US-12623749-B2 - Control device for human-powered vehicle and power transmission system

Abstract

A human-powered vehicle includes a crank axle, a first rotational body, a wheel, a second rotational body, a transmission body that transmits a driving force between the first rotational body and the second rotational body, a derailleur configured to operate the transmission body to change a transmission ratio, and a motor configured to drive the transmission body. A control device has an electronic controller configured to control the motor and drive the transmission body with the motor so as to change a rotational speed of the motor as the acceleration of the human-powered vehicle increases in a case where the derailleur has been actuated to change the transmission ratio and a predetermined condition related to pedaling is satisfied.

Inventors

• Satoshi Shahana
• Hayato Shimazu
• Mitsuhiko Kawasaki
• Atsuhiro Emura

Assignees

• SHIMANO INC.

Dates

Publication Date

20260512

Application Date

20240718

Priority Date

20191218

Claims (20)

1. 1 . A control device for a human-powered vehicle including a crank axle, a first rotational body connected to the crank axle, a wheel, a second rotational body connected to the wheel, a transmission body engaged with the first rotational body and the second rotational body to transmit driving force between the first rotational body and the second rotational body, a derailleur configured to operate the transmission body to change a transmission ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body, the control device comprising: an electronic controller configured to control the motor and drive the transmission body with the motor so as to change a rotational speed of the motor in correspondence with acceleration of the human-powered vehicle in a traveling direction and increase the rotational speed of the motor as the acceleration of the human-powered vehicle increases in a case where the derailleur has been actuated to change the transmission ratio and a predetermined condition related to pedaling is satisfied.
2. 2 . The control device according to claim 1 , wherein the electronic controller is configured to control the motor so as not to drive the transmission body upon determining a first operating device of the human-powered vehicle has been operated to prevent actuation of the derailleur to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
3. 3 . The control device according to claim 1 , wherein the electronic controller is configured to be switchable between a first mode and a second mode; the electronic controller is configured to control the motor in the first mode so as to drive the transmission body in correspondence with a state of the human-powered vehicle in a case where a second operating device of the human-powered vehicle has been operated to actuate the derailleur and the predetermined condition related to pedaling is satisfied; and the electronic controller is configured to control the motor in the second mode so as not to drive the transmission body even in a case where the second operating device has been operated and the predetermined condition related to pedaling is satisfied.
4. 4 . The control device according to claim 1 , wherein the electronic controller is configured to control the motor so as to stop driving the transmission body with the motor in correspondence with a load on the motor in a case where the derailleur has been actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
5. 5 . The control device according to claim 4 , further comprising a first detector configured to detect the load on the motor, the electronic controller being configured to control the motor and stop the motor if the derailleur is actuated to change the transmission ratio in a case where the predetermined condition related to pedaling is satisfied and the load on the motor is greater than or equal to a predetermined load.
6. 6 . The control device according to claim 1 , wherein the electronic controller is configured to control the motor so as to stop driving the transmission body in a case where either a vehicle speed is less than or equal to a first speed or the rotational speed of the wheel is less than or equal to a predetermined rotational speed, and in a case where the predetermined condition related to pedaling is satisfied.
7. 7 . The control device according to claim 1 , wherein the electronic controller is configured to control an electric actuator of the human-powered vehicle to operate the derailleur.
8. 8 . The control device according to claim 7 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed only in one of an increasing direction and a decreasing direction in a case where the derailleur is actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
9. 9 . The control device according to claim 8 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in a predetermined shifting range in a case where the derailleur is actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
10. 10 . The control device according to claim 9 , wherein the predetermined shifting range includes a range that is less than or equal to a predetermined third transmission ratio, and the predetermined third transmission ratio is less than a maximum one of the transmission ratio that is changeable by the derailleur.
11. 11 . The control device according to claim 10 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in a predetermined shifting range in at least one of a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a road on which the human-powered vehicle travels changes from an uphill to a downhill, and a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a vehicle speed of the human-powered vehicle changes from an increasing state to a decreasing state.
12. 12 . The control device according to claim 9 , wherein the predetermined shifting range includes a range that is greater than or equal to a predetermined fourth transmission ratio, and the predetermined fourth transmission ratio is greater than a minimum one of the transmission ratio that is changeable by the derailleur.
13. 13 . The control device according to claim 12 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in the predetermined shifting range in at least one of a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a vehicle speed of the human-powered vehicle is less than or equal to a sixth speed, and a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and the rotational speed of the crank axle of the human-powered vehicle is less than or equal to a third rotational speed.
14. 14 . The control device according to claim 7 , wherein the electronic controller is configured to be switchable between a first shifting mode, in which the electronic controller controls the electric actuator in accordance with a state of the human-powered vehicle, and a second shifting mode, in which the electronic controller controls the electric actuator in accordance with operation of a transmission operating device provided on the human-powered vehicle, the electronic controller is configured to be switchable between a third mode and a fourth mode in the first shifting mode, in the third mode, the electronic controller is configured to control the motor and drive the transmission body in accordance with the state of the human-powered vehicle in a case where the derailleur has been actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied, and in the fourth mode, the electronic controller is configured to control the motor so as not to drive the transmission body even in a case where the derailleur has been actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
15. 15 . A control device for a human-powered vehicle including a crank axle, a first rotational body connected to the crank axle, a wheel, a second rotational body connected to the wheel, a transmission body engaged with the first rotational body and the second rotational body to transmit driving force between the first rotational body and the second rotational body, a derailleur configured to operate the transmission body to change a transmission ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator of the human-powered vehicle to operate the derailleur, the control device comprising: an electronic controller configured to control the electric actuator and the motor, the electronic controller being further configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed only in one of an increasing direction and a decreasing direction in a case where the derailleur has been actuated to change the transmission ratio and a predetermined condition related to pedaling is satisfied.
16. 16 . The control device according to claim 15 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in a predetermined shifting range in a case where the derailleur is actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied.
17. 17 . The control device according to claim 16 , wherein the predetermined shifting range includes a range that is less than or equal to a predetermined third transmission ratio, and the predetermined third transmission ratio is less than a maximum one of the transmission ratio that is changeable by the derailleur.
18. 18 . The control device according to claim 17 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in the predetermined shifting range in at least one of a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a road on which the human-powered vehicle travels changes from an uphill to a downhill, and a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a vehicle speed of the human-powered vehicle changes from an increasing state to a decreasing state.
19. 19 . The control device according to claim 16 , wherein the predetermined shifting range includes a range that is greater than or equal to a predetermined fourth transmission ratio, and the predetermined fourth transmission ratio is greater than a minimum one of the transmission ratio that is changeable by the derailleur.
20. 20 . The control device according to claim 19 , wherein the electronic controller is configured to control the electric actuator and drive the transmission body with the motor so that the transmission ratio is changed in the predetermined shifting range in at least one of a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and a vehicle speed of the human-powered vehicle is less than or equal to a sixth speed, and a case where the derailleur is actuated to change the transmission ratio, the predetermined condition related to pedaling is satisfied, and the rotational speed of the crank axle of the human-powered vehicle is less than or equal to a third rotational speed.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation application of U.S. patent application Ser. No. 18/118,338, filed on Mar. 7, 2023, which is a continuation application of U.S. patent application Ser. No. 17/120,730, filed on Dec. 14, 2020, now U.S. Pat. No. 11,623,713. The entire disclosures of U.S. patent application Ser. Nos. 17/120,730 and 18/118,338 are hereby incorporated herein by reference. This application also claims priority to Japanese Patent Application No. 2019-228121, filed on Dec. 18, 2019, and Japanese Patent Application No. 2020-183008, filed on Oct. 30, 2020. The entire disclosures of Japanese Patent Application Nos. 2019-228121 and 2020-183008 are hereby incorporated herein by reference. BACKGROUND Technical Field The present invention generally relates to a control device for a human-powered vehicle and a power transmission system. Background Information Japanese Laid-Open Patent Publication No. 2008-222211 (Patent Document 1) discloses an example of a human-powered vehicle including a derailleur that operates a transmission body to change the transmission ratio. SUMMARY One object of the present disclosure is to provide a control device for a human-powered vehicle and a power transmission system that change the transmission ratio in a preferred manner. A control device in accordance with a first aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotational body connected to the crank axle, a wheel, a second rotational body connected to the wheel, a transmission body engaged with the first rotational body and the second rotational body to transmit driving force between the first rotational body and the second rotational body, a derailleur configured to operate the transmission body to change a transmission ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body. The control device comprises an electronic controller configured to control the motor and drive the transmission body with the motor so as to increase a rotational speed of the motor as a difference of a first rotational speed, which is calculated in correspondence with a rotational speed of the wheel and the transmission ratio, and a predetermined rotational speed or a rotational speed in a predetermined range increases upon determining the derailleur has been actuated to change the transmission ratio and a predetermined condition related to pedaling is satisfied. The control device in accordance with the first aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is actuated to change the transmission ratio and the predetermined condition related to pedaling is satisfied. This changes the transmission ratio in a preferred manner. The control device in accordance with the first aspect is configured to control the motor and drive the transmission body so as to increase the rotational speed of the motor as the difference of the first rotational speed, which is calculated in correspondence with the rotational speed of the wheel and the transmission ratio, and the predetermined rotational speed or the rotational speed in the predetermined range increases. This changes the transmission ratio in a preferred manner. In accordance with a second aspect of the present disclosure, the control device according to the first aspect is configured so that the first rotational speed, the predetermined rotational speed, and the rotational speed in the predetermined range correspond to a rotational speed of the crank axle. With the control device according to the second aspect, the motor is controlled in correspondence with the rotational speed of the crank axle in a preferred manner. In accordance with a third aspect of the present disclosure, the control device according to the second aspect is configured so that the predetermined rotational speed and the rotational speed in the predetermined range are 50 rpm or greater and 80 rpm or less. The control device according to the third aspect allows the user to easily maintain the rotational speed of the crank axle at a rotational speed of 50 rpm or greater and 80 rpm or less. In accordance with a fourth aspect of the present disclosure, the control device according to any one of the first to third aspects is configured so that the human-powered vehicle further includes a first operating device. The electronic controller is configured to control the motor so as not to drive the transmission body upon determining a first operating device of the human-powered vehicle has been operated to prevent actuation of the derailleur to change the transmission ratio and the predetermined condition related to pedaling is satisfied. The control device in accordance with the fourth aspect is configured to control the motor so as not to drive the transmission body if the operati