the previous control cycle, the control unit 62 proceeds to step S29.

[0064] If a gear shift event has not already been set in step S25, the control unit 62 proceeds to step S29. If, in step S26, the gear shift event that has already been set and the gear shift event that was set in step S24 are not in opposite gear shift directions, the control unit 62 proceeds to step S29.

[0065] In step S29, the control unit 62 determines whether the human-powered vehicle 10 is traveling downhill or whether the multiple rotating bodies 20 are spinning. If the human-powered vehicle 10 is not traveling downhill and the multiple rotating bodies 20 are not spinning, the control unit 62 proceeds to step S30. If the human-powered vehicle 10 is traveling downhill or whether the multiple rotating bodies 20 are spinning, the control unit 62 proceeds to step S32.

[0066] In step S30, the control unit 62 determines whether a predetermined fourth period T4 has elapsed since the previous gear shifting operation. If the predetermined fourth period T4 has not elapsed since the previous gear shifting operation, the control unit 62 ends the process. If the predetermined fourth period T4 has elapsed since the previous gear shifting operation, the control unit 62 proceeds to step S31.

[0067] In step S31, the control unit 62 determines whether the elapsed time S since the rotation of the multiple rotating bodies 20 was detected is within a predetermined time SX. The predetermined time SX is set to a time that allows determination of whether the rotation of the multiple rotating bodies 20 has stopped. The control unit 62 ends the processing if the elapsed time S is not within the predetermined time SX. That is, if the control unit 62 determines that the rotation of the multiple rotating bodies 20 has stopped, it ends the processing. If the elapsed time S is within the predetermined time SX, the control unit 62 proceeds to step S32. That is, if the control unit 62 determines that the rotation of the multiple rotating bodies 20 has not stopped, it proceeds to step S32.

[0068] In step S32, the control unit 62 determines whether the phases of the multiple rotating bodies 20 are at a predetermined phase. The control unit 62 repeats the determination process of step S32 until the phases of the multiple rotating bodies 20 become the predetermined phase. When the phases of the multiple rotating bodies 20 become the predetermined phase, the control unit 62 proceeds to step S33. The control unit 62 executes a gear shift command in step S33 and proceeds to step S34. In the gear shift command, the control unit 62 outputs, for example, a signal for driving the actuator 54 of the transmission 52. In step S34, the control unit 62 resets the gear shift event and ends the process.

[0069] Preferably, the control unit 62 is configured to be able to control the gear shifting operation of the transmission 52 so that the gear position of the transmission 52 falls within a predetermined range WR, depending on at least one of the running state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10. The control unit 62 is configured to be able to change the predetermined range WR depending on the attitude of the human-powered vehicle 10. In one example, the attitude of the human-powered vehicle 10 includes the pitch angle D of the body 22 of the human-powered vehicle 10.

[0070] Preferably, the control device 60 includes an attitude detection unit 68 that detects the attitude of the human-powered vehicle 10. The attitude detection unit 68 preferably includes at least one of an inclination sensor and a GPS receiver. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. If the attitude detection unit 68 includes a GPS receiver, the control unit 62 stores map information including information about road gradients in the memory unit 64 in advance. The control unit 62 obtains the road gradient at the current location of the human-powered vehicle 10 as a pitch angle D.

[0071] Table 1 shows an example of the relationship between the pitch angle D, the road gradient corresponding to the pitch angle D, and the upper limit R1 and lower limit R2 of the predetermined range WR of the gear stages. The transmission 52 in Table 1 has 10 gear stages. In the case of Table 1, the control unit 62 determines that the lower limit R1 and upper limit R2 of the predetermined range WR of the gear stages are the same regardless of the pitch angle D for pitch angles D equal to or less than the fifth angle range D5. to In the case of Table 1, the control unit 62 is configured to control the transmission 52 so that, for a pitch angle D equal to or greater than the sixth angle range D6, the lower limit number R1 of the predetermined range WR of gear stages for a pitch angle D equal to or less than the fifth angle range D5 is smaller, and the upper limit number R2 of the predetermined range WR of gear stages is smaller when the pitch angle D corresponds to an uphill slope than when the pitch angle D corresponds to a downhill slope.

[0072] [Table 1]

[0073] Preferably, the control unit 62 is configured to change the predetermined parameter range WP when the gear position of the transmission 52 is outside the predetermined range WR. Preferably, the predetermined parameter range WP is a range equal to or greater than a first threshold value P1 and equal to or less than a second threshold value P2. The control unit 62 decreases the second threshold value P2 when the gear position of the transmission 52 is smaller than the predetermined range WR, and increases the first threshold value P1 when the gear position of the transmission 52 is larger than the predetermined range WR. For example, the control unit 62 is configured to change the predetermined parameter range WP when a change in the attitude of the human-powered vehicle 10 causes the gear position of the transmission 52 to fall outside the predetermined range WR. For example, when the parameter P includes the rotational speed of the crank 26, if the gear position becomes a gear position corresponding to a gear ratio R smaller than the predetermined range WR, the control unit 62 decreases the second threshold value P2 of the parameter range WP. In this case, the gear position is more likely to change to a gear position with a larger gear ratio R, making it more likely that the gear position will return to within the predetermined range WR. For example, when the parameter P includes the rotation speed of the crank 26, if the gear stage corresponds to a gear ratio R greater than the predetermined range WR, the first threshold value P1 of the parameter range WP is increased. In this case, the gear ratio R is more likely to decrease, making it easier for the gear ratio R to return to within the predetermined range WR.

[0074] The process of changing the parameter range WP will be described with reference to Fig. 6. When power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S41 of the flowchart shown in Fig. 6. When the flowchart of Fig. 6 ends, the control unit 62 repeats the process from step S41 after a predetermined period until the supply of power is stopped.

[0075] In step S41, the control unit 62 sets a predetermined range WR according to the attitude of the human-powered vehicle 10, and then proceeds to step S42. The control unit 62 sets a lower limit number R1 and an upper limit number R2 of gear stages in the predetermined range WR according to the pitch angle D, for example, according to Table 1.

[0076] In step S42, the control unit 62 determines whether the gear position of the transmission 52 is outside the predetermined range WR. If the gear position of the transmission 52 is not outside the predetermined range WR, the control unit 62 ends the processing. If the gear position of the transmission 52 is outside the predetermined range WR, the control unit 62 proceeds to step S43. In step S43, the control unit 62 changes the parameter range WP and ends the processing. Preferably, the control unit 62 stores the changed parameter range WP in the memory unit 64. In step S21 of the flowcharts in FIGS. 4 and 5, the control unit 62 acquires the changed parameter range WP stored in the memory unit 64.

[0077] Preferably, control unit 62 is configured to be able to switch between a first power state and a second power state that consumes less power than the first power state. Preferably, control unit 62 is configured to be able to switch to the second power state when, in the first power state, the rotation speed V of the plurality of rotating bodies 20 remains equal to or lower than a predetermined first speed V1 for at least a predetermined first period T1.

[0078] Preferably, control unit 62 is configured to be able to switch between a first power state, a second power state, and a third power state that consumes less power than power state 2. Preferably, control unit 62 is configured to be able to switch to the third power state when, in the second power state, a state in which rotation speed V of multiple rotating bodies 20 remains equal to or lower than a predetermined second speed V2 continues for at least a predetermined second period T2.

[0079] Preferably, the control unit 62 is configured to be able to switch to the first power state or the second power state in at least one of the following cases: when the rotation speed V of the plurality of rotating bodies 20 in the third power state becomes equal to or greater than a predetermined third speed V3; and when the amount of power generated by the generator 56 becomes equal to or greater than a predetermined power generation amount. Preferably, the control unit 62 is configured to be able to switch to the first power state in at least one of the following cases: when the rotation speed V of the plurality of rotating bodies 20 in the third power state becomes equal to or greater than a predetermined third speed V3; and when the amount of power generated by the generator 56 becomes equal to or greater than a predetermined power generation amount. The predetermined third speed V3 corresponds to a speed VA at which the amount of power generated by the generator 56 can generate enough power to perform a gear shifting operation of the transmission 52. Because the control unit 62 can switch from the third power state to the first power state or the second power state, an operation unit for turning on the power can be omitted.

[0080] The control unit 62 may vary the power consumption among the first power state, the second power state, and the third power state, for example, by varying the frequency with which the detection unit 66 detects the rotation speeds V of the multiple rotating bodies 20.

[0081] Preferably, the control unit 62 is configured to be able to switch to the first power state when the rotation speed V of the plurality of rotating bodies 20 in the second power state becomes equal to or greater than a predetermined fourth speed V4. The predetermined fourth speed V4 corresponds to a speed VA at which the generator 56 can generate enough power to perform a gear shifting operation of the transmission 52. The predetermined fourth speed V4 may be the same as or different from the predetermined third speed V3.

[0082] The process of changing the power state will be described with reference to Fig. 7. When power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S51 of the flowchart shown in Fig. 7. When the flowchart of Fig. 7 ends, the control unit 62 repeats the process from step S51 after a predetermined period until the supply of power is stopped.

[0083] In step S51, the control unit 62 determines whether or not the state is the third power state. If the state is the third power state, the control unit 62 proceeds to step S52. In step S52, the control unit 62 determines whether or not the rotation speed V of the multiple rotating bodies 20 is equal to or greater than a predetermined third speed V3. If the rotation speed V of the multiple rotating bodies 20 is not equal to or greater than the predetermined third speed V3, the control unit 62 ends the processing. If the rotation speed V of the multiple rotating bodies 20 is equal to or greater than the predetermined third speed V3, the control unit 62 proceeds to step S53. In step S53, the control unit 62 switches to the first power state and ends the processing.

[0084] If the control unit 62 determines in step S51 that the state is not the third power state, it proceeds to step S54. In step S54, the control unit 62 determines whether the state is the second power state. If the state is the second power state, the control unit 62 proceeds to step S55. In step S55, the control unit 62 determines whether the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than a predetermined second speed V2 continues for at least a second period T2. If the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than the predetermined second speed V2 does not continue for at least the second period T2, the control unit 62 proceeds to step S57. If the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than the predetermined second speed V2 continues for at least the second period T2, the control unit 62 proceeds to step S56. In step S56, the control unit 62 switches to the third power state and ends the process.

[0085] In step S57, the control unit 62 determines whether the rotation speed V of the plurality of rotating bodies 20 is equal to or greater than a predetermined fourth speed V4. If the rotation speed V of the plurality of rotating bodies 20 is equal to or greater than the predetermined fourth speed V4, the control unit 62 proceeds to step S58. In step S58, the control unit 62 switches to the first power state and ends the process.

[0086] If the control unit 62 determines in step S54 that the state is not the second power state, the control unit 62 proceeds to step S59. In step S59, the control unit 62 determines whether the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than a predetermined first speed V1 continues for a first period T1 or more. If the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than the predetermined first speed V1 has not continued for a first period T1 or more, the control unit 62 ends the processing. If the state in which the rotation speed V of the multiple rotating bodies 20 is equal to or less than the predetermined first speed V1 continues for a first period T1 or more, the control unit 62 proceeds to step S60. In step S60, the control unit 62 switches to the second power state and ends the processing.

[0087] The control unit 62 is configured to control the transmission 52 so that, if the rotation angle A of the plurality of rotating bodies 20 is less than a predetermined angle AX during a period from when the transmission 52 starts a gear shifting operation in the first power state until the transmission 52 switches to the second power state or the third power state, the transmission 52 does not perform a gear shifting operation until a predetermined waiting period TA has elapsed after the transmission 52 is switched to the first power state. Preferably, the predetermined waiting period TA is a period from when the transmission 52 starts a gear shifting operation until the rotation angle A of the plurality of rotating bodies 20 becomes equal to or greater than the predetermined angle AX. Preferably, the predetermined angle AX differs depending on the gear position of the transmission 52. The predetermined angle AX is set depending on the phase of a structure for engaging the transmission members 16 provided on the plurality of rotating bodies 20. Preferably, starting the gear shifting operation of the transmission 52 includes the control unit 62 executing a gear shift command in step S33.

[0088] The control unit 62 is configured to store information related to the gear shifting operation of the transmission 52 in the storage unit 64 when switching from the first power state to the second power state or the third power state. The control unit 62 may store information related to the gear shifting operation of the transmission 52 in the storage unit 64 only when switching from the first power state to the second power state or the third power state, or may store information related to the gear shifting operation of the transmission 52 in the storage unit 64 at every predetermined control cycle when the gear shifting operation of the transmission 52 has started. The information related to the gear shifting operation of the transmission 52 includes, for example, the rotation angle A of the plurality of rotating bodies 20 after the gear shifting operation has started.

[0089] Referring to Fig. 8, a process for storing information relating to the gear shifting operation of transmission 52 in storage unit 64 will be described. When power is supplied to control unit 62, control unit 62 starts the process and proceeds to step S61 of the flowchart shown in Fig. 8. When the flowchart of Fig. 8 ends, control unit 62 repeats the process from step S61 after a predetermined period until the supply of power is stopped.

[0090] In step S61, the control unit 62 determines whether to switch from the first power state to the second power state or the third power state. If the control unit 62 does not switch from the first power state to the second power state or the third power state, the control unit 62 ends the processing. If the control unit 62 switches from the first power state to the second power state or the third power state, the control unit 62 proceeds to step S62.

[0091] In step S62, the control unit 62 stores information relating to the gear shifting operation in the storage unit 64, and then ends the process.

[0092] The process related to the gear shifting operation when switched to the first power state will be described with reference to Fig. 9. When power is supplied to the control unit 62, the control unit 62 starts the process and proceeds to step S63 of the flowchart shown in Fig. 9. When the flowchart of Fig. 9 ends, the control unit 62 repeats the process from step S63 after a predetermined period until the supply of power is stopped.

[0093] In step S63, the control unit 62 determines whether to switch from the second power state or the third power state to the first power state. If the control unit 62 does not switch from the second power state or the third power state to the first power state, the control unit 62 ends the process. If the control unit 62 switches from the second power state or the third power state to the first power state, the control unit 62 proceeds to step S64.

[0094] In step S64, the control unit 62 determines whether the gear shifting operation is complete. For example, the control unit 62 acquires information about the gear shifting operation stored in the storage unit 64 in step S62 of Fig. 8, and determines that the gear shifting operation is complete if the rotation angle A of the multiple rotating bodies 20 since the gear shifting operation started is equal to or greater than a predetermined angle AX. If the gear shifting operation is complete in step S64, the control unit 62 proceeds to step S65. In step S65, the control unit 62 cancels the gear shift command prohibition flag and ends the process.

[0095] If the control unit 62 determines in step S64 that the gear shift operation is not complete, the control unit 62 proceeds to step S66. In step S66, the control unit 62 sets a gear shift command prohibition flag and returns to step S64. If the control unit 62 determines in step S64 that the cumulative sum of the rotation angle A of the multiple rotating bodies 20 stored in the memory unit 64 when switching from the first power state to the second power state or the third power state and the rotation angle A since switching to the first power state is equal to or greater than a predetermined angle AX, the control unit 62 proceeds to step S65. In this case, the predetermined waiting period TA is the period until the rotation angle A of the multiple rotating bodies 20 becomes equal to or greater than the rotation angle A obtained by subtracting from the predetermined angle AX the rotation angle A of the multiple rotating bodies 20 stored in the memory unit 64 when switching from the first power state to the second power state or the third power state. During the period in which the gear shift command prohibition flag is set, the control unit 62 does not issue a gear shift command to the transmission 52 even if the control condition is satisfied.

[0096] <Modification> The descriptions of the embodiments are merely examples of possible forms that a control device for a human-powered vehicle and a transmission system for a human-powered vehicle according to the present invention can take, and are not intended to limit the forms that can be taken. The control device for a human-powered vehicle and a transmission system for a human-powered vehicle according to the present invention can take forms that are, for example, modifications of the embodiments shown below, or a combination of at least two mutually consistent modifications. In the following modifications, parts that are common to the embodiments will be assigned the same reference numerals as in the embodiments, and descriptions thereof will be omitted.

[0097] The control unit 62 may be configured to control the transmission 52 to perform a gear shift operation even if a predetermined waiting period TA has not elapsed after switching to the first power state, when the rotation angle A of the plurality of rotating bodies 20 is less than a predetermined angle AX during the period TX from when the transmission 52 starts a gear shift operation in the first power state until the transmission 52 switches to the second power state or the third power state, in at least one of the cases where the human-powered vehicle 10 is traveling downhill and when the plurality of rotating bodies 20 are spinning. For example, the flowchart of FIG. 9 may be modified as shown in FIG. 10. In the flowchart of FIG. 10, if the answer is NO in step S64, the control unit 62 proceeds to step S71. In step S71, the control unit 62 determines whether the human-powered vehicle 10 is traveling downhill or whether the plurality of rotating bodies 20 are spinning. If the human-powered vehicle 10 is traveling downhill or the plurality of rotating bodies 20 are spinning, the control unit 62 proceeds to step S65. If the human-powered vehicle 10 is not traveling downhill and the plurality of rotating bodies 20 are not spinning freely, the control unit 62 proceeds to step S66.

[0098] The predetermined signal may include all detection signals input from the detection unit 66. In this case, the control unit 62 is configured to be able to control the component 18 in accordance with the control conditions each time a detection signal is input from the detection unit 66. If the output cycle of the detection signal from the detection unit 66 is short, the frequency with which the control unit 62 determines whether the control conditions are met can be reduced, thereby reducing the calculation load on the control unit 62.

[0099] The predetermined signal may be output when at least one of the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 changes. The at least one of the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 includes the attitude of the human-powered vehicle 10, acceleration, rotational speed of the crank 26, human-powered driving force, vehicle speed, rider's heart rate, and driving load. In this case, the control unit 62 is configured to be able to control the component 18 in accordance with the control condition only when at least one of the driving state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10 changes. This reduces the frequency with which the control unit 62 determines whether the control condition is met, thereby reducing the calculation load on the control unit 62. In this modification, the control unit 62 may be configured to determine that a predetermined signal has been input when a detected value relating to at least one of the attitude, acceleration, rotational speed of the crank 26, human-powered driving force, vehicle speed, rider's heart rate, and road load of the human-powered vehicle 10, included in the output of the detection unit 66, reaches a predetermined value. The control unit 62 may be configured to determine that a predetermined signal has been input when a change per unit time in a detected value relating to at least one of the attitude, acceleration, rotational speed of the crank 26, human-powered driving force, vehicle speed, rider's heart rate, and road load of the human-powered vehicle 10, included in the output of the detection unit 66, reaches or exceeds a predetermined change. The detection unit 66 may be configured to output a predetermined signal to the control unit 62 when a detected value relating to at least one of the attitude, acceleration, rotational speed of the crank 26, human-powered driving force, vehicle speed, rider's heart rate, and road load of the human-powered vehicle 10 exceeds a predetermined value.

[0100] The control unit 62 may be configured to perform a process of determining whether or not the transmission member 16 has engaged with the plurality of rotating bodies 20 or whether or not the transmission member 16 has reached a stable state, instead of at least one of the determination processes of step S30 in Fig. 5, step S64 in Fig. 9, and step S64 in Fig. 10. The control unit 62 can determine whether or not the transmission member 16 has engaged with the plurality of rotating bodies 20 or whether or not the transmission member 16 has reached a stable state, for example, in accordance with the output of a detection unit that detects the phase position of a structure for engaging the transmission member 16 that is provided on the plurality of rotating bodies 20.

[0101] The control unit 62 may be configured to perform a process of determining whether the manual driving force H is equal to or less than a predetermined driving force HX, instead of at least one of the determination processes of step S29 in Fig. 5 and step S71 in Fig. 10. If the manual driving force H is equal to or less than the predetermined driving force HX, the control unit 62 proceeds to YES, and if the manual driving force H is not equal to or less than the predetermined driving force HX, the control unit 62 proceeds to NO.

[0102] The control unit 62 may be configured to switch between the first state and the second state depending on the power generation state of the generator 56. For example, step S11 in the flowchart of FIG. 3 may be changed to step S81 in FIG. 11. The control unit 62 determines whether the power generation state of the generator 56 has reached a predetermined state in step S81. If the power generation state of the generator 56 is in the predetermined state, the control unit 62 proceeds to step S12. If the power generation state of the generator 56 is not in the predetermined state, the control unit 62 proceeds to step S13. The predetermined state includes, for example, a state in which the generator 56 can generate power equal to or greater than a predetermined amount. For example, the control unit 62 determines that the power generation state of the generator 56 is in the predetermined state when a detection signal corresponding to a case in which the rotational speed of the hub rotating body on which the generator 56 is mounted is equal to or greater than a predetermined speed is input from the detection unit 66 to the control unit 62. The control unit 62 may determine whether the power generation state is in the predetermined state based on the output of a detection unit that detects the current of electricity generated by the generator 56.

[0103] The control unit 62 is configured to control the components according to control conditions defined based on at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10, and may determine whether to control the component 18 depending on the power generation state of the generator 56. In this variation, the component 18 may include at least one of a drive unit and an alarm unit instead of or in addition to the transmission 52. The drive unit may include, for example, a motor that assists in propulsion of the human-powered vehicle 10. The alarm unit may include at least one of a light and a display unit. The display unit may include, for example, at least one of a portable electronic device with a display panel, a display, a smartphone, a tablet computer, and a cycle computer. The alarm unit may include a speaker. The control unit 62 is configured to operate at least one of the drive unit and the alarm unit when, for example, the amount of power generated by the generator 56 exceeds a predetermined amount of power generation. In this variation, the control unit 62 does not need to have a first state and a second state.

[0104] The control unit 62 is configured to be able to control the gear shifting operation of the transmission 52 in accordance with control conditions defined based on at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10, and the control unit 62 may decide whether or not to perform the gear shifting operation of the transmission 52 in accordance with the power generation state of the generator 56. For example, when the control conditions are met and the amount of power generated by the generator 56 is equal to or greater than a predetermined amount of power generation, the control unit 62 sets a gear shifting event for the transmission 52 and issues a gear shift command to the transmission 52. In this modification, the control unit 62 does not need to have a first state and a second state.

[0105] The control unit 62 is configured to be able to control the gear shifting operation of the transmission 52 in accordance with control conditions defined based on at least one of the traveling state of the human-powered vehicle 10 and the state of the rider of the human-powered vehicle 10, and may decide whether or not to perform a gear shifting operation of the transmission 52 in accordance with the rotational state of the plurality of rotating bodies 20. For example, when the control conditions are met and the rotational speed V of the plurality of rotating bodies 20 is equal to or greater than the speed VA, the control unit 62 sets a gear shifting event for the transmission 52 and issues a gear shift command to the transmission 52. In this modification, the control unit 62 does not need to have a first state and a second state.

[0106] The control unit 62 may determine whether the gear shifting operation is completed between steps S61 and S62 in FIG. 8. In this case, if the gear shifting operation is not completed, the control unit 62 may set a gear shift command prohibition flag in step S62 and store that information in the storage unit 64. In this case, if the answer is YES in step S63 in FIG. 9, the control unit 62 determines whether the gear shift command prohibition flag is set in step S62. If the gear shift command prohibition flag is not set in step S62, the control unit 62 ends the processing. If the gear shift command prohibition flag is set in step S62, the control unit 62 proceeds to step S64, where it determines whether the gear shifting operation is completed. In other words, if the gear shift command prohibition flag is not set in step S62, the control unit 62 ends the processing without determining whether the gear shifting operation is completed in step S64. In step S64, the control unit 62 determines that the gear shifting operation is complete if the rotation angle A of the plurality of rotating bodies 20 after switching from the second power state or the third power state to the first power state is equal to or greater than a predetermined angle AX. In this case, the predetermined waiting period TA is the period until the rotation angle A of the plurality of rotating bodies 20 becomes equal to or greater than the predetermined angle AX.

[0107] The control unit 62 may switch between the first state and the second state in accordance with the output of a sensor that detects the power generation state of the generator 56, instead of or in addition to the output of the detection unit 66 that detects the rotation state of the multiple rotating bodies 20.

[0108] The generator 56 may be provided, for example, in the hub of the front wheel 24B. The generator 56 may be omitted from the transmission system 50. The transmission 52 may be a front external transmission. In this case, the first rotor 12 includes a plurality of rotors 20.

[0109] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0110] 10...human-powered vehicle, 12...first rotating body, 14...second rotating body, 16...transmission member, 18...component, 20...plurality of rotating bodies, 22...vehicle body, 26...crank, 50...transmission system, 52...transmission, 56...generator, 60...control device, 62...control unit, 64...memory unit, 66...detection unit.

Claims

1. A control device for a human-powered vehicle, the human-powered vehicle includes a transmission that performs a gear change operation; a control unit configured to be able to control the gear shifting operation of the transmission, The control unit the gear shifting operation of the transmission can be controlled in accordance with at least one of a running state of the human-powered vehicle and a state of a rider of the human-powered vehicle so that the gear stage of the transmission falls within a predetermined range; a control device configured to be able to change the predetermined range depending on the attitude of the human-powered vehicle.

2. The control device according to claim 1 , wherein the attitude of the human-powered vehicle includes a pitch angle of a body of the human-powered vehicle.

3. 3. The control device according to claim 2, wherein the control unit is configured to control the transmission so that, when the pitch angle is equal to or less than a first pitch angle, the number of gear stages at the lower limit of the predetermined range and the number of gear stages at the upper limit of the predetermined range are the same regardless of the pitch angle.

4. 4. The control device according to claim 3, wherein the control unit is configured to control the transmission so that, when the pitch angle is equal to or greater than a second pitch angle that is greater than the first pitch angle, the number of gear stages at the lower limit of the predetermined range is smaller and the number of gear stages at the upper limit is smaller than when the pitch angle is equal to or less than the first pitch angle.

5. 5. The control device of claim 3 or 4, wherein the first pitch angle corresponds to an uphill slope.

6. 6. The control device according to claim 2, wherein the control unit is configured to control the transmission so that, when the pitch angle corresponds to an uphill slope, the number of gear stages at the lower limit and the number of gear stages at the upper limit of the predetermined range are smaller than when the pitch angle corresponds to a downhill slope.

7. The control unit the gear shifting operation of the transmission is controlled when a parameter relating to at least one of a running state of the human-powered vehicle and a state of a rider of the human-powered vehicle exceeds a predetermined parameter range; The control device according to claim 1 , wherein the control device is configured to be able to change the predetermined parameter range when the gear position of the transmission is outside the predetermined range.

8. the predetermined parameter range is a range equal to or greater than a first threshold value and equal to or less than a second threshold value, 8. The control device according to claim 7, wherein the control unit decreases the second threshold value when the gear position of the transmission is smaller than the predetermined range, and increases the first threshold value when the gear position of the transmission is larger than the predetermined range.

9. The control device according to claim 1 , wherein the transmission is a rear external transmission.

10. The control device according to claim 1 , wherein at least one of the running state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes an attitude of the human-powered vehicle.

11. The control device according to claim 1 , wherein at least one of the running state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes an acceleration of the human-powered vehicle.

12. The control device according to claim 1 , wherein at least one of the running state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes a rotation speed of a crank of the human-powered vehicle.

13. The control device according to claim 1 , wherein at least one of the running state of the human-powered vehicle and the state of a rider of the human-powered vehicle includes a human-powered driving force input to the human-powered vehicle.

14. The control device according to claim 1 , wherein at least one of the running state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes a heart rate of the rider of the human-powered vehicle.

15. The control device according to claim 1 , wherein at least one of the traveling state of the human-powered vehicle and the state of the rider of the human-powered vehicle includes a traveling load of the human-powered vehicle.

16. the human-powered vehicle includes a first rotating body, a second rotating body, and a transmission member that transmits a driving force between the first rotating body and the second rotating body, At least one of the first rotating body and the second rotating body includes a plurality of rotating bodies; 16. The control device according to claim 1, wherein the control unit is configured to control the transmission so that the gear change operation can be performed multiple times in a first predetermined period when the human-powered vehicle is traveling downhill and / or when the multiple rotating bodies are spinning freely.

17. 17. The control device according to claim 16, wherein the control unit is configured to control the transmission so that the transmission can perform one gear change operation in a second predetermined period when the human-powered vehicle is not traveling downhill and when the plurality of rotating bodies are not spinning freely.

18. The control device according to claim 16 or 17, wherein the control unit is configured to be controllable so as to start the speed change operation of the transmission in accordance with the phases of the plurality of rotating bodies.

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