Control device for human-powered vehicles

Abstract

To provide a control device for a man-powered vehicle that enables a derailleur to perform gearshift operation appropriately.SOLUTION: A man-powered vehicle includes: a crank shaft; a first rotating body; wheels; a second rotating body; a transmission body configured to transmit driving power between the first rotating body and the second rotating body; a derailleur; a motor configured to drive the transmission body; and an operation device. A control device for the man-powered vehicle comprises a control part that is configured to perform gearshift control by which the motor is controlled so that the transmission body is driven and the derailleur is controlled so that the transmission body is operated in order to change a speed change ratio. The control part is configured to function in control modes including a manual gearshift mode in which the derailleur operates the transmission body in order to change the speed change ratio in accordance with operation by the operation device, and is configured to perform the gearshift control when a first condition concerning pedaling is satisfied in the manual gearshift mode.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] For example, the control device for a human-powered vehicle disclosed in Patent Document 1 is configured to control a motor configured to drive a transmission body. The control device for a human-powered vehicle disclosed in Patent Document 1 is configured so that, when rotation of the crankshaft is stopped, the motor drives the transmission body and the derailleur operates the transmission body to perform a gear change operation that changes the gear ratio. The derailleur is configured to operate the transmission body to change the gear ratio. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5686876 Summary of the Invention [Problem to be solved by the invention]

[0004] One object of the present disclosure is to provide a control device for a human-powered vehicle that can suitably perform a gear change operation using a derailleur. [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 crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and an operating device operable by a rider of the human-powered vehicle, the control unit is configured to perform gear shift control by controlling the derailleur to operate the transmission body to change the gear ratio, and controlling the derailleur to operate the transmission body to change the gear ratio in response to operation of the operating device, and the control unit is configured to function in control modes including a manual gear shift mode in which the derailleur operates the transmission body to change the gear ratio in response to operation of the operating device, and is configured to perform the gear shift control in the manual gear shift mode when a first condition related to pedaling is satisfied, the first condition being satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force, when the rotational speed of the crankshaft is equal to or less than a first rotational speed, and when the crankshaft is oscillating. According to the control device of the first aspect, when the first condition is satisfied in the manual shifting mode, shift control can be performed, thereby enabling the derailleur to perform a suitable shift operation.

[0006] In the control device of a second aspect according to the first aspect of the present disclosure, the control unit is configured to execute the gear shift control in response to operation of the operating device when the first condition is satisfied in the manual gear shift mode. According to the control device of the second aspect, when the first condition is satisfied in the manual shift mode, shift control can be executed in response to the operation of the operating device.

[0007] In the control device of a third aspect according to the first aspect of the present disclosure, the control unit is configured to execute the gear shift control without operation of the operating device when a second condition or a third condition is satisfied in addition to the first condition in the manual gear shift mode, and the second condition and the third condition are conditions related to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle. According to the control device of the third aspect, when the first condition is satisfied in manual shift mode, and in accordance with conditions related to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle, shift control can be performed without operating an operating device.

[0008] In the control device of a fourth aspect according to the third aspect of the present disclosure, the second condition is satisfied in at least one of the following cases: when the roadway of the human-powered vehicle changes from an uphill slope to a downhill slope; when the human-powered vehicle is traveling downhill; and when the acceleration of the human-powered vehicle is equal to or greater than a first acceleration; and the control unit is configured to increase the gear ratio in the gear change control when the first condition and the second condition are satisfied. According to the control device of the fourth aspect, when the first condition is met in manual gear shift mode, gear shift control can be performed without operating the operating device when at least one of the following cases is met: when the road on which the human-powered vehicle is traveling changes from an uphill to a downhill slope; when the human-powered vehicle is traveling downhill; and when the acceleration of the human-powered vehicle is equal to or greater than a first acceleration.

[0009] In the control device of a fifth aspect according to the third aspect of the present disclosure, the third condition is satisfied in at least one of the following cases: when the roadway of the human-powered vehicle changes from a downhill to an uphill; when the vehicle speed of the human-powered vehicle is equal to or less than a first vehicle speed; and when the deceleration of the human-powered vehicle is equal to or greater than a first deceleration; and the control unit is configured to reduce the gear ratio in the gear change control when the first condition and the third condition are satisfied. According to the control device of the fifth aspect, when the first condition is met in manual gear shift mode, gear shift control can be performed without operating the operating device when at least one of the following cases is met: when the road on which the human-powered vehicle is traveling changes from a downhill to an uphill slope; when the vehicle speed of the human-powered vehicle is equal to or less than a first vehicle speed; and when the deceleration of the human-powered vehicle is equal to or greater than a first deceleration.

[0010] A control device according to a sixth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an operating device operable by a rider of the human-powered vehicle to drive the transmission body. The bicycle has a control unit configured to perform gear shift control by controlling the motor and controlling the derailleur to operate the transmission body to change the gear ratio, and the control unit is configured to function in control modes including a first control mode in which the gear shift control is performed in response to operation of the operating device when a first condition related to pedaling is satisfied, and a second control mode in which the gear shift control is performed regardless of operation of the operating device when the first condition is satisfied, and the first condition is satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force, when the rotational speed of the crankshaft is equal to or less than a first rotational speed, and when the crankshaft is oscillating. According to the control device of the sixth aspect, when the first condition is satisfied, the gear shift control can be performed in either the first control mode or the second control mode, thereby enabling the gear shift operation by the derailleur to be performed optimally.

[0011] In the control device of the seventh aspect according to the sixth aspect of the present disclosure, the human-powered vehicle further includes a control mode switching device, and the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in response to operation of the control mode switching device by the rider. According to the control device of the seventh aspect, the control mode can be switched between the first control mode and the second control mode in response to the rider's operation of the control mode switching device, allowing the rider to select the control mode.

[0012] In the control device of the eighth aspect according to the sixth or seventh aspect of the present disclosure, the control unit is configured to function in shifting modes including a manual shifting mode in which the derailleur operates the transmission body to change the gear ratio in response to operation of the operating device, and an automatic shifting mode in which the derailleur operates the transmission body to change the gear ratio regardless of operation of the operating device. According to the control device of the eighth aspect, the derailleur can be controlled in either a manual shifting mode or an automatic shifting mode.

[0013] In the control device of a ninth aspect according to the eighth aspect of the present disclosure, the human-powered vehicle further includes a gear change mode switching device, and the control unit is configured to be able to switch between the manual gear change mode and the automatic gear change mode in response to operation of the gear change mode switching device by the rider. According to the control device of the ninth aspect, the shift mode can be switched between manual shift mode and automatic shift mode in response to the rider's operation of the shift mode switching device, allowing the rider to select the shift mode.

[0014] In the control device of a tenth aspect according to the eighth or ninth aspect of the present disclosure, the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in the manual shift mode. According to the control device of the tenth aspect, in the manual shifting mode, the control mode can be switched between the first control mode and the second control mode, thereby allowing the rider to select the control mode in the manual shifting mode.

[0015] In the control device of an eleventh aspect according to any one of the eighth to tenth aspects of the present disclosure, the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in the automatic shift mode. According to the control device of the eleventh aspect, in the automatic gear shifting mode, the control mode can be switched between the first control mode and the second control mode, thereby allowing the rider to select the control mode in the automatic gear shifting mode.

[0016] In the control device of a twelfth aspect according to any one of the sixth to eleventh aspects of the present disclosure, the human-powered vehicle further includes an interface, and the control unit controls the interface to display the control mode. According to the control device of the twelfth aspect, the interface is controlled to display the control mode, so that the rider can know whether the first control mode or the second control mode has been selected. [Effects of the Invention]

[0017] The control device for a human-powered vehicle disclosed herein can suitably perform gear shifting operations using a derailleur. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] FIG. 2 is a cross-sectional view of a drive unit included in the human-powered vehicle of FIG. 1. [Figure 3] Schematic diagram of the power transmission path of the power transmission system of the human-powered vehicle in Figure 1. [Figure 4]1 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 5] 5 is a flowchart of a process executed by the control unit of FIG. 4 to change the speed change mode. [Figure 6] 5 is a flowchart of a process executed by the control unit of FIG. 4 to execute gear shift control in a manual gear shift mode. [Figure 7] FIG. 6 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a second embodiment. [Figure 8] 8 is a flowchart of a process executed by the control unit of FIG. 7 to execute gear shift control in a manual gear shift mode. [Figure 9] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a third embodiment. [Figure 10] 10 is a flowchart of a process executed by the control unit of FIG. 9 to execute gear shift control in a manual gear shift mode. [Figure 11] 10 is a flowchart of a process executed by the control unit of FIG. 9 to execute gear shift control in an automatic gear shift mode. [Figure 12] 10 is a flowchart of a process executed by the control unit of FIG. 9 to display a control mode on an interface. DETAILED DESCRIPTION OF THE INVENTION

[0019] First Embodiment A control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 6. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven by at least human-powered driving force H. Examples of the human-powered vehicle 10 include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbents. The number of wheels that the human-powered vehicle 10 has is not limited. Examples of the human-powered vehicle 10 include unicycles and vehicles with three or more wheels. The human-powered vehicle 10 also includes e-bikes that use not only human-powered driving force H but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle 10 will be described as both an electrically assisted bicycle and a mountain bike.

[0020] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, wheels 16, a second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. The human-powered vehicle 10 further includes a pair of crank arms 26. The crankshaft 12 and the crank arms 26 form a crank 28. A human-powered driving force H is input to the crankshaft 12. The human-powered vehicle 10 further includes a vehicle body 30. The wheels 16 include a rear wheel 16R and a front wheel 16F. The vehicle body 30 includes a frame 32. The crank 28 is rotatable relative to the frame 32. The pair of crank arms 26 includes a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is provided at one axial end of the crankshaft 12. The second crank arm 26B is provided at the other axial end of the crankshaft 12. The human-powered vehicle 10 further includes pedals 34. The human-powered vehicle 10 is equipped with a first pedal 34A and a second pedal 34B connected to the crankshaft 12. The pedals 34 include the first pedal 34A and the second pedal 34B. The first pedal 34A is connected to the first crank arm 26A. The second pedal 34B is connected to the second crank arm 26B. The rear wheel 16R is driven by rotation of the crank 28. The rear wheel 16R is supported by the frame 32. The crank 28 and the rear wheel 16R are connected by a drive mechanism 36.

[0021] The drive mechanism 36 includes a first rotating body 14, a second rotating body 18, and a transmission body 20. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit driving force between the first rotating body 14 and the second rotating body 18. The transmission body 20 transmits the rotational force of the first rotating body 14 to the second rotating body 18. In this embodiment, the first rotating body 14 and the crankshaft 12 are arranged coaxially, but the first rotating body 14 and the crankshaft 12 do not have to be arranged coaxially. If the first rotating body 14 and the crankshaft 12 are not arranged coaxially, the first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt. In this embodiment, the second rotating body 18 and the rear wheel 16R are arranged coaxially, but the second rotating body 18 and the rear wheel 16R do not have to be arranged coaxially. If the second rotating body 18 and the rear wheel 16R are not arranged coaxially, the second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt.

[0022] A front wheel 16F is attached to the frame 32 via a front fork 38. A handlebar 42 is connected to the front fork 38 via a stem 40. In this embodiment, the rear wheel 16R is connected to the crank 28 by the drive mechanism 36, but at least one of the rear wheel 16R and the front wheel 16F may be connected to the crank 28 by the drive mechanism 36.

[0023] The derailleur 22 is configured to operate the transmission member 20 to change the gear ratio R of the rotational speed W of the wheel 16 relative to the rotational speed C of the crankshaft 12. The relationship between the gear ratio R, the rotational speed W, and the rotational speed C is expressed by equation (1). For example, the derailleur 22 can change the gear ratio R in stages. For example, the derailleur 22 is configured to operate the transmission member 20 to change the number of gears. If the derailleur 22 includes a rear derailleur, the number of gears is equal to the number of rear sprockets. For example, if there are multiple rear sprockets, a different gear ratio R is set for each gear. The rear sprocket with the smallest number of teeth corresponds to the largest number of gears. The rear sprocket with the largest number of teeth corresponds to the smallest number of gears. The higher the number of gears, the larger the gear ratio R. Formula (1): Gear ratio R = rotation speed W / rotation speed C

[0024] The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. If the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes multiple sprockets, and the transmission body 20 includes a chain. If the derailleur 22 includes a rear derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the second rotating body 18 to another of the multiple sprockets. If the derailleur 22 includes a front derailleur, the first rotating body 14 includes multiple sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain. If the derailleur 22 includes a front derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the first rotating body 14 to another of the multiple sprockets. The derailleur 22 operates the transmission body 20 to change the state of engagement between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18, thereby changing the gear ratio R.

[0025] The first rotating body 14 and the second rotating body 18 may be provided in a gearbox. The gearbox is provided, for example, near the crankshaft 12. When the first rotating body 14 and the second rotating body 18 are provided in the gearbox, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the derailleur 22 is provided in the gearbox and configured to change the engagement state between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18.

[0026] The human-powered vehicle 10 includes an operating device 44 that can be operated by the rider of the human-powered vehicle 10. For example, the operating device 44 is configured to operate the derailleur 22. The operating device 44 is provided, for example, on the handlebar 42. The operating device 44 is configured to be operated by the user's hand, including their fingers. The operating device 44 includes at least a first operating unit 44A and a second operating unit 44B.

[0027] The first operation unit 44A and the second operation unit 44B include, for example, a button switch or a lever switch. The first operation unit 44A and the second operation unit 44B are not limited to being a button switch or a lever switch, and may be any configuration as long as they are configured to transition between at least two states when operated by a user.

[0028] The first operating unit 44A and the second operating unit 44B are configured to operate the derailleur 22. The operating device 44 outputs a gear shifting operation signal to the control unit 72 of the control device 70 in response to an operation by the user. In addition to or instead of the first operating unit 44A and the second operating unit 44B, the operating device 44 may include a third operating unit configured to operate components for the human-powered vehicle other than the derailleur 22. The components for the human-powered vehicle include, for example, at least one of the interface 46, a suspension device, an adjustable seatpost device, a lamp, or a drive unit 48. The gear shifting operation signal includes, for example, a first operating signal including a gear shifting command to operate the derailleur 22 to increase the gear ratio R, and a second operating signal including a gear shifting command to operate the derailleur 22 to decrease the gear ratio R.

[0029] The operating device 44 outputs a first operating signal when the first operating unit 44A is operated, and outputs a second operating signal when the second operating unit 44B is operated. In this embodiment, the rear derailleur is operated by the first operating unit 44A and the second operating unit 44B. The front derailleur may be operated by the first operating unit 44A and the second operating unit 44B. Both the rear derailleur and the front derailleur may be operated by the first operating unit 44A and the second operating unit 44B. The operating device 44 may further include a fourth operating unit and a fifth operating unit in addition to the first operating unit 44A and the second operating unit 44B. The fourth operating unit and the fifth operating unit may be configured similarly to the first operating unit 44A and the second operating unit 44B, for example. The rear derailleur may be operated by one of the first operating unit 44A and the second operating unit 44B and the fourth operating unit and the fifth operating unit, and the front derailleur may be operated by the other of the first operating unit 44A and the second operating unit 44B and the fourth operating unit and the fifth operating unit.

[0030] For example, the human-powered vehicle 10 further includes an interface 46. The interface 46 may include, for example, one of a cycle computer and a smartphone. The interface 46 may be permanently attached to the human-powered vehicle 10. The interface 46 may also be detachably attached to the human-powered vehicle 10.

[0031] For example, the human-powered vehicle 10 further includes an electric actuator 50 configured to operate the derailleur 22. The electric actuator 50 includes, for example, an electric motor. The electric actuator 50 may further include, for example, a speed reducer connected to the output shaft of the electric motor. The electric actuator 50 may be provided on the derailleur 22, or may be provided at a position on the human-powered vehicle 10 away from the derailleur 22. When the electric actuator 50 is driven, the derailleur 22 operates the transmission body 20, and a gear shifting operation is performed. The derailleur 22 includes, for example, a base member, a moving member, and a link member that movably connects the moving member to the base member. The moving member is Transmitter 20 The electric actuator 50 may, for example, directly drive the link member. Alternatively, the electric actuator 50 may drive the link member via a cable.

[0032] For example, the human-powered vehicle 10 further includes a battery 52. ​​The battery 52 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 52 is configured to supply power to the control device 70. For example, the battery 52 is configured to also supply power to the electric actuator 50. The battery 52 is connected to, for example, a control unit 72 of the control device 70 so as to be able to communicate with the control unit 72 via wired or wireless communication. The battery 52 can communicate with the control unit 72 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0033] The motor 24 is configured to drive the transmission body 20. For example, the motor 24 is configured to provide propulsive force to the human-powered vehicle 10 in response to the human-powered driving force H. The motor 24 includes one or more electric motors. The electric motor included in the motor 24 is, for example, a brushless motor. The motor 24 is configured to transmit rotational force to a power transmission path of the human-powered driving force H from the pedals 34 to the second rotating body 18. In this embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and configured to transmit the rotational force to the first rotating body 14. The motor 24 drives the transmission body 20 via the first rotating body 14. The human-powered vehicle 10 further includes a housing 54 in which the motor 24 is provided. The motor 24 and the housing 54 form a drive unit 48. The housing 54 is attached to the frame 32. The housing 54 rotatably supports the crankshaft 12. The motor 24 may be configured to transmit rotational force to the transmission body 20 without passing through the first rotating body 14. In this case, for example, a sprocket that engages with the transmission body 20 is provided on the output shaft of the motor 24 or on a transmission member to which the force of the output shaft is transmitted.

[0034] A reducer 56 may be provided between the motor 24 and the power transmission path of the human-powered driving force H. The reducer 56 may include, for example, a plurality of gears. A third one-way clutch 58 may be provided between the motor 24 and the power transmission path of the human-powered driving force H to prevent the rotational force of the crank 28 from being transmitted to the motor 24 when the crankshaft 12 is rotated in the direction in which the human-powered vehicle 10 moves forward. The third one-way clutch 58 may include, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0035] The drive unit 48 includes an output section 60. The output section 60 is connected to, for example, the crankshaft 12 and also to a reducer 56. The output section 60 receives the manual driving force H and the output of the motor 24. The first rotor 14 is connected to the output section 60 so as to rotate integrally therewith.

[0036] For example, the power transmission system 62 includes a control device 70 and a first one-way clutch 64. The first one-way clutch 64 is provided in a first power transmission path between the crankshaft 12 and the first rotating body 14 and is configured to transmit rotational force from the crankshaft 12 to the first rotating body 14 in a first rotational direction and to suppress transmission of rotational force from the first rotating body 14 to the crankshaft 12 in the first rotational direction. The first one-way clutch 64 is configured to rotate the first rotating body 14 forward when the crank 28 rotates forward and to allow relative rotation between the crank 28 and the first rotating body 14 when the crank 28 rotates backward. The first one-way clutch 64 is provided in the housing 54 of the drive unit 48, for example. The first one-way clutch 64 is provided between the crankshaft 12 and the output part 60, for example. The first one-way clutch 64 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0037] The crankshaft 12 and the first rotor 14 may be coupled to rotate integrally. When the crankshaft 12 and the first rotor 14 are coupled to rotate integrally, the first one-way clutch 64 is omitted.

[0038] For example, the power transmission system 62 further includes a second one-way clutch 66. The second one-way clutch 66 is provided in a second power transmission path between the second rotating body 18 and the wheel 16 and is configured to transmit rotational force from the second rotating body 18 to the wheel 16 in a second rotational direction corresponding to the first rotational direction, and to suppress transmission of rotational force from the wheel 16 to the second rotating body 18 in the second rotational direction. The second one-way clutch 66 is configured to rotate the rear wheel 16R forward when the second rotating body 18 rotates forward, and to allow relative rotation between the second rotating body 18 and the rear wheel 16R when the second rotating body 18 rotates backward. The second one-way clutch 66 is provided, for example, on the hub axle of the rear wheel 16R. The second one-way clutch 66 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0039] The second body of revolution 18 and the rear wheel 16R may be coupled to rotate integrally. When the second body of revolution 18 and the rear wheel 16R are coupled to rotate integrally, the second one-way clutch 66 is omitted.

[0040] For example, the power transmission system 62 further includes a power storage device. The power storage device is configured to store the power generated by the motor 24. For example, the control unit 72 is configured to control the motor 24 using the power of the power storage device. The power storage device may include the battery 52, may include a battery separate from the battery 52, or may include a capacitor. The power storage device is provided in the housing 54 of the drive unit 48, for example.

[0041] The control device 70 includes a control unit 72. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit included in the control unit 72 includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units included in the control unit 72 may be provided in multiple locations that are separate from each other. For example, part of the arithmetic processing unit may be provided in the human-powered vehicle 10, and another part of the arithmetic processing unit may be provided in a server connected to the Internet. When the arithmetic processing units are provided in multiple locations that are separate from each other, the parts of the arithmetic processing unit are connected to each other so that they can communicate with each other via wireless communication devices. The control unit 72 may include one or more microcomputers.

[0042] For example, the control device 70 further includes a storage unit 74. The storage unit 74 stores a control program and information used in the control process. The storage unit 74 includes, for example, a nonvolatile memory and a volatile memory. The nonvolatile 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).

[0043] The control device 70 further includes, for example, a drive circuit 76 for the motor 24. The drive circuit 76 and the control unit 72 are provided, for example, in the housing 54 of the drive unit 48. The drive circuit 76 and the control unit 72 may be provided, for example, on the same circuit board. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 52 to the motor 24. The drive circuit 76 is connected to the control unit 72 via a conductive wire, an electric cable, a wireless communication device, or the like. The drive circuit 76 drives the motor 24 in response to a control signal from the control unit 72.

[0044] For example, the control device 70 further includes a vehicle speed sensor 78, a crank rotation sensor 80, and a manual driving force detection unit 82.

[0045] The vehicle speed sensor 78 is configured to detect information corresponding to the rotation speed W of the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured, for example, to detect magnets provided on the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured, for example, to output a detection signal a predetermined number of times per rotation of the wheels 16. The predetermined number is, for example, 1. The vehicle speed sensor 78 outputs a signal corresponding to the rotation speed W of the wheels 16. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed W of the wheels 16. The vehicle speed V can be calculated based on the rotation speed W of the wheels 16 and information related to the circumference of the wheels 16. The information related to the circumference of the wheels 16 is stored in the memory unit 74.

[0046] The vehicle speed sensor 78 includes, for example, a magnetic reed constituting a reed switch or a Hall element. The vehicle speed sensor 78 may be attached to the chainstay of the frame 32 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 16R, or may be attached to the front fork 38 and configured to detect a magnet attached to the front wheel 16F. In this embodiment, the vehicle speed sensor 78 is configured so that the reed switch detects the magnet once for each rotation of the wheel 16. The vehicle speed sensor 78 may have any configuration as long as it can detect information corresponding to the rotational speed W of the wheel 16 of the human-powered vehicle 10, and may include, for example, an optical sensor or an acceleration sensor. The vehicle speed sensor 78 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0047] The crank rotation sensor 80 is configured to detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10. The crank rotation sensor 80 is provided, for example, on the frame 32 or drive unit 48 of the human-powered vehicle 10. The crank rotation sensor 80 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet, whose magnetic field strength varies circumferentially, is provided on the crankshaft 12, a member that rotates in conjunction with the crankshaft 12, or the power transmission path from the crankshaft 12 to the first rotor 14. The member that rotates in conjunction with the crankshaft 12 may be the output shaft of the motor 24. The crank rotation sensor 80 outputs a signal corresponding to the rotation speed C of the crankshaft 12.

[0048] The magnet may be provided on a member that rotates integrally with the crankshaft 12 in the power transmission path of the human-powered driving force H from the crankshaft 12 to the first rotating body 14. For example, if the first one-way clutch 64 is not provided between the crankshaft 12 and the first rotating body 14, the magnet may be provided on the first rotating body 14. The crank rotation sensor 80 may have any configuration as long as it can detect information corresponding to the rotation speed C of the crankshaft 12 of the human-powered vehicle 10, and may include, for example, an optical sensor, an acceleration sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 80 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0049] The human-powered driving force detection unit 82 is configured to detect information related to the human-powered driving force H. The human-powered driving force detection unit 82 is provided, for example, on the frame 32, drive unit 48, crank 28, or pedal 34 of the human-powered vehicle 10. The human-powered driving force detection unit 82 may be provided on the housing 54 of the drive unit 48. The human-powered driving force detection unit 82 includes, for example, a torque sensor. The torque sensor is configured to output a signal corresponding to the torque applied to the crank 28 by the human-powered driving force H. For example, if the first one-way clutch 64 is provided in the power transmission path, the torque sensor is provided, for example, upstream of the first one-way clutch 64 in the power transmission path. The torque sensor includes a strain sensor, a magnetostrictive sensor, a pressure sensor, or the like. The strain sensor includes a strain gauge.

[0050] The torque sensor is provided in the power transmission path or near a component included in the power transmission path. The component included in the power transmission path is, for example, the crankshaft 12, a component that transmits the manual driving force H between the crankshaft 12 and the first rotor 14, the crank arm 26, or the pedal 34. The manual driving force detection unit 82 is connected to the control unit 72 via a wireless communication device or an electric cable. The manual driving force detection unit 82 may have any configuration as long as it can acquire information about the manual driving force H, and may include, for example, a sensor that detects the pressure applied to the pedal 34 or a sensor that detects the tension of the chain.

[0051] The control unit 72 is configured to control the motor 24. For example, the control unit 72 is configured to control the motor 24 so that the assist level AL of the motor 24 becomes a predetermined assist level AL. For example, the assist level AL includes at least one of the ratio of the output of the motor 24 to the human-powered driving force H input to the human-powered vehicle 10, the maximum output of the motor 24, and a suppression level L of output fluctuations of the motor 24 when the output of the motor 24 decreases. The ratio of the assist force of the motor 24 to the human-powered driving force H may be referred to as the assist ratio. For example, the control unit 72 is configured to control the motor 24 so that the assist force of the motor 24 becomes a predetermined ratio to the human-powered driving force H. The human-powered driving force H corresponds to the propulsive force of the human-powered vehicle 10 generated by the rider rotating the crankshaft 12. The assist force corresponds to the propulsive force of the human-powered vehicle 10 generated by the rotation of the motor 24. The predetermined ratio is not constant and may change, for example, depending on the human-powered driving force H. The predetermined ratio may not be constant, but may vary depending on, for example, the rotation speed C of the crankshaft 12. The predetermined ratio may not be constant, but may vary depending on, for example, the vehicle speed V. The predetermined ratio may not be constant, but may vary depending on, for example, any two or all of the manual driving force H, the rotation speed C of the crankshaft 12, and the vehicle speed V.

[0052] When the manual driving force H and the assisting force are expressed in terms of torque, the manual driving force H is referred to as manual torque HT, and the assisting force is referred to as assisting torque MT. When the manual driving force H and the assisting force are expressed in terms of power, the manual driving force H is referred to as manual power HW, and the assisting force is referred to as assisting power MW. The ratio may be the torque ratio of the assisting torque MT to the manual torque HT of the human-powered vehicle 10, or may be the ratio of the assisting power MW by the motor 24 to the manual power HW.

[0053] In the drive unit 48 of this embodiment, the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the manual driving force H corresponds to the driving force input to the first rotating body 14 by the user rotating the crankshaft 12. When the crankshaft 12 is connected to the first rotating body 14 without a transmission, and the output of the motor 24 is input to the first rotating body 14, the assist force corresponds to the driving force input to the first rotating body 14 by the rotation of the motor 24. When the output of the motor 24 is input to the first rotating body 14 via a reducer 56, the assist force corresponds to the output of the reducer 56.

[0054] When the motor 24 is provided on the rear wheel 16R, the manual driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the rear wheel 16R, the assist force corresponds to the output of the rear wheel 16R driven only by the motor 24. When the motor 24 is provided on the front wheel 16F, the manual driving force H corresponds to the output of the rear wheel 16R driven only by the rider. When the motor 24 is provided on the front wheel 16F, the assist force corresponds to the output of the front wheel 16F driven only by the motor 24.

[0055] The control unit 72 is configured to control the motor 24 so that the assist force is equal to or less than the maximum value MX. When the output of the motor 24 is input to the first body of revolution 14 and the assist force is expressed by torque, the control unit 72 is configured to control the motor 24 so that the assist torque MT is equal to or less than the maximum value MTX. For example, the maximum value MTX is a value in the range of 20 Nm to 200 Nm. The maximum value MTX is determined, for example, by the output characteristics of the motor 24. When the output of the motor 24 is input to the first body of revolution 14 and the assist force is expressed by power, the control unit 72 is configured to control the motor 24 so that the assist power MW is equal to or less than the maximum value MWX.

[0056] For example, the control unit 72 is configured to be able to change the suppression level L of the output fluctuation of the motor 24. As the suppression level L of the output fluctuation of the motor 24 increases, the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24 decreases. As the suppression level L of the output fluctuation of the motor 24 decreases, the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24 increases. The control parameter of the motor 24 is the manual driving force H or the rotation speed C of the crankshaft 12. The suppression level L of the output fluctuation of the motor 24 is inversely proportional to the response speed of the motor 24. The response speed of the motor 24 is represented by the amount of change per unit time of the output of the motor 24 relative to the amount of change per unit time of the control parameter of the motor 24. As the suppression level L of the output fluctuation of the motor 24 increases, the response speed of the motor 24 decreases.

[0057] The control unit 72 changes the suppression level L, for example, by using a filter. The filter includes, for example, a low-pass filter having a time constant. The control unit 72 changes the suppression level L by changing the time constant of the filter. The control unit 72 may also change the suppression level L by changing a gain used to calculate the output of the motor 24 from the manual driving force H. The filter is configured, for example, by executing predetermined software in a calculation processing device.

[0058] For example, the control unit 72 is configured to control the electric actuator 50. The control unit 72 outputs a gear shift control signal to the electric actuator 50 to change the gear ratio R. When the gear shift control signal is input, the electric actuator 50 operates to operate the derailleur 22. The gear shift control signal includes, for example, power for driving the electric actuator 50. For example, the gear shift control signal includes a first gear shift control signal including a gear shift command for the electric actuator 50 to operate the derailleur 22 to increase the gear ratio R, and a second gear shift control signal including a gear shift command for the electric actuator 50 to operate the derailleur 22 to decrease the gear ratio R.

[0059] The control unit 72 is configured to perform gear shift control by controlling the motor 24 to drive the transmission body 20 and controlling the derailleur 22 to operate the transmission body 20 to change the gear ratio R. The control unit 72 is configured to control the electric actuator 50 to cause the derailleur 22 to operate the transmission body 20.

[0060] For example, the control unit 72 is configured to function in gear shifting modes including a manual gear shifting mode and an automatic gear shifting mode. In the manual gear shifting mode, the control unit 72 is configured to operate the transmission body 20 so that the derailleur 22 changes the gear ratio R in response to operation of the operating device 44. For example, in the manual gear shifting mode, when the operating device 44 is operated, the control unit 72 is configured to control the electric actuator 50 so that the derailleur 22 operates to change the gear ratio R. The manual gear shifting mode and the automatic gear shifting mode each refer to a gear shifting mode when riding while pedaling.

[0061] In the automatic shifting mode, the derailleur 22 is configured to operate the transmission body 20 to change the gear ratio R. For example, when a shifting condition is met in the automatic shifting mode, the control unit 72 is configured to control the electric actuator 50 so that the derailleur 22 operates to change the gear ratio R. In the automatic shifting mode, the control unit 72 may be configured to operate the transmission body 20 in response to the operation of the operating device 44 to cause the derailleur 22 to change the gear ratio R, in addition to when a shifting condition is met.

[0062] When a shifting condition for increasing the gear ratio R is met, the control unit 72 sends a first gear shift control signal to the electric actuator 50. The electric actuator 50 operates the derailleur 22 to increase the gear ratio R in accordance with the first gear shift control signal. When a shifting condition for decreasing the gear ratio R is met, the control unit 72 sends a second gear shift control signal to the electric actuator 50. The electric actuator 50 operates the derailleur 22 to decrease the gear ratio R in accordance with the second gear shift control signal.

[0063] For example, the gear change condition relates to at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. The gear change condition relates to at least one of the rotation speed C of the crankshaft 12, the vehicle speed V, the human-powered driving force H, and the gradient of the road on which the human-powered vehicle 10 is traveling. For example, the gear change condition is satisfied when the rotation speed C of the crankshaft 12 goes from inside a predetermined range to outside the predetermined range.

[0064] In the manual gear shifting mode, the control unit 72 is configured to perform gear shift control when a first condition related to pedaling is satisfied. The first condition is satisfied in at least one of the following cases: when the manual driving force H is equal to or less than a first driving force H1; when the rotation speed C of the crankshaft 12 is equal to or less than a first rotation speed RV1; and when the crankshaft 12 is oscillating. The case where the crankshaft 12 is oscillating includes a case where the crankshaft 12 has not completely stopped and the rotation angle CA of the crankshaft 12 is maintained within a predetermined angle range. The predetermined angle range is, for example, 1 degree or more and 20 degrees or less. For example, the first driving force H1 is substantially 0 Nm. The first driving force H1 is set to a value that allows for determining whether the rotation of the crankshaft 12 has stopped. For example, the first rotation speed RV1 is substantially 0 rpm. The first rotation speed RV1 is set to a value that allows for determining whether the rotation of the crankshaft 12 has stopped.

[0065] For example, when the first condition is satisfied in the manual shifting mode, the control unit 72 is configured to execute the shifting control in response to the operation of the operating device 44. When the first condition is satisfied in the automatic shifting mode, the control unit 72 may be configured to execute the shifting control in response to the operation of the operating device 44.

[0066] For example, when a first condition is satisfied, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 in the gear shift control so as not to apply an assist force to the human-powered vehicle 10. For example, when a first condition is satisfied, the control unit 72 is configured to cause the motor 24 to drive the transmission body 20 in the gear shift control so that the driving force of the motor 24 is not transmitted to the rear wheel 16R. For example, when a first condition is satisfied, the control unit 72 is configured to control the motor 24 in the gear shift control so that the rear wheel 16R is not rotated by the motor 24. For example, when a first condition is satisfied, the control unit 72 is configured to control the motor 24 so that the rotational speed of the second rotating body 18 is equal to or lower than the rotational speed of the rear wheel 16R. When a first condition is satisfied, the control unit 72 may control the motor 24 so as not to apply an assist force to the human-powered vehicle 10, in accordance with information related to the rotational speed M or rotational torque of the motor 24 that is pre-stored in the storage unit 74.

[0067] For example, the human-powered vehicle 10 further includes a gear change mode switching device 68. The control unit 72 is configured to be able to switch between a manual gear change mode and an automatic gear change mode in response to the rider's operation of the gear change mode switching device 68.

[0068] The gear shift mode switching device 68 includes, for example, a button switch or a lever switch. The gear shift mode switching device 68 is not limited to a button switch or a lever switch and may have any configuration. The gear shift mode switching device 68 may include a cycle computer. The gear shift mode switching device 68 may include a touch panel.

[0069] This embodiment improves usability for riders who prefer manual gear shifting. For example, even for riders who prefer to shift gears themselves, such as advanced riders, it is difficult to perform gear shifting operations in a human-powered vehicle 10 equipped with a derailleur 22 when the first condition is met, for example, when the rider is not pedaling the pedals 34. However, according to this embodiment, even when the first condition is met in manual gear shifting mode, the control unit 72 controls the motor 24 to drive the transmission body 20, making it possible to perform gear shifting operations.

[0070] The process by which the control unit 72 changes the gear change mode will be described with reference to Fig. 5. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 72 repeats the process from step S11 after a predetermined period, for example, until the supply of power is stopped.

[0071] In step S11, the control unit 72 determines whether or not the manual shifting mode is selected. If the manual shifting mode is selected, the control unit 72 proceeds to step S12. If the manual shifting mode is not selected, the control unit 72 proceeds to step S13.

[0072] In step S12, the control unit 72 determines whether or not the gear change mode switching device 68 has been operated. If the gear change mode switching device 68 has been operated, the control unit 72 proceeds to step S14. If the gear change mode switching device 68 has not been operated, the control unit 72 ends the process.

[0073] In step S14, the control unit 72 switches the gear shift mode to the automatic gear shift mode, and then ends the process.

[0074] In step S13, the control unit 72 determines whether or not the gear change mode switching device 68 has been operated. If the gear change mode switching device 68 has been operated, the control unit 72 proceeds to step S15. If the gear change mode switching device 68 has not been operated, the control unit 72 ends the process.

[0075] In step S15, the control unit 72 switches the gear change mode to the manual gear change mode, and then ends the process.

[0076] The process by which the control unit 72 executes gear shift control in manual gear shift mode will be described with reference to Fig. 6. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S21 of the flowchart shown in Fig. 6. When the flowchart in Fig. 6 ends, the control unit 72 repeats the process from step S21 after a predetermined period, for example, until the supply of power is stopped.

[0077] In step S21, the control unit 72 determines whether or not the manual shifting mode is selected. If the manual shifting mode is selected, the control unit 72 proceeds to step S22. If the manual shifting mode is not selected, the control unit 72 ends the process.

[0078] In step S22, the control unit 72 determines whether the first condition is satisfied. Ta If the first condition is satisfied, the control unit 72 proceeds to step S23. If the first condition is not satisfied, the control unit 72 ends the process.

[0079] In step S23, the control unit 72 determines whether or not the operation device 44 has been operated. If the operation device 44 has been operated, the control unit 72 proceeds to step S24. If the operation device 44 has not been operated, the control unit 72 ends the process.

[0080] In step S24, the control unit 72 executes the gear shift control and ends the process. In step S24, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 in accordance with the operation of the operating device 44 determined in step S23.

[0081] Second Embodiment A control device 70 of the second embodiment will be described with reference to Figures 7 and 8. The control content of the control device 70 of the second embodiment is the same as that of the control device 70 of the first embodiment, except that the control unit 72 executes the processing of the flowchart of Figure 8 instead of the processing of the flowcharts of Figures 5 and 6. Of the control device 70 of the second embodiment, the components common to the first embodiment are assigned the same reference numerals as in the first embodiment, and duplicated explanations will be omitted.

[0082] In this embodiment, the control unit 72 is configured to execute gear change control without operating the operating device 44 when the second or third condition is met in addition to the first condition in manual gear change mode. The second and third conditions relate to at least one of the driving state and driving environment of the human-powered vehicle 10. For example, the second condition is met in at least one of the following cases: when the road on which the human-powered vehicle 10 is traveling changes from an uphill to a downhill; when the human-powered vehicle 10 is traveling downhill; and when the acceleration AC of the human-powered vehicle 10 is equal to or greater than a first acceleration AC1. When the first and second conditions are met, the control unit 72 is configured to increase the gear ratio R in the gear change control. For example, the third condition is met in at least one of the following cases: when the road on which the human-powered vehicle 10 is traveling changes from a downhill to an uphill; when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a first vehicle speed V1; and when the deceleration D of the human-powered vehicle 10 is equal to or greater than a first deceleration D1. When the first condition and the third condition are met, the control unit 72 is configured to reduce the gear ratio R in the gear change control.

[0083] As shown in FIG. 7, the control device 70 further includes a state detection unit 84. The state detection unit 84 includes, for example, an inclination detection unit that detects the inclination angle of the human-powered vehicle 10. The inclination detection unit includes, for example, at least one of an inclination sensor and a GPS (Global Positioning System) receiver. The inclination sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. When the inclination detection unit includes a GPS receiver, map information including information about road gradients is pre-stored in the memory unit 74, and the control unit 72 obtains the road gradient at the current location of the human-powered vehicle 10 as a pitch angle.

[0084] The state detection unit 84 may include, for example, a forward detection unit configured to detect the driving environment ahead in the driving direction of the human-powered vehicle 10. The forward detection unit includes at least one of a GPS receiver, a camera, and a laser device. If the forward detection unit includes a GPS receiver, the memory unit 74 stores map information including information about road gradients in advance. The control unit 72 predicts the road gradient ahead based on information about the current location of the human-powered vehicle 10 and the pre-stored map information. If the forward detection unit includes a camera, the control unit 72 detects the forward situation from images captured by the camera. If the forward detection unit includes a laser device, the control unit 72 detects the forward situation from obstacles detected by the laser.

[0085] The control unit 72 may include an artificial intelligence processing unit that outputs the forward situation in response to input from the forward detection unit. The artificial intelligence processing unit may include, for example, a storage device that stores software and an arithmetic processing unit that executes the software stored in the storage device. The arithmetic processing unit may include, for example, a CPU or MPU. The arithmetic processing unit may include, for example, a GPU (Graphics Processing Unit) in addition to the CPU or MPU. The arithmetic processing unit may include an FPGA (Field-Programmable Gate Array). The artificial intelligence processing unit may include one or more arithmetic processing units. The artificial intelligence processing unit may include multiple arithmetic processing units located at multiple separate locations. The storage device may include, for example, a non-volatile memory and a volatile memory. The storage device stores a control program, a learning program, and a learning model. The learning model may be a trained model trained using a predetermined learning algorithm, or may be configured to be updated using a learning algorithm. The learning algorithm may include machine learning, deep learning, or deep reinforcement learning. The learning algorithm may include, for example, at least one of supervised learning, unsupervised learning, and reinforcement learning. The learning algorithm may be a method other than those described in this specification, as long as it is configured to update the learning model using a method in the field of artificial intelligence. The learning process for updating the learning model is performed by, for example, a GPU. The learning algorithm may use a neural network (NN). The learning algorithm may use a recurrent neural network (RNN).

[0086] To briefly explain the difference between this embodiment and the first embodiment, in the first embodiment, the shift control in this disclosure is performed manually in manual shift mode, whereas in this embodiment, the shift control in this disclosure is performed automatically in manual shift mode.

[0087] The process by which the control unit 72 executes gear shift control in the manual gear shift mode will be described with reference to Fig. 8. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S31 of the flowchart shown in Fig. 8. When the flowchart of Fig. 8 ends, the control unit 72 repeats the process from step S31 after a predetermined period, for example, until the supply of power is stopped.

[0088] In step S31, the control unit 72 determines whether or not the manual shifting mode is selected. If the manual shifting mode is selected, the control unit 72 proceeds to step S32. If the manual shifting mode is not selected, the control unit 72 ends the process.

[0089] In step S32, the control unit 72 determines whether or not the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S33. If the first condition is not satisfied, the control unit 72 proceeds to step S34.

[0090] In step S33, the control unit 72 determines whether the second condition is satisfied. If the second condition is satisfied, the control unit 72 proceeds to step S35. If the second condition is not satisfied, the control unit 72 proceeds to step S36.

[0091] In step S35, the control unit 72 executes the gear shift control and ends the process. In step S35, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 so as to increase the gear ratio R.

[0092] In step S36, the control unit 72 determines whether the third condition is satisfied. If the third condition is satisfied, the control unit 72 proceeds to step S37. If the third condition is not satisfied, the control unit 72 proceeds to step S34.

[0093] In step S37, the control unit 72 executes the gear shift control and ends the process. In step S37, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 so as to reduce the gear ratio R.

[0094] In step S34, the control unit 72 determines whether or not the operation device 44 has been operated. If the operation device 44 has been operated, the control unit 72 proceeds to step S38. If the operation device 44 has not been operated, the control unit 72 ends the process.

[0095] In step S38, the control unit 72 executes gear shift control and ends the process. In step S38, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 so as to achieve the gear ratio R corresponding to the operation of the operating device 44.

[0096] <Third embodiment> A control device 70 of the third embodiment will be described with reference to Figures 9 to 12. The control device 70 of the third embodiment is similar to the control device 70 of the first embodiment except that the control unit 72 executes the processing of the flowcharts of Figures 10 to 12 instead of the processing of the flowchart of Figure 5. Of the control device 70 of the third embodiment, the same reference numerals as in the first embodiment are used for the components common to the first embodiment, and duplicated explanations will be omitted.

[0097] In this embodiment, the control unit 72 is configured to function in control modes including a first control mode and a second control mode. The first control mode is configured to perform gear shift control in response to operation of the operating device 44 when a first condition related to pedaling is satisfied. The second control mode is configured to perform gear shift control regardless of operation of the operating device 44 when the first condition is satisfied. The second control mode, for example, performs gear shift control when a predetermined condition is met regardless of operation of the operating device 44 when the first condition is satisfied. The predetermined condition includes, for example, at least one of a second condition and a third condition.

[0098] 9, for example, the human-powered vehicle 10 further includes a control mode switching device 90. The control unit 72 is configured to be able to switch the control mode between a first control mode and a second control mode in response to operation of the control mode switching device 90 by the rider.

[0099] The control mode switching device 90 includes, for example, a button switch or a lever switch. The control mode switching device 90 is not limited to a button switch or a lever switch and may have any configuration. The control mode switching device 90 may include a cycle computer. The control mode switching device 90 may include a touch panel.

[0100] For example, the control unit 72 is configured to be able to switch the control mode between a first control mode and a second control mode in the manual gear shift mode. For example, the control unit 72 is configured to be able to switch the control mode between the first control mode and the second control mode in the automatic gear shift mode. For example, the control unit 72 controls the interface 46 to display the control mode. For example, the control unit 72 outputs a control signal to the interface 46 to display the selected control mode.

[0101] According to this embodiment, the rider can select between the first control mode and the second control mode for the gear shift control of the present disclosure, thereby improving usability for the rider.

[0102] The process by which the control unit 72 executes gear shift control will be described with reference to Figures 10 and 11. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S41 of the flowchart shown in Figure 10. When the flowcharts of Figures 10 and 11 end, the control unit 72 repeats the process from step S41 after a predetermined period, for example, until the supply of power is stopped.

[0103] In step S41, the control unit 72 determines whether or not the manual shifting mode is selected. If the manual shifting mode is selected, the control unit 72 proceeds to step S42. If the manual shifting mode is not selected, the control unit 72 proceeds to step S51.

[0104] In step S42, the control unit 72 determines whether or not the first control mode is selected. If the first control mode is selected, the control unit 72 proceeds to step S43. If the first control mode is not selected, the control unit 72 proceeds to step S44.

[0105] In step S43, the control unit 72 determines whether or not the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S45. If the first condition is not satisfied, the control unit 72 ends the process.

[0106] In step S45, the control unit 72 determines whether or not the operation device 44 has been operated. If the operation device 44 has been operated, the control unit 72 proceeds to step S46. If the operation device 44 has not been operated, the control unit 72 ends the process.

[0107] In step S46, the control unit 72 executes the gear shift control. execution In step S46, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 to achieve the gear ratio R corresponding to the operation of the operating device 44.

[0108] In step S44, the control unit 72 determines whether the second control mode is selected. If the second control mode is selected, the control unit 72 proceeds to step S47. If the second control mode is not selected, the control unit 72 ends the process.

[0109] In step S47, the control unit 72 determines whether the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S48. If the first condition is not satisfied, the control unit 72 ends the process.

[0110] In step S48, the control unit 72 determines whether or not a predetermined condition is met. If the predetermined condition is met, the control unit 72 proceeds to step S49. If the predetermined condition is not met, the control unit 72 ends the process.

[0111] In step S49, the control unit 72 executes the gear shift control. execution In step S49, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 so as to obtain the gear ratio R that corresponds to the predetermined conditions.

[0112] In step S51, the control unit 72 determines whether or not the first control mode is selected. If the first control mode is selected, the control unit 72 proceeds to step S52. If the first control mode is not selected, the control unit 72 proceeds to step S53.

[0113] The control unit 72 performs step S5 2 In step S52, the control unit 72 determines whether the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S54. If the first condition is not satisfied, the control unit 72 ends the process.

[0114] In step S54, the control unit 72 determines whether or not the operation device 44 has been operated. If the operation device 44 has been operated, the control unit 72 proceeds to step S55. If the operation device 44 has not been operated, the control unit 72 ends the process.

[0115] In step S55, the control unit 72 executes the gear shift control. executionIn step S55, control unit 72 starts driving motor 24, and then drives electric actuator 50 to operate derailleur 22 to achieve gear ratio R according to the operation of operating device 44.

[0116] In step S53, the control unit 72 determines whether the second control mode is selected. If the second control mode is selected, the control unit 72 proceeds to step S56. If the second control mode is not selected, the control unit 72 ends the process.

[0117] In step S56, the control unit 72 determines whether the first condition is satisfied. If the first condition is satisfied, the control unit 72 proceeds to step S57. If the first condition is not satisfied, the control unit 72 ends the process.

[0118] In step S57, the control unit 72 determines whether or not a predetermined condition is met. If the predetermined condition is met, the control unit 72 proceeds to step S58. If the predetermined condition is not met, the control unit 72 ends the process.

[0119] In step S58, the control unit 72 executes the gear shift control. execution In step S58, the control unit 72 starts driving the motor 24, and then drives the electric actuator 50 to operate the derailleur 22 so that the gear ratio R corresponds to the predetermined condition.

[0120] A process in which the control unit 72 controls the interface 46 in accordance with the control mode will be described with reference to Fig. 12. For example, when power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S61 of the flowchart shown in Fig. 12. When the flowchart of Fig. 12 ends, the control unit 72 repeats the process from step S61 after a predetermined period, for example, until the supply of power is stopped.

[0121] In step S61, the control unit 72 determines whether or not the first control mode is selected. If the first control mode is selected, the control unit 72 proceeds to step S62. If the first control mode is not selected, the control unit 72 proceeds to step S63.

[0122] In step S62, the control unit 72 determines whether or not the control mode switching device 90 has been operated. If the control mode switching device 90 has been operated, the control unit 72 proceeds to step S64. If the control mode switching device 90 has not been operated, the control unit 72 ends the process.

[0123] In step S64, the control unit 72 switches the control mode to the second control mode, and proceeds to step S65.

[0124] In step S65, the control unit 72 controls the interface 46 to display the control mode, and then ends the process.

[0125] In step S63, the control unit 72 determines whether or not the control mode switching device 90 has been operated. If the control mode switching device 90 has been operated, the control unit 72 proceeds to step S66. If the control mode switching device 90 has not been operated, the control unit 72 ends the process.

[0126] In step S66, the control unit 72 switches the control mode to the first control mode, and proceeds to step S67.

[0127] In step S67, the control unit 72 controls the interface 46 to display the control mode, and then ends the process.

[0128] <Modification> The descriptions of each embodiment are examples of possible forms of a control device for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device for a human-powered vehicle according to the present disclosure can take the form of, for example, a modified version of each of the embodiments shown below, or a combination of at least two mutually consistent modified versions. In the following modified versions, parts that are common to the embodiments are given the same reference numerals as in the embodiments, and their description will be omitted.

[0129] The interface 46 may be configured to be able to display at least one of the vehicle speed V, the number of gears, the gear mode, the remaining charge of the battery 52, current location information, and the cadence.

[0130] 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]

[0131] 10...human-powered vehicle, 12...crankshaft, 14...first rotating body, 16...wheel, 18...second rotating body, 20...transmission body, 22...derailer, 24...motor, 44...operating device, 46...interface, 68...gear change mode switching device, 70...control device, 72...control unit, 90...control mode switching device.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an operating device operable by a rider of the human-powered vehicle, a control unit configured to perform gear shift control, which controls the motor to drive the transmission body and controls the derailleur to operate the transmission body to change the gear ratio; The control unit The derailleur is configured to function in a shifting mode including a manual shifting mode in which the derailleur operates the transmission body to change the gear ratio in response to operation of the operating device, and an automatic shifting mode in which the derailleur operates the transmission body to change the gear ratio regardless of operation of the operating device, the control device is configured to function in control modes including a first control mode in which the gear shift control is performed in response to an operation of the operating device when a first condition related to pedaling is satisfied, and a second control mode in which the gear shift control is performed regardless of an operation of the operating device when the first condition is satisfied, the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in the manual shift mode, a control device in which the first condition is satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force; when the rotational speed of the crankshaft is equal to or less than a first rotational speed; and when the crankshaft is swinging.

2. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft to which human-powered driving force is input, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an operating device operable by a rider of the human-powered vehicle, a control unit configured to perform gear shift control, which controls the motor to drive the transmission body and controls the derailleur to operate the transmission body to change the gear ratio; The control unit The derailleur is configured to function in a shifting mode including a manual shifting mode in which the derailleur operates the transmission body to change the gear ratio in response to operation of the operating device, and an automatic shifting mode in which the derailleur operates the transmission body to change the gear ratio regardless of operation of the operating device, the control device is configured to function in control modes including a first control mode in which the gear shift control is performed in response to an operation of the operating device when a first condition related to pedaling is satisfied, and a second control mode in which the gear shift control is performed regardless of an operation of the operating device when the first condition is satisfied, the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in the automatic gear shift mode, a control device in which the first condition is satisfied in at least one of the following cases: when the manual driving force is equal to or less than a first driving force; when the rotational speed of the crankshaft is equal to or less than a first rotational speed; and when the crankshaft is swinging.

3. The human-powered vehicle further includes a control mode switching device, The control device according to claim 1 or 2, wherein the control unit is configured to be able to switch the control mode between the first control mode and the second control mode in response to an operation of the control mode switching device by the rider.

4. The human-powered vehicle further includes a speed change mode switching device, The control device according to claim 1 , wherein the control unit is configured to be able to switch between the manual shifting mode and the automatic shifting mode in response to an operation of the shifting mode switching device by the rider.

5. the human-powered vehicle further includes an interface; The control device according to claim 1 , wherein the control unit controls the interface to display the control mode.

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