TW202233480A - Control device and control system for manpower-driven vehicle providing a control device and a control system for a manpower-driven vehicle capable of appropriately controlling a variable speed device - Google Patents

Control device and control system for manpower-driven vehicle providing a control device and a control system for a manpower-driven vehicle capable of appropriately controlling a variable speed device Download PDF

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TW202233480A
TW202233480A TW110148829A TW110148829A TW202233480A TW 202233480 A TW202233480 A TW 202233480A TW 110148829 A TW110148829 A TW 110148829A TW 110148829 A TW110148829 A TW 110148829A TW 202233480 A TW202233480 A TW 202233480A
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Taiwan
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ratio
control
control state
human
speed
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TW110148829A
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Chinese (zh)
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松林寛子
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日商島野股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
    • B62M25/08—Actuators for gearing speed-change mechanisms specially adapted for cycles with electrical or fluid transmitting systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B62M9/10—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like
    • B62M9/12—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like the chain, belt, or the like being laterally shiftable, e.g. using a rear derailleur
    • B62M9/121—Rear derailleurs
    • B62M9/122—Rear derailleurs electrically or fluid actuated; Controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
    • B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
    • B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
    • B62M9/10—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like
    • B62M9/12—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like the chain, belt, or the like being laterally shiftable, e.g. using a rear derailleur
    • B62M9/121—Rear derailleurs
    • B62M9/123—Rear derailleurs changing gears automatically

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention provides a control device for a manpower-driven vehicle and a control system for a manpower-driven vehicle, which can appropriately control the variable speed device of a manpower-driven vehicle. The manpower-powered vehicle is provided with a control unit that controls the variable speed device according to the control state, and the control unit is configured to the control state, which one of the first control state and the second control state is switched to another of the first control state and the second control state according to the comparison result between the rotational speed of the wheels and the rotational speed of the rotating member. In the first control state, the variable speed device is controlled in at least one of the manners that limits the variable speed ratio to be greater than the first variable speed ratio and the variable speed ratio to be less than the second variable speed ratio, and in the second control state, the variable speed device is controlled in at least one of the manners that allows the variable speed ratio to be greater than the first variable speed ratio and the variable speed ratio to be less than the second variable speed ratio.

Description

人力驅動車用控制裝置及其控制系統Control device and control system for human-driven vehicle

本揭示係關於一種人力驅動車用控制裝置及人力驅動車用控制系統。The present disclosure relates to a control device for a human-driven vehicle and a control system for a human-driven vehicle.

例如，專利文獻1揭示一種控制變速裝置之人力驅動車用控制裝置。 專利文獻1之控制裝置根據人力驅動車之車速控制變速裝置。 [先前技術文獻] [專利文獻] For example, Patent Document 1 discloses a control device for a human-powered vehicle that controls a transmission. The control device of Patent Document 1 controls the speed change device according to the vehicle speed of the human-powered vehicle. [Prior Art Literature] [Patent Literature]

[專利文獻1]日本特開2000-25680號公報[Patent Document 1] Japanese Patent Laid-Open No. 2000-25680

[發明所欲解決之課題][The problem to be solved by the invention]

本揭示之目的之一在於提供一種可適宜地控制變速裝置之人力驅動車用控制裝置及其控制系統。 [解決課題之技術手段] One of the objectives of the present disclosure is to provide a control device for a human-powered vehicle and a control system thereof that can appropriately control a transmission. [Technical means to solve the problem]

本揭示之第1態樣之控制裝置係人力驅動車用控制裝置，前述人力驅動車包含：變速裝置，其變更變速比；車輪；及旋轉構件，其可相對於前述車輪旋轉，且包含於人力驅動力之動力傳遞路徑；該人力驅動車用控制裝置具備根據控制狀態控制前述變速裝置之控制部，前述控制部構成為可根據前述車輪之旋轉速度與前述旋轉構件之旋轉速度之比較結果，將前述控制狀態自第1控制狀態及第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者，於前述第1控制狀態下，以限制前述變速比大於第1變速比、及前述變速比小於第2變速比之至少1者之方式控制前述變速裝置，於前述第2控制狀態下，以容許前述變速比大於前述第1變速比、及前述變速比小於前述第2變速比之前述至少1者之方式控制前述變速裝置。 根據上述第1態樣之控制裝置，可根據車輪之旋轉速度與旋轉構件之旋轉速度之比較結果，將控制狀態於第1控制狀態與第2控制狀態之間進行切換，因此可適宜地控制變速裝置。 A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, and the human-powered vehicle includes: a speed change device that changes a gear ratio; a wheel; and a rotating member that is rotatable relative to the wheel and included in the human A power transmission path for driving force; the control device for a human-powered vehicle includes a control unit that controls the speed change device according to a control state, and the control unit is configured to be able to change the speed of rotation of the wheel and the rotational speed of the rotating member according to the comparison result of the rotation speed of the wheel and the rotation speed of the rotating member. The control state is switched from one of the first control state and the second control state to the other of the first control state and the second control state, and in the first control state, the speed ratio is limited to be greater than the first control state The transmission device is controlled so that the speed ratio and at least one of the speed ratio is smaller than the second speed ratio, and in the second control state, the speed ratio is allowed to be larger than the first speed ratio and the speed ratio is smaller than the second speed ratio. The above-mentioned transmission device is controlled in a manner of at least one of the above-mentioned 2 gear ratios. According to the control device of the first aspect, the control state can be switched between the first control state and the second control state according to the comparison result between the rotational speed of the wheel and the rotational speed of the rotating member, so that the speed change can be appropriately controlled device.

第2態樣之控制裝置係如前述第1態樣者，其中前述控制部構成為可根據前述旋轉構件之旋轉速度相對於前述車輪之旋轉速度之比率，將前述控制狀態自前述第1控制狀態及前述第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者。 根據上述第2態樣之控制裝置，可根據旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，將控制狀態於第1控制狀態與第2控制狀態之間進行切換，因此可適宜地控制變速裝置。 The control device of a second aspect is the one of the first aspect, wherein the control unit is configured to change the control state from the first control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel and one of the second control state is switched to the other of the first control state and the second control state. According to the control device of the second aspect, the control state can be switched between the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel, so that the shifting can be appropriately controlled device.

第3態樣之控制裝置係如前述第2態樣者，其中前述控制部於前述比率較大於1之第1比率小之情形、及前述比率較小於1之第2比率大之情形之至少1者之情形下，於前述第2控制狀態下控制前述變速裝置，於前述比率為前述第1比率以上之情形、及前述比率為前述第2比率以下之情形之至少1者之情形下，於前述第1控制狀態下控制前述變速裝置。 根據上述第3態樣之控制裝置，可根據旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，將控制狀態於第1控制狀態與第2控制狀態之間進行切換。 The control device of a third aspect is as described in the second aspect, wherein the control unit is at least in the case where the first ratio of which the ratio is greater than 1 is small, and the second ratio of which the ratio is smaller than 1 is large. In the case of one of the above, the speed change device is controlled in the second control state, and when the ratio is greater than or equal to the first ratio, and the ratio is at least one of the case where the ratio is less than or equal to the second ratio, The transmission device is controlled in the first control state. According to the control device of the third aspect, the control state can be switched between the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel.

本揭示之第4態樣之控制裝置係人力驅動車用控制裝置，前述人力驅動車包含：變速裝置，其變更變速比；車輪；及旋轉構件，其可相對於前述車輪旋轉，且包含於人力驅動力之動力傳遞路徑；該人力驅動車用控制裝置具備根據控制狀態控制前述變速裝置之控制部，前述控制部構成為可根據前述旋轉構件之旋轉速度相對於前述車輪之旋轉速度之比率，將前述控制狀態自第1控制狀態及第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者，於前述比率較大於1之第1比率小之情形、及前述比率較小於1之第2比率大之情形之至少1者之情形下，於前述第2控制狀態下控制前述變速裝置，於前述比率為前述第1比率以上之情形、及前述比率為前述第2比率以下之情形之至少1者之情形下，於前述第1控制狀態下控制前述變速裝置。 根據上述第4態樣之控制裝置，可根據旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，將控制狀態於第1控制狀態與第2控制狀態之間進行切換。因此，可根據旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，控制變速裝置。 A control device according to a fourth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including: a speed change device that changes a gear ratio; a wheel; and a rotating member that is rotatable relative to the wheel and included in the human A power transmission path for driving force; the control device for a human-powered vehicle includes a control unit that controls the speed change device according to a control state, and the control unit is configured to adjust the rotation speed of the rotating member relative to the rotation speed of the wheel according to the ratio of the wheel. The control state is switched from one of the first control state and the second control state to the other of the first control state and the second control state, when the ratio is greater than 1 and the first ratio is smaller, and the above In the case of at least one of the cases where the ratio is smaller than 1 and the second ratio is larger, the speed change device is controlled in the second control state, in the case where the ratio is greater than or equal to the first ratio, and the ratio is the first ratio In the case of at least one of the two ratios or less, the speed change device is controlled in the first control state. According to the control device of the fourth aspect, the control state can be switched between the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel. Therefore, the speed change device can be controlled according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel.

第5態樣之控制裝置係如前述第3或第4態樣者，其中前述控制部於前述比率小於前述第1比率之情形、且前述比率大於前述第2比率之情形下，於前述第2控制狀態下控制前述變速裝置，於前述比率為前述第1比率以上之情形下，於前述第1控制狀態下控制前述變速裝置，於前述比率為前述第2比率以下之情形下，於前述第1控制狀態下控制前述變速裝置。 根據上述第5態樣之控制裝置，可根據旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，將控制狀態於第1控制狀態與第2控制狀態之間進行切換。因此，可藉由旋轉構件之旋轉速度相對於車輪之旋轉速度之比率，適宜地控制變速裝置。 The control device of a fifth aspect is as described in the third or fourth aspect, wherein the control unit, when the ratio is smaller than the first ratio, and the ratio is greater than the second ratio, controls the second ratio The transmission device is controlled in a control state, and when the ratio is equal to or greater than the first ratio, the transmission device is controlled in the first control state, and when the ratio is equal to or less than the second ratio, the transmission device is controlled in the first control state. The aforementioned transmission device is controlled in the control state. According to the control device of the fifth aspect, the control state can be switched between the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel. Therefore, the speed change device can be appropriately controlled by the ratio of the rotational speed of the rotating member to the rotational speed of the wheel.

第6態樣之控制裝置係如前述第3至第5態樣中任一項者，其中前述第1比率為1.3以下，前述第2比率為0.7以上。 根據上述第6態樣之控制裝置，由於第1比率為1.3以下、第2比率為0.7以上，因此可根據大於1且為1.3以下之第1比率、與小於1且為0.7以上之第2比率，將控制狀態於第1控制狀態與第2控制狀態之間進行切換。 The control device of a sixth aspect is as described in any one of the third to fifth aspects, wherein the first ratio is 1.3 or less, and the second ratio is 0.7 or more. According to the control device of the sixth aspect, since the first ratio is 1.3 or less and the second ratio is 0.7 or more, the first ratio which is greater than 1 and 1.3 or less and the second ratio which is less than 1 and 0.7 or more can be used. , the control state is switched between the first control state and the second control state.

第7態樣之控制裝置係如前述第3至第6態樣中任一項者，其中前述控制部於前述人力驅動車之減速度為特定減速度以上之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第7態樣之控制裝置，可根據人力驅動車之減速度，於第2控制狀態下控制變速裝置。 The control device of a seventh aspect is as described in any one of the third to sixth aspects, wherein the control unit is in the second control state when the deceleration of the human-powered vehicle is greater than or equal to a specific deceleration down control the aforementioned transmission. According to the control device of the seventh aspect, the speed change device can be controlled in the second control state according to the deceleration of the human-powered vehicle.

第8態樣之控制裝置係如前述第3至第7態樣中任一項者，其中前述控制部於第1期間內之前述比率之最大值與最小值之差為第1差以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第8態樣之控制裝置，可根據第1期間內之比率之最大值與最小值之差，於第2控制狀態下控制變速裝置。 The control device of an eighth aspect is as described in any one of the third to seventh aspects, wherein the difference between the maximum value and the minimum value of the ratio of the control unit in the first period is equal to or less than the first difference Next, the transmission device is controlled in the second control state. According to the control device of the eighth aspect, the speed change device can be controlled in the second control state based on the difference between the maximum value and the minimum value of the ratio in the first period.

第9態樣之控制裝置係如前述第3至第8態樣中任一項者，其中前述控制部於第2期間內之前述旋轉構件之旋轉速度之最大值與最小值之差為第2差以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第9態樣之控制裝置，可根據第2期間內之旋轉構件之旋轉速度之最大值與最小值之差，於第2控制狀態下控制變速裝置。 The control device of a ninth aspect is as described in any one of the third to eighth aspects, wherein the difference between the maximum value and the minimum value of the rotational speed of the rotating member of the control unit during the second period is the second When the difference is less than or equal to the difference, the speed change device is controlled in the second control state. According to the control device of the ninth aspect, the speed change device can be controlled in the second control state based on the difference between the maximum value and the minimum value of the rotational speed of the rotating member in the second period.

第10態樣之控制裝置係如前述第3至第9態樣中任一項者，其中前述控制部於前述人力驅動車之加速度為特定加速度以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第10態樣之控制裝置，可根據人力驅動車之加速度，於第2控制狀態下控制變速裝置。 The control device of a tenth aspect is as described in any one of the third to ninth aspects, wherein the control unit controls in the second control state when the acceleration of the human-powered vehicle is below a specific acceleration The aforementioned transmission. According to the control device of the tenth aspect described above, the speed change device can be controlled in the second control state according to the acceleration of the human-powered vehicle.

第11態樣之控制裝置係如前述第3至第10態樣中任一項者，其中前述控制部於前述人力驅動車之曲柄軸之旋轉速度為特定旋轉速度以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第11態樣之控制裝置，可根據人力驅動車之曲柄軸之旋轉速度，於第2控制狀態下控制變速裝置。 The control device of an eleventh aspect is as described in any one of the third to tenth aspects, wherein the control unit, when the rotation speed of the crankshaft of the human-driven vehicle is equal to or lower than a specific rotation speed 2 The aforementioned speed change device is controlled in the control state. According to the control device of the eleventh aspect, the speed change device can be controlled in the second control state according to the rotational speed of the crankshaft of the human-powered vehicle.

第12態樣之控制裝置係如前述第1至第11態樣中任一項者，其中前述控制部可根據與前述車輪之旋轉速度相關之第1值、及與前述車輪之旋轉速度相關且與前述第1值不同之時點下之第2值相乘所得之第3值，於前述第2控制狀態下控制前述變速裝置。 根據上述第12態樣之控制裝置，可根據與車輪之旋轉速度相關之第1值、及與車輪之旋轉速度相關且與第1值不同之時點下之第2值相乘所得之第3值，於第2控制狀態下控制變速裝置。 The control device of a twelfth aspect is as described in any one of the first to eleventh aspects, wherein the control unit can be based on a first value related to the rotational speed of the wheel and a first value related to the rotational speed of the wheel and The third value obtained by multiplying the second value at a time point different from the first value is used to control the speed change device in the second control state. According to the control device of the twelfth aspect, the third value obtained by multiplying the first value related to the rotational speed of the wheel and the second value at the point in time when the rotational speed of the wheel is different from the first value can be obtained , to control the transmission in the second control state.

第13態樣之控制裝置係如前述第12態樣者，其中前述第1值係前述車輪或前述旋轉構件之一者旋轉特定角度之第3期間內之與前述車輪或前述旋轉構件之一者之第1角度對應之值，前述第2值係前述車輪或前述旋轉構件之一者旋轉前述特定角度之第4期間內之與前述車輪或前述旋轉構件之一者之第2角度對應之值，前述第3期間及前述第4期間互不重複、且連續，前述第1角度係前述車輪或前述旋轉構件之一者自前述第3期間之開始時點旋轉第3角度所成之角度，前述第2角度係前述車輪或前述旋轉構件之一者自前述第4期間之開始時點旋轉前述第3角度所成之角度。 根據上述第13態樣之控制裝置，可根據第3期間內之與車輪或旋轉構件之一者之第1角度對應之第1值、及第4期間內之與車輪或旋轉構件之一者之第2角度對應之第2值，於第2控制狀態下控制變速裝置。 The control device of a thirteenth aspect is as described in the twelfth aspect, wherein the first value is the difference between the wheel or one of the rotating members during the third period during which the wheel or one of the rotating members rotates by a specific angle and the wheel or one of the rotating members The value corresponding to the first angle, the second value is the value corresponding to the second angle of the wheel or one of the rotating members during the fourth period during which the wheel or one of the rotating members rotates by the specific angle, The third period and the fourth period do not overlap each other and are continuous, the first angle is the angle formed by the rotation of either the wheel or the rotating member by a third angle from the start point of the third period, the second The angle is the angle formed by the rotation of the wheel or one of the rotating members by the third angle from the start point of the fourth period. According to the control device of the thirteenth aspect described above, the first value corresponding to the first angle of either the wheel or the rotating member in the third period and the first value corresponding to the wheel or the rotating member in the fourth period The second value corresponding to the second angle controls the transmission in the second control state.

第14態樣之控制裝置係如前述第10至第13態樣中任一項者，其中前述控制部於第5期間內之前述旋轉構件之旋轉速度之最大值與最小值之差為第3差以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第14態樣之控制裝置，可根據第5期間內之旋轉構件之旋轉速度之最大值與最小值之差，於第2控制狀態下控制變速裝置。 The control device of a 14th aspect is as described in any one of the 10th to 13th aspects, wherein the difference between the maximum value and the minimum value of the rotational speed of the rotating member of the control unit in the fifth period is the third When the difference is less than or equal to the difference, the speed change device is controlled in the second control state. According to the control device of the fourteenth aspect described above, the speed change device can be controlled in the second control state based on the difference between the maximum value and the minimum value of the rotational speed of the rotating member in the fifth period.

第15態樣之控制裝置係如前述第1至第14態樣中任一項者，其中前述控制部於前述人力驅動車之車速為第1車速以下之情形下，於前述第2控制狀態下控制前述變速裝置。 根據上述第15態樣之控制裝置，可根據人力驅動車之車速，於第2控制狀態下控制變速裝置。 The control device of a fifteenth aspect is as described in any one of the first to fourteenth aspects, wherein the control unit is in the second control state when the vehicle speed of the human-powered vehicle is equal to or lower than the first vehicle speed Control the aforementioned transmission. According to the control device of the fifteenth aspect described above, the speed change device can be controlled in the second control state according to the vehicle speed of the human-powered vehicle.

第16態樣之控制裝置係如前述第1至第15態樣中任一項者，其中前述控制部以根據前述人力驅動車之行駛狀態及前述人力驅動車之行駛環境之至少1者，變更前述變速比之方式控制前述變速裝置。 根據上述第16態樣之控制裝置，可以根據人力驅動車之行駛狀態及人力驅動車之行駛環境之至少1者，變更變速比之方式控制變速裝置。 The control device of a sixteenth aspect is as described in any one of the first to fifteenth aspects, wherein the control unit changes according to at least one of the driving state of the human-powered vehicle and the driving environment of the human-driven vehicle The aforementioned transmission device is controlled in the manner of the aforementioned gear ratio. According to the control device of the sixteenth aspect, the speed change device can be controlled by changing the gear ratio according to at least one of the running state of the human-powered vehicle and the running environment of the human-powered vehicle.

第17態樣之控制裝置係如前述第1至第16態樣中任一項者，其中前述控制部以於與前述人力驅動車之曲柄軸之旋轉速度、及前述人力驅動車之車速之至少1者相關之參數為特定範圍外之情形下，變更前述變速比之方式控制前述變速裝置。 根據上述第17態樣之控制裝置，可以根據與人力驅動車之曲柄軸之旋轉速度、及人力驅動車之車速之至少1者之參數，變更變速比之方式控制變速裝置。 The control device of a seventeenth aspect is as described in any one of the first to sixteenth aspects, wherein the control unit is at least equal to the rotational speed of the crankshaft of the human-driven vehicle and the vehicle speed of the human-driven vehicle. 1. When the relevant parameters are outside the specified range, the above-mentioned transmission device is controlled by changing the above-mentioned transmission ratio. According to the control device of the seventeenth aspect, the speed change device can be controlled by changing the gear ratio based on at least one of the parameters of the rotation speed of the crankshaft of the human-powered vehicle and the vehicle speed of the human-driven vehicle.

第18態樣之控制裝置係如前述第1至第17態樣中任一項者，其中前述旋轉構件係後鏈輪。 根據上述第18態樣之控制裝置，可根據後鏈輪之旋轉速度，控制變速裝置。 The control device of an eighteenth aspect is as described in any one of the first to seventeenth aspects, wherein the rotating member is a rear sprocket. According to the control device of the eighteenth aspect, the speed change device can be controlled according to the rotational speed of the rear sprocket.

本揭示之第19態樣之控制系統係人力驅動車用控制系統，其具備：前述第1至第18態樣中任一項之人力驅動車用控制裝置；發電裝置，其設置於前述車輪；第1檢測部，其檢測前述車輪之旋轉速度；及第2檢測部，其檢測前述旋轉構件之旋轉速度；且前述第1檢測部檢測前述發電裝置之發電脈衝。 根據上述第19態樣之控制系統，可根據發電裝置之發電脈衝控制變速裝置。 [發明之效果] A control system according to a nineteenth aspect of the present disclosure is a control system for a human-powered vehicle, comprising: the control device for a human-driven vehicle according to any one of the first to eighteenth aspects; a power generating device provided on the wheel; A first detection unit detects the rotational speed of the wheel; and a second detection unit detects the rotational speed of the rotating member; and the first detection unit detects a power generation pulse of the power generator. According to the control system of the nineteenth aspect described above, the speed change device can be controlled according to the power generation pulse of the power generator. [Effect of invention]

本揭示之人力驅動車用控制裝置及其控制系統可適宜地控制人力驅動車之變速裝置。The control device for a human-driven vehicle and the control system thereof disclosed in the present disclosure can suitably control the speed change device of a human-driven vehicle.

＜實施形態＞ 參照圖1至圖6，對於實施形態之人力驅動車用控制系統60及人力驅動車用控制裝置80進行說明。 圖1係顯示與控制裝置80具有關係之人力驅動車10。人力驅動車10具有至少1個車輪12，係可至少由人力驅動力驅動之乘用工具。人力驅動車10例如包含山地車、公路車、公共腳踏車、載貨自行車、手搖車、及斜躺自行車等各種種類之自行車。人力驅動車10所具有之車輪12之數目無限定。人力驅動車10例如亦包含獨輪車及具有3個以上之車輪12之乘用工具。人力驅動車10並不限定於可僅由人力驅動力驅動之乘用工具。人力驅動車10包含不僅使用人力驅動力、亦使用電動馬達之驅動力來推進之電動自行車(E-bike)。電動自行車包含藉由電動馬達來輔助推進之電動助力自行車。以下，於實施形態中，以人力驅動車10為自行車進行說明。 <Embodiment> 1 to 6 , the control system 60 for a human-powered vehicle and the control device 80 for a human-powered vehicle according to the embodiment will be described. FIG. 1 shows a human powered vehicle 10 in relation to a control device 80 . The human-powered vehicle 10 has at least one wheel 12, and is a passenger tool that can be driven by at least a human-powered driving force. The human-powered vehicle 10 includes, for example, various types of bicycles such as mountain bikes, road bikes, public bicycles, cargo bikes, hand-operated bikes, and recumbent bikes. The number of wheels 12 of the human-powered vehicle 10 is not limited. The human-powered vehicle 10 also includes, for example, a wheelbarrow and a vehicle having three or more wheels 12 . The human-powered vehicle 10 is not limited to a vehicle that can be driven only by human-powered driving force. The human-powered vehicle 10 includes an electric bicycle (E-bike) that is propelled using not only the human-powered driving force but also the driving force of an electric motor. Electric bicycles include electric-assisted bicycles that are propelled by electric motors. Hereinafter, in the embodiment, the human-powered vehicle 10 will be described as a bicycle.

人力驅動車10包含車輪12。人力驅動車10更包含車體14。車輪12包含前輪12F、及後輪12R。車體14包含車架16及前叉18。於前叉18經由桿22連結有車把20。The human powered vehicle 10 includes wheels 12 . The human-powered vehicle 10 further includes a vehicle body 14 . The wheel 12 includes a front wheel 12F and a rear wheel 12R. The vehicle body 14 includes a frame 16 and a front fork 18 . A handlebar 20 is connected to the front fork 18 via a rod 22 .

人力驅動車10更具備供輸入人力驅動力之曲柄24。曲柄24包含：曲柄軸26，其可相對於車架16旋轉；及一對曲柄臂28，其等分別設置於曲柄軸26之軸向之端部。於各曲柄臂28，分別連結有踏板30。The human-powered vehicle 10 further includes a crank 24 for inputting a human-driven driving force. The crank 24 includes: a crank shaft 26 , which is rotatable relative to the frame 16 ; and a pair of crank arms 28 , which are respectively disposed at the axial ends of the crank shaft 26 . A pedal 30 is connected to each of the crank arms 28, respectively.

於本實施形態，驅動輪係後輪12R。後輪12R藉由曲柄24旋轉而被驅動。曲柄24藉由驅動機構32而與後輪12R連結。驅動機構32包含連結於曲柄軸26之第1旋轉體34A。曲柄軸26可與第1旋轉體34A以一體旋轉之方式連結，亦可經由第1單向離合器連結。第1單向離合器構成為於曲柄24前轉時使第1旋轉體34A前轉，於曲柄24後轉時容許曲柄24與第1旋轉體34A之相對旋轉。第1旋轉體34A包含鏈輪、帶輪、或錐齒輪。In the present embodiment, the rear wheel 12R of the drive train is driven. The rear wheel 12R is driven by the rotation of the crank 24 . The crank 24 is connected to the rear wheel 12R via the drive mechanism 32 . The drive mechanism 32 includes a first rotating body 34A coupled to the crankshaft 26 . The crankshaft 26 and the 1st rotating body 34A may be connected so that it may rotate integrally, and may be connected via a 1st one-way clutch. The first one-way clutch is configured to rotate the first rotating body 34A forward when the crank 24 rotates forward, and to allow relative rotation of the crank 24 and the first rotating body 34A when the crank 24 rotates backward. The first rotating body 34A includes a sprocket, a pulley, or a bevel gear.

驅動機構32更包含第2旋轉體34B及連結構件38。連結構件38將第1旋轉體34A之旋轉力傳遞至第2旋轉體34B。第2旋轉體34B包含鏈輪、帶輪、或錐齒輪。連結構件38例如包含：鏈條、皮帶、或軸。The drive mechanism 32 further includes a second rotating body 34B and a connecting member 38 . The connecting member 38 transmits the rotational force of the first rotating body 34A to the second rotating body 34B. The second rotating body 34B includes a sprocket, a pulley, or a bevel gear. The connection member 38 includes, for example, a chain, a belt, or a shaft.

人力驅動車10包含旋轉構件36，其可相對於車輪12旋轉、且包含於人力驅動力之動力傳遞路徑。較佳的是，旋轉構件36係後鏈輪36A。The human-powered vehicle 10 includes a rotating member 36 that is rotatable relative to the wheels 12 and is included in the power transmission path of the human-powered driving force. Preferably, the rotating member 36 is the rear sprocket 36A.

於本實施形態中，後輪12R藉由驅動機構32連結於曲柄24，但亦可為前輪12F及後輪12R之至少1者藉由驅動機構32連結於曲柄24。In this embodiment, the rear wheel 12R is connected to the crank 24 via the drive mechanism 32 , but at least one of the front wheel 12F and the rear wheel 12R may be connected to the crank 24 via the drive mechanism 32 .

於旋轉構件36係後鏈輪36A之情形下，旋轉構件36連結於後輪12R。較佳的是於旋轉構件36與後輪12R之間設置第2單向離合器40。如圖3所示般，第2單向離合器40包含於輪轂42。輪轂42包含輪轂軸44及輪轂外殼46。輪轂軸44與後輪12R之車軸一體化，由車架16支持。輪轂外殼46與後輪12R之車軸及輪轂軸44相對旋轉。輪轂外殼46具備凸緣46A，該凸緣46A具有用於安裝於人力驅動車10之輻條之輻條安裝部。輻條安裝部包含孔。於輪轂外殼46經由輻條安裝部安裝有後輪12R之輻條。旋轉構件36安裝於輪轂42之旋轉構件安裝部48。When the rotating member 36 is the rear sprocket 36A, the rotating member 36 is connected to the rear wheel 12R. Preferably, the second one-way clutch 40 is provided between the rotating member 36 and the rear wheel 12R. As shown in FIG. 3 , the second one-way clutch 40 is included in the hub 42 . The hub 42 includes a hub axle 44 and a hub shell 46 . The hub axle 44 is integrated with the axle of the rear wheel 12R, and is supported by the frame 16 . The hub shell 46 rotates relative to the axle of the rear wheel 12R and the hub axle 44 . The hub shell 46 is provided with a flange 46A having a spoke mounting portion for mounting to a spoke of the human-powered vehicle 10 . The spoke mounts contain holes. The spokes of the rear wheel 12R are attached to the hub shell 46 via the spoke attachment portion. The rotating member 36 is attached to the rotating member mounting portion 48 of the hub 42 .

第2單向離合器40構成為於旋轉構件36前轉時使後輪12R前轉，於旋轉構件36後轉時容許旋轉構件36與後輪12R之相對旋轉。第2單向離合器40設置於旋轉構件安裝部48與輪轂外殼46之間。第2單向離合器40可由滾柱離合器構成，亦可由爪式離合器構成。The second one-way clutch 40 is configured to rotate the rear wheel 12R forward when the rotating member 36 rotates forward, and to allow relative rotation between the rotating member 36 and the rear wheel 12R when the rotating member 36 rotates backward. The second one-way clutch 40 is provided between the rotating member mounting portion 48 and the hub shell 46 . The second one-way clutch 40 may be constituted by a roller clutch, or may be constituted by a dog clutch.

人力驅動車10包含變更變速比R之變速裝置50。變速裝置50於人力驅動車10中設置於人力驅動力之傳遞路徑。與各變速級對應之變速比R互不相同。變速級之數目例如係3至30之範圍。人力驅動車10之變速比R係車輪12之旋轉速度相對於曲柄軸26之旋轉速度之比率。較佳的是，人力驅動車10之變速比R係驅動輪之旋轉速度相對於曲柄軸26之旋轉速度之比率。於本實施形態中，變速比R係後輪12R之旋轉速度相對於曲柄軸26之旋轉速度之比率。變速比R可由式1表示。於式1中，可將驅動輪之旋轉速度置換成前鏈輪之齒數，將曲柄軸26之旋轉速度置換成後鏈輪36A之齒數。 (式1)：R=W/C R表示變速比R。 W表示驅動輪之旋轉速度。 C表示曲柄軸26之旋轉速度。 The human-powered vehicle 10 includes a speed change device 50 for changing the speed change ratio R. As shown in FIG. The speed change device 50 is provided in the transmission path of the human driving force in the human powered vehicle 10 . The gear ratios R corresponding to the respective gear stages are different from each other. The number of shifting stages ranges from 3 to 30, for example. The gear ratio R of the human-driven vehicle 10 is the ratio of the rotational speed of the wheel 12 to the rotational speed of the crankshaft 26 . Preferably, the gear ratio R of the human-driven vehicle 10 is the ratio of the rotational speed of the drive wheels to the rotational speed of the crankshaft 26 . In the present embodiment, the speed change ratio R is the ratio of the rotational speed of the rear wheel 12R to the rotational speed of the crankshaft 26 . The gear ratio R can be represented by Equation 1. In Equation 1, the rotational speed of the driving wheel can be replaced by the number of teeth of the front sprocket, and the rotational speed of the crankshaft 26 can be replaced by the number of teeth of the rear sprocket 36A. (Formula 1): R=W/C R represents the gear ratio R. W represents the rotational speed of the drive wheel. C represents the rotational speed of the crankshaft 26 .

變速裝置50例如包含後變速器52、前變速器、及內裝變速機之至少1者。變速裝置50亦可包含無級變速機。較佳的是，變速裝置50包含構成為藉由致動器而動作之電動變速機。致動器包含電動致動器。致動器例如包含馬達。The transmission 50 includes, for example, at least one of a rear derailleur 52, a front derailleur, and a built-in transmission. The transmission 50 may also include a continuously variable transmission. Preferably, the transmission 50 includes an electric transmission configured to be actuated by an actuator. The actuators include electric actuators. The actuator includes, for example, a motor.

於變速裝置50包含後變速器52時，後變速器52設置於車架16之後端。於變速裝置50包含後變速器52時，驅動機構32具備複數個第2旋轉體34B。藉由捲繞有連結構件38之第2旋轉體34B相應於後變速器52之驅動，自1個第2旋轉體34B變更成另外之1個第2旋轉體34B，而變更人力驅動車10之變速比R。於變速裝置50包含前變速器時，驅動機構32具備複數個第1旋轉體34A。藉由捲繞有連結構件38之第1旋轉體34A相應於前變速器之驅動，自1個第1旋轉體34A變更成另外之1個第1旋轉體34A，而變更人力驅動車10之變速比R。於變速裝置50包含內裝變速機時，內裝變速機設置於例如後輪12R之輪轂42。When the transmission device 50 includes the rear derailleur 52 , the rear derailleur 52 is disposed at the rear end of the frame 16 . When the transmission device 50 includes the rear derailleur 52 , the drive mechanism 32 includes a plurality of second rotating bodies 34B. The speed change of the human-powered vehicle 10 is changed by changing from one second rotating body 34B to another second rotating body 34B according to the driving of the rear derailleur 52 by the second rotating body 34B around which the connecting member 38 is wound. than R. When the transmission device 50 includes a front derailleur, the drive mechanism 32 includes a plurality of first rotating bodies 34A. The gear ratio of the human-powered vehicle 10 is changed by changing from one first rotating body 34A to another first rotating body 34A in accordance with the driving of the front derailleur by the first rotating body 34A around which the connecting member 38 is wound. R. When the transmission device 50 includes a built-in transmission, the built-in transmission is provided, for example, on the hub 42 of the rear wheel 12R.

較佳的是，人力驅動車10包含第1電池54A、及第2電池54B。第1電池54A、及第2電池54B包含1個或複數個電池元件。電池元件包含充電池。如圖1所示般，例如，第1電池54A設置於人力驅動車10之下管之內部。較佳的是，第1電池54A構成為對人力驅動車10之驅動單元供給電力。較佳的是，驅動單元包含對人力驅動車10之推進進行助力之電動馬達。第1電池54A亦可構成為對控制裝置80供給電力。如圖3所示般，第2電池54B包含於輪轂42。於本實施形態中，第2電池54B構成為對控制裝置80供給電力。第2電池54B亦可構成為對人力驅動車10之驅動單元供給電力。Preferably, the human-powered vehicle 10 includes a first battery 54A and a second battery 54B. The first battery 54A and the second battery 54B include one or a plurality of battery elements. The battery unit contains rechargeable batteries. As shown in FIG. 1 , for example, the first battery 54A is provided inside the lower tube of the human-powered vehicle 10 . Preferably, the first battery 54A is configured to supply electric power to the drive unit of the human-powered vehicle 10 . Preferably, the drive unit includes an electric motor that assists the propulsion of the human-driven vehicle 10 . The first battery 54A may be configured to supply power to the control device 80 . As shown in FIG. 3 , the second battery 54B is included in the hub 42 . In the present embodiment, the second battery 54B is configured to supply power to the control device 80 . The second battery 54B may be configured to supply electric power to the drive unit of the human-powered vehicle 10 .

人力驅動車用控制系統60具備：人力驅動車用控制裝置80、發電裝置62、第1檢測部64、及第2檢測部66。發電裝置62設置於車輪12。第1檢測部64檢測車輪12之旋轉速度。第2檢測部66檢測旋轉構件36之旋轉速度。The control system 60 for a manually-driven vehicle includes a control device 80 for a manually-driven vehicle, a power generator 62 , a first detection unit 64 , and a second detection unit 66 . The power generating device 62 is provided on the wheel 12 . The first detection unit 64 detects the rotational speed of the wheel 12 . The second detection unit 66 detects the rotational speed of the rotating member 36 .

如圖2及圖3所示般，發電裝置62較佳的是包含於輪轂42。於本實施形態中，發電裝置62係輪轂發電機。輪轂發電機例如係爪極型發電機。輪轂發電機例如具備第1磁鐵68及線圈70。第1磁鐵68安裝於輪轂外殼46之內周部。第1磁鐵68具備在輪轂42之周向上排列之複數個磁極。複數個磁極以S極與N極交替地排列之方式構成。複數個磁極之數目例如為8。該情形下，S極及N極之數目分別為4。複數個磁極之數目例如為16。該情形下，S極及N極之數目分別為8。複數個磁極之數目例如為32。該情形下，S極及N極之數目分別為16。線圈70以與後輪12R之輪轂軸44不可相對旋轉之方式安裝於車軸。藉由第1磁鐵68與輪轂外殼46一起相對於輪轂軸44旋轉，而於線圈70產生電流。As shown in FIGS. 2 and 3 , the power generating device 62 is preferably included in the hub 42 . In the present embodiment, the power generator 62 is an in-wheel generator. In-wheel generators such as claw pole type generators. The in-wheel generator includes, for example, a first magnet 68 and a coil 70 . The first magnet 68 is attached to the inner peripheral portion of the hub shell 46 . The first magnet 68 includes a plurality of magnetic poles arranged in the circumferential direction of the hub 42 . A plurality of magnetic poles are constituted so that S poles and N poles are alternately arranged. The number of the plurality of magnetic poles is, for example, eight. In this case, the numbers of S poles and N poles are respectively four. The number of the plurality of magnetic poles is 16, for example. In this case, the numbers of S poles and N poles are 8, respectively. The number of the plurality of magnetic poles is 32, for example. In this case, the numbers of S poles and N poles are 16, respectively. The coil 70 is attached to the axle so as to be non-rotatable relative to the hub axle 44 of the rear wheel 12R. When the first magnet 68 rotates relative to the hub shaft 44 together with the hub shell 46 , a current is generated in the coil 70 .

由發電裝置62發電之電力較佳的是充電於第2電池54B。由發電裝置62發電之電力亦可充電於第1電池54A。由發電裝置62發電之電力亦可不經由第1電池54A、及第2電池54B之任一者，對設置於人力驅動車10之電氣零件饋電。較佳的是，發電裝置62與第1電池54A、及第2電池54B之至少1者經由電纜線連接。變速裝置50可藉由自發電裝置62供給之電力而動作。變速裝置50也可藉由自第1電池54A、及第2電池54B之至少1者供給之電力、或自搭載於變速裝置50之專用之電源供給之電力而動作。The power generated by the power generating device 62 is preferably charged in the second battery 54B. The electric power generated by the power generating device 62 can also be charged in the first battery 54A. The electric power generated by the power generating device 62 may be fed to the electrical components provided in the human-powered vehicle 10 without passing through either the first battery 54A or the second battery 54B. Preferably, the power generating device 62 is connected to at least one of the first battery 54A and the second battery 54B via a cable. The transmission device 50 can be operated by the electric power supplied from the power generating device 62 . The transmission 50 can also be operated by electric power supplied from at least one of the first battery 54A and the second battery 54B, or by electric power supplied from a dedicated power supply mounted in the transmission 50 .

如圖2所示般，較佳的是，第1檢測部64檢測由發電裝置62發電之電流。第1檢測部64檢測流過發電裝置62之線圈70之電流。流過線圈70之電流之變化，跟與車輪12一起旋轉之第1磁鐵68之旋轉相位之變化對應。於發電裝置62包含複數個線圈70時，第1檢測部64可檢測流過發電裝置62之複數個線圈70中之1個線圈70之電流。As shown in FIG. 2 , it is preferable that the first detection unit 64 detects the current generated by the power generating device 62 . The first detection unit 64 detects the current flowing through the coil 70 of the power generator 62 . Changes in the current flowing through the coil 70 correspond to changes in the rotational phase of the first magnet 68 that rotates with the wheel 12 . When the power generating device 62 includes a plurality of coils 70 , the first detection unit 64 can detect the current flowing through one coil 70 of the plurality of coils 70 of the power generating device 62 .

較佳的是，第1檢測部64檢測發電裝置62之發電脈衝。較佳的是，第1檢測部64檢測發電脈衝所含之特定信號。特定信號係每當車輪12旋轉時檢測到之信號。每當車輪12旋轉時檢測到之信號，例如與流過發電裝置62之線圈70之電流為基準值時之電流值對應。基準值係電流值為0之情形。每當車輪12旋轉時檢測到之信號可與流過發電裝置62之線圈70之電流為極大值、或極小值時之電流值對應。Preferably, the first detection unit 64 detects the power generation pulse of the power generator 62 . Preferably, the first detection unit 64 detects a specific signal included in the power generation pulse. The specific signal is a signal that is detected each time the wheel 12 rotates. The signal detected every time the wheel 12 rotates corresponds to, for example, the current value when the current flowing through the coil 70 of the power generating device 62 is the reference value. The reference value is the case where the current value is 0. The signal detected each time the wheel 12 rotates may correspond to the current value when the current flowing through the coil 70 of the power generating device 62 is a maximum value or a minimum value.

如圖2及圖3所示般，第2檢測部66包含磁感測器66A。磁感測器66A輸出與第2磁鐵72之磁場之變化相應之信號。第2磁鐵72具備在輪轂42之周向上排列之複數個磁極。複數個磁極以S極與N極交替地排列之方式構成。複數個磁極之數目例如為8。該情形下，S極及N極之數目分別為4。第2磁鐵72例如為環狀。As shown in FIGS. 2 and 3 , the second detection unit 66 includes a magnetic sensor 66A. The magnetic sensor 66A outputs a signal corresponding to the change of the magnetic field of the second magnet 72 . The second magnet 72 includes a plurality of magnetic poles arranged in the circumferential direction of the hub 42 . A plurality of magnetic poles are constituted so that S poles and N poles are alternately arranged. The number of the plurality of magnetic poles is, for example, eight. In this case, the numbers of S poles and N poles are respectively four. The second magnet 72 is, for example, annular.

第2磁鐵72設置於輪轂42之內部。於旋轉構件安裝部48，安裝有環狀構件74。環狀構件74構成為可與旋轉構件安裝部48一體旋轉。環狀構件74配置於輪轂42之內部。環狀構件74具備第2磁鐵安裝部74A。第2磁鐵72經由第2磁鐵安裝部74A安裝於環狀構件74。磁感測器66A安裝於設置在輪轂42之內部之基座76。第2檢測部66藉由與第2磁鐵72之磁場之變化相應之信號，檢測旋轉構件36之旋轉速度。第2檢測部66可為任意之構成，只要可檢測旋轉構件36之旋轉速度即可，亦可包含光學感測器、加速度感測器、陀螺儀感測器、或轉矩感測器等來取代磁感測器66A。The second magnet 72 is provided inside the hub 42 . The annular member 74 is attached to the rotation member attachment portion 48 . The annular member 74 is configured to be rotatable integrally with the rotating member mounting portion 48 . The annular member 74 is arranged inside the hub 42 . The annular member 74 includes a second magnet attaching portion 74A. The second magnet 72 is attached to the annular member 74 via the second magnet attaching portion 74A. The magnetic sensor 66A is mounted on a base 76 disposed inside the hub 42 . The second detection unit 66 detects the rotational speed of the rotating member 36 based on a signal corresponding to a change in the magnetic field of the second magnet 72 . The second detection unit 66 may have any configuration as long as it can detect the rotational speed of the rotating member 36, and may also include an optical sensor, an acceleration sensor, a gyroscope sensor, or a torque sensor. Replaces magnetic sensor 66A.

控制裝置80具備控制部82。控制部82包含執行預設之控制程式之運算處理裝置。運算處理裝置包含例如CPU(Central Processing Unit，中央處理單元)或MPU(Micro Processing Unit，微處理單元)。運算處理裝置可設置於相互分離之複數個場所。控制部82可包含1個或複數個微電腦。The control device 80 includes a control unit 82 . The control unit 82 includes an arithmetic processing device that executes a preset control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit, central processing unit) or an MPU (Micro Processing Unit, micro processing unit). The arithmetic processing device may be installed in a plurality of places separated from each other. The control unit 82 may include one or a plurality of microcomputers.

較佳的是，控制部82藉由自第2電池54B供給之電力而動作。控制部82亦可藉由自第1電池54A供給之電力取代自第2電池54B供給之電力或者加上其而動作。控制部82亦可藉由從發電裝置62供給之電力而動作。控制部82經由第2電池54B與電纜線可通訊地連接。控制部82亦可經由第2電池54B與無線通訊裝置可通訊地連接。控制部82例如構成為可藉由電力線通訊(PLC；Power Line Communication)、CAN(Controller Area Network，控制器區域網路)、或UART(Universal Asynchronous Receiver/Transmitter，通用異步收發器)與第2電池54B通訊。控制部82與第1檢測部64、第2檢測部66、及變速裝置50經由電纜線而連接。控制部82亦可與第1檢測部64、第2檢測部66、及變速裝置50經由無線通訊裝置而連接。Preferably, the control unit 82 is operated by the electric power supplied from the second battery 54B. The control unit 82 may operate by replacing the power supplied from the second battery 54B with the power supplied from the first battery 54A or in addition thereto. The control unit 82 may also be operated by electric power supplied from the power generating device 62 . The control unit 82 is communicably connected to the cable via the second battery 54B. The control unit 82 may be communicably connected to the wireless communication device via the second battery 54B. The control unit 82 can be configured to communicate with the second battery through, for example, Power Line Communication (PLC), Controller Area Network (CAN), or UART (Universal Asynchronous Receiver/Transmitter). 54B Communications. The control unit 82 is connected to the first detection unit 64 , the second detection unit 66 , and the transmission 50 via cables. The control unit 82 may be connected to the first detection unit 64 , the second detection unit 66 , and the transmission 50 via a wireless communication device.

較佳的是，控制裝置80包含記憶部84。記憶部84例如包含非揮發性記憶體及揮發性記憶體。非揮發性記憶體例如包含ROM(Read-Only Memory，唯讀記憶體)、EPROM(Erasable Programmable Read Only Memory，可抹除可程式化唯讀記憶體)、EEPROM(Electrically Erasable Programmable Read-Only Memory，電子可抹除可程式化唯讀記憶體)、及快閃記憶體之至少1者。揮發性記憶體例如包含RAM(Random Access Memory，隨機存取記憶體)。於記憶部84，記憶有用於各種控制處理之資訊、及各種控制程式。於記憶部84，例如記憶有與車輪12之周長相關之資訊。Preferably, the control device 80 includes a memory unit 84 . The memory unit 84 includes, for example, a nonvolatile memory and a volatile memory. For example, non-volatile memory includes ROM (Read-Only Memory), EPROM (Erasable Programmable Read Only Memory, erasable programmable read only memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, At least one of electronically erasable programmable read-only memory) and flash memory. The volatile memory includes, for example, RAM (Random Access Memory, random access memory). In the memory unit 84, information for various control processes and various control programs are stored. In the memory unit 84, for example, information related to the circumference of the wheel 12 is stored.

較佳的是，控制部82以根據人力驅動車10之行駛狀態及人力驅動車10之行駛環境之至少1者，變更變速比R之方式控制變速裝置50。較佳的是，人力驅動車10之行駛狀態包含與人力驅動車10之曲柄軸26之旋轉速度、及人力驅動車10之車速之至少1者相關之參數。控制部82以於與人力驅動車10之曲柄軸26之旋轉速度、及人力驅動車10之車速之至少1者相關之參數為特定範圍外之情形下，變更變速比R之方式控制變速裝置50。於本實施形態中，與人力驅動車10之車速、及曲柄軸26之旋轉速度之至少1者相關之參數，包含曲柄軸26之旋轉速度。例如，曲柄軸26之旋轉速度係踏頻。曲柄軸26之旋轉速度根據車輪12之旋轉速度及旋轉構件36之旋轉速度之至少1者而算出。將車輪12之旋轉速度藉由變速比R相除而算出曲柄軸26之旋轉速度。亦可將旋轉構件36之旋轉速度利用變速比R相除而算出曲柄軸26之旋轉速度。人力驅動車10亦可具備檢測曲柄軸26之旋轉速度之踏頻檢測部。該情形下，亦可構成為藉由踏頻檢測部檢測曲柄軸26之旋轉速度。Preferably, the control unit 82 controls the transmission device 50 so as to change the speed change ratio R according to at least one of the running state of the human-powered vehicle 10 and the running environment of the human-powered vehicle 10 . Preferably, the driving state of the human-driven vehicle 10 includes a parameter related to at least one of the rotational speed of the crankshaft 26 of the human-driven vehicle 10 and the vehicle speed of the human-driven vehicle 10 . The control unit 82 controls the transmission device 50 by changing the speed change ratio R when a parameter related to at least one of the rotational speed of the crankshaft 26 of the human-powered vehicle 10 and the vehicle speed of the human-driven vehicle 10 is outside a specific range . In the present embodiment, the parameter related to at least one of the vehicle speed of the human-powered vehicle 10 and the rotational speed of the crankshaft 26 includes the rotational speed of the crankshaft 26 . For example, the rotational speed of the crankshaft 26 is the cadence. The rotational speed of the crankshaft 26 is calculated based on at least one of the rotational speed of the wheel 12 and the rotational speed of the rotating member 36 . The rotational speed of the crankshaft 26 is calculated by dividing the rotational speed of the wheel 12 by the gear ratio R. The rotational speed of the crankshaft 26 may also be calculated by dividing the rotational speed of the rotating member 36 by the gear ratio R. The human-powered vehicle 10 may also include a cadence detection unit that detects the rotational speed of the crankshaft 26 . In this case, the rotational speed of the crankshaft 26 may be detected by the cadence detection unit.

較佳的是，控制部82以於曲柄軸26之旋轉速度大於特定範圍時，變速比R變大之方式控制變速裝置50。較佳的是，控制部82以於曲柄軸26之旋轉速度小於特定範圍時，變速比R變小之方式控制變速裝置50。控制部82亦可以於曲柄軸26之旋轉速度大於特定範圍時，變速比R變小之方式控制變速裝置50，以於曲柄軸26之旋轉速度小於特定範圍時，變速比R變大之方式控制變速裝置50。Preferably, the control unit 82 controls the transmission device 50 so that the speed change ratio R increases when the rotational speed of the crankshaft 26 exceeds a certain range. Preferably, the control unit 82 controls the transmission device 50 so that the speed change ratio R becomes smaller when the rotational speed of the crankshaft 26 is lower than a certain range. The control unit 82 may also control the speed change device 50 in such a way that the speed change ratio R becomes smaller when the rotation speed of the crankshaft 26 is greater than a specific range, and control the speed change ratio R to increase when the rotation speed of the crankshaft 26 is less than a specific range. Transmission 50 .

與曲柄軸26之旋轉速度、及人力驅動車10之車速之至少1者相關之參數亦可包含人力驅動車10之車速。該情形下，控制部82以於車速大於特定範圍時，變速比R變大之方式控制變速裝置50。控制部82以於車速小於特定範圍時，變速比R變小之方式控制變速裝置50。控制部82亦可以於車速大於特定範圍時，變速比R變小之方式控制變速裝置50，以於車速小於特定範圍時，變速比R變大之方式控制變速裝置50。The parameter related to at least one of the rotational speed of the crankshaft 26 and the vehicle speed of the human-powered vehicle 10 may also include the vehicle speed of the human-driven vehicle 10 . In this case, the control unit 82 controls the transmission 50 so that the transmission ratio R becomes larger when the vehicle speed exceeds the predetermined range. The control unit 82 controls the transmission 50 so that the transmission ratio R becomes smaller when the vehicle speed is lower than a predetermined range. The control unit 82 may also control the transmission 50 so that the gear ratio R becomes smaller when the vehicle speed is higher than a certain range, and control the transmission 50 so that the gear ratio R becomes larger when the vehicle speed is lower than the certain range.

人力驅動車10之行駛狀態及人力驅動車10之行駛環境之至少1者亦可包含曲柄軸26之旋轉速度、及人力驅動車10之車速之兩者。人力驅動車10之行駛狀態及人力驅動車10之行駛環境之至少1者亦可包含人力驅動力、人力驅動車10之行駛路之道路坡度、及人力驅動車10之行駛阻力之至少1者取代與曲柄軸26之旋轉速度、及人力驅動車10之車速之至少1者相關之參數之至少1者或加上其。該情形下，控制部82可以根據人力驅動力、人力驅動車10之行駛路之道路坡度、及人力驅動車10之行駛阻力之至少1者取代與人力驅動車10之車速、及曲柄軸26之旋轉速度之至少1者相關之參數之至少1者或加上其，變更變速比R之方式控制變速裝置50。At least one of the driving state of the human-driven vehicle 10 and the driving environment of the human-driven vehicle 10 may also include both the rotational speed of the crankshaft 26 and the vehicle speed of the human-driven vehicle 10 . At least one of the driving state of the human-driven vehicle 10 and the driving environment of the human-driven vehicle 10 may also include at least one of the human-driven driving force, the road gradient of the driving path of the human-driven vehicle 10 , and the running resistance of the human-driven vehicle 10 . At least one of the parameters related to at least one of the rotational speed of the crankshaft 26 and the vehicle speed of the human-driven vehicle 10 or the addition thereof. In this case, the control unit 82 can replace the speed of the human-driven vehicle 10 and the relationship between the crankshaft 26 and the speed of the human-driven vehicle 10 according to at least one of the human-driven driving force, the road gradient of the driving path of the human-driven vehicle 10 , and the running resistance of the human-driven vehicle 10 . At least one of the parameters related to at least one of the rotational speeds or at least one of the parameters is added thereto, and the speed change ratio R is changed to control the transmission device 50 .

控制部82根據控制狀態而控制變速裝置50。較佳的是，控制部82構成為可根據車輪12之旋轉速度與旋轉構件36之旋轉速度之比較結果，將控制狀態自第1控制狀態及第2控制狀態之一者切換成第1控制狀態及第2控制狀態之另一者。The control unit 82 controls the transmission 50 according to the control state. Preferably, the control unit 82 is configured to switch the control state from one of the first control state and the second control state to the first control state according to the comparison result between the rotational speed of the wheel 12 and the rotational speed of the rotating member 36 . and the other of the second control state.

控制部82於第1控制狀態下，以限制變速比R大於第1變速比R1、及變速比R小於第2變速比R2之至少1者之方式控制變速裝置50。第1變速比R1小於可藉由變速裝置50變更之變速比R中最大之變速比R。第2變速比R2大於可藉由變速裝置50變更之變速比R中最小之變速比R。第1變速比R1及第2變速比R2，例如預先記憶於記憶部84。較佳的是，控制部82於第2控制狀態下，容許以將變速比R變更為大於第1變速比R1之變速比R之方式控制變速裝置50。較佳的是，控制部82於第2控制狀態下，以容許變速比R大於第1變速比R1、及變速比R小於第2變速比R2之至少1者之方式，控制變速裝置50。In the first control state, the control unit 82 controls the transmission 50 to limit at least one of the speed ratio R greater than the first speed ratio R1 and the speed ratio R less than the second speed ratio R2. The first gear ratio R1 is smaller than the largest gear ratio R among the gear ratios R that can be changed by the transmission device 50 . The second gear ratio R2 is larger than the smallest gear ratio R among the gear ratios R that can be changed by the transmission device 50 . The first gear ratio R1 and the second gear ratio R2 are stored in the memory unit 84 in advance, for example. Preferably, in the second control state, the control unit 82 allows the transmission device 50 to be controlled so as to change the speed ratio R to a speed ratio R greater than the first speed ratio R1. Preferably, in the second control state, the control unit 82 controls the transmission 50 so that the allowable speed ratio R is larger than at least one of the first speed ratio R1 and the speed ratio R is smaller than the second speed ratio R2.

於本實施形態中，控制部82於第1控制狀態下以限制變速比R小於第2變速比R2之方式控制變速裝置50，於第1控制狀態下以容許變速比R向變速比R變大之方向變更之方式控制變速裝置50。於本實施形態中，控制部82於第2控制狀態下，容許以將變速比R變更成小於第2變速比R2之變速比R之方式控制變速裝置50。In the present embodiment, the control unit 82 controls the transmission device 50 to limit the speed ratio R to be smaller than the second speed ratio R2 in the first control state, and increases the allowable speed ratio R to the speed ratio R in the first control state. The speed change device 50 is controlled in a way of changing the direction. In the present embodiment, in the second control state, the control unit 82 allows the transmission device 50 to be controlled so as to change the speed ratio R to a speed ratio R smaller than the second speed ratio R2.

較佳的是，控制部82構成為可根據旋轉構件36之旋轉速度相對於車輪12之旋轉速度之比率A，將控制狀態自第1控制狀態及第2控制狀態之一者切換成第1控制狀態及第2控制狀態之另一者。Preferably, the control unit 82 is configured to switch the control state from one of the first control state and the second control state to the first control state according to the ratio A of the rotational speed of the rotating member 36 to the rotational speed of the wheel 12 . The other of the state and the second control state.

較佳的是，控制部82於比率A為第1比率A1以上之情形、及比率A為第2比率A2以下之情形之至少1者之情形下，於第1控制狀態下控制變速裝置50。較佳的是，控制部82於比率A為第1比率A1以上之情形下，於第1控制狀態下控制變速裝置50。較佳的是，控制部82於比率A為第2比率A2以下之情形下，於第1控制狀態下控制變速裝置50。Preferably, the control unit 82 controls the transmission 50 in the first control state when the ratio A is at least one of the first ratio A1 or more and the ratio A is at least one of the second ratio A2 or less. Preferably, the control unit 82 controls the transmission 50 in the first control state when the ratio A is equal to or greater than the first ratio A1. Preferably, the control unit 82 controls the transmission 50 in the first control state when the ratio A is equal to or less than the second ratio A2.

較佳的是，控制部82於比率A較大於1之第1比率A1小之情形、及比率A較小於1之第2比率A2大之情形之至少1者之情形下，於第2控制狀態下控制變速裝置50。較佳的是，控制部82於比率A小於第1比率A1之情形、且比率A大於第2比率A2之情形下，於第2控制狀態下控制變速裝置50。Preferably, the control unit 82 controls the second ratio A1 when the ratio A is larger than 1 and the first ratio A1 is smaller, and the ratio A is smaller than 1 and the second ratio A2 is larger. The transmission 50 is controlled in the state. Preferably, the control unit 82 controls the transmission 50 in the second control state when the ratio A is smaller than the first ratio A1 and when the ratio A is larger than the second ratio A2.

較佳的是，第1比率A1為1.5以下。較佳的是，第1比率A1為1.3以下。例如，第1比率A1為1.1。較佳的是，第2比率A2為0.4以上。第2比率A2為0.7以上。例如，第2比率A2為0.9。Preferably, the first ratio A1 is 1.5 or less. Preferably, the first ratio A1 is 1.3 or less. For example, the first ratio A1 is 1.1. Preferably, the second ratio A2 is 0.4 or more. The second ratio A2 is 0.7 or more. For example, the second ratio A2 is 0.9.

較佳的是，控制部82在每次自第2檢測部66輸出有特定之檢測信號時，更新比率A。較佳的是，於控制部82在第1控制狀態下控制變速裝置50之情形下，控制部82若在特定期間內連續不滿足比率A小於第1比率A1且大於第2比率A2之條件，則在第1控制狀態下控制變速裝置50。例如，特定期間係車輪12旋轉一周之期間。於比率A為第1比率A1以上之情形下，與車輪12相比旋轉構件36以第1比率A1以上快速地旋轉。於比率A為第2比率A2以下之情形下，與旋轉構件36相比車輪12以第2比率A2以上快速地旋轉。該等之情形下，推定旋轉構件36相對於車輪12空轉。控制部82對比率A為第1比率A1以上之情形、及比率A為第2比率A2以下之情形之至少1者之情形，與比率A小於第1比率A1之情形、且比率A大於第2比率A2之情形進行比較，而推定為施加於旋轉構件36之驅動力小。Preferably, the control unit 82 updates the ratio A every time a specific detection signal is output from the second detection unit 66 . Preferably, when the control unit 82 controls the transmission 50 in the first control state, if the control unit 82 continuously fails to satisfy the condition that the ratio A is smaller than the first ratio A1 and greater than the second ratio A2 within a certain period of time, Then, the transmission 50 is controlled in the first control state. For example, the specific period is a period during which the wheel 12 makes one rotation. When the ratio A is equal to or higher than the first ratio A1, the rotating member 36 rotates faster than the wheel 12 at the first ratio A1 or higher. When the ratio A is equal to or less than the second ratio A2, the wheel 12 rotates faster than the rotating member 36 at the second ratio A2 or more. In these cases, it is estimated that the rotating member 36 is idling with respect to the wheel 12 . The control unit 82 compares the case where the ratio A is greater than or equal to the first ratio A1 and the ratio A is at least one of the cases where the ratio A is less than or equal to the second ratio A2, and the case where the ratio A is smaller than the first ratio A1 and the ratio A is larger than the second ratio A2. Compared with the case of the ratio A2, it is estimated that the driving force applied to the rotating member 36 is small.

較佳的是，控制部82於人力驅動車10之減速度為特定減速度以上之情形下，於第2控制狀態下控制變速裝置50。控制部82例如根據第1檢測部64之輸出，算出人力驅動車10之行進方向上之人力驅動車10之減速度。減速度表示為人力驅動車10愈減速則愈大之值。Preferably, the control unit 82 controls the transmission 50 in the second control state when the deceleration of the human-powered vehicle 10 is greater than or equal to a specific deceleration. The control part 82 calculates the deceleration of the human-powered vehicle 10 in the traveling direction of the human-powered vehicle 10 based on the output of the 1st detection part 64, for example. The deceleration is expressed as a value that increases as the human-powered vehicle 10 decelerates.

較佳的是，控制部82於第1期間內之比率A之最大值與最小值之差為第1差以下之情形下，於第2控制狀態下控制變速裝置50。於第1期間內之比率A之最大值與最小值之差為第1差以下之情形下，藉由連結構件38與旋轉構件36成為牢固地嚙合之狀態，而推定連結構件38之張力為高之狀態。第1期間例如係曲柄軸26旋轉一周之期間。Preferably, the control unit 82 controls the transmission 50 in the second control state when the difference between the maximum value and the minimum value of the ratio A in the first period is equal to or less than the first difference. When the difference between the maximum value and the minimum value of the ratio A in the first period is equal to or less than the first difference, since the connection member 38 and the rotation member 36 are firmly engaged, the tension of the connection member 38 is estimated to be high. state. The first period is, for example, a period during which the crankshaft 26 makes one rotation.

較佳的是，控制部82於第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第2差以下之情形下，於第2控制狀態下控制變速裝置50。例如，於變速裝置50在平地上變速成變速比R之較低之齒輪之情形下，第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差大於第2差。第2期間例如係曲柄軸26旋轉一周之期間。Preferably, the control unit 82 controls the transmission 50 in the second control state when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is equal to or less than the second difference. For example, when the speed change device 50 is shifted to a lower gear ratio R on flat ground, the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is larger than the second difference. The second period is, for example, a period during which the crankshaft 26 makes one rotation.

曲柄軸26旋轉一周之期間可根據車輪12旋轉一周之期間及旋轉構件36旋轉一周之期間之至少1者而推定。例如將車輪12旋轉一周之期間利用變速比R相除而算出曲柄軸26旋轉一周之期間。例如亦可將旋轉構件36旋轉一周之期間藉由變速比R相除而算出曲柄軸26旋轉一周之期間。The period during which the crankshaft 26 makes one rotation can be estimated from at least one of the period during which the wheel 12 makes one rotation and the period during which the rotating member 36 makes one rotation. For example, the period during which the wheel 12 makes one rotation is divided by the gear ratio R to calculate the period during which the crankshaft 26 makes one rotation. For example, the period for one rotation of the crankshaft 26 may be calculated by dividing the period for one rotation of the rotary member 36 by the gear ratio R.

較佳的是，控制部82於人力驅動車10之加速度為特定加速度以下之情形下，於第2控制狀態下控制變速裝置50。控制部82例如根據第1檢測部64之輸出，算出人力驅動車10之行進方向上之人力驅動車10之加速度。Preferably, the control unit 82 controls the transmission device 50 in the second control state when the acceleration of the human-powered vehicle 10 is below a specific acceleration. The control part 82 calculates the acceleration of the human-powered vehicle 10 in the traveling direction of the human-driven vehicle 10 based on the output of the 1st detection part 64, for example.

較佳的是，控制部82於人力驅動車10之曲柄軸26之旋轉速度為特定旋轉速度以下之情形下，於第2控制狀態下控制變速裝置50。曲柄軸26之旋轉速度根據車輪12之旋轉速度及旋轉構件36之旋轉速度之至少1者而算出。將車輪12之旋轉速度藉由變速比R相除而算出曲柄軸26之旋轉速度。亦可將旋轉構件36之旋轉速度利用變速比R相除而算出曲柄軸26之旋轉速度。Preferably, the control unit 82 controls the speed change device 50 in the second control state when the rotational speed of the crankshaft 26 of the human-powered vehicle 10 is equal to or lower than the specific rotational speed. The rotational speed of the crankshaft 26 is calculated based on at least one of the rotational speed of the wheel 12 and the rotational speed of the rotating member 36 . The rotational speed of the crankshaft 26 is calculated by dividing the rotational speed of the wheel 12 by the gear ratio R. The rotational speed of the crankshaft 26 may also be calculated by dividing the rotational speed of the rotating member 36 by the gear ratio R.

較佳的是，控制部82根據與車輪12之旋轉速度相關之第1值、及與車輪12之旋轉速度相關且與第1值不同之時點下之第2值相乘所得之第3值，於第2控制狀態下控制變速裝置50。較佳的是，第1值及第2值係由第1檢測部64檢測到之發電裝置62之發電脈衝之電流值。Preferably, the control unit 82 is based on a third value obtained by multiplying a first value related to the rotational speed of the wheel 12 and a second value related to the rotational speed of the wheel 12 at a time point different from the first value, The transmission 50 is controlled in the second control state. Preferably, the first value and the second value are current values of the power generation pulse of the power generator 62 detected by the first detection unit 64 .

較佳的是，第1值係在車輪12或旋轉構件36之一者旋轉特定角度之第3期間內之與車輪12或旋轉構件36之一者之第1角度對應之值。第2值係在車輪12或旋轉構件36之一者旋轉特定角度之第4期間內之與車輪12或旋轉構件36之一者之第2角度對應之值。第3期間及第4期間互不重複、且連續。第1角度係車輪12或旋轉構件36之一者自第3期間之開始時點旋轉第3角度所成之角度。第2角度係車輪12或旋轉構件36之一者自第4期間之開始時點旋轉第3角度所成之角度。較佳的是，第1值係在車輪12旋轉特定角度之第3期間內之與車輪12之第1角度對應之值。較佳的是，第2值係在車輪12旋轉特定角度之第4期間內之與車輪12之第2角度對應之值。Preferably, the first value is a value corresponding to the first angle of either the wheel 12 or the rotating member 36 during the third period during which one of the wheel 12 or the rotating member 36 is rotated by a specific angle. The second value is a value corresponding to the second angle of either the wheel 12 or the rotating member 36 during the fourth period during which one of the wheel 12 or the rotating member 36 is rotated by a specific angle. The third period and the fourth period do not overlap with each other and are continuous. The first angle is the angle formed by the rotation of either the wheel 12 or the rotating member 36 by the third angle from the start point of the third period. The second angle is an angle formed by the rotation of either the wheel 12 or the rotating member 36 by the third angle from the start point of the fourth period. Preferably, the first value is a value corresponding to the first angle of the wheel 12 during the third period during which the wheel 12 rotates by a specific angle. Preferably, the second value is a value corresponding to the second angle of the wheel 12 during the fourth period during which the wheel 12 rotates by a specific angle.

特定角度係車輪12或旋轉構件36之一者旋轉一周之角度。車輪12或旋轉構件36之一者旋轉一周之角度，例如係車輪12或旋轉構件36之一者自第3期間或第4期間之開始時點旋轉360度所成之角度。特定角度亦可為車輪12或旋轉構件36之一者旋轉半周所成之角度。車輪12或旋轉構件36之一者旋轉半周所成之角度，例如係車輪12或旋轉構件36之一者自第3期間或第4期間之開始時點旋轉180度所成之角度。例如，特定角度係上死點至下死點、或下死點至上死點之180度。The specific angle is the angle through which one of the wheel 12 or the rotating member 36 makes one revolution. The angle at which one of the wheel 12 or the rotating member 36 rotates once, for example, the angle formed by one of the wheel 12 or the rotating member 36 rotated 360 degrees from the start point of the third period or the fourth period. The specific angle may also be the angle formed by one half rotation of either the wheel 12 or the rotating member 36 . The angle formed by one of the wheel 12 or the rotating member 36 rotated by half a circle, for example, the angle formed by one of the wheel 12 or the rotating member 36 rotated 180 degrees from the start point of the third period or the fourth period. For example, the specific angle is 180 degrees from the top dead center to the bottom dead center, or from the bottom dead center to the top dead center.

較佳的是，第3角度相對於特定角度包含複數個角度。例如，於特定角度為曲柄軸26之旋轉一周之角度即360度之情形下，第3角度包含自第3期間或第4期間之開始時點逐次1度直至360度之角度。較佳的是，第3值藉由與第3期間及第4期間各者之角度之值對應之第1值及第2值相乘而算出。例如，於特定角度為曲柄軸26旋轉一周之角度即360度之情形下，第3角度可為自第3期間或第4期間之開始時點到達360度為止之由第1檢測部64檢測到之每一檢測週期之角度。Preferably, the third angle includes a plurality of angles with respect to the specific angle. For example, in the case where the specific angle is 360 degrees for one rotation of the crankshaft 26 , the third angle includes an angle from the start point of the third period or the fourth period to 360 degrees. Preferably, the third value is calculated by multiplying the first value and the second value corresponding to the angle value of each of the third period and the fourth period. For example, when the specific angle is 360 degrees, which is an angle in which the crankshaft 26 rotates once, the third angle can be detected by the first detection unit 64 from the start point of the third period or the fourth period to 360 degrees. The angle of each detection cycle.

較佳的是，控制部82於加上特定角度中各個角度之第3值所得之值為特定值以上之情形下，於第2控制狀態下控制變速裝置50。較佳的是，於將第3期間設為1週期之情形下，控制部82於將加上0度至360度各個角度之第3值所得之值為特定值以上維持2週期以上之情形下，於第2控制狀態下控制變速裝置50。較佳的是，於將第4期間設為1週期之情形下，控制部82於將加上0度至360度各個角度之第3值所得之值為特定值以上維持2週期以上之情形下，於第2控制狀態下控制變速裝置50。Preferably, the control unit 82 controls the transmission 50 in the second control state when the value obtained by adding the third value of each angle in the specific angle is greater than or equal to the specific value. Preferably, when the third period is set as one cycle, the control unit 82 maintains the value obtained by adding the third value of each angle from 0° to 360° for a predetermined value or more for two cycles or more. , the transmission 50 is controlled in the second control state. Preferably, when the fourth period is set as one cycle, the control unit 82 maintains the value obtained by adding the third value of each angle from 0° to 360° for more than a specific value for two cycles or more. , the transmission 50 is controlled in the second control state.

於車輪12旋轉一周而藉由一定之旋轉速度旋轉之情形下，加上第3值所得之值變大。於車輪12旋轉一周而一面變化旋轉速度一面旋轉之情形下，加上第3值所得之值變小。例如，人力驅動車10於上坡中在開始行駛時，加上第3值所得之值變大。因此，第3值可用於人力驅動車10上坡時開始行駛之情形之推定。In the case where the wheel 12 rotates at a constant rotational speed by one rotation, the value obtained by adding the third value increases. In the case where the wheel 12 rotates once while changing the rotational speed, the value obtained by adding the third value becomes smaller. For example, when the human-powered vehicle 10 starts traveling on an uphill, the value obtained by adding the third value increases. Therefore, the third value can be used for estimating the situation where the human-powered vehicle 10 starts to travel when going uphill.

較佳的是，控制部82於第5期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第3差以下之情形下，於第2控制狀態下控制變速裝置50。第5期間係曲柄軸26旋轉一周之期間。Preferably, the control unit 82 controls the transmission 50 in the second control state when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the fifth period is equal to or less than the third difference. The fifth period is a period during which the crankshaft 26 makes one rotation.

較佳的是，控制部82於人力驅動車10之車速為第1車速以下之情形下，於第2控制狀態下控制變速裝置50。第1車速例如係時速0 km。Preferably, the control unit 82 controls the transmission device 50 in the second control state when the vehicle speed of the human-powered vehicle 10 is equal to or lower than the first vehicle speed. The first vehicle speed is, for example, 0 km/h.

較佳的是，控制部82例如為了判定人力驅動車10自平坦之道路突入爬坡之瞬間，而進行第1高負荷判定X1。較佳的是，控制部82於滿足以下之第1條件、第2條件、及第3條件之全部之情形下，判定為滿足第1高負荷判定X1。較佳的是，控制部82於滿足第1高負荷判定X1之情形下，於第2控制狀態下控制變速裝置50。Preferably, the control unit 82 performs the first high-load determination X1 in order to determine, for example, the moment when the human-powered vehicle 10 protrudes from a flat road into a hill climb. Preferably, the control unit 82 determines that the first high load determination X1 is satisfied when all of the following first conditions, second conditions, and third conditions are satisfied. Preferably, the control unit 82 controls the transmission 50 in the second control state when the first high load determination X1 is satisfied.

第1條件滿足人力驅動車10之車速之減速度為特定減速度以上之情形。第2條件滿足第1期間內之比率A之最大值與最小值之差為第1差以下之情形。第3條件滿足第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第2差以下之情形。控制部82例如按照第1條件、第2條件、及第3條件之順序進行判定。The first condition satisfies that the deceleration of the vehicle speed of the human-powered vehicle 10 is equal to or greater than a specific deceleration. The second condition satisfies that the difference between the maximum value and the minimum value of the ratio A in the first period is equal to or less than the first difference. The third condition satisfies that the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is equal to or less than the second difference. The control unit 82 determines, for example, in the order of the first condition, the second condition, and the third condition.

第1條件、第2條件、及第3條件之判定順序亦可變更。控制部82可於滿足第1條件、第2條件、及第3條件中任1者以上之情形下，判定為滿足第1高負荷判定X1。The order of determination of the first condition, the second condition, and the third condition may be changed. The control unit 82 may determine that the first high load determination X1 is satisfied when any one or more of the first condition, the second condition, and the third condition is satisfied.

較佳的是，控制部82於未滿足第1高負荷判定X1之情形下，進行第2高負荷判定X2。於未滿足第1高負荷判定X1之情形中，例如包含人力驅動車10自坡道之中途進發之情形。控制部82為了判定人力驅動車10自坡道之中途進發之情形，而進行第2高負荷判定X2。較佳的是，控制部82於滿足以下之第4條件、第5條件、第6條件、及第7條件之全部之情形下，判定為滿足第2高負荷判定X2。較佳的是，控制部82於滿足第2高負荷判定X2之情形下，於第2控制狀態下控制變速裝置50。Preferably, the control unit 82 performs the second high load determination X2 when the first high load determination X1 is not satisfied. The case where the first high-load determination X1 is not satisfied includes, for example, the case where the human-powered vehicle 10 starts from the middle of the slope. The control unit 82 performs the second high-load determination X2 in order to determine that the human-powered vehicle 10 is proceeding from the middle of the slope. Preferably, the control unit 82 determines that the second high load determination X2 is satisfied when all of the following fourth, fifth, sixth, and seventh conditions are satisfied. Preferably, the control unit 82 controls the transmission 50 in the second control state when the second high load determination X2 is satisfied.

第4條件滿足人力驅動車10之車速之加速度為特定加速度以下之情形。第5條件滿足曲柄軸26之旋轉速度為特定旋轉速度以下之情形。第6條件滿足第5期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第3差以下之情形。第7條件滿足加上特定角度之各個角度之第3值所得之值為特定值以上之情形。控制部82例如按照第4條件、第5條件、第6條件、及第7條件之順序進行判定。The fourth condition satisfies the fact that the acceleration of the vehicle speed of the human-powered vehicle 10 is equal to or less than the specific acceleration. The fifth condition satisfies the fact that the rotational speed of the crankshaft 26 is equal to or lower than the specific rotational speed. The sixth condition satisfies that the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the fifth period is equal to or less than the third difference. The seventh condition is satisfied that the value obtained by adding the third value of each angle of the specific angle is greater than or equal to the specific value. The control unit 82 determines, for example, in the order of the fourth condition, the fifth condition, the sixth condition, and the seventh condition.

第4條件、第5條件、第6條件、及第7條件之判定順序亦可變更。控制部82可於滿足第4條件、第5條件、第6條件、及第7條件中任1者以上之情形下，判定為滿足第2高負荷判定X2。The order of determination of the fourth condition, the fifth condition, the sixth condition, and the seventh condition may be changed. The control unit 82 may determine that the second high load determination X2 is satisfied when any one or more of the fourth condition, the fifth condition, the sixth condition, and the seventh condition is satisfied.

控制部82較佳的是於滿足第1高負荷判定X1及第2高負荷判定X2中任一者之情形下，於第2控制狀態下控制變速裝置50。控制部82較佳的是於判定為未滿足第1高負荷判定X1之情形下，進行針對第2高負荷判定X2之判定。控制部82亦可於判定為未滿足第2高負荷判定X2之情形下，進行針對第1高負荷判定X1之判定。The control unit 82 preferably controls the transmission 50 in the second control state when either of the first high load determination X1 and the second high load determination X2 is satisfied. It is preferable that the control part 82 performs the determination with respect to the 2nd high load determination X2 when it determines with the 1st high load determination X1 not being satisfied. When it is determined that the second high load determination X2 is not satisfied, the control unit 82 may perform determination for the first high load determination X1.

參照圖4至圖6，對於控制部82控制變速裝置50之處理進行說明。控制部82當於控制部82供給有電力時，開始處理並移至圖4所示之流程圖之步驟S11。控制部82在圖4之流程圖結束時，於預設之週期後重複自步驟S11之處理，直至電力之供給停止為止。Referring to FIGS. 4 to 6 , the process by which the control unit 82 controls the transmission 50 will be described. The control unit 82 starts processing and moves to step S11 of the flowchart shown in FIG. 4 when power is supplied to the control unit 82 . When the flow chart of FIG. 4 ends, the control unit 82 repeats the process from step S11 after a preset period until the supply of electric power is stopped.

控制部82於步驟S11中，判定人力驅動車10之車速是否為第1車速以下。控制部82於步驟S11中，於人力驅動車10之車速為第1車速以下時，移至步驟S12。控制部82於步驟S12中，於第2控制狀態下控制變速裝置50，並結束處理。控制部82於步驟S12中，於控制狀態為第2控制狀態時，維持第2控制狀態，控制變速裝置50。控制部82於步驟S12中，於控制狀態為第1控制狀態時，自第1控制狀態切換成第2控制狀態，並於第2控制狀態下控制變速裝置50。In step S11 , the control unit 82 determines whether or not the vehicle speed of the human-powered vehicle 10 is equal to or lower than the first vehicle speed. In step S11, when the vehicle speed of the human-powered vehicle 10 is equal to or less than the first vehicle speed, the control unit 82 proceeds to step S12. In step S12, the control part 82 controls the transmission 50 in the 2nd control state, and complete|finishes a process. In step S12 , when the control state is the second control state, the control unit 82 maintains the second control state and controls the transmission 50 . In step S12, when the control state is the first control state, the control unit 82 switches from the first control state to the second control state, and controls the transmission 50 in the second control state.

控制部82於步驟S11中，於人力驅動車10之車速大於第1車速時，移至步驟S13。控制部82於步驟S13中，判定比率A是否為第1比率A1以上，於步驟S13中，於比率A為第1比率A1以上時，控制部82移至步驟S14。於步驟S13中，於比率A小於第1比率A1時，控制部82移至步驟S15。In step S11, when the vehicle speed of the human-powered vehicle 10 is greater than the first vehicle speed, the control unit 82 proceeds to step S13. In step S13, the control part 82 determines whether the ratio A is equal to or more than the first ratio A1, and in step S13, when the ratio A is equal to or more than the first ratio A1, the control part 82 proceeds to step S14. In step S13, when ratio A is smaller than 1st ratio A1, the control part 82 moves to step S15.

控制部82於步驟S15中，判定比率A是否為第2比率A2以下。於步驟S15中，於比率A為第2比率A2以下時，控制部82移至步驟S14。控制部82於步驟S14中，於第1控制狀態下控制變速裝置50，並結束處理。控制部82於步驟S14中，於控制狀態為第2控制狀態時，維持第2控制狀態，控制變速裝置50。控制部82於步驟S14中，於控制狀態為第1控制狀態時，自第1控制狀態切換成第2控制狀態，並於第2控制狀態下控制變速裝置50。In step S15, the control unit 82 determines whether or not the ratio A is equal to or less than the second ratio A2. In step S15, when the ratio A is equal to or less than the second ratio A2, the control unit 82 proceeds to step S14. In step S14, the control part 82 controls the transmission 50 in the 1st control state, and complete|finishes a process. In step S14 , when the control state is the second control state, the control unit 82 maintains the second control state and controls the transmission 50 . In step S14, when the control state is the first control state, the control unit 82 switches from the first control state to the second control state, and controls the transmission 50 in the second control state.

於步驟S15中，於比率A大於第2比率A2時，控制部82移至步驟S16。圖5之步驟S16至步驟S18之判定係與第1高負荷判定X1相關之判定。控制部82於步驟S16中，判定車速之減速度是否為特定減速度以上。於步驟S16中，於車速之減速度為特定減速度以上時，控制部82移至步驟S17。In step S15, when ratio A is larger than 2nd ratio A2, the control part 82 moves to step S16. The determinations of step S16 to step S18 in FIG. 5 are determinations related to the first high load determination X1. In step S16, the control unit 82 determines whether or not the deceleration of the vehicle speed is equal to or greater than a specific deceleration. In step S16, when the deceleration of the vehicle speed is equal to or greater than the predetermined deceleration, the control unit 82 proceeds to step S17.

控制部82於步驟S17中，判定第1期間內之比率A之最大值與最小值之差是否為第1差以下。於步驟S17中，於第1期間內之比率A之最大值與最小值之差為第1差以下時，控制部82移至步驟S18。In step S17 , the control unit 82 determines whether or not the difference between the maximum value and the minimum value of the ratio A in the first period is equal to or less than the first difference. In step S17, when the difference between the maximum value and the minimum value of the ratio A in the first period is equal to or less than the first difference, the control unit 82 proceeds to step S18.

控制部82於步驟S18中，判定第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差是否為第2差以下。於步驟S18中，於第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第2差以下時，控制部82移至步驟S19。In step S18 , the control unit 82 determines whether or not the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is equal to or less than the second difference. In step S18, when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is equal to or less than the second difference, the control unit 82 proceeds to step S19.

控制部82於步驟S19中，於第2控制狀態下控制變速裝置50，並結束處理。控制部82於步驟S19中，於控制狀態為第2控制狀態時，維持第2控制狀態，控制變速裝置50。控制部82於步驟S19中，於控制狀態為第1控制狀態時，自第1控制狀態切換成第2控制狀態，並於第2控制狀態下控制變速裝置50。In step S19, the control part 82 controls the transmission 50 in the 2nd control state, and complete|finishes a process. In step S19 , when the control state is the second control state, the control unit 82 maintains the second control state and controls the transmission 50 . In step S19, when the control state is the first control state, the control unit 82 switches from the first control state to the second control state, and controls the transmission 50 in the second control state.

於步驟S16中，於車速之減速度小於特定減速度時，控制部82移至步驟S20。於步驟S17中，於第1期間內之比率A之最大值與最小值之差大於第1差時，控制部82移至步驟S20。於步驟S18中，於第2期間內之旋轉構件36之旋轉速度之最大值與最小值之差大於第2差時，控制部82移至步驟S20。In step S16, when the deceleration of the vehicle speed is smaller than the predetermined deceleration, the control part 82 moves to step S20. In step S17, when the difference between the maximum value and the minimum value of the ratio A in the first period is larger than the first difference, the control unit 82 proceeds to step S20. In step S18, when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the second period is larger than the second difference, the control unit 82 proceeds to step S20.

圖6之步驟S20至步驟S23之判定係與第2高負荷判定X2相關之判定。控制部82於步驟S20中，判定車速之加速度是否為特定加速度以下。於步驟S20中，於車速之加速度為特定加速度以下時，控制部82移至步驟S21。於步驟S20中，於車速之加速度大於特定加速度時，控制部82結束處理。The determinations from step S20 to step S23 in FIG. 6 are determinations related to the second high load determination X2. In step S20 , the control unit 82 determines whether or not the acceleration of the vehicle speed is equal to or less than a specific acceleration. In step S20, when the acceleration of the vehicle speed is equal to or less than the predetermined acceleration, the control unit 82 proceeds to step S21. In step S20, when the acceleration of the vehicle speed is greater than the specific acceleration, the control unit 82 ends the processing.

控制部82於步驟S21中，判定旋轉構件36之旋轉速度是否為特定旋轉速度以下。於步驟S21中，於旋轉構件36之旋轉速度為特定旋轉速度以下時，控制部82移至步驟S22。於步驟S21中，於旋轉構件36之旋轉速度大於特定旋轉速度時，控制部82結束處理。In step S21 , the control unit 82 determines whether or not the rotational speed of the rotating member 36 is equal to or lower than a predetermined rotational speed. In step S21, when the rotational speed of the rotating member 36 is equal to or lower than the predetermined rotational speed, the control unit 82 proceeds to step S22. In step S21, when the rotational speed of the rotating member 36 is greater than the predetermined rotational speed, the control unit 82 ends the processing.

控制部82於步驟S22中，判定第5期間內之旋轉構件36之旋轉速度之最大值與最小值之差是否為第3差以下。於步驟S22中，於第5期間內之旋轉構件36之旋轉速度之最大值與最小值之差為第3差以下時，控制部82移至步驟S23。於步驟S22中，於第5期間內之旋轉構件36之旋轉速度之最大值與最小值之差大於第3差時，控制部82結束處理。In step S22, the control part 82 determines whether or not the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the fifth period is equal to or less than the third difference. In step S22, when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the fifth period is equal to or less than the third difference, the control unit 82 proceeds to step S23. In step S22, when the difference between the maximum value and the minimum value of the rotational speed of the rotating member 36 in the fifth period is larger than the third difference, the control unit 82 ends the process.

控制部82於步驟S23中，判定加上特定角度之各個角度之第3值所得之值是否為特定值以上。於步驟S23中，於加上特定角度之各個角度之第3值所得之值為特定值以上時，控制部82移至步驟S24。於步驟S23中，於加上特定角度之各個角度之第3值所得之值小於特定值時，控制部82結束處理。In step S23, the control part 82 determines whether the value obtained by adding the 3rd value of each angle of a specific angle is more than a specific value. In step S23, when the value obtained by adding the third value of each angle of the specific angle is equal to or greater than the specific value, the control unit 82 moves to step S24. In step S23, when the value obtained by adding the third value of each angle of the specific angle is smaller than the specific value, the control unit 82 ends the processing.

控制部82於步驟S24中，於第2控制狀態下控制變速裝置50，並結束處理。控制部82於步驟S24中，於控制狀態為第2控制狀態時，維持第2控制狀態，控制變速裝置50。控制部82於步驟S24中，於控制狀態為第1控制狀態時，自第1控制狀態切換成第2控制狀態，並於第2控制狀態下控制變速裝置50。In step S24, the control part 82 controls the transmission 50 in the 2nd control state, and complete|finishes a process. In step S24 , when the control state is the second control state, the control unit 82 maintains the second control state and controls the transmission 50 . In step S24, when the control state is the first control state, the control unit 82 switches from the first control state to the second control state, and controls the transmission 50 in the second control state.

＜變化例＞ 與實施形態相關之說明係本揭示之人力驅動車用控制裝置、及人力驅動車用控制系統可取得之形態之例示，且不意圖限制該形態。本揭示之人力驅動車用控制裝置、及人力驅動車用控制系統可取得例如以下所示之實施形態之變化例、及組合互不矛盾之至少2各變化例所得之形態。於以下之變化例中，對於與實施形態之形態共通之部分，賦予與實施形態相同之符號且省略其說明。 <Variation example> The description related to the embodiment is an example of a form in which the control device for a human-powered vehicle and the control system for a human-powered vehicle of the present disclosure can be obtained, and is not intended to limit the form. The control device for a human-powered vehicle and the control system for a human-driven vehicle of the present disclosure can take, for example, a modification of the embodiment shown below, and a form obtained by combining at least two modifications that do not contradict each other. In the following modification examples, the same reference numerals as those in the embodiment are given to the same parts as those of the embodiment, and the description thereof is omitted.

・第1值可為曲柄軸26旋轉特定角度之第6期間內之與曲柄軸26之第4角度對應之值。第2值可為曲柄軸26旋轉特定角度之第7期間內之與曲柄軸26之第5角度對應之值。第6期間及第7期間互不重複、且連續。第4角度係自第6期間之開始時點旋轉第6角度所成之角度。第5角度係自第7期間之開始時點旋轉第6角度所成之角度。・The first value may be a value corresponding to the fourth angle of the crankshaft 26 during the sixth period during which the crankshaft 26 rotates by a specific angle. The second value may be a value corresponding to the fifth angle of the crankshaft 26 within the seventh period during which the crankshaft 26 rotates by a specific angle. The sixth period and the seventh period do not overlap with each other and are continuous. The fourth angle is an angle formed by rotating the sixth angle from the start point of the sixth period. The fifth angle is an angle formed by rotating the sixth angle from the start point of the seventh period.

・第1檢測部64可為車速感測器。車速感測器構成為檢測與人力驅動車10之車速相關之資訊。車速感測器輸出與車輪12之旋轉速度相應之信號。控制部82可基於與車輪12之旋轉速度相應之信號、及與車輪12之周長相關之資訊算出人力驅動車10之車速。車速感測器例如可包含構成磁簧開關之磁簧、或霍耳元件等磁感測器。車速感測器可安裝於人力驅動車10之車架16之後下叉。該情形下，車速感測器構成為檢測安裝於後輪12R之磁鐵。車速感測器亦可設置於前叉18。該情形下，車速感測器構成為可檢測安裝於前輪12F之磁鐵。例如，車速感測器構成為於車輪12旋轉一周時，藉由磁簧開關檢測磁鐵一次。車速感測器可為任意之構成，只要可取得與人力驅動車10之車速相關之資訊即可，並不限於檢測設置於車輪12之磁鐵之構成。例如，車速感測器亦可以檢測設置於碟式煞車之狹槽之方式構成。例如，車速感測器亦可構成為包含光學感測器等。例如，車速感測器亦可構成為包含GPS(Global Positioning System，全球定位系統)接收機。於車速感測器包含GPS接收機之情形下，控制部82可根據時間與移動距離而算出車速。・The first detection unit 64 may be a vehicle speed sensor. The vehicle speed sensor is configured to detect information related to the vehicle speed of the human-powered vehicle 10 . The vehicle speed sensor outputs a signal corresponding to the rotational speed of the wheel 12 . The control unit 82 can calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotational speed of the wheel 12 and the information related to the circumference of the wheel 12 . The vehicle speed sensor may include, for example, a magnetic reed constituting a reed switch, or a magnetic sensor such as a Hall element. The vehicle speed sensor can be installed on the rear fork of the frame 16 of the human-powered vehicle 10 . In this case, the vehicle speed sensor is configured to detect the magnet attached to the rear wheel 12R. The vehicle speed sensor can also be installed on the front fork 18 . In this case, the vehicle speed sensor is configured to detect the magnet attached to the front wheel 12F. For example, the vehicle speed sensor is configured to detect the magnet once through the reed switch when the wheel 12 rotates once. The vehicle speed sensor may have any configuration as long as it can obtain information related to the vehicle speed of the human-driven vehicle 10 , and is not limited to the configuration of detecting the magnets disposed on the wheels 12 . For example, the vehicle speed sensor may be configured to detect a slot provided in a disc brake. For example, the vehicle speed sensor may be configured to include an optical sensor or the like. For example, the vehicle speed sensor may also be configured to include a GPS (Global Positioning System, global positioning system) receiver. When the vehicle speed sensor includes a GPS receiver, the control unit 82 can calculate the vehicle speed according to the time and the moving distance.

・旋轉構件36可為曲柄軸26、第1旋轉體34A、及設置於後變速器52之帶輪之至少1者。該情形下，第2檢測部66構成為檢測曲柄軸26、第1旋轉體34A、及設置於後變速器52之帶輪之至少1者之旋轉速度。・The rotating member 36 may be at least one of the crankshaft 26 , the first rotating body 34A, and a pulley provided in the rear derailleur 52 . In this case, the second detection unit 66 is configured to detect the rotational speed of at least one of the crankshaft 26 , the first rotating body 34A, and a pulley provided in the rear derailleur 52 .

・人力驅動車10亦可省略第1電池54A、及第2電池54B之任一者。於省略第1電池54A之情形下，設置於人力驅動車10之電氣零件構成為自第2電池54B被供給電力。於省略第2電池54B之情形下，設置於人力驅動車10之電氣零件構成為自第1電池54A供給電力。・The human-powered vehicle 10 may omit either the first battery 54A or the second battery 54B. In the case where the first battery 54A is omitted, the electric components provided in the human-powered vehicle 10 are configured to be supplied with electric power from the second battery 54B. When the second battery 54B is omitted, the electric components provided in the human-powered vehicle 10 are configured to supply electric power from the first battery 54A.

本說明書中所使用之「至少1者」之表現意指所期望之選擇項之「1者以上」。作為一例，本說明書中所使用之「至少1者」之表現，若選擇項之數目為2個，則意指「僅1個選擇項」或「2個選擇項之二者」。作為又一例，本說明書中所使用之「至少1者」之表現，若選擇項之數目為3個以上，則意指「僅1個選擇項」或「2個以上之任意之選擇項之組合」。The expression "at least one" used in this specification means "one or more" of the desired options. As an example, the expression "at least one" used in this specification means "only one option" or "both of two options" when the number of options is two. As another example, the expression "at least one" used in this specification, if the number of options is three or more, means "only one option" or "a combination of two or more arbitrary options" ".

10:人力驅動車 12:車輪 12F:前輪 12R:後輪 14:車體 16:車架 18:前叉 20:車把 22:桿 24:曲柄 26:曲柄軸 28:曲柄臂 30:踏板 32:驅動機構 34A:第1旋轉體 34B:第2旋轉體 36:旋轉構件 36A:後鏈輪 38:連結構件 40:第2單向離合器 42:輪轂 44:輪轂軸 46:輪轂外殼 46A:凸緣 48:旋轉構件安裝部 50:變速裝置 52:後變速器 54A:第1電池 54B:第2電池 60:控制系統 62:發電裝置 64:第1檢測部 66:第2檢測部 66A:磁感測器 68:第1磁鐵 70:線圈 72:第2磁鐵 74:環狀構件 74A:第2磁鐵安裝部 76:基座 80:控制裝置 82:控制部 84:記憶部 S11～S24:步驟 10: Human powered vehicle 12: Wheels 12F: Front Wheel 12R: rear wheel 14: Body 16: Frame 18: Front fork 20: handlebars 22: Rod 24: Crank 26: Crankshaft 28: Crank Arm 30: Pedal 32: Drive mechanism 34A: 1st rotating body 34B: 2nd rotating body 36: Rotating components 36A: Rear sprocket 38: Connecting components 40: 2nd one-way clutch 42: Wheels 44: Hub axle 46: Wheel housing 46A: Flange 48: Rotating member mounting part 50: Shifter 52: Rear derailleur 54A: 1st battery 54B: 2nd battery 60: Control system 62: Power generation device 64: 1st detection unit 66: 2nd detection unit 66A: Magnetic sensor 68: 1st Magnet 70: Coil 72: 2nd magnet 74: Ring member 74A: 2nd magnet mounting part 76: Pedestal 80: Control device 82: Control Department 84: Memory Department S11～S24: Steps

圖1係包含實施形態之人力驅動車用控制裝置之人力驅動車之側視圖。 圖2係顯示包含實施形態之人力驅動車用控制裝置之人力驅動車之電性構成之方塊圖。 圖3係圖1之輪轂之剖視圖。 圖4係由圖2之控制部執行、控制變速裝置之處理之流程圖之第1部分。 圖5係由圖2之控制部執行、控制變速裝置之處理之流程圖之第2部分。 圖6係由圖2之控制部執行、控制變速裝置之處理之流程圖之第3部分。 FIG. 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. FIG. 2 is a block diagram showing the electrical configuration of the human-powered vehicle including the control device for the human-powered vehicle according to the embodiment. FIG. 3 is a cross-sectional view of the hub of FIG. 1 . FIG. 4 is a first part of a flowchart of a process executed by the control unit of FIG. 2 to control the transmission. FIG. 5 is the second part of the flowchart of the process executed by the control unit of FIG. 2 to control the transmission. FIG. 6 is the third part of the flowchart of the process executed by the control unit of FIG. 2 to control the transmission.

50:變速裝置 50: Shifter

54A:第1電池 54A: 1st battery

54B:第2電池 54B: 2nd battery

60:控制系統 60: Control system

62:發電裝置 62: Power generation device

64:第1檢測部 64: 1st detection section

66:第2檢測部 66: 2nd detection section

66A:磁感測器 66A: Magnetic sensor

80:控制裝置 80: Control device

82:控制部 82: Control Department

84:記憶部 84: Memory Department

Claims (19)

一種控制裝置，其係人力驅動車用控制裝置，且 前述人力驅動車包含：變速裝置，其變更變速比；車輪；及旋轉構件，其可相對於前述車輪旋轉，且包含於人力驅動力之動力傳遞路徑； 該人力驅動車用控制裝置具備根據控制狀態而控制前述變速裝置之控制部，且 前述控制部 構成為可根據前述車輪之旋轉速度與前述旋轉構件之旋轉速度之比較結果，將前述控制狀態自第1控制狀態及第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者， 於前述第1控制狀態下，以限制前述變速比大於第1變速比、及前述變速比小於第2變速比之至少1者之方式控制前述變速裝置， 於前述第2控制狀態下，以容許前述變速比大於前述第1變速比、及前述變速比小於前述第2變速比之前述至少1者之方式控制前述變速裝置。 A control device, which is a control device for a human-driven vehicle, and The aforementioned human-powered vehicle includes: a speed change device that changes a gear ratio; a wheel; and a rotating member that is rotatable relative to the aforementioned wheel and included in the power transmission path of the human-powered driving force; The control device for a human-powered vehicle includes a control unit that controls the speed change device according to a control state, and The aforementioned control unit It is configured to switch the control state from one of the first control state and the second control state to the first control state and the second control state according to the comparison result of the rotation speed of the wheel and the rotation speed of the rotating member the other, In the first control state, the speed change device is controlled so as to restrict at least one of the speed ratio being larger than the first speed ratio and the speed ratio being smaller than the second speed ratio, In the second control state, the transmission device is controlled so as to allow the transmission ratio to be larger than the first transmission ratio and the transmission ratio to be smaller than at least one of the second transmission ratio. 如請求項1之控制裝置，其中前述控制部構成為可根據前述旋轉構件之旋轉速度相對於前述車輪之旋轉速度之比率，將前述控制狀態自前述第1控制狀態及前述第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者。The control device of claim 1, wherein the control unit is configured to change the control state from one of the first control state and the second control state according to a ratio of the rotational speed of the rotating member to the rotational speed of the wheel is switched to the other one of the first control state and the second control state. 如請求項2之控制裝置，其中前述控制部 於前述比率較大於1之第1比率小之情形、及前述比率較小於1之第2比率大之情形之至少1者之情形下，於前述第2控制狀態下控制前述變速裝置， 於前述比率為前述第1比率以上之情形、及前述比率為前述第2比率以下之情形之至少1者之情形下，於前述第1控制狀態下控制前述變速裝置。 The control device of claim 2, wherein the aforementioned control unit In the case of at least one of the case where the first ratio is greater than 1 and is smaller, and the case where the second ratio is smaller than 1 is larger, the speed change device is controlled in the second control state, The transmission device is controlled in the first control state when the ratio is greater than or equal to the first ratio and when the ratio is at least one of the second ratio or less. 一種控制裝置，其係人力驅動車用控制裝置，且 前述人力驅動車包含：變速裝置，其變更變速比；車輪；及旋轉構件，其可相對於前述車輪旋轉，且包含於人力驅動力之動力傳遞路徑； 該人力驅動車用控制裝置具備根據控制狀態而控制前述變速裝置之控制部，且 前述控制部 構成為可根據前述旋轉構件之旋轉速度相對於前述車輪之旋轉速度之比率，將前述控制狀態自第1控制狀態及第2控制狀態之一者切換成前述第1控制狀態及前述第2控制狀態之另一者， 於前述比率較大於1之第1比率小之情形、及前述比率較小於1之第2比率大之情形之至少1者之情形下，於前述第2控制狀態下控制前述變速裝置， 於前述比率為前述第1比率以上之情形、及前述比率為前述第2比率以下之情形之至少1者之情形下，於前述第1控制狀態下控制前述變速裝置。 A control device, which is a control device for a human-driven vehicle, and The aforementioned human-powered vehicle includes: a speed change device that changes a gear ratio; a wheel; and a rotating member that is rotatable relative to the aforementioned wheel and included in the power transmission path of the human-powered driving force; The control device for a human-powered vehicle includes a control unit that controls the speed change device according to a control state, and The aforementioned control unit The control state can be switched from one of the first control state and the second control state to the first control state and the second control state according to the ratio of the rotational speed of the rotating member to the rotational speed of the wheel the other, In the case of at least one of the case where the first ratio is greater than 1 and is smaller, and the case where the second ratio is smaller than 1 is larger, the speed change device is controlled in the second control state, The transmission device is controlled in the first control state when the ratio is greater than or equal to the first ratio and when the ratio is at least one of the second ratio or less. 一種如請求項3或4之控制裝置，其中前述控制部 於前述比率小於前述第1比率之情形、且前述比率大於前述第2比率之情形下，於前述第2控制狀態下控制前述變速裝置， 於前述比率為前述第1比率以上之情形下，於前述第1控制狀態下控制前述變速裝置，於前述比率為前述第2比率以下之情形下，於前述第1控制狀態下控制前述變速裝置。 A control device as claimed in claim 3 or 4, wherein the aforementioned control unit In the case where the ratio is smaller than the first ratio and the ratio is larger than the second ratio, the speed change device is controlled in the second control state, When the ratio is greater than or equal to the first ratio, the speed changer is controlled in the first control state, and when the ratio is equal to or less than the second ratio, the speed changer is controlled in the first control state. 一種如請求項3至5中任一項之控制裝置，其中前述第1比率為1.3以下， 前述第2比率為0.7以上。 A control device according to any one of claims 3 to 5, wherein the first ratio is 1.3 or less, The said 2nd ratio is 0.7 or more. 一種如請求項3至6中任一項之控制裝置，其中前述控制部於前述人力驅動車之減速度為特定減速度以上之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 3 to 6, wherein the control unit controls the transmission device in the second control state when the deceleration of the human-powered vehicle is greater than or equal to a specific deceleration. 一種如請求項3至7中任一項之控制裝置，其中前述控制部於第1期間內之前述比率之最大值與最小值之差為第1差以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 3 to 7, wherein the control unit is in the second control state when the difference between the maximum value and the minimum value of the ratio within the first period is less than or equal to the first difference control the aforementioned transmission. 一種如請求項3至8中任一項之控制裝置，其中前述控制部於第2期間內之前述旋轉構件之旋轉速度之最大值與最小值之差為第2差以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 3 to 8, wherein in the case where the difference between the maximum value and the minimum value of the rotational speed of the rotating member of the control unit during the second period is equal to or less than the second difference, the The aforementioned transmission is controlled in the second control state. 一種如請求項3至9中任一項之控制裝置，其中前述控制部於前述人力驅動車之加速度為特定加速度以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 3 to 9, wherein the control unit controls the speed change device in the second control state when the acceleration of the human-powered vehicle is below a specific acceleration. 一種如請求項3至10中任一項之控制裝置，其中前述控制部於前述人力驅動車之曲柄軸之旋轉速度為特定旋轉速度以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 3 to 10, wherein the control unit controls the speed change device in the second control state when the rotational speed of the crankshaft of the human-powered vehicle is below a specific rotational speed . 一種如請求項1至11中任一項之控制裝置，其中前述控制部根據與前述車輪之旋轉速度相關之第1值、及與前述車輪之旋轉速度相關且與前述第1值不同之時點下之第2值相乘所得之第3值，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of Claims 1 to 11, wherein the control unit determines a value based on a first value related to the rotational speed of the wheel and a time point related to the rotational speed of the wheel that is different from the first value. The third value obtained by multiplying the second value is used to control the speed change device in the second control state. 如請求項12之控制裝置，其中前述第1值係前述車輪或前述旋轉構件之一者旋轉特定角度之第3期間內之與前述車輪或前述旋轉構件之一者之第1角度對應之值， 前述第2值係前述車輪或前述旋轉構件之一者旋轉前述特定角度之第4期間內之與前述車輪或前述旋轉構件之一者之第2角度對應之值， 前述第3期間及前述第4期間互不重複、且連續， 前述第1角度係前述車輪或前述旋轉構件之一者自前述第3期間之開始時點旋轉第3角度所成之角度， 前述第2角度係前述車輪或前述旋轉構件之一者自前述第4期間之開始時點旋轉前述第3角度所成之角度。 The control device of claim 12, wherein the first value is a value corresponding to the first angle of the wheel or one of the rotating members during a third period during which the wheel or one of the rotating members rotates by a specific angle, The second value is a value corresponding to the second angle of the wheel or one of the rotating members during the fourth period during which the wheel or one of the rotating members rotates by the specific angle, The aforementioned third period and the aforementioned fourth period do not overlap with each other and are continuous, The first angle is the angle formed by the rotation of one of the wheel or the rotating member by the third angle from the start point of the third period, The second angle is an angle formed by one of the wheel or the rotating member rotated by the third angle from the start point of the fourth period. 一種如請求項10至13中任一項之控制裝置，其中前述控制部於第5期間內之前述旋轉構件之旋轉速度之最大值與最小值之差為第3差以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 10 to 13, wherein in the case where the difference between the maximum value and the minimum value of the rotational speed of the rotating member of the control unit in the fifth period is equal to or less than the third difference, the The aforementioned transmission is controlled in the second control state. 一種如請求項1至14中任一項之控制裝置，其中前述控制部於前述人力驅動車之車速為第1車速以下之情形下，於前述第2控制狀態下控制前述變速裝置。A control device according to any one of claims 1 to 14, wherein the control unit controls the transmission device in the second control state when the vehicle speed of the human-powered vehicle is equal to or lower than the first vehicle speed. 一種如請求項1至15中任一項之控制裝置，其中前述控制部以根據前述人力驅動車之行駛狀態及前述人力驅動車之行駛環境之至少1者，變更前述變速比之方式控制前述變速裝置。A control device according to any one of claims 1 to 15, wherein the control unit controls the speed change by changing the speed change ratio according to at least one of the driving state of the human-powered vehicle and the driving environment of the human-powered vehicle device. 一種如請求項1至16中任一項之控制裝置，其中前述控制部以於與前述人力驅動車之曲柄軸之旋轉速度、及前述人力驅動車之車速之至少1者相關之參數為特定範圍外之情形下，變更前述變速比之方式控制前述變速裝置。A control device according to any one of claims 1 to 16, wherein the control unit takes a parameter related to at least one of the rotational speed of the crankshaft of the human-powered vehicle and the vehicle speed of the human-driven vehicle as a specific range In other cases, the speed change device is controlled by changing the speed change ratio. 一種如請求項1至17中任一項之控制裝置，其中前述旋轉構件係後鏈輪。A control device as claimed in any one of claims 1 to 17, wherein the aforementioned rotating member is a rear sprocket. 一種人力驅動車用控制系統，其具備： 請求項1至17中任一項之人力驅動車用控制裝置； 發電裝置，其設置於前述車輪； 第1檢測部，其檢測前述車輪之旋轉速度；及 第2檢測部，其檢測前述旋轉構件之旋轉速度；且 前述第1檢測部檢測前述發電裝置之發電脈衝。 A control system for a human-driven vehicle, comprising: The control device for a human-powered vehicle according to any one of claims 1 to 17; a power generating device, which is arranged on the aforementioned wheel; a first detection unit that detects the rotational speed of the wheel; and a second detection unit that detects the rotational speed of the rotating member; and The first detection unit detects the power generation pulse of the power generator.
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