TW202340029A - Control device for human-powered vehicle capable of optimally shifting gears using derailleur - Google Patents

Abstract

The present invention provides a control device for human-powered vehicle for optimally shifting gears using derailleur. In which, the control device for human-powered vehicle comprises a control portion. The human-powered vehicle comprises: a crankshaft, and at least one first rotary body, and wheels; and, at least a second rotary body and a transmission body; a derailleur; and, a motor composed for driving the transmission body. The control portion controls the motor and the derailleur; and, when at least one condition as below is met, the motor will drive the transmission body. The at least one condition is that: during the crankshaft is rotating, after the derailleur started the gear shifting operation, and before the predetermined first time period is expired, the crankshaft is stopped for rotating; and, during the crankshaft is rotating, after the derailleur started the gear shifting operation, and before the predetermined first time period is expired, the control portion will determine the crankshaft is stopped for rotating.

Description

Control device for human driven vehicles

The present invention relates to a control device for a human-powered vehicle.

For example, the control device for a human-driven vehicle disclosed in Patent Document 1 operates the derailleur when the shifting conditions are established. [Prior technical literature] [Patent Document]

[Patent Document 1] Japanese Patent No. 6990618

[Problem to be solved by the invention]

One of the objects of the present invention is to provide a control device for a human-driven vehicle that can optimally change speed using a derailleur. [Technical means used to solve problems]

A control device according to a first aspect of the present invention is a control device for a human-driven vehicle. The human-powered vehicle includes a crankshaft to which human power driving force can be input, and at least one first connecting rod connected to the crankshaft. The rotating body, the wheel, and at least one second rotating body connected to the wheel, and the at least one first rotating body and the at least one second rotating body are engaged with the at least one first rotating body. A transmission body configured to transmit driving force between the rotating body and the at least one second rotating body, and a transmission body that operates the transmission body in order to change the speed change ratio of the rotational speed of the wheel to the rotational speed of the crankshaft. A derailleur configured in a manner and a motor configured to drive the transmission body, the control device includes a control unit, the control unit controls the motor and the derailleur, and if at least one of the following conditions When established, the transmission body is driven by the motor. The at least one case is: after the derailleur starts shifting operation while the crankshaft is rotating, but before a predetermined first period elapses, the crankshaft stops rotating; and when the crankshaft rotates After the derailleur starts the shifting operation in the state, and before the predetermined first period is exceeded, the control unit estimates that the crankshaft has stopped rotating. According to the control device of the first aspect, the control unit can drive the transmission body by the motor when at least one of the following conditions is established, so that the shifting operation can be continued optimally. The at least one situation is: after the derailleur starts the shifting operation and before the first period elapses, the crankshaft stops rotating; and after the derailleur starts the shifting operation but before the first period elapses, the control When it is estimated that the crankshaft has stopped rotating. Therefore, using the control unit allows optimal shifting using the derailleur.

A control device according to a second aspect of the present invention is a control device according to the first aspect, and the predetermined first period corresponds to: a period during which the at least one first rotating body rotates to a predetermined first rotation amount, At least one of a period in which the at least one second rotating body rotates to a predetermined second rotation amount and a period in which the crankshaft rotates to a predetermined third rotation amount is set. According to the control device of the second aspect, the control unit may determine based on: the rotation amount of at least one first rotating body, the rotation amount of at least one second rotating body, and the rotation amount of the crank shaft. The best predetermined first period will be the motor control.

A control device according to a third aspect of the present invention is a control device according to the second aspect, and the predetermined first period is set corresponding to the speed change ratio. According to the control device of the third aspect, the control unit can control the motor based on the optimal predetermined first period determined from the gear ratio.

A control device according to a fourth aspect of the present invention belongs to the second or third aspect, wherein the at least one first rotary body includes a plurality of first rotary bodies, and the derailleur includes a first derailleur. , the first derailleur moves the transmission body from one of the plurality of first rotating bodies toward the other of the plurality of first rotating bodies in the aforementioned shifting operation, and the plurality of first rotating bodies At least one of the first rotating bodies includes at least one first accelerated speed change area in the circumferential direction of the plurality of first rotating bodies, and the aforementioned predetermined first rotation amount corresponds to the at least one first accelerated speed change area. is set. According to the control device of the fourth aspect, the control unit can control the motor so that the speed is changed through at least one first accelerated speed change area.

A control device according to a fifth aspect of the present invention is a control device according to the fourth aspect, and the control unit is configured such that after the first derailleur starts the shifting operation, the rotation amount of the plurality of first rotating bodies becomes the predetermined amount. If the rotation amount is greater than the determined first rotation amount but the crankshaft has stopped rotating or the control unit estimates that the crankshaft has stopped rotating, the driving of the motor is stopped. According to the control device according to the fifth aspect, when the rotation amount of the plurality of first rotating bodies is equal to or greater than the predetermined first rotation amount corresponding to at least one first accelerated speed change area, the control unit turns the motor The drive stops. Therefore, the control unit can suppress the consumption of electric power caused by driving the motor.

A control device according to a sixth aspect of the present invention belongs to any one of the second to fifth aspects, wherein the at least one second rotating body includes a plurality of second rotating bodies, and the derailleur includes a second rotating body. 2 derailleurs, the second derailleur moves the transmission body from one of the plurality of second rotating bodies toward the other of the plurality of second rotating bodies in the aforementioned shifting operation, and the aforementioned At least one of the plurality of second rotating bodies includes at least one second accelerated speed change area in the circumferential direction of the plurality of second rotating bodies, and the aforementioned predetermined second rotation amount corresponds to the at least one of the second rotating bodies. It is set to promote the shifting area. According to the control device according to the sixth aspect, the control unit can control the motor so as to shift the speed through at least one second accelerated shifting area.

A seventh aspect of the present invention is a control device according to the sixth aspect, wherein the control unit controls the amount of rotation of the plurality of second rotating bodies to the predetermined value after the second derailleur starts the shifting operation. If the rotation amount is greater than the determined second rotation amount but the crankshaft has stopped rotating or the control unit estimates that the crankshaft has stopped rotating, the motor is stopped. According to the control device according to the seventh aspect, if the rotation amount of the plurality of second rotating bodies is greater than or equal to the predetermined second rotation amount corresponding to at least one second accelerated speed change area, the control unit turns the motor. The drive stops. Therefore, the control unit can suppress the consumption of electric power caused by driving the motor.

An eighth aspect of the present invention is a control device belonging to any one of the first to seventh aspects, wherein the control unit detects at least one rotation of the crankshaft and the at least one first rotating body. The output of the first detection part is used to determine whether the aforementioned predetermined first period has been exceeded. According to the control device of the eighth aspect, the control unit can optimally determine whether or not the predetermined first period has been exceeded based on the detection result of the first detection unit.

A control device according to a ninth aspect of the present invention belongs to any one of the first to eighth aspects, and the predetermined first period corresponds to: from when the derailleur starts the shifting operation to when the crankshaft stops. At least one of a period until rotation and a period from when the derailleur starts the shifting operation to when the crankshaft is estimated to stop rotating is set. According to the control device of the ninth aspect, the control unit can control the motor in a predetermined first period. The first period corresponds to: the period after the derailleur starts the shifting operation until the crankshaft stops rotating, and at least one period from when the derailleur starts the shifting operation to when the crankshaft is estimated to stop rotating.

A tenth aspect of the present invention is a control device belonging to any one of the first to ninth aspects, wherein the control unit is configured to control at least one of the conditions corresponding to the running state of the human-powered vehicle and the running environment of the human-powered vehicle. A method of changing the aforementioned gear ratio and controlling the aforementioned derailleur. According to the control device of the tenth aspect, the control unit can change the gear ratio by controlling the derailleur in accordance with at least one of the running state of the human-powered vehicle and the running environment of the human-powered vehicle.

A control device according to an eleventh aspect of the present invention is a control device according to the tenth aspect, wherein the running state of the human-driven vehicle includes the rotation speed of the crank shaft, and the control unit is based on the rotation speed ratio of the crank shaft. When the predetermined first rotational speed is smaller, the derailleur is controlled to reduce the speed change ratio. According to the control device of the eleventh aspect, when the rotational speed of the crankshaft is smaller than the predetermined first rotational speed, the control unit can reduce the speed change ratio by controlling the derailleur.

A control device according to a twelfth aspect of the present invention is a control device according to the tenth or eleventh aspect. The running state of the human-driven vehicle includes the rotation speed of the crankshaft, and the control unit is based on the rotation speed of the crankshaft. When the rotation speed is greater than the predetermined second rotation speed, the derailleur is controlled to increase the speed change ratio. According to the control device of the twelfth aspect, when the rotational speed of the crankshaft is greater than the predetermined first rotational speed, the control unit can increase the speed change ratio by controlling the derailleur. [Effects of the invention]

By using the control device for a human-powered vehicle of the present invention, the speed can be optimally changed using a derailleur.

＜Embodiment＞

The control device 80 for a human-driven vehicle will be described with reference to FIGS. 1 to 7 . A human-powered vehicle is a ride-on vehicle that has at least one wheel and can be driven by at least human power. For example, human-powered bicycles include various types of bicycles, such as mountain bikes, road bicycles, city bicycles, cargo bicycles, manual bicycles, and recumbent bicycles. The number of wheels a human-driven vehicle has is not limited. For example, human-driven vehicles also include riding tools having one wheel or two or more wheels. A human-powered vehicle is not limited to a ride that can be driven only by human power. Human-driven vehicles include not only human-driven vehicles, but also E-bikes that use the driving force of electric motors for propulsion. E-bike is an electric-assisted bicycle that uses an electric motor to assist propulsion. In the following, in each embodiment, the human-driven vehicle is described taking a bicycle as an example. In this specification, the predetermined direction is the front-rear direction of the human-driven vehicle 10 .

The human-driven vehicle 10 includes a crankshaft 12, at least one first rotating body 14, wheels 16, at least one second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. . For example, the human-driven vehicle 10 further includes crank arms 26A and 26B. For example, crankshaft 12 and crank arms 26A and 26B constitute crank 28 . Human driving force is input to the crankshaft 12 .

For example, the human-driven vehicle 10 further includes a vehicle body 30 . For example, the vehicle body 30 includes a vehicle frame 32 . For example, the wheels 16 include a front wheel 16F and a rear wheel 16R. For example, the crankshaft 12 is rotatable with respect to the vehicle frame 32 . For example, each of the crank arms 26A and 26B is provided at an end portion of the crank shaft 12 in the axial direction. For example, the human-driven vehicle 10 includes two pedals 34 . For example, one of the two pedals 34 is connected to the crank arm 26A. The other one of the two pedals 34 is connected to the crank arm 26B. 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 vehicle frame 32 .

For example, the human-driven vehicle 10 further includes a driving mechanism 36 . For example, the driving mechanism 36 includes at least one first rotating body 14 , at least one second rotating body 18 , and the transmission body 20 . At least one first rotating body 14 is connected to the crankshaft 12 . At least one second rotating body 18 is connected to the wheel 16 . The transmission body 20 is engaged with at least one first rotation body 14 and at least one second rotation body 18 and transmits the driving force between at least one first rotation body 14 and at least one second rotation body 18 . For example, the transmission body 20 transmits the rotational force of at least one first rotation body 14 to at least one second rotation body 18 .

For example, at least one first rotating body 14 and the crankshaft 12 are coaxially arranged. At least one first rotating body 14 and the crankshaft 12 may not be coaxially arranged. For example, when at least one first rotating body 14 and crankshaft 12 are not coaxially arranged, at least one first rotating body 14 and crankshaft 12 are transmitted through a first transmission mechanism including gears and chains. is connected. The first transmission mechanism may include a pulley and a belt, or may include a shaft and a bevel gear. For example, at least one first rotating body 14 includes at least one first sprocket.

For example, at least one second rotating body 18 and the rear wheel 16R are coaxially arranged. At least one second rotating body 18 and the rear wheel 16R may not be coaxially arranged. For example, when at least one second rotating body 18 and the rear wheel 16R are not coaxially arranged, at least one second rotating body 18 and the rear wheel 16R are transmitted through a second transmission mechanism including gears and chains. is connected. The second transmission mechanism may include a pulley and a belt, or may include a shaft and a bevel gear. For example, at least one second rotating body 18 includes at least one second sprocket.

The front wheel 16F is mounted on the frame 32 through the front fork 38 . The handlebar 42 is connected to the front fork 38 through the spigot 40 . For example, at least one of the front wheel 16F and the rear wheel 16R and the crank 28 are connected by the drive mechanism 36 . In this embodiment, the rear wheel 16R and the crank 28 are connected by the drive mechanism 36 .

The derailleur 22 operates the transmission body 20 in order to change the gear ratio R of the rotational speed W of the wheel 16 to the rotational speed C of the crankshaft 12 . For example, the derailleur 22 is provided on the transmission path of the human driving force in the human-powered vehicle 10 and can change the speed ratio R. For example, the derailleur 22 is an operation transmission body 20 that changes the engagement state between at least one of at least one first rotation body 14 and at least one second rotation body 18 and the transmission body 20 . The transmission ratio R is changed. The relationship between the speed change ratio R, the rotational speed W, and the rotational speed C can be expressed as equation (1). Formula (1): Transmission ratio R=Rotation speed W/Rotation speed C

For example, the derailleur 22 can change at least one speed step according to the gear ratio R. For example, the derailleur 22 operates the transmission body 20 in order to change at least one speed step. For example, at least one speed section is set corresponding to at least one of at least one first rotating body 14 and at least one second rotating body 18 . For example, when at least one speed section includes a plurality of speed sections, each of the plurality of speed sections is set to a different transmission ratio R. For example, the higher the speed section, the larger the transmission ratio R.

For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18 , the speed segment corresponds to the plurality of first rotating bodies 18 One of the rotating bodies 14 is set in combination with one of the plurality of second rotating bodies 18 . For example, when at least one first rotating body 14 includes one first rotating body 14 and at least one second rotating body 18 includes a plurality of second rotating bodies 18, the speed segment corresponds to the plurality of second rotating bodies 18. The number of 18 is set. For example, when at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes a second rotating body 18 , the speed segment corresponds to the plurality of first rotating bodies 18 The number of 14 is set.

For example, the derailleur 22 includes the first derailleur 44 , at least one first rotating body 14 , and includes a plurality of first rotating bodies 14 . The first derailleur 44 moves the transmission body 20 from one of the plurality of first rotating bodies 14 to the other one of the plurality of first rotating bodies 14 during the shifting operation. For example, the first derailleur 44 includes a front derailleur. For example, the first derailleur 44 operates the transmission body 20 and changes the gear ratio R by changing the engagement state between at least one first rotating body 14 and the transmission body 20 . For example, the plurality of first rotating bodies 14 includes a plurality of first sprockets. For example, the plurality of first rotating bodies 14 includes two or more first sprockets and three or less first sprockets. For example, the plurality of first rotating bodies 14 includes two first sprockets.

For example, the first derailleur 44 moves a chain engaged with one of the plurality of first sprockets toward another one of the plurality of first sprockets. For example, among the plurality of first sprockets, the first sprocket with the smallest number of teeth corresponds to the smallest number of shifting stages that can be achieved by the first derailleur 44 . For example, among the plurality of first sprockets, the first sprocket with the largest number of teeth corresponds to the maximum number of speed change stages that can be achieved by the first derailleur 44 .

For example, the derailleur 22 includes the second derailleur 46 , at least one second rotating body 18 , and includes a plurality of second rotating bodies 18 . The second derailleur 46 moves the transmission body 20 from one of the plurality of second rotating bodies 18 to the other one of the plurality of second rotating bodies 18 during the shifting operation. For example, the second derailleur 46 includes a rear derailleur. For example, the second derailleur 46 operates the transmission body 20 and changes the gear ratio R by changing the engagement state of at least one second rotary body 18 and the transmission body 20 . For example, at least one second rotating body 18 includes a plurality of second sprockets. For example, at least one second rotating body 18 includes two or more second sprockets and no more than 20 second sprockets. For example, the plurality of second rotating bodies 18 includes 12 second sprockets.

For example, the second derailleur 46 moves a chain engaged with one of the plurality of second sprockets toward another one of the plurality of second sprockets. For example, among the plurality of second sprockets, the second sprocket with the smallest number of teeth corresponds to the maximum number of shifting stages that can be achieved by the second derailleur 46 . For example, among the plurality of second sprockets, the second sprocket with the largest number of teeth corresponds to the smallest number of shifting stages that can be achieved by the second derailleur 46 .

In this embodiment, the derailleur 22 includes both the first derailleur 44 and the second derailleur 46 . The derailleur 22 may include only the first derailleur 44 or only the second derailleur 46. The first derailleur 44 may include a rear derailleur, and the second derailleur 46 may include a front derailleur. For example, when at least one first rotating body 14 includes a plurality of sprockets, and the derailleur 22 includes a first derailleur 44; and at least one second rotating body 18 includes a plurality of sprockets, and , when the derailleur 22 includes the second derailleur 46; in the case of at least one of them, the transmission body 20 includes a chain.

For example, at least one of the plurality of first rotating bodies 14 includes at least one first accelerated speed change area 48 in the circumferential direction of the plurality of first rotating bodies 14 . For example, at least one first accelerated speed change area 48 is set individually for each of the plurality of first rotating bodies 14 . For example, all of the at least one first accelerated speed change area 48 of the plurality of first rotating bodies 14 may be different, or at least two of them may be the same. For example, at least one of the plurality of first rotating bodies 14 does not include the first accelerated speed change area 48 . For example, the smallest first sprocket among the plurality of first sprockets does not include the first accelerated shifting area 48 , and the other first sprockets include the first accelerated shifting area 48 .

For example, at least one first boosted shift area 48 includes a primary boosted shift area 48A and a secondary boosted shift area 48B. For example, the primary acceleration shifting area 48A promotes movement of the chain from one of the plurality of first sprockets to the other of the plurality of first sprockets. For example, the primary acceleration speed change area 48A is to increase the acceleration speed range. For example, the primary acceleration shifting area 48A promotes movement of the chain from a first sprocket with a smaller number of teeth among the plurality of first sprockets toward a first sprocket with a larger number of teeth among the plurality of first sprockets.

For example, the secondary acceleration shifting area 48B promotes movement of the chain from another one of the plurality of first sprockets toward one of the plurality of first sprockets. For example, the secondary accelerated speed change area 48B is where the accelerated speed section becomes smaller. For example, the secondary acceleration shifting area 48B promotes movement of the chain from the first sprocket with the larger number of teeth among the plurality of first sprockets toward the first sprocket with the smaller number of teeth among the plurality of first sprockets.

For example, in the first rotating body 14 shown in FIG. 3 , four primary accelerated speed change areas 48A are provided in one of the plurality of first rotating bodies 14 . Two secondary acceleration shifting areas 48B are provided on each. For example, the two secondary acceleration shifting areas 48B are respectively provided at positions 180 degrees away from each other in the circumferential direction of one of the plurality of first rotating bodies 14 . For example, two of the four primary acceleration shifting areas 48A are respectively provided at positions 180 degrees away from each other in the circumferential direction of one of the plurality of first rotating bodies 14 . For example, the other two of the four primary acceleration shifting areas 48A are respectively provided at positions 180 degrees away from each other in the circumferential direction of one of the plurality of first rotating bodies 14 .

For example, at least one of the plurality of second rotating bodies 18 includes at least one second accelerated speed change region 50 in the circumferential direction of the plurality of second rotating bodies 18 . For example, at least one second accelerated speed change area 50 is individually set for each of the plurality of second sprockets included in the plurality of second rotating bodies 18 . For example, all of the at least one second accelerated speed change area 50 of the plurality of second rotating bodies 18 may be different, or at least two of them may be the same. For example, at least one of the plurality of second rotating bodies 18 does not include the second accelerated speed change area 50 . For example, the smallest second sprocket among the plurality of second sprockets does not include the second accelerated shifting area 50 , and the other second sprockets include the second accelerated shifting area 50 .

For example, at least one second accelerated shifting area 50 includes a third accelerated shifting area 50A and a fourth accelerated shifting area 50B. For example, the third acceleration shifting area 50A promotes movement of the chain from one of the plurality of second sprockets to the other of the plurality of second sprockets. For example, the third accelerated speed change area 50A is an increase in the accelerated speed section. For example, the third acceleration shifting area 50A promotes movement of the chain from the second sprocket with the larger number of teeth among the plurality of second sprockets toward the second sprocket with the smaller number of teeth among the plurality of second sprockets.

For example, the fourth acceleration shifting area 50B promotes movement of the chain from another one of the plurality of second sprockets toward one of the plurality of second sprockets. For example, the 4th accelerated speed change area 50B is a decrease in the accelerated speed section. For example, the fourth acceleration shifting area 50B promotes movement of the chain from the second sprocket with the smaller number of teeth among the plurality of second sprockets to the second sprocket with the larger number of teeth among the plurality of second sprockets.

For example, in the second rotating body 18 shown in FIG. 4 , four tertiary accelerated speed change areas 50A are provided in one of the plurality of second rotating bodies 18 . Four 4-step acceleration shifting areas 50B are set on it. For example, each of the four third-order accelerated shifting areas 50A and the four fourth-order accelerated shifting areas 50B are alternately provided in the circumferential direction of one of the plurality of second rotating bodies 18 .

For example, the human-driven vehicle 10 further includes an operating device 52 configured to operate the derailleur 22 . For example, the operating device 52 is provided on the handlebar 42 . For example, the operating device 52 is operated by the user's hands. For example, the user's hand includes the user's fingers. The operating device 52 includes a first operating part 52A and a second operating part 52B. For example, one of the first operating part 52A and the second operating part 52B is provided on the handlebar 42 located on the left side of the rider, and the other one of the first operating part 52A and the second operating part 52B is provided on the rider's left side. The rider on the right handles the 42.

For example, the first operation part 52A and the second operation part 52B include at least one operation lever or at least one button. The first operating part 52A and the second operating part 52B are not limited to at least one operating lever or at least one button as long as they are configured to transition between at least two states by the user's operation. Any structure will do.

For example, the first operating part 52A and the second operating part 52B operate the derailleur 22 . For example, the operating device 52 outputs a speed change operation signal to the control unit 82 in response to the user's operation. The operating device 52 may be provided with a third operating part instead of the first operating part 52A and the second operating part 52B, or may further include a third operating part in addition to the first operating part 52A and the second operating part 52B. 3. The operating part is a part for operating the human-driven vehicle except the derailleur 22. For example, the shift operation signal includes: a first operation signal including a shift instruction to operate the derailleur 22 to increase the shift ratio R, and a first operation signal including a shift instruction to operate the derailleur 22 to decrease the shift ratio R. The second operating signal of the operating speed change indication.

For example, the first operation signal includes: a first operation signal including a shift instruction to operate the first derailleur 44 by increasing the shift ratio R, and a first operation signal including a shift instruction to increase the shift ratio R. 2. At least one of the two operation signals of the shift indication operated by the derailleur 46. For example, the second operation signal includes a third operation signal including a shift instruction to operate the first derailleur 44 in a manner that reduces the gear ratio R, and a third operation signal including a shift instruction in a manner to decrease the gear ratio R. 2. At least 1 of the 4 operation signals of the shifting instructions operated by the derailleur 46.

For example, the first operation part 52A includes two operation levers. For example, the first operation part 52A outputs an operation signal once when one of the two operation levers is operated, and outputs a three-time operation signal when the other one of the two operation levers is operated. signal output. For example, the second operation part 52B includes two operation levers. For example, the second operation part 52B outputs a second operation signal when one of the two operation levers is operated, and outputs a fourth operation signal when the other one of the two operation levers is operated. signal output.

For example, the first derailleur 44 is operated by one of the first operating part 52A and the second operating part 52B, and the other of the first operating part 52A and the second operating part 52B is operated. 1, and the second derailleur 46 is operated. In this embodiment, the first derailleur 44 is operated by the first operating part 52A, and the second derailleur 46 is operated by the second operating part 52B. When the first derailleur 44 is operated by the first operating part 52A and the derailleur 22 only includes the first derailleur 44, the second operating part 52B may be omitted. When the second derailleur 46 is operated by the second operating part 52B and the derailleur 22 only includes the second derailleur 46, the first operating part 52A may be omitted.

The first derailleur 44 may be operated by the first operating part 52A and the second operating part 52B, and the second derailleur 46 may be operated by the first operating part 52A and the second operating part 52B. Operation is also possible. The operating device 52 may further include a fourth operating part and a fifth operating part in addition to the first operating part 52A and the second operating part 52B. For example, the fourth operation part and the fifth operation part have the same configuration as the first operation part 52A and the second operation part 52B. The first derailleur 44 is operated by one of the first operating part 52A and the second operating part 52B, and the fourth operating part and the fifth operating part, and the first operating part 52A and the second operating part are operated. Part 52B, and the other one of the fourth operating part and the fifth operating part may be used to operate the second derailleur 46 .

For example, the first derailleur 44 includes a first electric actuator 44A. The first electric actuator 44A operates the first derailleur 44 . For example, the first electric actuator 44A includes an electric motor. The first electric actuator 44A may further include a reduction gear connected to the output shaft of the electric motor. The first electric actuator 44A may be provided at a position remote from the derailleur 22 in the human-driven vehicle 10 . For example, by driving the first electric actuator 44A, the transmission body 20 is operated by the first derailleur 44 to perform the shifting operation.

For example, the second derailleur 46 includes a second electric actuator 46A. The second electric actuator 46A operates the second derailleur 46 . For example, the second electric actuator 46A includes an electric motor. The second electric actuator 46A may further include a reduction gear connected to the output shaft of the electric motor. The second electric actuator 46A may be provided at a position remote from the derailleur 22 in the human-driven vehicle 10 . For example, by driving the second electric actuator 46A, the transmission body 20 is operated by the second derailleur 46 to perform the shifting operation.

For example, the human-driven vehicle 10 further includes a battery 54 . The battery 54 includes one or more battery components. Battery components include rechargeable batteries. For example, the battery 54 supplies electric power to the control unit 82, the first electric actuator 44A, and the second electric actuator 46A. For example, the battery 54 is communicably connected to the control unit 82 via wires or wirelessly. For example, the battery 54 is controlled through power line communication (PLC, Power Line Communication), CAN (Controller Area Network), or UART (Universal Asynchronous Receiver/Transmitter) Department 82 can communicate.

The motor 24 drives the transmission body 20 . For example, the motor 24 provides a propulsive force to the human-powered vehicle 10 in response to human power. For example, motor 24 includes one or more electric motors. For example, the electric motor included in the motor 24 is, for example, a brushless motor. For example, the motor 24 is a power transmission path that transmits rotational force to human driving force from the two pedals 34 to at least one second rotating body 18 . For example, the motor 24 drives the transmission body 20 through at least one first rotating body 14 . In the present embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and transmits the rotational force to the first rotating body 14 .

The human-driven vehicle 10 further includes a housing 56 equipped with a motor 24 . The driving assembly 58 includes the motor 24 and the housing 56 . The outer shell 56 is installed on the vehicle frame 32 . The housing 56 rotatably supports the crankshaft 12 . For example, the motor 24 may transmit the rotational force to the transmission body 20 without passing through at least one first rotary body 14 . For example, when the motor 24 is configured to transmit the rotational force to the transmission body 20 without passing through at least one first rotating body 14 , a sprocket is provided to connect the output shaft 24A of the transmission motor 24 or the output shaft 24A. The force transmission member is engaged with the transmission body 20 .

For example, the driving component 58 further includes an output unit 60 . For example, the output unit 60 has a rotation center axis CA. For example, the output part 60 and the crankshaft 12 are coaxially arranged. For example, the output unit 60 transmits the human driving force and the output of the motor 24 . For example, the output unit 60 transmits the rotational force of the crankshaft 12 and the output of the motor 24 . For example, the output unit 60 has a substantially cylindrical shape. For example, the output portion 60 is provided on the outer peripheral portion of the crankshaft 12 around the rotation center axis CA. For example, at least one first rotating body 14 is connected to the first end portion 60A of the output portion 60 so as to rotate integrally with the output portion 60 .

For example, the drive assembly 58 includes a reducer 62 . For example, the speed reducer 62 is provided between the motor 24 and the power transmission path of the human driving force. For example, the speed reducer 62 includes at least one speed reduction part. For example, at least one deceleration part includes a first deceleration part 64, a second deceleration part 66, and a third deceleration part 68. The reducer 62 may include one, two, or four or more reduction parts.

The first reduction part 64 includes a first gear 64A, a first rotating shaft 64B, and a second gear 64C. For example, the first gear 64A is connected to the second gear 64C. For example, the diameter of the first gear 64A is larger than the diameter of the second gear 64C. For example, the first gear 64A is provided at the second end portion 60B of the output portion 60 . For example, the first gear 64A is integrally formed with the output unit 60 . The first gear 64A and the output portion 60 may be formed of different members, and may be mounted so as to be non-rotatable relative to each other.

For example, the first rotation shaft 64B is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the second gear 64C is provided on the first rotating shaft 64B. For example, the second gear 64C is formed in an annular shape and is arranged outside the first rotation shaft 64B in the radial direction. For example, the second gear 64C is arranged coaxially with the first rotation shaft 64B. For example, the second gear 64C is supported on the first rotation shaft 64B. For example, the second gear 64C is integrally formed with the first rotating shaft 64B. The first rotating shaft 64B and the second gear 64C may be formed of different members, and may be mounted so as not to rotate relative to each other.

The first reduction part 64 does not use the first gear 64A and the second gear 64C, but may be indirectly connected through a belt and a pulley. The first reduction part 64 does not use the first gear 64A and the second gear 64C, but may be connected indirectly through a sprocket and a chain.

For example, the second speed reduction part 66 is provided between the motor 24 and the first speed reduction part 64 . For example, the second reduction part 66 includes a third gear 66A, a second rotation shaft 66B, and a fourth gear 66C. The third gear 66A is connected to the fourth gear 66C. For example, the diameter of the third gear 66A is larger than the diameter of the fourth gear 66C.

For example, the third gear 66A is provided on the first rotating shaft 64B. For example, the third gear 66A is formed in an annular shape and is arranged at a portion different from the second gear 64C on the radially outer side of the first rotation shaft 64B. For example, the third gear 66A is arranged coaxially with the first rotation shaft 64B. For example, the third gear 66A is supported on the first rotation shaft 64B. For example, the third gear 66A is formed of a different member from the first rotation shaft 64B, and is mounted so as to be non-rotatable relative to each other. The third gear 66A may be integrated with the first rotating shaft 64B. For example, the diameter of the third gear 66A is equal to or smaller than the diameter of the second gear 64C.

For example, the second rotation shaft 66B is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the fourth gear 66C is provided on the second rotation shaft 66B. For example, the fourth gear 66C is formed in an annular shape and is arranged outside the second rotation shaft 66B in the radial direction. For example, the fourth gear 66C is arranged coaxially with the second rotation shaft 66B. For example, the fourth gear 66C is supported on the second rotation shaft 66B. For example, the fourth gear 66C is integrally formed with the second rotation shaft 66B. The fourth gear 66C is formed of a different member from the second rotation shaft 66B, and may be mounted so as to be non-rotatable relative to each other. For example, the fourth gear 66C rotates integrally with the second rotation shaft 66B.

The second reduction part 66 may not use the third gear 66A and the fourth gear 66C, but may be indirectly connected through a belt and a pulley. The second reduction part 66 does not use the third gear 66A and the fourth gear 66C, but may be connected indirectly through a sprocket and a chain.

For example, the third reduction part 68 includes a fifth gear 68A and a sixth gear 68B. For example, the fifth gear 68A is connected to the sixth gear 68B. For example, the diameter of the fifth gear 68A is larger than the diameter of the sixth gear 68B. For example, the fifth gear 68A is provided on the second rotation shaft 66B. For example, the fifth gear 68A is formed in an annular shape and is arranged at a portion different from the fourth gear 66C on the radial outer side of the second rotation shaft 66B.

For example, the fifth gear 68A is arranged coaxially with the second rotation shaft 66B. For example, the fifth gear 68A is supported on the second rotation shaft 66B. For example, the fifth gear 68A is formed of a different member from the second rotation shaft 66B, and is mounted so as to be non-rotatable relative to each other. The fifth gear 68A may be integrated with the second rotating shaft 66B. For example, the diameter of the fifth gear 68A is larger than the diameter of the fourth gear 66C.

For example, motor 24 includes output shaft 24A. For example, the output shaft 24A is provided in the housing 56 substantially parallel to the rotation center axis CA. For example, the sixth gear 68B is provided on the output shaft 24A. For example, the sixth gear 68B is formed in an annular shape and is arranged outside the output shaft 24A in the radial direction. For example, the sixth gear 68B is arranged coaxially with the output shaft 24A. For example, the sixth gear 68B is supported by the output shaft 24A. For example, the sixth gear 68B is provided on the output shaft 24A of the motor 24 so as to rotate integrally with the output shaft 24A. For example, the sixth gear 68B is formed integrally with the output shaft 24A. For example, the sixth gear 68B may be formed of a different member from the output shaft 24A, and may be attached to the output shaft 24A.

The third reduction part 68 does not use the fifth gear 68A and the sixth gear 68B, but may be indirectly connected through a belt and a pulley. The third reduction part 68 does not use the fifth gear 68A and the sixth gear 68B, but may be connected indirectly through a sprocket and a chain.

For example, the drive assembly 58 further includes a first one-way clutch 70 . For example, the first one-way clutch 70 is provided between the power transmission path from the crankshaft 12 to at least one first rotating body 14 . For example, the first one-way clutch 70 is provided between the crankshaft 12 and the output part 60 .

For example, the first one-way clutch 70 rotates the first rotating body 14 forward when the crankshaft 12 rotates forward, and allows the crankshaft 12 and at least one first rotation when the crankshaft 12 rotates backward. The bodies 14 rotate relative to each other. For example, the first one-way clutch 70 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

For example, the drive assembly 58 further includes a second one-way clutch 72 . For example, the second one-way clutch 72 is provided between the power transmission path from the motor 24 to at least one first rotating body 14 . For example, the second one-way clutch 72 is provided between the third gear 66A and the first rotating shaft 64B.

For example, the second one-way clutch 72 transmits the rotational force of the motor 24 to the output part 60 . For example, the second one-way clutch 72 suppresses the rotational force of the crankshaft 12 from being transmitted to the motor 24 when the crankshaft 12 rotates forward. For example, the second one-way clutch 72 includes at least one of a roller clutch, a sprag clutch, and a ratchet clutch.

For example, the human-driven vehicle 10 further includes a first detection unit 74 . For example, the first detection unit 74 is communicably connected to the control unit 82 by wire or wirelessly. The first detection unit 74 detects at least one rotation amount of the crankshaft 12 and at least one first rotating body 14 . For example, the first detection unit 74 detects information corresponding to the rotational speed C of the crankshaft 12 . For example, the first detection unit 74 detects information corresponding to the rotation speed of at least one first rotating body 14 . The information corresponding to the rotational speed C 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 .

For example, the first detection unit 74 includes a magnetic sensor that outputs a signal corresponding to the intensity of the magnetic field. A magnetic sensor is a ring-shaped magnet that contains changes in the intensity of the magnetic field in the circumferential direction. A ring-shaped magnet whose magnetic field intensity changes in the circumferential direction is provided on the crankshaft 12, at least one first rotating body 14, or for power transmission from the crankshaft 12 to at least one first rotating body 14. between paths.

For example, the first detection unit 74 outputs a signal corresponding to at least one of the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14 . For example, the first detection unit 74 detects a predetermined number of detection signals while at least one of the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14 rotates once. output. For example, the predetermined number of times is 2 or more. For example, the predetermined number of times is 4 or more. For example, the predetermined number of times is a multiple of 4. For example, the predetermined number of times is 8, 12, or 16. The first detection unit 74 may use an acceleration sensor, a rotation sensor, a torque sensor, or the like instead of a magnetic sensor or optical sensor.

For example, the first detection unit 74 is provided on the frame 32 of the human-driven vehicle 10 . For example, when the first detection unit 74 is provided on the vehicle frame 32, the first detection unit 74 may include a vehicle speed sensor. When the first detection unit 74 includes a vehicle speed sensor, the control unit 82 may calculate the rotational speed C of the crankshaft 12 based on the vehicle speed detected by the vehicle speed sensor and the corresponding speed ratio R. . For example, the first detection unit 74 may be provided in the drive unit 58 .

The first detection unit 74 may detect the rotation amount of at least one second rotating body 18 . The first detection unit 74 may detect information corresponding to the rotation speed of at least one second rotating body 18 . For example, the information corresponding to the rotation speed of at least one second rotating body 18 includes the angular acceleration of at least one second rotating body 18 . For example, the first detection unit 74 may output a signal corresponding to the rotation speed of at least one second rotating body 18 .

For example, the human-powered vehicle 10 further includes a human-powered driving force detection unit 76 . The human driving force detection unit 76 is communicably connected to the control unit 82 by wire or wirelessly. The human driving force detection unit 76 outputs a signal corresponding to the torque exerted by the human driving force on the crankshaft 12 . The signal corresponding to the torque applied to the crankshaft 12 by the human driving force includes information about the human driving force that is input to the human driven vehicle 10 .

For example, the human driving force detection unit 76 is provided on a member of the transmission path of the human driving force, or is provided on a member near a member included in the transmission path of the human driving force. For example, the member included in the transmission path of the human driving force includes the crankshaft 12 and a member that transmits the human driving force between the crankshaft 12 and at least one first rotating body 14 . For example, the human driving force detection unit 76 is provided in a power transmission unit configured to transmit the human driving force from the crankshaft 12 to the output unit 60 . For example, the power transmission unit is provided on the outer peripheral portion of the crankshaft 12 .

The human driving force detection unit 76 includes a strain sensor, a magnetostrictive sensor, a pressure sensor, etc. Strain sensors include strain gauges. The human driving force detection unit 76 may have any configuration as long as it can acquire information on the human driving force.

For example, the human driving force detection unit 76 may be provided in at least one of the crank arms 26A and 26B or the two pedals 34 . For example, when the human driving force detection unit 76 is provided in at least one of the two pedals 34 , the human driving force detection unit 76 includes detecting that at least one of the two pedals 34 is applied. One pressure sensor is also available. For example, the human driving force detection unit 76 may be provided in a chain included in the transmission body 20 . For example, when the human driving force detection unit 76 is provided on a chain, the human driving force detection unit 76 may include a sensor for detecting the tension of the chain.

For example, the human-powered vehicle 10 further includes a vehicle speed detection unit 78 . For example, the vehicle speed detection unit 78 is communicably connected to the control unit 82 via wires or wirelessly. For example, the vehicle speed detection unit 78 detects information about the vehicle speed of the human-driven vehicle 10 . For example, the vehicle speed detection unit 78 detects information on the rotational speed W of the wheel 16 . For example, the vehicle speed detection unit 78 detects a magnet provided on at least one of the front wheel 16F and the rear wheel 16R.

For example, the vehicle speed detection unit 78 outputs the detection signal a predetermined number of times while the wheel 16 rotates once. For example, the predetermined number of times is 1. For example, the vehicle speed detection unit 78 outputs a signal corresponding to the rotational speed W of the wheel 16 . The control unit 82 can calculate the vehicle speed of the human-driven vehicle 10 based on the signal corresponding to the rotation speed W of the wheel 16 and the information about the circumference of the wheel 16 . For example, information about the circumference of the wheel 16 is stored in the memory unit 84 .

The control device 80 for the human-powered vehicle includes a control unit 82 . For example, the control unit 82 is an arithmetic processing device that executes a predetermined control program. For example, the arithmetic processing device included in the control unit 82 includes a CPU (Central Processing Unit) or an MPU (Micro Processing Unit).

For example, the arithmetic processing devices included in the control unit 82 may be installed in a plurality of places distant from each other. For example, a part of the arithmetic processing device may be provided in the human-driven vehicle 10, and the other part of the arithmetic processing device may be provided in a server connected to the Internet. When the arithmetic processing device is installed in a plurality of places that are far away from each other, each part of the arithmetic processing device is communicably connected to each other through a wireless communication device. The control unit 82 may include one or a plurality of microcomputers.

For example, the control device 80 further includes a memory unit 84 . For example, the memory unit 84 is communicably connected to the control unit 82 via wires or wirelessly. For example, the control program and information used in the control processing are stored in the memory unit 84 . For example, the memory unit 84 includes, for example, a non-volatile memory and a volatile memory. For example, non-volatile memory includes ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electronically Erasable and Rewritable Memory) At least 1 of read-only memory, Electrically Erasable Programmable Read-Only Memory), and flash memory. For example, volatile memory includes RAM (Dynamic Random Access Memory, Random Access Memory).

For example, the control device 80 may further include a drive circuit for the motor 24 . For example, the control unit 82 and the drive circuit are provided in the housing 56 . The control unit 82 and the drive circuit may be provided on the same circuit board. For example, the driving circuit is communicably connected to the control unit 82 through wires or wirelessly. For example, the drive circuit drives the motor 24 in response to the control signal from the control unit 82 .

For example, the drive circuit is electrically connected to the motor 24 . For example, the drive circuit controls the supply of electric power from the battery 54 to the motor 24 . For example, the drive circuit includes an inverter circuit. For example, an inverter circuit contains a complex number of transistors. For example, the inverter circuit has a structure in which a plurality of inverter units composed of a pair of transistors connected in series are connected in parallel. For example, the inverter circuit may have a current sensor for detecting the current flowing in the inverter circuit. For example, the current sensor is communicably connected to the control unit 82 through wires or wirelessly.

The control unit 82 controls the motor 24 and the derailleur 22 . For example, the control unit 82 controls the motor 24 according to the state of the human-driven vehicle 10 . For example, the control unit 82 controls the motor 24 by changing the propulsion force in accordance with the human power input to the human power vehicle 10 . For example, the control unit 82 controls the motor 24 in accordance with the human driving force detected by the human driving force detection unit 76 .

For example, the control unit 82 controls the motor 24 in accordance with at least one of the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14 detected by the first detection unit 74 . For example, the control unit 82 controls the motor 24 in accordance with the vehicle speed of the human-driven vehicle 10 detected by the vehicle speed detection unit 78 . The control unit 82 may drive the motor 24 in response to information transmitted from the outside of the drive unit 58 . The information sent from the outside of the driving component 58 may include an operation signal of the operating device 52 .

For example, the control unit 82 controls the motor 24 so that the assist level provided by the motor 24 becomes a predetermined assist level. For example, the assist level includes the ratio of the output of the motor 24 to the human power driving force input to the human-powered vehicle 10 , the maximum value of the output of the motor 24 , and the output fluctuation of the motor 24 when the output of the motor 24 decreases. The suppression level is at least 1.

For example, the control unit 82 controls the motor 24 so that the ratio of the assist force to the human driving force becomes a predetermined ratio. For example, the human driving force is a propulsive force for the human driven vehicle 10 generated when the user rotates the crankshaft 12 . For example, the human driving force is a driving force input to at least one first rotating body 14 in response to the user rotating the crankshaft 12 .

For example, the assist force includes the driving force input to the first rotating body 14 in response to the output of the motor 24 . For example, the assist force corresponds to the propulsive force for the human-powered vehicle 10 generated by the rotation of the motor 24 . For example, when the drive assembly 58 includes the reducer 62 , the assist force corresponds to the output of the reducer 62 .

The predetermined ratio may not be fixed but may change according to the human driving force. The predetermined ratio is not fixed but may be changed in accordance with at least one of the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14 . The predetermined ratio is not fixed but may be changed according to the vehicle speed of the human-driven vehicle 10 . The predetermined ratio is not fixed but corresponds to any two of the human driving force, the rotational speed C of the crankshaft 12 and the rotational speed of at least one first rotating body 14, and the vehicle speed, or All variations are possible.

For example, human driving force is at least one of torque and power. For example, when the human driving force is torque, the human driving force is described as human torque. For example, when the output of the motor 24 is torque, the output of the motor 24 is described as assist torque. For example, the power of the human driving force is the product of the torque applied to the crankshaft 12 and the rotational speed C of the crankshaft 12 .

For example, the assist force is at least one of torque and power. For example, when the assist force is torque, the assist force is described as assist torque. For example, when the assist force is power, the assist force is described as assist power. For example, the assist power is the product of the assist torque and the rotation speed of the output shaft 24A of the motor 24 . For example, the ratio of auxiliary force to human driving force may be the ratio of auxiliary torque to human torque, or the ratio of auxiliary power to human power.

For example, the control unit 82 controls the motor 24 so that the assist force becomes equal to or less than the maximum assist force. For example, the control unit 82 controls the motor 24 so that the assist torque becomes equal to or less than the maximum assist torque. For example, the maximum assist torque is a value in the range of 20 Nm to 200 Nm. For example, the maximum assist torque is determined based on the output characteristics of the motor 24 . The control unit 82 may control the motor 24 so that the assist power becomes equal to or less than the maximum assist power.

For example, the control unit 82 controls the derailleur 22 in response to the deceleration instruction. For example, the shift instruction corresponds to at least one of an output from the operating device 52 and a shift condition. For example, the gear shift instruction includes a gear shift instruction for increasing the gear ratio R and a gear shift instruction for decreasing the gear ratio R.

For example, when the derailleur 22 includes the first derailleur 44, the shift instruction includes the first shift instruction. For example, when there is a first speed change instruction, the control unit 82 outputs the first speed change control signal or the second speed change control signal to the first electric actuator 44A. For example, the first electric actuator 44A operates to operate the first derailleur 44 when at least one of the first shift control signal and the second shift control signal is input.

For example, when the first transmission control signal is input, the first electric actuator 44A operates to operate the first derailleur 44 to increase the transmission ratio R. For example, when the second shift control signal is input, the first electric actuator 44A operates to operate the first derailleur 44 to decrease the shift ratio R. For example, the first speed change control signal and the second speed change control signal include electric power for driving the first electric actuator 44A.

For example, when the derailleur 22 includes the second derailleur 46 , for example, the shift instruction includes the second shift instruction. For example, when there is a second shift instruction, the control unit 82 outputs the third shift control signal or the fourth shift control signal to the first electric actuator 44A. For example, the second electric actuator 46A operates to operate the second derailleur 46 when at least one of the third speed change control signal and the fourth speed change control signal is input.

For example, when the third shift control signal is input, the second electric actuator 46A operates to operate the second derailleur 46 to increase the shift ratio R. For example, when the fourth shift control signal is input, the second electric actuator 46A operates to operate the second derailleur 46 to decrease the shift ratio R. For example, the third speed change control signal and the fourth speed change control signal include electric power for driving the second electric actuator 46A.

For example, the control unit 82 controls the derailleur 22 so as to change the gear ratio R in response to the output from the operating device 52 . For example, the control unit 82 controls the first derailleur 44 so as to change the gear ratio R in response to the output from the first operating unit 52A. For example, the control unit 82 controls the second derailleur 46 so as to change the gear ratio R in response to the output from the second operating unit 52B.

For example, when the primary operation signal is output from the first operation unit 52A, the control unit 82 outputs the first speed change control signal to the first electric actuator 44A. For example, when the third operation signal is output from the first operation unit 52A, the control unit 82 outputs the second speed change control signal to the first electric actuator 44A. For example, when the secondary operation signal is output from the second operation unit 52B, the control unit 82 outputs the third speed change control signal to the second electric actuator 46A. For example, when the fourth operation signal is output from the second operation unit 52B, the control unit 82 outputs the fourth speed change control signal to the second electric actuator 46A.

For example, when the primary operation signal is output from the first operation part 52A, it corresponds to the case where there is a first gear change instruction for increasing the gear ratio R. For example, when the third operation signal is output from the first operation part 52A, it corresponds to the case where the first gear change instruction for decreasing the gear ratio R is given. For example, when the secondary operation signal is output from the second operation part 52B, it corresponds to the case where there is a second gear shift instruction for increasing the gear ratio R. For example, when the fourth operation signal is output from the second operation part 52B, it corresponds to the case where there is a second gear change instruction for decreasing the gear ratio R.

For example, when the shifting conditions are satisfied, the control unit 82 controls the derailleur 22 to change the shifting ratio R. For example, when the derailleur 22 includes the first derailleur 44, the shifting condition includes the first shifting condition. For example, when the derailleur 22 includes the second derailleur 46, the shifting condition includes the second shifting condition. For example, when the first speed change condition for increasing the speed change ratio R is satisfied, the control unit 82 outputs the first speed change control signal to the first electric actuator 44A. For example, when the first shifting condition for reducing the gear ratio R is satisfied, the control unit 82 outputs the second shifting control signal to the first electric actuator 44A. For example, when the second speed change condition for increasing the speed change ratio R is satisfied, the control unit 82 outputs the third speed change control signal to the second electric actuator 46A. For example, when the second shifting condition for reducing the gear ratio R is satisfied, the control unit 82 outputs the fourth shifting control signal to the second electric actuator 46A.

For example, the control unit 82 controls the derailleur 22 so as to change the transmission ratio R in accordance with at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 . For example, the speed change condition is satisfied when at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 is satisfied. For example, the control unit 82 controls the first derailleur 44 so as to change the transmission ratio R in accordance with at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 . For example, the control unit 82 controls the second derailleur 46 so as to change the transmission ratio R in accordance with at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 .

For example, at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 includes: the rotation speed C of the crankshaft 12, the human driving force, the vehicle speed, the road surface gradient of the walking path of the human-powered vehicle 10, and at least 1 of walking resistance. For example, the running state of the human-driven vehicle 10 includes the rotation speed C of the crankshaft 12 . For example, the control unit 82 controls the derailleur 22 so that the rotational speed C of the crankshaft 12 falls within a predetermined range. For example, when the rotational speed C of the crankshaft 12 is smaller than a predetermined first rotational speed, the control unit 82 controls the derailleur 22 so as to decrease the transmission ratio R. For example, when the rotational speed C of the crankshaft 12 is greater than a predetermined second rotational speed, the control unit 82 controls the derailleur 22 to increase the transmission ratio R.

For example, when the rotational speed C of the crankshaft 12 is smaller than the predetermined first rotational speed, the control unit 82 switches the first derailleur 44 and the second derailleur so as to reduce the transmission ratio R. At least one control of the controller 46. For example, when the rotational speed C of the crankshaft 12 is greater than the predetermined second rotational speed, the control unit 82 switches the first derailleur 44 and the second derailleur so as to increase the gear ratio R. At least one control of the controller 46.

For example, when the rotational speed C of the crankshaft 12 is smaller than the predetermined first rotational speed, the control unit 82 controls the first electric actuator 44A by reducing the transmission ratio R. , and operate the first derailleur 44. For example, when the rotational speed C of the crankshaft 12 is smaller than the predetermined first rotational speed, the control unit 82 controls the second electric actuator 46A by reducing the transmission ratio R. , and operate the second derailleur 46.

For example, when the rotational speed C of the crankshaft 12 is greater than the predetermined second rotational speed, the control unit 82 controls the first electric actuator 44A by increasing the transmission ratio R. , and operate the first derailleur 44. For example, when the rotational speed C of the crankshaft 12 is greater than the predetermined second rotational speed, the control unit 82 controls the second electric actuator 46A by increasing the transmission ratio R. , and operate the second derailleur 46.

For example, the control unit 82 controls the derailleur 22 so that the human power driving force falls within a predetermined range. For example, when the vehicle speed is equal to or less than a predetermined speed, the control unit 82 controls the derailleur 22 so that the transmission ratio R becomes equal to or less than the predetermined first ratio. For example, when the road surface gradient is greater than or equal to a predetermined gradient, the control unit 82 controls the derailleur 22 so that the transmission ratio R becomes equal to or less than a predetermined second ratio.

For example, when the first speed change condition for increasing the speed change ratio R is established, this corresponds to the case where there is a first speed change instruction for increasing the speed change ratio R. For example, when the first speed change condition for reducing the speed change ratio R is satisfied, this corresponds to the case where the first speed change instruction for reducing the speed change ratio R is given. For example, when the second speed change condition for increasing the speed change ratio R is established, this corresponds to the case where there is a second speed change instruction for increasing the speed change ratio R. For example, when the second speed change condition for reducing the speed change ratio R is established, this corresponds to the case where there is a second speed change instruction for reducing the speed change ratio R.

The control unit 82 drives the transmission body 20 by the motor 24 when at least one of the following conditions is true: after the derailleur 22 starts the shifting operation while the crankshaft 12 is rotating, after exceeding the predetermined first When the crankshaft 12 stops rotating before the period; and after the derailleur 22 starts the shifting operation while the crankshaft 12 is rotating, but before the predetermined first period elapses, the control unit 82 estimates that the crankshaft 12 is When the rotation stops.

For example, if the control unit 82 estimates that the crankshaft 12 has stopped rotating after the derailleur 22 starts the shifting operation while the crankshaft 12 is rotating, but before a predetermined first period elapses, the crankshaft 12 When the rotation stops, the transmission body 20 is driven by the motor 24. For example, when the crankshaft 12 stops rotating, the rotational speed C of the crankshaft 12 becomes the rotation stop determination speed or less. The rotation stop determination speed is, for example, 0 rpm. For example, the control unit 82 estimates that the crankshaft 12 has stopped rotating when the reduction speed of the rotational speed C of the crankshaft 12 is equal to or less than a predetermined speed, and the rotational speed C of the crankshaft 12 is equal to or less than the estimated rotational stop speed. situation. For example, the rotation stop judgment speed is greater than 0 rpm.

For example, the predetermined first period corresponds to a period during which at least one first rotating body 14 rotates to a predetermined first rotation amount, and at least one second rotating body 18 rotates to a predetermined second rotation amount. A period and at least one period during which the crankshaft 12 rotates to a predetermined third rotation amount are set. For example, the predetermined first rotation amount is 360 degrees or less. For example, the predetermined first rotation amount is 90 degrees or more. For example, the predetermined second rotation amount is 360 degrees or less. For example, the predetermined second rotation amount is 90 degrees or more. For example, the predetermined third rotation amount is 760 degrees or less. For example, the predetermined third rotation amount is 90 degrees or more.

For example, the predetermined first period is set corresponding to the speed change ratio R. For example, the predetermined first period may be set corresponding to the speed section. For example, the predetermined first period is set so that the shifting operation can be fully completed with respect to the current gear ratio R and the changed gear ratio R.

For example, the predetermined first rotation amount may be set corresponding to at least one first accelerated speed change area 48 . For example, when the plurality of first rotating bodies 14 includes a plurality of first sprockets, the predetermined first rotation amount is at least one first acceleration of the first sprockets corresponding to each of the plurality of sprockets. Shift range 48 is set. For example, the predetermined first rotation amount is set corresponding to the number of first accelerated shifting areas 48 provided in the first sprocket used in the shifting operation.

For example, the predetermined first rotation amount is a value obtained by dividing 360 degrees by the number of first accelerated shifting areas 48 in the first sprocket used in the shifting operation. For example, when there are two first accelerated shifting areas 48 provided in the first sprocket used in the shifting operation, the predetermined first rotation amount is 180 degrees. If the control unit 82 can detect the rotation angle of the first sprocket, the predetermined first rotation amount corresponds to: the current rotation angle of the first sprocket and the first chain in the first accelerated shifting area 48 It can also be set based on the position in the wheel.

For example, the control unit 82 determines that after the first derailleur 44 starts the shifting operation, the rotation amount of the plurality of first rotating bodies 14 becomes more than the predetermined first rotation amount, but the crankshaft 12 is in a stopped rotation state or When the control unit 82 estimates that the crankshaft 12 has stopped rotating, it stops driving the motor 24 .

For example, the control unit 82 starts the shifting operation of the first derailleur 44 while the crankshaft 12 is rotating. However, before the plurality of first rotating bodies 14 rotate to a predetermined first amount of rotation, if the crankshaft 12 When the rotation is stopped, the transmission body 20 is driven by the motor 24 . For example, the control unit 82 starts the shifting operation of the first derailleur 44 while the crankshaft 12 is rotating. However, before the plurality of first rotating bodies 14 rotate to the predetermined first rotation amount, if the control unit 82 estimates that When the crankshaft 12 stops rotating, the transmission body 20 is driven by the motor 24 . For example, if the control unit 82 drives the transmission body 20 by the motor 24 and the rotation amount of the plurality of first rotating bodies 14 becomes more than the predetermined first rotation amount, but the crankshaft 12 stops rotating, then The driving of the motor 24 is stopped.

For example, the predetermined second rotation amount may be set corresponding to at least one second accelerated speed change area 50 . For example, when the plurality of second rotating bodies 18 includes a plurality of second sprockets, the predetermined second rotation amount is at least one of the second sprockets corresponding to each of the plurality of second sprockets. 2 is set to promote the shifting area 50. For example, the predetermined second rotation amount is set corresponding to the number of the second accelerated shifting areas 50 provided in the second sprocket used in the shifting operation. For example, the predetermined second rotation amount is a value obtained by dividing 360 degrees by the number of second accelerated shifting areas 50 in the second sprocket used in the shifting operation. For example, when there are two second accelerated shifting areas 50 provided in the second sprocket used in the shifting operation, the predetermined second rotation amount is 180 degrees. If the control unit 82 can detect the rotation angle of the second sprocket, the predetermined second rotation amount corresponds to the current rotation angle of the second sprocket and the second sprocket in the second accelerated shifting area 50 It can also be set by the position in .

For example, the control unit 82 determines that after the second derailleur 46 starts the shifting operation, although the rotation amount of the plurality of second rotating bodies 18 becomes more than the predetermined second rotation amount, the crankshaft 12 is in a stopped rotation state or When the control unit 82 estimates that the crankshaft 12 has stopped rotating, it stops driving the motor 24 .

For example, the control unit 82 starts the shifting operation of the second derailleur 46 while the crankshaft 12 is rotating. Before the plurality of second rotating bodies 18 rotate to a predetermined first rotational amount, if the crankshaft 12 is stopped, In the case of rotation, the transmission body 20 is driven by the motor 24. For example, the control unit 82 starts the shifting operation of the second derailleur 46 while the crankshaft 12 is rotating, and before the plurality of second rotating bodies 18 rotate to a predetermined first rotation amount, if the control unit 82 estimates that When the crankshaft 12 stops rotating, the transmission body 20 is driven by the motor 24 . For example, if the control unit 82 drives the transmission body 20 by the motor 24 and the rotation amount of the plurality of second rotating bodies 18 becomes more than the predetermined second rotation amount, but the crankshaft 12 stops rotating, The driving of the motor 24 is stopped.

For example, the control unit 82 determines whether or not a predetermined first period has been exceeded based on the output of the first detection unit 74 . For example, the control unit 82 determines whether or not the predetermined first period has been exceeded based on the information corresponding to the rotational speed C of the crankshaft 12 . For example, the control unit 82 determines whether or not a predetermined first period has been exceeded based on information corresponding to the rotational speed of at least one first rotating body 14 . The control unit 82 may determine whether the rotation speed of at least one second rotation body 18 has exceeded the information corresponding to the rotation speed of at least one second rotation body 18, or whether the rotation speed has exceeded the predetermined first period.

For example, the control unit 82 determines that the crankshaft 12 has stopped rotating in response to the output of the first detection unit 74 . For example, when the rotational speed C of the crankshaft 12 is less than or equal to a predetermined speed, the control unit 82 determines that the crankshaft 12 has stopped rotating. For example, the predetermined speed is 0 km/h or more and 1 km/h or less. For example, the predetermined speed is 0km/h. For example, the control unit 82 may determine that the crankshaft 12 stops rotating in response to the rotational speed of at least one first rotating body 14 .

For example, the control unit 82 estimates that the crankshaft 12 stops rotating in accordance with the estimated value regarding the running state of the human-driven vehicle 10 . For example, the control unit 82 estimates that the crankshaft 12 has stopped rotating when the estimated value regarding the running state of the human-driven vehicle 10 is equal to or less than a predetermined estimated value. For example, an estimated value regarding the running state of the human-driven vehicle 10 is calculated from the vehicle speed and the transmission ratio R. For example, the estimated value regarding the running state of the human-driven vehicle 10 is an estimated value including the rotational speed C of the crankshaft 12 . The estimated value regarding the running state of the human-driven vehicle 10 may include an estimated value including the rotational speed W of the wheel 16 .

The process of controlling the motor 24 by the control unit 82 will be described with reference to FIGS. 6 and 7 . For example, the control unit 82 starts processing when power is supplied to the control unit 82 and moves to step S11 of the flowchart shown in FIG. 6 . For example, when the flowcharts in FIGS. 6 and 7 are completed, the control unit 82 repeats the process from step S11 after a predetermined cycle until the supply of electric power is stopped.

The control unit 82 determines whether the crankshaft 12 is rotating in step S11. If the crankshaft 12 is rotating, the control unit 82 moves to step S12. The control unit 82 ends the process if the crankshaft 12 is not rotating. In step S12, the control unit 82 determines whether there is a first shift instruction. If there is a first gear change instruction, the control unit 82 moves to step S13.

The control unit 82 controls the first electric actuator 44A so that the first derailleur 44 starts the shifting operation in step S13, and moves to step S14. The control unit 82 determines whether the predetermined first period has passed in step S14. For example, the control unit 82 determines that the period after executing the process of step S13 exceeds the predetermined first period if it exceeds the predetermined first period. For example, if a predetermined time elapses after the first derailleur 44 starts operating, the control unit 82 may determine that the predetermined first period has elapsed.

For example, in step S14, the control unit 82 determines that the amount of rotation of at least one first rotating body 14 after executing the process of step S13 is greater than or equal to the predetermined first amount of rotation. The first period of the decision. For example, in step S14, the control unit 82 determines that the amount of rotation of at least one second rotating body 18 after executing the process of step S13 is greater than or equal to the predetermined second amount of rotation. The first period of the decision is also acceptable. For example, in step S14, the control unit 82 determines that the rotation amount of the crankshaft 12 after executing the process of step S13 is greater than or equal to the predetermined third rotation amount, and determines that the predetermined first period has been exceeded. That's ok too.

In step S14, if the predetermined first period is exceeded, the control unit 82 moves to step S15. In step S15, the control unit 82 completes the shifting operation and ends the process. In step S14, if the predetermined first period has not been exceeded, the control unit 82 moves to step S16.

The control unit 82 determines whether the crankshaft 12 has stopped rotating in step S16. If the crankshaft 12 has not stopped rotating, the control unit 82 moves to step S17. When the crankshaft 12 stops rotating, the control unit 82 moves to step S18.

In step S17, the control unit 82 determines whether it is estimated that the crankshaft 12 has stopped rotating. If the control unit 82 does not estimate that the crankshaft 12 has stopped rotating, the process proceeds to step S14. When the control unit 82 estimates that the crankshaft 12 has stopped rotating, the process proceeds to step S18.

The control part 82 drives the transmission body 20 by the motor 24 in step S18, and then moves to step S19. The control unit 82 determines whether the rotation amount of the plurality of first rotating bodies 14 is the first rotation amount or more in step S19. For example, the control unit 82 determines that the rotation of the plurality of first rotators 14 is greater than or equal to a predetermined first rotation amount after executing the process of step S13. The amount becomes the first rotation amount or more. For example, after the first derailleur 44 starts operating, the control unit 82 determines that the rotation amount of the plurality of first rotating bodies 14 exceeds the predetermined first rotation amount, and determines that the rotation amount exceeds the predetermined first rotation amount. 1 period is also available. When the rotation amount of the plurality of first rotating bodies 14 is less than the first rotation amount, the control unit 82 moves to step S16.

When the rotation amount of the plurality of first rotating bodies 14 is equal to or greater than the first rotation amount, the control unit 82 moves to step S20. The control unit 82 stops driving the motor 24 in step S20, and then moves to step S15.

If there is no first shift instruction in step S12 of FIG. 6 , the control unit 82 moves to step S21 of FIG. 7 . The control unit 82 determines whether there is a second shift instruction in step S21. The control unit 82 ends the process if there is no second shift instruction. If there is a second shift instruction, the control unit 82 moves to step S22.

The control unit 82 controls the second electric actuator 46A so that the second derailleur 46 starts the shifting operation in step S22, and then moves to step S23. The control unit 82 determines whether the predetermined first period has passed in step S23. For example, the control unit 82 determines that the period after executing the process of step S22 exceeds the predetermined first period or more. For example, if a predetermined time elapses after the second derailleur 46 starts operating, the control unit 82 may determine that the predetermined first period has elapsed.

For example, in step S23, the control unit 82 determines that the amount of rotation of at least one first rotating body 14 after executing the process of step S22 is greater than or equal to the predetermined first amount of rotation. The first period of the decision. For example, in step S23, the control unit 82 determines that the amount of rotation of at least one second rotating body 18 after executing the process of step S22 is greater than or equal to the predetermined second amount of rotation. The first period of the decision is also acceptable. For example, in step S23, the control unit 82 determines that the predetermined first period has been exceeded if the rotation amount of the crankshaft 12 after executing the process of step S22 is greater than or equal to the predetermined third rotation amount. That's ok too.

When the predetermined first period is exceeded, the control unit 82 moves to step S24. The control unit 82 completes the shifting operation and ends the process in step S24. If the predetermined first period has not passed, the control unit 82 moves to step S25.

The control unit 82 determines whether the crankshaft 12 has stopped rotating in step S25. If the crankshaft 12 has not stopped rotating, the control unit 82 moves to step S26. When the crankshaft 12 stops rotating, the control unit 82 moves to step S27.

In step S26, the control unit 82 determines whether it is estimated that the crankshaft 12 has stopped rotating. If the control unit 82 does not estimate that the crankshaft 12 has stopped rotating, the process proceeds to step S23. When the control unit 82 estimates that the crankshaft 12 has stopped rotating, the process proceeds to step S27.

The control part 82 drives the transmission body 20 by the motor 24 in step S27, and then moves to step S28. The control unit 82 determines whether the rotation amount of the plurality of second rotating bodies 18 is the second rotation amount or more in step S28. For example, the control unit 82 determines that the rotation amounts of the plurality of second rotating bodies 18 are equal to or greater than the predetermined second rotation amount after executing the process of step S22. It becomes the second rotation amount or more. For example, after the second derailleur 46 starts operating, the control unit 82 determines that the rotation amount of the plurality of second rotating bodies 18 exceeds the predetermined second rotation amount or exceeds the predetermined first rotation amount. Period is also available. If the rotation amount of the plurality of second rotating bodies 18 is less than the second rotation amount, the control unit 82 moves to step S25.

When the rotation amount of the plurality of second rotating bodies 18 is equal to or greater than the second rotation amount, the control unit 82 moves to step S29. The control unit 82 stops driving the motor 24 in step S29 and moves to step S24.

The process of step S16 may be omitted. When the process of step S16 is omitted, if the answer in step S14 is NO, the process proceeds to step S17, and if the answer in step S19 is NO, the process proceeds to step S17.

The process of step S17 may be omitted. When the process of step S17 is omitted, if the answer in step S16 is NO, the process moves to step S14.

The process of step S25 may be omitted. When the process of step S25 is omitted, if the answer in step S23 is NO, the process proceeds to step S26, and if the answer in step S28 is NO, the process proceeds to step S24.

The process of step S26 may be omitted. When the process of step S26 is omitted, if the answer in step S25 is NO, the process moves to step S23.

The processing of steps S12 to S20 may be omitted. When the processing of steps S12 to S20 is omitted, if the answer in step S11 is YES, the process moves to step S21.

The processing of steps S21 to S29 may be omitted. When the processing of steps S21 to S29 is omitted, if the answer in step S12 is NO, the process moves to step S21.

＜Example of change＞ The description of the embodiments merely illustrates possible forms of the control device for a human-driven vehicle of the present invention, and is not intended to limit the forms. For example, the control device for a human-powered vehicle of the present invention may be a modification of the embodiment shown below, or a combination of at least two modifications that are not inconsistent with each other. In the following modified examples, the same reference numerals as those in the embodiment are assigned to portions that are common to the embodiment, and description thereof is omitted.

The predetermined first period corresponds to the period after the derailleur 22 starts the shifting operation until the crankshaft 12 stops rotating, and the period after the derailleur 22 starts the shifting operation until the crankshaft 12 is estimated to stop rotating. At least one can be set. The predetermined first period may be set corresponding to the predetermined time. For example, the predetermined time is set corresponding to the time from when the derailleur 22 starts the shifting operation until the shifting operation is completed. For example, the predetermined time is stored in the memory unit 84 . For example, the predetermined time is a time of not less than 1 second and not more than 5 seconds.

At least one first rotating body 14 and at least one second rotating body 18 may be provided in a gear box. For example, the gearbox is provided near the crankshaft 12 . For example, when at least one of at least one first rotating body 14 and at least one second rotating body 18 is provided in a gear box, the derailleur 22 is provided in the gear box and can be changed to: at least 1 An engaged state between at least one of the first rotating bodies 14 and at least one second rotating body 18 and the transmission body 20 . For example, when at least one first rotating body 14 is provided in a gear box, the derailleur 22 is provided in the gear box and can be changed between at least one first rotating body 14 and the transmission body 20 of engagement status. For example, when at least one second rotating body 18 is provided in a gear box, the derailleur 22 is provided in the gear box and can be changed between at least one second rotating body 18 and the transmission body 20 of engagement status.

When at least one second rotating body 18 includes a plurality of second rotating bodies 18 , at least one first rotating body 14 may be one. When at least one second rotating body 18 includes a plurality of second rotating bodies 18 and at least one first rotating body 14 includes only one first rotating body 14, in the flowcharts of FIGS. 6 and 7 , steps S12 to S20 can be omitted.

When at least one first rotating body 14 includes a plurality of first rotating bodies 14 , at least one second rotating body 18 may be one. When at least one first rotating body 14 includes a plurality of first rotating bodies 14 and at least one second rotating body 18 includes only one second rotating body 18, in the flowcharts of FIGS. 6 and 7 , steps S21 to S29 can be omitted.

The expression "at least 1" used in this manual means "more than 1" among the listed selected limbs. For example, the expression "at least 1" used in this manual means "only one of the selected limbs" or "both of the two selected limbs" when there are only two selected limbs. . For other examples, the expression "at least 1" used in this manual means "only one of the selected limbs" or "two or more arbitrary selected limbs" when the number of selected limbs is 3 or more. "combination" means.

10: Human powered vehicle 12:Crankshaft 14: 1st rotating body 16:wheels 16F:Front wheel 16R: rear wheel 18: 2nd rotating body 20:Conveyor 22:Derailleur 24: Motor 24A:Output shaft 26A, 26B: Crank arm 28:Crank 30:Car body 32: Frame 34:pedal 36:Driving mechanism 38:Front fork 40:Faucet 42: Handlebar 44: 1st derailleur 44A: 1st electric actuator 46: 2nd derailleur 46A: 2nd electric actuator 48: 1st speed change area 48A: 1 speed promotion area 48B: 2nd promotion of shifting area 50: 2nd speed change area 50A: 3 times to promote the shifting area 50B: 4 times to promote the shifting area 52: Operating device 52A: 1st Operation Department 52B: 2nd Operation Department 54:Battery 56: Shell 58:Drive components 60:Output Department 60A: 1st end 60B: 2nd end 62:Reducer 64: 1st deceleration part 64A: 1st gear 64B: 1st rotation axis 64C: 2nd gear 66: 2nd deceleration part 66A:3rd gear 66B: 2nd rotation axis 66C: 4th gear 68: The third deceleration part 68A: 5th gear 68B: 6th gear 70: 1st one-way clutch 72: 2nd one-way clutch 74: 1st detection department 76:Human driving force detection department 78: Vehicle speed detection department 80:Control device 82:Control Department 84:Memory department

[Fig. 1] A side view of a human-powered vehicle according to one embodiment, including a control device for the human-powered vehicle. [Fig. 2] A block diagram showing the electrical structure of a human-driven vehicle, including the control device for the human-driven vehicle of Figure 1. [Fig. 3] One of at least one first rotating body in Fig. 1. [Fig. 4] One of at least one second rotating body in Fig. 1. [Fig. 5] A cross-sectional view of the drive assembly of Fig. 1. [Fig. 6] A flowchart showing the first part of the process of driving the transmission body by the motor, which is executed by the control unit in Fig. 2. [Fig. [Fig. 7] A flowchart showing the second part of the process of driving the transmission body by the motor, which is executed by the control unit in Fig. 2. [Fig.

22:Derailleur

24: Motor

44: 1st derailleur

44A: 1st electric actuator

46: 2nd derailleur

46A: 2nd electric actuator

52: Operating device

52A: 1st Operation Department

52B: 2nd Operation Department

54:Battery

58:Drive components

74: 1st detection department

76:Human driving force detection department

78: Vehicle speed detection department

80:Control device

82:Control Department

84:Memory Department

Claims (12)

A control device for human-driven vehicles, The aforementioned human-driven vehicle includes a crankshaft to which human power can be input, at least one first rotating body connected to the crankshaft, wheels, and at least one second rotating body connected to the wheel. and is configured to engage with the at least one first rotary body and the at least one second rotary body and transmit driving force between the at least one first rotary body and the at least one second rotary body. a transmission body, a derailleur configured to operate the transmission body in order to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, The aforementioned control device includes a control unit, The aforementioned control department is The aforementioned motor and the aforementioned derailleur are controlled, and if at least one of the following conditions is true, the aforementioned transmission body is driven by the aforementioned motor, At least one of the above situations is: After the derailleur starts the shifting operation while the crankshaft is rotating, but before the predetermined first period elapses, the crankshaft stops rotating; and When the control unit estimates that the crankshaft has stopped rotating after the derailleur starts the shifting operation while the crankshaft is rotating but before the predetermined first period elapses. The control device of claim 1, wherein, The predetermined first period corresponds to: a period during which the at least one first rotating body rotates to a predetermined first rotation amount, and a period during which the at least one second rotating body rotates to a predetermined second rotation amount. , and at least one period during which the crankshaft rotates to a predetermined third rotation amount is set. Such as the control device of claim 2, wherein, The predetermined first period is set corresponding to the gear ratio. The control device of claim 2 or 3, wherein, The aforementioned at least one first rotating body includes a plurality of first rotating bodies, The derailleur includes a first derailleur, and the first derailleur moves the transmission body from one of the plurality of first rotating bodies to the plurality of first rotating bodies during the shifting operation. The other 1 moves, At least one of the plurality of first rotating bodies includes at least one first accelerated speed change area in the circumferential direction of the plurality of first rotating bodies, The predetermined first rotation amount is set corresponding to the at least one first accelerated speed change area. The control device of claim 4, wherein, The control unit is configured such that after the first derailleur starts the shifting operation, although the rotation amount of the plurality of first rotating bodies becomes or exceeds the predetermined first rotation amount, the crankshaft is in a stopped rotating state or the aforementioned When the control unit estimates that the crankshaft has stopped rotating, it stops driving the motor. The control device of claim 2 or 3, wherein, The aforementioned at least one second rotating body includes a plurality of second rotating bodies, The derailleur includes a second derailleur, and the second derailleur moves the transmission body from one of the plurality of second rotating bodies to the plurality of second rotating bodies during the shifting operation. The other 1 moves, At least one of the plurality of second rotating bodies includes at least one second accelerated speed change area in the circumferential direction of the plurality of second rotating bodies, The predetermined second rotation amount is set corresponding to the at least one second accelerated speed change area. The control device of claim 6, wherein, The control unit is configured such that after the second derailleur starts the shifting operation, although the rotation amount of the plurality of second rotating bodies becomes or exceeds the predetermined second rotation amount, the crankshaft is in a stopped rotation state or the aforementioned When the control unit estimates that the crankshaft has stopped rotating, it stops driving the motor. A control device as claimed in any one of items 1 to 3, wherein, The control unit determines whether the predetermined first period has been exceeded based on the output of the first detection unit for detecting at least one rotation amount of the crankshaft and the at least one first rotating body. A control device as claimed in any one of items 1 to 3, wherein, The predetermined first period corresponds to the period from when the derailleur starts the shifting operation to when the crankshaft stops rotating, and from when the derailleur starts the shifting operation to when the crankshaft is estimated to stop rotating. At least one of the periods is set. A control device as claimed in any one of items 1 to 3, wherein, The control unit controls the derailleur so as to change the speed change ratio in accordance with at least one of a running state of the human-powered vehicle and a running environment of the human-driven vehicle. The control device of claim 10, wherein, The aforementioned walking state of the aforementioned human-driven vehicle includes the rotation speed of the aforementioned crankshaft, The control unit controls the derailleur to reduce the speed change ratio when the rotational speed of the crankshaft is smaller than a predetermined first rotational speed. The control device of claim 10, wherein, The aforementioned walking state of the aforementioned human-driven vehicle includes the rotation speed of the aforementioned crankshaft, The control unit controls the derailleur to increase the speed change ratio when the rotational speed of the crankshaft is greater than a predetermined second rotational speed.

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