Control device for human-powered vehicles

Abstract

To provide a control device for a human powered vehicle that can properly control a speed changer.SOLUTION: A control device for a human powered vehicle is provided with a control part that controls a speed changer that changes a ratio of a rotation speed of a wheel to a rotation speed of a crank shaft of the human powered vehicle. The control part is configured to control the speed changer so that starting of speed change operation by the speed changer is delayed until a predetermined period time elapses, in accordance with human driving power inputted to the human powered vehicle, when a speed change condition for controlling the speed changer so that the ratio is changed is satisfied; and is configured to control the speed changer so that the speed change operation is started without delaying the starting of the operation, when the speed change condition is satisfied and when a state concerning the speed changer is a predetermined state.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] For example, a control device for a human-powered vehicle disclosed in Patent Document 1 controls a transmission of a human-powered vehicle.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

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 control a transmission.

Means for Solving the Problem

[0005] The control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, comprising a control unit that controls a transmission that changes a ratio of a rotation speed of a wheel to a rotation speed of a crankshaft of the human-powered vehicle, wherein the control unit is configured to, when a shift condition for controlling the transmission to change the ratio is satisfied, control the transmission to delay a start of a shifting operation by the transmission until a predetermined period elapses in accordance with a human driving force input to the human-powered vehicle, and is configured to, when the shift condition is satisfied and a state related to the transmission is a predetermined state, control the transmission to start the shifting operation without executing the delay. According to the control device of the first aspect, when the state related to the transmission is the predetermined state, the shifting operation is started without executing the delay, so the ratio can be changed at an earlier timing. Therefore, the control unit can suitably control the transmission.

[0006] In a control device according to a second aspect of the first aspect of this disclosure, the predetermined state includes a state in which the ratio is within a predetermined ratio range. According to the control device on the second side, if the ratio is within a predetermined ratio range, the gear shift operation can be started without delay.

[0007] A control device of a third aspect according to the first or second aspect of the present disclosure, wherein the transmission includes an external gearbox that shifts the chain of the human-powered vehicle from one of a plurality of sprockets to another. According to the control device on the third side, in a human-powered vehicle including an external transmission, if the state of the transmission is in a predetermined state, the transmission operation can be started without delay.

[0008] In a control device according to a fourth aspect of the third aspect of this disclosure, the predetermined state includes a state in which the rotation angles of the plurality of sprockets are within a predetermined angular range. According to the control device on the fourth side, if the rotation angles of the multiple sprockets are within a predetermined angular range, the gear shifting operation can be started without delay.

[0009] A control device according to a fifth aspect of the fourth aspect of this disclosure, wherein one of the plurality of sprockets around which the chain is wound before the start of the gear shift operation has at least one first gear shift acceleration region, the predetermined angular range is set based on the rotational angle between the at least one first gear shift acceleration region, and the at least one first gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is increased. According to the control device on the fifth side, if the rotation angles of the multiple sprockets are within a predetermined angle range set based on the rotation angles between the first gear shift acceleration regions, the gear shift operation can be started without delay.

[0010] A control device according to a sixth aspect of the fourth aspect of the present disclosure, wherein, after the completion of the gear shift operation, one of the plurality of sprockets around which the chain is wrapped has at least one second gear shift acceleration region, the predetermined angular range is set based on the rotational angle between the at least one second gear shift acceleration region, and the at least one second gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is reduced. According to the control device on the sixth side, if the rotation angles of the multiple sprockets are within a predetermined angle range set based on the rotation angles between the second gear shift acceleration regions, the gear shift operation can be started without delay.

[0011] A control device of a seventh aspect according to a third or fourth aspect of the present disclosure, wherein the predetermined state includes a state in which the number of at least one first gear-shifting acceleration regions included in one of the plurality of sprockets around which the chain is wrapped before the start of the gear shifting operation is within a first predetermined range, wherein the at least one first gear-shifting acceleration region is configured to accelerate the gear shifting operation when the ratio is increased. According to the control device on the seventh side, if the number of at least one first gear shift acceleration region is within a first predetermined range, the gear shift operation can be started without delay.

[0012] A control device of an eighth aspect according to any one of the third, fourth, and seventh aspects of the present disclosure, wherein the predetermined state includes a state in which the number of at least one second gear-shifting acceleration region included in the other one of the plurality of sprockets around which the chain is wrapped after the completion of the gear shifting operation is within a second predetermined range, wherein the at least one second gear-shifting acceleration region is configured to accelerate the gear shifting operation when the ratio is reduced. According to the control device on the 8th side, the number of at least one second gear acceleration region is 2 If the number is within a predetermined range, the gear shifting operation can be started without delay.

[0013] A control device according to a ninth aspect of the present disclosure, which is any one of the third to eighth aspects, wherein the predetermined state includes a state in which the length of the chain wrapped around one of the plurality of sprockets is within a predetermined length range. According to the control device on the ninth side, if the length of the chain wrapped around one of the multiple sprockets is within a predetermined length range, the gear shifting operation can be started without delay.

[0014] In a control device according to a tenth aspect of the present disclosure, which is one of the first to ninth aspects, the control unit is configured to calculate the predetermined period such that the operation of the transmission is completed when the human-powered driving force is less than or equal to a predetermined driving force. According to the control device on the 10th side, the transmission can complete its operation when the human-powered driving force is below a predetermined driving force, thus suppressing a decrease in transmission performance.

[0015] In a control device of an eleventh aspect according to a third aspect of the present disclosure, the control unit is configured to calculate a predetermined period of time such that the operation of the gear shift device is completed when the human-powered driving force is less than or equal to a predetermined driving force, one of the plurality of sprockets around which the chain is wound before the start of the gear shift operation has at least one first gear shift acceleration region, the predetermined period of time is calculated based on the rotation angle between the at least one first gear shift acceleration region, and the at least one first gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is increased. According to the control device on the 11th side, the transmission can complete its operation when the human-powered driving force is below a predetermined driving force, thus suppressing a decrease in transmission performance.

[0016] In the control device according to the twelfth aspect, which follows the third aspect of the present disclosure, the control unit is configured to calculate the predetermined period such that the operation of the transmission is completed when the human driving force is equal to or less than a predetermined driving force, the other one of the plurality of sprockets around which the chain is wound after the completion of the shifting operation has at least one second shifting promotion region, the predetermined period is set based on the rotation angle between the at least one second shifting promotion region, and the at least one second shifting promotion region is configured to promote the shifting operation when decreasing the ratio. According to the control device of the twelfth aspect, the operation of the transmission can be completed in a state where the human driving force is equal to or less than the predetermined driving force, so that a decrease in shifting performance is suppressed.

[0017] In the control device according to the thirteenth aspect, which follows the eleventh or twelfth aspect of the present disclosure, the predetermined period is calculated based on a wrapping length of the chain around the other one of the plurality of sprockets. According to the control device of the thirteenth aspect, the shifting operation can be started based on the predetermined period calculated based on the wrapping length of the chain around the other one of the plurality of sprockets. [[Effects of the Invention]]

[0018] The control device for a human-powered vehicle according to the present disclosure can appropriately control a transmission. [[Brief Description of the Drawings]]

[0019] [Figure 1] FIG. 1 is a side view of a human-powered vehicle including the control device for a human-powered vehicle according to an embodiment. [Figure 2] FIG. 2 is a side view showing a second rotating body of the human-powered vehicle in FIG. 1. [Figure 3] FIG. 3 is a block diagram showing an electrical configuration of the human-powered vehicle in FIG. 1. [Figure 4] FIG. 4 is a flowchart of a process executed by a control unit in FIG. 2 to control the transmission. [[Mode for Carrying Out the Invention]]

[0020] <Embodiment> A control device 60 for a human-powered vehicle will be described with reference to Figures 1 to 4. A human-powered vehicle is a vehicle having at least one wheel and capable of being driven by at least human power. For example, human-powered vehicles include various types of bicycles such as mountain bikes, road bikes, city bikes, cargo bikes, handbikes, and recumbent bicycles. The number of wheels a human-powered vehicle may have is not limited. For example, human-powered vehicles also include unicycles and vehicles with two or more wheels. Human-powered vehicles are not limited to vehicles that can be driven solely by human power. Human-powered vehicles include e-bikes that utilize the driving force of an electric motor for propulsion in addition to human power. E-bikes include electric assist bicycles in which propulsion is assisted by an electric motor. Hereinafter, in each embodiment, the human-powered vehicle will be described as a bicycle.

[0021] The human-powered vehicle 10 includes a crankshaft 12, a first rotating body 14, a wheel 16, a second rotating body 18, and a transmission 20. The crankshaft 12 is configured to receive human-powered driving force. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission 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.

[0022] For example, the human-powered vehicle 10 further includes a body 24. For example, the body 24 includes a frame 26. For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable relative to the frame 26. For example, the human-powered vehicle 10 includes a crank 28. The crank 28 includes a crankshaft 12 and two crank arms 28A, 28B. For example, crank arm 28A is provided at the first axial end of the crankshaft 12, and crank arm 28B is provided at the second axial end of the crankshaft 12. For example, the human-powered vehicle 10 includes two pedals 30. For example, one of the two pedals 30 is connected to crank arm 28A. The other of the two pedals 30 is connected to crank arm 28B. For example, the rear wheel 16R is driven by the rotation of the crankshaft 12. For example, the rear wheel 16R is supported by the frame 26.

[0023] The front wheel 16F is attached to the frame 26 via the front fork 32. The handlebar 36 is connected to the front fork 32 via the stem 34.

[0024] For example, the human-powered vehicle 10 further includes a drive mechanism 38. For example, at least one of the front wheel 16F and the rear wheel 16R is connected to the crank 28 by the drive mechanism 38. In this embodiment, the rear wheel 16R and the crank 28 are connected by the drive mechanism 38.

[0025] For example, the drive mechanism 38 includes at least one first rotating body 14, at least one second rotating body 18, and a transmission body 20. At least one first rotating body 14 is connected to a crankshaft 12. At least one second rotating body 18 is connected to a wheel 16. The transmission body 20 is configured to engage with at least one first rotating body 14 and at least one second rotating body 18 to transmit driving force between at least one first rotating body 14 and at least one second rotating body 18. For example, the transmission body 20 transmits the rotational force of at least one first rotating body 14 to at least one second rotating body 18.

[0026] For example, at least one first rotating body 14 and the crankshaft 12 are arranged coaxially. At least one first rotating body 14 and the crankshaft 12 do not have to be arranged coaxially. For example, if at least one first rotating body 14 and the crankshaft 12 are not arranged coaxially, at least one first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism. The first transmission mechanism may include multiple gears, a sprocket and chain, a pulley and belt, a shaft and bevel gears. For example, at least one first rotating body 14 includes at least one first sprocket.

[0027] For example, at least one second rotating body 18 and the rear wheel 16R are arranged coaxially. At least one second rotating body 18 and the rear wheel 16R do not have to be arranged coaxially. For example, if at least one second rotating body 18 and the rear wheel 16R are not arranged coaxially, at least one second rotating body 18 and the rear wheel 16R are connected via a second transmission mechanism. The second transmission mechanism may include multiple gears, a sprocket and chain, a pulley and belt, a shaft and bevel gears. For example, at least one second rotating body 18 includes at least one second sprocket.

[0028] At least one second rotating body 18 and the rear wheel 16R are connected via a third one-way clutch. For example, the third one-way clutch includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch. The third one-way clutch is configured to transmit driving force from the second rotating body 18 to the rear wheel 16R when the second rotating body 18 rotates in conjunction with the forward rotation of the first rotating body 14, and to allow relative rotation between the rear wheel 16R and the second rotating body 18 when the speed at which the rear wheel 16R rotates is higher than the speed at which the second rotating body 18 rotates.

[0029] For example, the human-powered vehicle 10 further includes a battery 40. The battery 40 includes one or more battery elements. The battery elements include rechargeable batteries. For example, the battery 40 is configured to supply power to a control device 60 and a transmission 42. For example, the battery 40 is communicated with the control device 60 by wire or wireless means. For example, the battery 40 can communicate with the control device 60 by power line communication (PLC), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver / Transmitter).

[0030] The human-powered vehicle 10 includes, for example, a transmission 42. The transmission 42 changes the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crankshaft 12 of the human-powered vehicle 10. The transmission 42 is provided, for example, in the transmission path of the human-powered driving force in the human-powered vehicle 10 and is configured to change the ratio R. The ratio R is, for example, the ratio R of the rotational speed of the wheels 16 to the rotational speed of the crank 28. The rotational speed of the wheels 16 includes, for example, the rotational speed of the drive wheels.

[0031] The gear shift 42 includes at least one external gear shift 42A and an internal gear shift. In this embodiment, the gear shift 42 includes an external gear shift 42A that shifts the chain of the human-powered vehicle 10 from one of a plurality of sprockets to another. The gear shift 42 of this embodiment includes an external gear shift 42A. The external gear shift 42A is configured to operate the transmission 20 to change the ratio R of the rotational speed of the wheel 16 to the rotational speed of the crankshaft 12. The external gear shift 42A includes, for example, at least one front derailleur and a rear derailleur. If the external gear shift 42A includes at least one front derailleur and a rear derailleur, the transmission 20 includes a chain.

[0032] The external gearbox 42A moves, for example, a transmission member 20 that engages with one of a plurality of sprockets to another of the plurality of sprockets. If the transmission 42 includes an internal gearbox, the internal gearbox is provided, for example, in the hub of the rear wheel 16R. The internal gearbox may include a CVT (Continuously Variable Transmission). The transmission 42 includes, for example, an electric actuator 42B. The electric actuator 42B is configured, for example, to operate the transmission 42. The electric actuator 42B is configured, for example, to operate the external gearbox 42A.

[0033] The external transmission 42A is configured to operate the transmission body 20 to change the ratio R of the rotational speed of the wheel 16 to the rotational speed of the crankshaft 12. For example, the external transmission 42A is installed in the transmission path of human-powered vehicle 10 and is configured to change the ratio R. For example, the external transmission 42A changes the ratio R by operating the transmission body 20 to change the engagement state between the transmission body 20 and at least one of the at least one first rotating body 14 and at least one second rotating body 18. The relationship between the ratio R, the rotational speed of the wheel 16 and the rotational speed of the crankshaft 12 is expressed by equation (1). In equation (1), R represents the ratio R. In equation (1), W represents the rotational speed of the wheel 16. In equation (1), C represents the rotational speed of the crankshaft 12. Equation (1): R = W (rpm) / C (rpm)

[0034] For example, the external derailleur 42A can change the ratio R for at least one gear shift stage. For example, the external derailleur 42A is configured to operate the transmission 20 to change at least one gear shift stage. For example, at least one gear shift stage is set according to at least one of at least one first rotating body 14 and at least one second rotating body 18. For example, if at least one gear shift stage includes multiple gear shift stages, each of the multiple gear shift stages is set to a different ratio R. For example, the higher the gear shift stage, the larger the ratio R.

[0035] For example, if at least one first rotating body 14 includes multiple first rotating bodies 14, and at least one second rotating body 18 includes multiple second rotating bodies 18, the gear shifting stage is set according to a combination of one of the multiple first rotating bodies 14 and one of the multiple second rotating bodies 18. For example, if at least one first rotating body 14 includes one first rotating body 14, and at least one second rotating body 18 includes multiple second rotating bodies 18, the gear shifting stage is set according to the number of multiple second rotating bodies 18. For example, if at least one first rotating body 14 includes multiple first rotating bodies 14, and at least one second rotating body 18 includes one second rotating body 18, the gear shifting stage is set according to the number of multiple first rotating bodies 14.

[0036] For example, the external derailleur 42A moves the chain, which is engaged with one of the multiple sprockets, to another of the multiple sprockets. For example, the combination of the sprocket with the fewest teeth among the multiple first sprockets and the sprocket with the most teeth among the multiple second sprockets corresponds to the smallest gear shift stage achievable by the external derailleur 42A. For example, the combination of the sprocket with the most teeth among the multiple first sprockets and the sprocket with the fewest teeth among the multiple second sprockets corresponds to the largest gear shift stage achievable by the external derailleur 42A.

[0037] If the external derailleur 42A includes a front derailleur, for example, the multiple first rotating bodies 14 include two to three sprockets. For example, the multiple first rotating bodies 14 include two sprockets.

[0038] If the external derailleur 42A includes a front derailleur, for example, the external derailleur 42A is configured to move the transmission body 20 from one of the multiple first rotating bodies 14 to another of the multiple first rotating bodies 14 during a gear shift operation. The front derailleur operates the transmission body 20 to change the ratio R by changing the engagement state between at least one first rotating body 14 and the transmission body 20. For example, the multiple first rotating bodies 14 include multiple sprockets.

[0039] For example, if the external derailleur 42A includes a rear derailleur, at least one second rotating body 18 includes two to twenty sprockets. For example, multiple second rotating bodies 18 include twelve sprockets.

[0040] If the external derailleur 42A includes a rear derailleur, for example, at least one of the plurality of second rotating bodies 18 includes at least two gear shifting acceleration regions 22 in the circumferential direction. The at least two gear shifting acceleration regions 22 are individually set in, for example, at least one of the plurality of second rotating bodies 18. The at least two gear shifting acceleration regions 22 are regions that facilitate the movement of the transmission body 20 by the rear derailleur from one of the plurality of second rotating bodies 18 to another adjacent second rotating body 18.

[0041] If at least two gear shifting acceleration regions 22 are individually set for each of the multiple second rotating bodies 18, for example, the at least two gear shifting acceleration regions 22 may be different for all of the multiple second rotating bodies 18, or at least two may be the same. At least one of the multiple second rotating bodies 18 may not include at least two gear shifting acceleration regions 22. For example, the smallest second sprocket of the multiple second sprockets may not include at least two gear shifting acceleration regions 22, while the other second sprockets may include at least two gear shifting acceleration regions 22.

[0042] If at least two gear shifting acceleration regions 22 are individually set for each of the multiple second rotating bodies 18, for example, the at least two gear shifting acceleration regions 22 include a first gear shifting acceleration region 22A and a second gear shifting acceleration region 22B. The first gear shifting acceleration region 22A facilitates the movement of the chain from one of the multiple sprockets to another of the multiple second sprockets. At least one first gear shifting acceleration region 22A is configured to accelerate gear shifting when the ratio R is increased. The first gear shifting acceleration region 22A facilitates the movement of the chain from a second sprocket with a larger number of teeth to a sprocket with a smaller number of teeth. The first gear shifting acceleration region 22A includes, for example, teeth of a sprocket that have a structure that makes it easy for the chain to come off the teeth of the sprocket.

[0043] The second gear shifting acceleration region 22B facilitates, for example, the movement of the chain from one of the multiple sprockets to one of the multiple sprockets. At least one second gear shifting acceleration region 22B is configured to accelerate gear shifting when the ratio R is reduced. The second gear shifting acceleration region 22B facilitates, for example, the movement of the chain from a sprocket with fewer teeth to a sprocket with more teeth. The second gear shifting acceleration region 22B includes, for example, sprocket teeth having a structure that facilitates the chain's engagement with the sprocket teeth.

[0044] figure 2 The figure shows one of several second solids of revolution 18. 2 In one of the multiple second rotating bodies 18 shown, for example, four first gear shifting acceleration regions 22A and four second gear shifting acceleration regions 22B are provided. Each of the four first gear shifting acceleration regions 22A and each of the four second gear shifting acceleration regions 22B are provided alternately in the circumferential direction of one of the multiple second rotating bodies 18.

[0045] If the external gear shifter 42A includes a front derailleur, for example, at least one of the plurality of first rotating bodies 14 may be provided with a gear shifting acceleration region 22, similar to at least one of the plurality of second rotating bodies 18.

[0046] For example, the human-powered vehicle 10 further includes a gear shift control device 44. The gear shift control device 44 is, for example, mounted on the handlebars 36. The gear shift control device 44 includes, for example, a first operating part for increasing the ratio R and a second operating part for decreasing the ratio R.

[0047] For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 46. For example, the vehicle speed detection unit 46 is communicated with the control unit 62 by wire or wireless means. For example, the vehicle speed detection unit 46 is configured to detect information regarding the vehicle speed of the human-powered vehicle 10. For example, the vehicle speed detection unit 46 is configured to detect information regarding the rotational speed of the wheels 16. For example, the vehicle speed detection unit 46 is configured to detect a magnet provided on at least one of the front wheel 16F and the rear wheel 16R.

[0048] For example, the vehicle speed detection unit 46 is configured to output a predetermined number of detection signals during one rotation of the wheel 16. For example, the predetermined number is 1. For example, the vehicle speed detection unit 46 outputs a signal corresponding to the rotational speed of the wheel 16. The control unit 62 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 16 and information regarding the circumference of the wheel 16. For example, the storage unit 64 stores information regarding the circumference of the wheel 16.

[0049] For example, the human-powered vehicle 10 further includes a human-powered force detection unit 48. The human-powered force detection unit 48 is communicated with the control unit 62 by wire or wireless means. The human-powered force detection unit 48 is configured to output a signal corresponding to the torque applied to the crankshaft 12 by the human-powered force. The signal corresponding to the torque applied to the crankshaft 12 by the human-powered force includes information about the human-powered force input to the human-powered vehicle 10.

[0050] For example, the human-powered driving force detection unit 48 is provided on a member located near the human-powered driving force transmission path or a member included in the human-powered driving force transmission path. For example, the members included in the human-powered driving force transmission path include the crankshaft 12 and a member that transmits human-powered driving force between the crankshaft 12 and at least one first rotating body 14. For example, the power transmission unit is provided on the outer circumference of the crankshaft 12.

[0051] The human-powered driving force detection unit 48 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The human-powered driving force detection unit 48 may have any configuration as long as it can acquire information about the human-powered driving force.

[0052] For example, the human-powered driving force detection unit 48 may be provided on the crank arms 28A, 28B, or on at least one of the two pedals 30. For example, if the human-powered driving force detection unit 48 is provided on at least one of the two pedals 30, the human-powered driving force detection unit 48 may include a sensor that detects the pressure applied to at least one of the two pedals 30. For example, the human-powered driving force detection unit 48 may be provided on the chain included in the transmission body 20. For example, if the human-powered driving force detection unit 48 is provided on the chain, the human-powered driving force detection unit 48 may include a sensor that detects the tension of the chain.

[0053] For example, the human-powered vehicle 10 further includes a crank rotation state detection unit 50. For example, the crank rotation state detection unit 50 is communicated with the control unit 62 by wire or wireless means. The crank rotation state detection unit 50 detects at least one amount of rotation of the crankshaft 12 and at least one first rotating body 14. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of the crankshaft 12. For example, the crank rotation state detection unit 50 is configured to detect information corresponding to the rotational speed of at least one first rotating body 14. The information corresponding to the rotational speed of the crankshaft 12 includes the angular acceleration of the crankshaft 12. The information corresponding to the rotational speed of at least one first rotating body 14 includes the angular acceleration of at least one first rotating body 14.

[0054] For example, the crank rotation state detection unit 50 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. The crank rotation state detection unit 50 includes an annular magnet with multiple magnetic poles arranged in the circumferential direction. The annular magnet is provided between the crankshaft 12, at least one first rotating body 14, or a power transmission path from the crankshaft 12 to at least one first rotating body 14. For example, the annular magnet includes one south pole and one north pole. The south pole and the north pole each extend continuously for 180° around the axis of the crankshaft 12.

[0055] For example, the crank rotation state detection unit 50 outputs a signal corresponding to at least one of the rotational speed of the crankshaft 12 and the rotational speed of at least one first rotating body 14. 2、 and at least one first rotating body 1 4 The system is configured to output a detection signal corresponding to the rotation angle of the crankshaft 12 while at least one of the units rotates once. The crank rotation state detection unit 50 may include an optical sensor, an acceleration sensor, a gyro sensor, or a torque sensor instead of a magnetic sensor.

[0056] For example, the crank rotation state detection unit 50 is provided on the frame 26 of the human-powered vehicle 10. For example, if the crank rotation state detection unit 50 is provided on the frame 26, the crank rotation state detection unit 50 may be configured to include a vehicle speed sensor. If the crank rotation state detection unit 50 includes a vehicle speed sensor, the control unit 62 may be configured to calculate the rotational speed of the crankshaft 12 according to the vehicle speed detected by the vehicle speed sensor and a ratio R.

[0057] The crank rotation state detection unit 50 may be configured to detect the amount of rotation of at least one second rotating body 18. The crank rotation state detection unit 50 may be configured to detect information corresponding to the rotational speed of at least one second rotating body 18. For example, the information corresponding to the rotational speed of at least one second rotating body 18 includes the angular acceleration of at least one second rotating body 18. For example, the crank rotation state detection unit 50 may output a signal corresponding to the rotational speed of at least one second rotating body 18.

[0058] For example, the human-powered vehicle 10 further includes a gradient detection unit 52. The gradient detection unit 52 includes, for example, at least one of a tilt sensor and a GPS (Global Positioning System) receiver. The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. If the gradient detection unit 52 includes a GPS receiver, map information including information about the gradient of the road is pre-stored in the storage unit 64, and the control unit 62 acquires the gradient of the road at the current location of the human-powered vehicle 10.

[0059] The control device 60 for a human-powered vehicle includes a control unit 62. For example, the control unit 62 includes a processing unit that executes a predetermined control program. For example, the processing unit included in the control unit 62 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

[0060] For example, the arithmetic processing unit included in the control unit 62 may be located in multiple locations that are far apart from each other. For example, part of the arithmetic processing unit may be located in the human-powered vehicle 10, and other parts of the arithmetic processing unit may be located in a server connected to the Internet. When the arithmetic processing unit is located in multiple locations that are far apart from each other, each part of the arithmetic processing unit is connected to each other so as to be able to communicate with each other via a wireless communication device. The control unit 62 may include one or more microcomputers.

[0061] For example, the control device 60 further comprises a storage unit 64. For example, the storage unit 64 is communicated with the control unit 62 by wire or wireless means. For example, the storage unit 64 stores control programs and information used for control processing. For example, the storage unit 64 includes, for example, non-volatile memory and volatile memory. For example, the non-volatile memory includes at least one of ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, the volatile memory includes RAM (Random Access Memory).

[0062] The control unit 62 controls the transmission 42. When the gear shifting conditions for changing the ratio R are met, the control unit 62 is configured to control the transmission 42 so as to delay the start of the gear shifting operation by the transmission 42 until a predetermined period of time has elapsed, in accordance with the human-powered driving force input to the human-powered vehicle 10. When the gear shifting conditions are met and the state of the transmission 42 is in a predetermined state, the control unit 62 is configured to control the transmission 42 so as to start the gear shifting operation without delay.

[0063] The gear shifting conditions relate, for example, to at least one of the driving state and driving environment of the human-powered vehicle 10. The driving state includes, for example, the rotational speed of the crankshaft 12, the human-powered driving force, and at least one of the vehicle speed. The driving environment includes, for example, the gradient of the road. At least one of the driving state and driving environment includes, for example, driving resistance. Driving resistance includes, for example, at least one of air resistance, rolling resistance, gradient resistance, and acceleration resistance.

[0064] The gear shifting conditions include, for example, the rotational speed of the crankshaft 12, the human driving force, and the vehicle speed. In this embodiment, the gear shifting conditions include the rotational speed of the crankshaft 12. The control unit 62 controls the gear shift 42 so that the ratio R increases when the rotational speed of the crankshaft 12 is greater than an upper threshold, and controls the gear shift 42 so that the ratio R decreases when the rotational speed of the crankshaft 12 is less than a lower threshold.

[0065] If the gear shifting conditions include human power, the conditions are met, for example, when the human power is outside the first range. If the gear shifting conditions include vehicle speed, the conditions are met, for example, when the vehicle speed is outside the second range.

[0066] The gear shifting conditions include, for example, the gradient of the road and at least one of the driving resistance. If the gear shifting conditions include the gradient of the road, the conditions are met, for example, when the gradient of the road is outside the third range. If the gear shifting conditions include driving resistance, the conditions are met, for example, when the driving resistance is outside the fourth range.

[0067] The control unit 62 is configured to calculate a predetermined period such that the operation of the transmission 42 is completed when the human power driving force is less than or equal to a predetermined driving force. The predetermined driving force is set to a value such that the shifting performance of the transmission 42 is ensured. The control unit 62 may change the predetermined driving force according to the ratio R. For example, the control unit 62 is configured to calculate a predetermined period such that the operation of the transmission 42 is started when the human power driving force is less than or equal to a predetermined driving amount, and the operation of the transmission 42 is completed when the human power driving force is less than or equal to a predetermined driving amount.

[0068] One of the multiple sprockets around which the chain is wrapped before the start of the gear shifting operation has, for example, at least one first gear shifting acceleration region 22A. A predetermined period is calculated, for example, based on the rotation angle between the at least one first gear shifting acceleration region 22A. If there is one at least one first gear shifting acceleration region 22A, for example, the rotation angle between the first gear shifting acceleration regions 22A is 360 degrees. If there are two at least one first gear shifting acceleration regions 22A and they are arranged at equal intervals, for example, the rotation angle between the first gear shifting acceleration regions 22A is 180 degrees. It is preferable that the sprocket is provided with three or more first gear shifting acceleration regions 22A such that the rotation angles between all of the first gear shifting acceleration regions 22A are 150 degrees or less.

[0069] For example, when the control unit 62 changes the ratio R to be larger, it calculates a predetermined period based on the rotation angle between the first gear-shifting acceleration regions 22A of the sprocket around which the chain is wrapped before the gear shifting operation begins. For example, when the control unit 62 changes the ratio R to be larger, it is configured to control the external gear shifter 42A so that the external gear shifter 42A operates when the chain is in a corresponding position to the first gear-shifting acceleration region 22A of the sprocket around which the chain is wrapped before the gear shifting operation begins.

[0070] One of the multiple sprockets around which the chain is wrapped after the start of the gear shifting operation has, for example, at least one second gear shifting acceleration region 22B. The predetermined period is set, for example, based on the rotation angle between the at least one second gear shifting acceleration region 22B. If there is one at least one second gear shifting acceleration region 22B, for example, the rotation angle between the second gear shifting acceleration regions 22B is 360 degrees. If there are two at least one second gear shifting acceleration regions 22B and they are arranged at equal intervals, for example, the rotation angle between the second gear shifting acceleration regions 22B is 180 degrees. It is preferable that the sprocket is provided with three or more second gear shifting acceleration regions 22B such that the rotation angles between all of the second gear shifting acceleration regions 22B are 150 degrees or less.

[0071] For example, when the control unit 62 changes the ratio R to be smaller, it calculates a predetermined period based on the rotation angle between the second gear-shifting acceleration regions 22B. For example, when the control unit 62 changes the ratio R to be smaller, it calculates a predetermined period based on the rotation angle between the second gear-shifting acceleration regions 22B of the sprocket around which the chain is wound after the gear shifting operation is completed. For example, when the control unit 62 changes the ratio R to be smaller, it is configured to control the external gear shifter 42A so that the external gear shifter 42A operates when the second gear-shifting acceleration region 22B of the sprocket around which the chain is wound and the chain are in corresponding positions after the gear shifting operation is completed.

[0072] The predetermined period is calculated, for example, based on the length of the chain's wrap around one of the other sprockets. The chain's wrap length corresponds, for example, to the length of the chain that engages with the teeth of the sprocket around which the chain is wrapped after the gear shifting operation is completed. The chain's wrap length increases, for example, as the number of teeth on the sprocket increases. For example, the chain's wrap length for each of the multiple sprockets is stored in the storage unit 64 beforehand.

[0073] For example, the predetermined period is calculated based on the human-powered driving force, the rotation angle between at least one first gear-shifting acceleration region 22A or at least one second gear-shifting acceleration region 22B, and the chain winding length. For example, the predetermined period is calculated based on the human-powered driving force, the rotation angle between at least one first gear-shifting acceleration region 22A or at least one second gear-shifting acceleration region 22B, the chain winding length, and the time required for communication between the control unit 62 and the gear shift device 42.

[0074] The control unit 62 determines that the state of the transmission 42 is in a predetermined state if, for example, the start of the gear shift operation by the transmission 42 is delayed, but the operation of the transmission 42 is not completed when the human-powered driving force is below a predetermined driving force. The control unit 62 may also determine that the state of the transmission 42 is in a predetermined state if the predetermined period is longer than the upper limit period. The control unit 62 may also determine that the state of the transmission 42 is in a predetermined state if the predetermined period is calculated to delay the start of the gear shift operation by the transmission 42 until the rotation angle of the crankshaft 12 becomes greater than the upper limit rotation angle.

[0075] The predetermined state includes, for example, a state in which the ratio R is within a predetermined ratio range. The predetermined ratio range is set to a value that ensures the shifting performance of the transmission 42.

[0076] A predetermined state includes, for example, a state in which the rotation angles of multiple sprockets are within a predetermined angle range. The predetermined angle range is set based on the rotation angle between at least one first gear-shifting acceleration region 22A. When the ratio R is changed to increase the ratio R, for example, the predetermined angle range is set based on the rotation angle between at least one first gear-shifting acceleration region 22A. The predetermined angle range is set based on the rotation angle between at least one second gear-shifting acceleration region 22B. When the ratio R is changed to decrease the ratio R, for example, the predetermined angle range is set based on the rotation angle between at least one second gear-shifting acceleration region 22B.

[0077] The predetermined state includes, for example, a state in which the number of at least one first gear shifting acceleration region 22A included in one of the multiple sprockets around which the chain is wrapped before the start of the gear shifting operation is within a first predetermined range. The first predetermined range may differ for each ratio R. The first predetermined range is, for example, less than or equal to a first predetermined number.

[0078] The predetermined state includes, for example, a state in which the number of at least one second gear-shifting acceleration region 22B included in one of the other sprockets around which the chain is wrapped after the completion of the gear shifting operation is within a second predetermined range. The second predetermined range may differ for each ratio R. The second predetermined range is, for example, less than or equal to the second predetermined number.

[0079] A predetermined state includes, for example, a state in which the length of the chain wrapped around one of the multiple sprockets is within a predetermined length range. The predetermined length range is, for example, less than or equal to a predetermined length.

[0080] Referring to Figure 4, the process by which the control unit 62 controls the transmission 42 will be described. For example, when power is supplied to the control unit 62, it starts processing and moves to step S11 of the flowchart shown in Figure 4. When the flowchart in Figure 4 ends, the control unit 62 repeats the processing from step S11 at predetermined intervals, for example, until the power supply is stopped.

[0081] In step S11, the control unit 62 determines whether or not the gear shifting condition is met. If the gear shifting condition is not met in step S11, the control unit 62 terminates the process. If the gear shifting condition is met, the control unit 62 proceeds to step S12.

[0082] In step S12, the control unit 62 determines whether the state of the transmission 42 is in a predetermined state. If the state of the transmission 42 is in a predetermined state, the control unit 62 proceeds to step S13. In step S13, the control unit 62 controls the transmission 42 to start the gear shifting operation and terminates the process.

[0083] If the state of the transmission 42 is not in a predetermined state in step S12, the control unit 62 proceeds to step S14. In step S14, the control unit 62 determines whether or not it is possible to start shifting gears. For example, if a predetermined period of time has elapsed since the shifting conditions were met, the control unit 62 determines that it is possible to start shifting gears. If it is not possible to start shifting gears, the control unit 62 repeats the determination in step S14. If it is possible to start shifting gears, the control unit 62 proceeds to step S15. In step S15, the control unit 62 controls the transmission 42 to start shifting gears and terminates the process.

[0084] <Example of changes> The description of embodiments is illustrative of possible forms of control devices for human-powered vehicles according to this disclosure, and is not intended to limit such forms. Control devices for human-powered vehicles according to this disclosure may take the following modified embodiments, and combinations of at least two non-inconsistent modifications. In the following modifications, parts common to the embodiments are denoted by the same reference numerals as in the embodiments and their descriptions are omitted.

[0085] The control unit 62 may be configured to determine whether the transmission 42 is an external transmission 42A or an internal transmission. If the control unit 62 determines that the transmission 42 is an internal transmission, it may be configured to control the transmission 42 so as not to perform a delay.

[0086] As used herein, the expression "at least one" means "one or more" of the desired options. For example, as used herein, "at least one" means "only one option" or "both of the two options" if there are two options. As another example, as used herein, "at least one" means "only one option" or "a combination of two or more any options" if there are three or more options. [Explanation of Symbols]

[0087] 10...Human-powered vehicle, 12...Crankshaft, 16...Wheel, 22A...First gear shift acceleration area, 22B...Second gear shift acceleration area, 42...Transmission, 42A...External transmission, 60...Control device, 62...Control unit.

Claims

1. A control device for a human-powered vehicle, The vehicle includes a control unit that controls a transmission that changes the ratio of the rotational speed of the wheels to the crankshaft of the human-powered vehicle, The transmission includes an external gearbox that changes the chain of the human-powered vehicle from one of several sprockets to another. Before the gear shifting operation by the gear shifting device begins, one of the multiple sprockets around which the chain is wrapped has at least one first gear shifting acceleration region. The at least one first gear shifting acceleration region is configured to accelerate the gear shifting operation when the ratio is increased. The control unit, When the gear shifting conditions are met to control the gear shifting device in order to change the ratio, the gear shifting device is configured to be controlled in accordance with the human-powered driving force input to the human-powered vehicle, so as to delay the start of the gear shifting operation until a predetermined period of time has elapsed. The system is configured to control the transmission so that, when the aforementioned gear shifting conditions are met and the state of the transmission is in a predetermined state, the gear shifting operation is started without executing the aforementioned delay. A control device wherein, when the predetermined state is changed to increase the ratio, the rotation angle of the one sprocket around which the chain is wrapped is within a predetermined angular range before the start of the gear shifting operation, and the predetermined angular range is set based on the rotation angle between the at least one first gear shifting acceleration region.

2. The control device according to claim 1, wherein the predetermined state includes a state in which the ratio is within a predetermined ratio range that ensures the shifting performance of the shifting operation by the transmission.

3. After the gear shift operation is completed, one of the multiple sprockets around which the chain is wrapped has at least one second gear shift acceleration region. The predetermined state includes, when the ratio is changed to be smaller, a state in which the rotation angle of one of the plurality of sprockets is within a predetermined angle range set based on the rotation angles between at least one second gear shifting acceleration region, The control device according to claim 1, wherein the at least one second gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is reduced.

4. When the predetermined state is changed to increase the ratio, it includes a state in which the number of at least one first gear-shifting acceleration region included in one of the plurality of sprockets around which the chain is wrapped before the start of the gear shifting operation is less than or equal to a first predetermined number. The control device according to claim 1, wherein the at least one first gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is increased.

5. The predetermined state, when changed to reduce the ratio, includes a state in which the number of at least one second gear-shifting acceleration region included in one of the plurality of sprockets around which the chain is wrapped after the completion of the gear shifting operation is less than or equal to a second predetermined number, The control device according to claim 1, wherein the at least one second gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is reduced.

6. The length of the chain wrap corresponds to the length of the chain that engages with the teeth of the other sprocket around which the chain is wrapped after the completion of the gear shifting operation, The control device according to claim 1, wherein the predetermined state includes a state in which the length of the chain wrapped around one of the plurality of sprockets is less than or equal to a predetermined length.

7. The control device according to any one of claims 1 to 6, wherein the control unit is configured to calculate the predetermined period such that the operation of the transmission is completed when the human-powered driving force is less than or equal to a predetermined driving force.

8. The control unit is configured to calculate the predetermined period such that, when the gear shifting conditions are met and the state of the gear shifting device is not in the predetermined state, the operation of the gear shifting device is completed when the human-powered driving force is less than or equal to the predetermined driving force. Before the start of the gear shifting operation, one of the plurality of sprockets around which the chain is wrapped has at least one first gear shifting acceleration region. The predetermined period is calculated based on the rotation angle between the at least one first gear shift acceleration region. The control device according to claim 1, wherein the at least one first gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is increased.

9. The control unit is configured to calculate the predetermined period such that, when the gear shifting conditions are met and the state of the gear shifting device is not in the predetermined state, the operation of the gear shifting device is completed when the human-powered driving force is less than or equal to the predetermined driving force. After the gear shift operation is completed, one of the multiple sprockets around which the chain is wrapped has at least one second gear shift acceleration region. The predetermined period is set based on the rotation angle between the at least one second gear shift acceleration region, The control device according to claim 1, wherein the at least one second gear shift acceleration region is configured to accelerate the gear shift operation when the ratio is reduced.

10. The length of the chain to wrap around corresponds to the length of the chain that engages with the teeth of the other sprocket around which the chain is wrapped after the completion of the gear shifting operation, The control device according to claim 8 or 9, wherein the predetermined period is calculated based on the length of the chain's wrap around one of the plurality of sprockets.

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