Control device and derailleur for human-powered vehicle

Abstract

A control device includes a controller configured to control an actuator to move an output member in a first actuation mode in a first state, wherein in the first state, a power source configured to supply power to the actuator is in a first power state, and after the controller controls the actuator based on control information, movement of the output member does not reach a target movement. The controller is configured to control the actuator to move the output member in a second actuation mode different from the first actuation mode in a second state, wherein in the second state, the power source is in the second power state different from the first power state, and after the controller controls the actuator based on the control information, movement of the output member does not reach the target movement.

Description

Technical Field

[0001] The present invention relates to a control device and a derailleur for a human powered vehicle. Background Art

[0002] The human-powered vehicle includes a control unit. The control unit is configured to control an actuating unit to move an output component. The control unit is powered by a power source. For example, the power consumption of the actuating unit is preferably varied based on the state of the power source. Summary of the Invention

[0003] According to a first aspect of the present invention, a control device for a human-powered vehicle includes a controller configured to control an actuator based on control information to move an output member. The controller is configured to control the actuator to move the output member in a first actuation mode in a first state, wherein a power source configured to supply power to the actuator is in a first power state, and after the controller controls the actuator based on the control information, movement of the output member does not reach a target movement. The controller is configured to control the actuator to move the output member in a second actuation mode different from the first actuation mode in a second state, wherein the power source is in a second power state different from the first power state, and after the controller controls the actuator based on the control information, movement of the output member does not reach a target movement.

[0004] With the control device according to the first aspect, when the movement of the output member does not reach the target movement, the actuation method of the actuator during the retry operation can be changed according to the state of the power source. Therefore, the power consumption of the actuator during the retry operation can be reduced according to the state of the power source.

[0005] According to a second aspect of the present invention, the control device according to the first aspect is configured so that the controller is configured to control the actuator to move the output member a first number of times during an actuation time period in the first state. The controller is configured to control the actuator to move the output member a second number of times, different from the first number, during an actuation time period in the second state.

[0006] With the control device according to the second aspect, the total number of times the actuator moves the output member during the retry operation can be changed according to the state of the power source. Therefore, the power consumption of the actuator during the retry operation can be reliably reduced according to the state of the power source.

[0007] According to a third aspect of the present invention, the control device according to the second aspect is configured so that, if the electric power source is in the first power state, the electric power source has a first remaining level. If the electric power source is in the second power state, the electric power source has a second remaining level. The second remaining level is lower than the first remaining level. The second number of times is smaller than the first number of times.

[0008] With the control device according to the third aspect, the total number of times the actuator moves the output member during a retry operation can be changed according to the remaining power source level. When the remaining power source level is low, the total number of times the actuator moves the output member during a retry operation decreases. Therefore, the power consumption of the actuator during a retry operation can be more reliably reduced according to the state of the power source.

[0009] According to a fourth aspect of the present invention, the control device according to the second or third aspect is configured such that, when the power source is in a first power state, the power source has a first capacity. When the power source is in a second power state, the power source has a second capacity. The second capacity is smaller than the first capacity. The second number is smaller than the first number.

[0010] The control device according to the fourth aspect can change the total number of times the actuator moves the output member during a retry operation according to the capacity of the power source. When the capacity of the power source is low, the total number of times the actuator moves the output member during a retry operation decreases. Therefore, the power consumption of the actuator during a retry operation can be more reliably reduced according to the state of the power source.

[0011] According to a fifth aspect of the present invention, the control device according to any one of the second to fourth aspects is configured so that the actuation time period in the first state is equal to the actuation time period in the second state.

[0012] With the control device according to the fifth aspect, the total number of times the actuator moves the output member in the retry action per unit time can be changed.

[0013] According to a sixth aspect of the present invention, the control device according to any one of the first to fourth aspects is configured so that the controller is configured to control the actuator to move the output member during a first actuation time period in a first state. The controller is configured to control the actuator to move the output member during a second actuation time period different from the first actuation time period in a second state.

[0014] With the control device according to the sixth aspect, the actuation time period of the actuator in the retry operation can be changed according to the state of the power source. Therefore, the power consumption of the actuator in the retry operation can be reliably reduced according to the state of the power source.

[0015] According to a seventh aspect of the present invention, the control device according to the sixth aspect is configured so that, if the electric power source is in the first power state, the electric power source has a first remaining level. If the electric power source is in the second power state, the electric power source has a second remaining level. The second remaining level is lower than the first remaining level. The second actuation time period is shorter than the first actuation time period.

[0016] With the control device according to the seventh aspect, the actuator's actuation time period in the retry operation can be changed according to the remaining level of the power source. Therefore, the power consumption of the actuator in the retry operation can be more reliably reduced according to the state of the power source.

[0017] According to an eighth aspect of the present invention, the control device according to the sixth or seventh aspect is configured such that, when the electric power source is in a first power state, the electric power source has a first capacity. When the electric power source is in a second power state, the electric power source has a second capacity. The second capacity is smaller than the first capacity. The second actuation time period is shorter than the first actuation time period.

[0018] With the control device according to the eighth aspect, the actuator's actuation time period during the retry operation can be changed according to the capacity of the power source. Therefore, the actuator's power consumption during the retry operation can be more reliably reduced according to the state of the power source.

[0019] According to a ninth aspect of the present invention, the control device according to any one of the second to fourth and sixth to eighth aspects is configured so that the actuation time period includes a first actuation time period and a second actuation time period different from the first actuation time period. The controller is configured to control the actuator in a first state to move the output member a first number of times during the first actuation time period. The controller is configured to control the actuator in a second state to move the output member a second number of times during the second actuation time period.

[0020] According to the control device of the ninth aspect, the total number of actuator activations and the activation time period in the retry operation can be changed according to the state of the power source.

[0021] According to a tenth aspect of the present invention, the control device according to the ninth aspect is configured such that, when the electric power source is in the first power state, the electric power source has a first capacity; when the electric power source is in the second power state, the electric power source has a second capacity; the second capacity is smaller than the first capacity; and the second actuation time period is shorter than the first actuation time period.

[0022] According to the control device of the tenth aspect, the total number of actuator actuation times and the actuation time period in the retry operation can be changed according to the power source capacity. Therefore, the power consumption of the actuator in the retry operation can be reliably reduced according to the state of the power source.

[0023] According to an eleventh aspect of the present invention, a control device for a human-powered vehicle includes a controller configured to control an actuator based on control information to move an output member. The controller is configured to control the actuator to move the output member in a first actuation mode in a first actuation state, wherein the control information indicates a first actuation direction of the actuator in the first actuation state, and after the controller controls the actuator based on the control information, the movement of the output member does not reach a target movement. The controller is configured to control the actuator to move the output member in a second actuation mode different from the first actuation mode in a second actuation state, wherein the control information indicates a second actuation direction different from the first actuation direction of the actuator in the second actuation state, and after the controller controls the actuator based on the control information, the movement of the output member does not reach the target movement.

[0024] When the output member fails to reach the target movement using the control device according to the eleventh aspect, the actuator's actuation method during the retry operation can be changed based on the actuator's actuation direction. Different actuation directions can result in different actuator power consumption. Therefore, the actuator's power consumption during the retry operation can be reduced based on the actuator's actuation direction.

[0025] According to a twelfth aspect of the present invention, the control device according to the eleventh aspect is configured so that the controller is configured to control the actuator to move the output member a first number of times during an actuation time period in a first actuation state. The controller is configured to control the actuator to move the output member a second number of times, different from the first number, during an actuation time period in a second actuation state.

[0026] According to the control device of the twelfth aspect, the total number of times the actuator moves the output member in the retry operation can be changed according to the actuator's actuation direction. Therefore, the power consumption of the actuator in the retry operation can be reliably reduced according to the actuator's actuation direction.

[0027] According to a thirteenth aspect of the present invention, the control device according to the twelfth aspect is configured such that the first actuation direction is a direction in which the power consumption of the actuator is a first power consumption. The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption. The second number of times is smaller than the first number of times.

[0028] With the control device according to the thirteenth aspect, when the actuator moves the output member in the second actuation direction having a second power consumption higher than the first power consumption in the first actuation direction, the total number of times the actuator performs a retry operation can be reduced. Therefore, the power consumption of the actuator in the retry operation can be more reliably reduced according to the actuation direction of the actuator.

[0029] According to a fourteenth aspect of the present invention, the control device according to the twelfth or thirteenth aspect is configured so that the actuation time period in the first actuation state is equal to the actuation time period in the second actuation state.

[0030] With the control device according to the fourteenth aspect, the total number of times the actuator moves the output member in the retry action per unit time can be changed.

[0031] According to a fifteenth aspect of the present invention, the control device according to the twelfth or thirteenth aspect is configured so that the actuation time period includes a first actuation time period and a second actuation time period different from the first actuation time period. The controller is configured to control the actuator in a first actuation state to move the output member a first number of times during the first actuation time period. The controller is configured to control the actuator in a second actuation state to move the output member a second number of times during the second actuation time period.

[0032] With the control device according to the fifteenth aspect, the total number of actuator activations and the activation time period in the retry operation can be changed according to the actuator's activation direction. Therefore, the power consumption of the actuator in the retry operation can be more reliably reduced according to the actuator's activation direction.

[0033] According to a sixteenth aspect of the present invention, the control device according to the fifteenth aspect is configured such that the first actuation direction is a direction in which the power consumption of the actuator is a first power consumption. The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption. The second actuation time period is shorter than the first actuation time period.

[0034] With the control device according to the sixteenth aspect, the actuator actuation time period in the retry operation can be changed according to the actuator actuation direction. Therefore, the power consumption of the actuator in the retry operation can be more reliably reduced according to the actuator actuation direction.

[0035] According to a seventeenth aspect of the present invention, the control device according to any one of the eleventh to thirteenth, fifteenth, and sixteenth aspects is configured so that the controller is configured to control the actuator to move the output member during a first actuation time period in a first actuation state. The controller is configured to control the actuator to move the output member during a second actuation time period different from the first actuation time period in a second actuation state.

[0036] With the control device according to the seventeenth aspect, the actuator actuation time period in the retry operation can be changed according to the actuator actuation direction. Therefore, the power consumption of the actuator in the retry operation can be reliably reduced according to the actuator actuation direction.

[0037] According to an eighteenth aspect of the present invention, the control device according to the seventeenth aspect is configured such that the first actuation direction is a direction in which the power consumption of the actuator is a first power consumption. The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption. The second actuation time period is shorter than the first actuation time period.

[0038] With the control device according to the eighteenth aspect, when the actuator moves the output member in the second actuation direction having a second power consumption higher than the first power consumption in the first actuation direction, the actuation time period of the actuator in the retry operation can be made shorter. Therefore, the power consumption of the actuator in the retry operation can be more reliably reduced according to the actuation direction of the actuator.

[0039] According to the nineteenth aspect of the present invention, the control device according to any one of the first to eighteenth aspects is configured so that the controller is configured to determine whether the power source is in the first power state or the second power state based on at least one of the voltage, current and temperature of the power source.

[0040] With the control device according to the nineteenth aspect, it is possible to reliably determine whether the electric power source is in the first power state or the second power state.

[0041] According to a twentieth aspect of the present invention, a control device for a human-powered vehicle includes a controller configured to control an actuator based on control information to move an output member. The controller is configured to control the actuator to move the output member in a first actuation mode in a first device state, wherein the control information indicates a first movement of the actuator, and after the controller controls the actuator based on the control information, the movement of the output member does not reach a target movement. The controller is configured to control the actuator to move the output member in a second actuation mode different from the first actuation mode in a second device state, wherein the control information indicates a second movement of the actuator, and after the controller controls the actuator based on the control information, the movement of the output member does not reach the target movement. The first movement has a first actuation force. The second movement has a second actuation force different from the first actuation force.

[0042] With the control device according to the twentieth aspect, when the movement of the output member does not reach the target movement, the actuator's actuation method during the retry operation can be changed according to the movement caused by the actuator. Different movements caused by the actuator can result in different power consumption of the actuator. Therefore, the power consumption of the actuator during the retry operation can be reduced according to the movement of the actuator.

[0043] According to a twenty-first aspect of the present invention, a derailleur for a human-powered vehicle includes a base, a movable member movably coupled to the base, a control device according to any one of the first to twentieth aspects, an actuator, and a detector. The movable member is movably coupled to the base. The actuator includes an output member. The actuator is configured to move the output member using power supplied from an electric power source. The detector is configured to detect actuation information related to movement of the output member. The actuator is coupled to the movable member to move the movable member relative to the base using power supplied from the electric power source. The detector is configured to detect movement of the movable member relative to the base as actuation information.

[0044] With the derailleur according to the twenty-first aspect, the power consumption of the actuator in the retry operation can be reduced according to the state of the electric power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] A more complete appreciation of the present invention and many of its attendant advantages may be readily obtained by reference to the following detailed description, which when considered in conjunction with the accompanying drawings.

[0046] Figure 1 is a side view of a human-powered vehicle including a derailleur according to the first embodiment.

[0047] Figure 2 is a schematic block diagram of a derailleur including a control device according to a first embodiment.

[0048] Figure 3 yes Figure 1 Schematic diagram of the sprocket assembly and derailleur shown.

[0049] Figure 4 is a schematic diagram illustrating a starting position and a target position of an output member of an actuator of a derailleur when the movement of the output member reaches a target movement.

[0050] Figure 5 is a schematic diagram illustrating a starting position and a target position of an output member of an actuator when the movement of the output member does not reach a target movement.

[0051] Figure 6 is a schematic diagram illustrating a retry action of the actuator to move the output member after the movement of the output member does not reach the target movement (the retry action is successfully performed).

[0052] Figure 7 is a schematic diagram showing a retry action (the retry action was not successfully performed).

[0053] Figure 8 is a schematic diagram illustrating an actuation manner of the actuator in each of a first state and a second state.

[0054] Figure 9 and Figure 10 is Figure 1 Flowchart of control executed by the control device of the derailleur shown.

[0055] Figure 11 is a schematic block diagram of a derailleur including a control device according to a second embodiment.

[0056] Figure 12 It shows Figure 11Schematic diagram of the manner in which the actuator of the derailleur is actuated in each of a first state and a second state.

[0057] Figure 13 and Figure 14 is Figure 11 Flowchart of control executed by the control device of the derailleur shown.

[0058] Figure 15 is a schematic block diagram of a derailleur including a control device according to a third embodiment.

[0059] Figure 16 It shows Figure 15 Schematic diagram of the manner in which the actuator of the derailleur is actuated in each of a first state and a second state.

[0060] Figure 17 is Figure 15 Flowchart of control executed by the control device of the derailleur shown.

[0061] Figure 18 is a schematic block diagram of a derailleur including a control device according to a fourth embodiment.

[0062] Figure 19 It shows Figure 18 Schematic diagram of the manner in which the actuator of the derailleur is actuated in each of a first state and a second state.

[0063] Figure 20 is Figure 18 Flowchart of control executed by the control device of the derailleur shown.

[0064] Figure 21 is a schematic block diagram of a derailleur including a control device according to a fifth embodiment.

[0065] Figure 22 It shows Figure 21 Schematic diagram of the manner in which the actuator of the derailleur is actuated in each of a first state and a second state.

[0066] Figure 23 is Figure 21 Flowchart of control executed by the control device of the derailleur shown.

[0067] Figure 24 is a schematic block diagram of a derailleur including a control device according to a sixth embodiment.

[0068] Figure 25 It shows Figure 24 Schematic diagram of the actuation manner of the derailleur actuator shown in each of the first state and the second state.

[0069] Figure 26is Figure 24 Flowchart of control executed by the control device of the derailleur shown.

[0070] Figure 27 is a schematic block diagram of a derailleur including a control device according to a seventh embodiment.

[0071] Figure 28 It shows Figure 27 Schematic diagram of the manner in which the actuator of the derailleur is actuated in each of a first state and a second state. DETAILED DESCRIPTION

[0072] The embodiments will now be described with reference to the drawings, wherein like reference numerals designate corresponding or identical elements throughout the various views.

[0073] First embodiment

[0074] like Figure 1 As shown, a human-powered vehicle 2 includes a vehicle body 2A, a seat 2B, a handlebar 2C, an operating device 3, an operating device 4, a derailleur FD, a derailleur RD, a chain 6, a sprocket assembly FS, a sprocket assembly RS, and a power source PS. The operating device 3 is configured to receive user input to operate the derailleur FD. The operating device 3 is configured to generate a control signal in response to the user input. The operating device 4 is configured to receive user input to operate the derailleur RD. The operating device 4 is configured to generate a control signal in response to the user input. The operating devices 3 and 4 are mounted to the handlebar 2C.

[0075] The sprocket assembly RS is rotatably coupled to the vehicle body 2A. The sprocket assembly FS is rotatably coupled to the vehicle body 2A. The sprocket assembly FS includes a plurality of sprockets. The sprocket assembly RS includes a plurality of sprockets. The chain 6 meshes with one of the plurality of sprockets of the sprocket assembly FS and one of the plurality of sprockets of the sprocket assembly RS to transmit rotational force from the sprocket assembly FS to the sprocket assembly RS.

[0076] The derailleur FD is configured to be mounted on the vehicle body 2A. The derailleur FD is configured to move the chain 6 relative to the sprocket assembly FS in response to a control signal generated by the operating device 3. The derailleur RD is configured to be mounted on the vehicle body 2A. The derailleur RD is configured to move the chain 6 relative to the sprocket assembly RS in response to a control signal generated by the operating device 4.

[0077] The electric power source PS is electrically connected to the derailleur RD to supply electric power to the derailleur RD. The electric power source PS is electrically connected to the derailleur FD to supply electric power to the derailleur FD.

[0078] In the first embodiment, the derailleur FD is a front derailleur. The derailleur RD is a rear derailleur. The sprocket assembly FS is a front sprocket assembly. The sprocket assembly RS is a rear sprocket assembly. However, if necessary and / or desired, the structure of the derailleur FD can be applied to other devices. If necessary and / or desired, the structure of the derailleur RD can be applied to other devices. The same applies to other embodiments and their variations.

[0079] In this application, a human-powered vehicle refers to a vehicle that travels with power that includes at least the human power of a user (i.e., a rider) riding the human-powered vehicle. Human-powered vehicles include various bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. In addition, human-powered vehicles include electric bicycles (E-bikes). E-bikes include electric-assisted bicycles, which are configured to assist the propulsion of the vehicle with an electric motor. However, the total number of wheels of a human-powered vehicle is not limited to two. For example, a human-powered vehicle includes a vehicle with one wheel or three or more wheels. In particular, a human-powered vehicle does not include a vehicle that uses only an internal combustion engine as power. In general, light road vehicles, including vehicles that do not require a driver's license on public roads, are considered human-powered vehicles.

[0080] In this application, the following directional terms "front," "rear," "forward," "backward," "left," "right," "lateral," "upward," and "downward," and any other similar directional terms, refer to directions determined based on a user (e.g., a rider) in a standard user position (e.g., on the saddle 2B or seat) in the human-powered vehicle 2 and facing the handlebars 2C. Therefore, these terms used to describe the derailleur RD, FD, or other components should be interpreted relative to the human-powered vehicle 2 equipped with the derailleur RD and FD as used in an upright riding position on a horizontal plane.

[0081] like Figure 2 As shown, a power source PS is electrically connected to a derailleur RD and a derailleur FD via a wired communication structure WS, supplying power to the derailleurs RD and FD via the wired communication structure WS. The wired communication structure WS includes cables EC1 and EC2. The derailleur RD is electrically connected to the power source PS via cable EC1. The derailleur FD is electrically connected to the power source PS via cable EC2.

[0082] The power source PS includes a battery PS1 and a battery holder PS2. The battery holder PS2 is configured to detachably and reattachably hold the battery PS1. The battery holder PS2 is mounted on the vehicle body 2A (see FIG. Figure 1). Battery holder PS2 is electrically connected to the derailleurs RD and FD via a wired communication structure WS. Battery holder PS2 is electrically connected to the derailleur RD via a cable EC1. Battery holder PS2 is electrically connected to the derailleur FD via a cable EC2. However, if needed and / or desired, the power source PS can be mounted directly to the derailleur RD. If needed and / or desired, the power source PS can be mounted directly to the derailleur FD.

[0083] The derailleur FD has a structure that is substantially the same as that of the derailleur RD. Therefore, for the sake of brevity, the derailleur RD will be described here, but the derailleur FD will not be described here. The description of the derailleur RD can be used as a description of the derailleur FD.

[0084] like Figure 2 As shown, the derailleur RD for a human-powered vehicle 2 includes a base RD1, a movable member RD2, and an actuator RD3. The base RD1 member is configured to be coupled to the body 2A of the human-powered vehicle 2. The movable member RD2 is movably coupled to the base RD1. The movable member RD2 is contactable with the chain 6. The movable member RD2 is configured to move the chain 6 relative to the sprocket assembly RS (see, for example, FIG. 2 ). Figure 1 ). For example, the movable member RD2 includes a link, a chain guide, and a movable body. The chain guide is movable relative to the base RD1. The chain guide is pivotally connected to the movable body. The movable body is pivotally connected to the link. The movable body is movably connected to the base member via the link. Therefore, the link movably connects the base and the chain guide. However, the structure of the movable member RD2 is not limited to the above structure.

[0085] The actuator RD3 includes an output member RD4. The output member RD4 is operably coupled to the movable member RD2. The actuator RD3 is configured to move the movable member RD2 using power supplied from a power source PS. The actuator RD3 is coupled to the movable member RD2 to move the movable member RD2 relative to the base RD1 using power supplied from the power source PS.

[0086] The actuator RD3 includes a motor RD31 and a gear structure RD32. The motor RD31 is configured to generate a rotational force and is coupled to the gear structure RD32. The gear structure RD32 couples the motor RD31 and the movable member RD2 to transmit the rotational force from the motor RD31 to the movable member RD2. The gear structure RD32 includes an output member RD4 coupled to the movable member RD2.

[0087] The derailleur RD for a human-powered vehicle 2 includes a control device 10. The control device 10 is configured to control the actuator RD3 in response to operation of the operating device 4.

[0088] The control device 10 for the human-powered vehicle 2 includes a controller 12. The controller 12 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 12 is electrically connected to the actuator RD3 to control the actuator RD3 based on the control information. For example, the control information includes a control signal CS transmitted from the operating device 4. The controller 12 is configured to control the actuator RD3 based on the control signal CS transmitted from the operating device 4 to move the output member RD4.

[0089] The control signal CS includes a first control signal CS1 and a second control signal CS2. For example, the first control signal CS1 indicates one of an upshift and a downshift of the derailleur RD. The second control signal CS2 indicates the other of the upshift and the downshift of the derailleur RD.

[0090] like Figure 2 As shown, the controller 12 includes a processor 12P, a memory 12M, a circuit board 12C, and a bus 12B. The processor 12P and the memory 12M are electrically mounted on the circuit board 12C. The processor 12P and the memory 12M are electrically connected to the circuit board 12C via the bus 12B. The processor 12P is electrically connected to the memory 12M via the circuit board 12C and the bus 12B.

[0091] For example, the processor 12P includes at least one of a central processing unit (CPU), a microprocessing unit (MPU), and a memory controller. The memory 12M is electrically connected to the processor 12P. For example, the memory 12M includes at least one of a volatile memory and a non-volatile memory. Examples of volatile memory include random access memory (RAM) and dynamic random access memory (DRAM). Examples of non-volatile memory include read-only memory (ROM) and electrically erasable programmable ROM. The memory 12M includes storage areas, each of which has an address in the ROM and RAM. The processor 12P is configured to control the memory 12M to store data in the storage area of ​​the memory 12M and to read data from the storage area of ​​the memory 12M. The processor 12P may also be referred to as a hardware processor 12P. The memory 12M may also be referred to as a hardware memory 12M. The memory 12M may also be referred to as a computer-readable storage medium 12M.

[0092] Controller 12 is programmed to execute at least one control algorithm for controlling device 10. Memory 12M (e.g., ROM) stores at least one program including at least one program instruction. This at least one program is read into processor 12P, and at least one control algorithm for controlling device 10 is executed based on this at least one program. Controller 12 may also be referred to as control circuitry or circuitry 12A. Controller 12 may also be referred to as hardware controller 12.

[0093] The structure of the controller 12 is not limited to the structure shown in the figure. The structure of the controller 12 is not limited to the processor 12P, memory 12M, circuit board 12C, and bus 12B. The controller 12 can be implemented by hardware alone or by a combination of hardware and software. The processor 12P and memory 12M can be integrated into a single chip, such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0094] like Figure 2 As shown, control device 10 includes wireless communicator WC1. Wireless communicator WC1 is configured to wirelessly communicate with an additional wireless communicator of operating device 4. Wireless communicator WC1 is electrically connected to controller 12. Wireless communicator WC1 is electrically mounted on circuit board 12C. Wireless communicator WC1 is electrically connected to processor 12P and memory 12M via circuit board 12C and bus 12B. Wireless communicator WC1 includes a signal transmitting circuit or circuitry, a signal receiving circuit or circuitry, and an antenna. Therefore, wireless communicator WC1 may also be referred to as wireless communicator circuit or circuitry WC1.

[0095] Wireless communicator WC1 is configured to superimpose a digital signal on a carrier wave using a predetermined wireless communication protocol to wirelessly transmit the signal. In the first embodiment, wireless communicator WC1 is configured to encrypt the signal using a key to generate an encrypted wireless signal. Wireless communicator WC1 is configured to transmit the wireless signal via an antenna.

[0096] Wireless communicator WC1 is configured to receive wireless signals via an antenna. In a first embodiment, wireless communicator WC1 is configured to decode wireless signals to identify signals transmitted from other wireless communicators, such as additional wireless communicators of operating device 4. Wireless communicator WC1 is configured to decrypt wireless signals using a key.

[0097] like Figure 2 As shown, control device 10 includes a connector port 14. Connector port 14 is configured to receive power from power source PS. Connector port 14 is electrically connected to controller 12, wireless communicator WC1, and actuator RD3. Controller 12, wireless communicator WC1, and actuator RD3 are configured to receive power from power source PS via connector port 14. In a first embodiment, connector port 14 is configured to be electrically connected to power source PS via cable EC1 that is detachably and reattachably connected to connector port 14. However, if needed and / or desired, power source PS can be directly coupled to connector port 14. In such an embodiment, connector port 14 includes a locking structure that is configured to detachably and reattachably retain power source PS.

[0098] Control device 10 includes wired communicator WC2. Wired communicator WC2 is electrically connected to controller 12, wireless communicator WC1, actuator RD3, and connector port 14. Wired communicator WC2 is configured to receive power from power source PS through connector port 14.

[0099] Wired communicator WC2 is configured to communicate with additional wired communicators of additional components (e.g., additional wired communicators of power source PS and additional wired communicators of derailleur FD) using power line communication technology via a wired communication structure WS. Power line communication (PLC) transmits data over conductors that are also used to transmit or distribute power to components such as derailleurs RD and FD. Wired communicator WC2 may also be referred to as a wired communicator circuit or circuit system WC2.

[0100] For example, the wired communication structure WS includes a ground line and a voltage line that are removably connected to a serial bus formed by the communication interface. In the first embodiment, the wired communicator WC2 is configured to communicate with the power source PS and the additional wired communicator of the derailleur FD via the voltage line using PLC technology. The wired communicator WC2 is configured to superimpose a signal on the power supply voltage applied from the power source PS to the wired communication structure WS. The wired communicator WC2 is configured to receive a signal from the controller 12 and to superimpose the signal on the power supply voltage. The wired communicator WC2 is configured to separate the signal superimposed on the power supply voltage of the wired communication structure WS from the power supply voltage. The wired communicator WC2 is configured to transmit the signal separated from the power supply voltage to the controller 12. In the case where the battery is directly attached to the derailleurs FD and RD, and in the case where the derailleurs FD and RD include a wired communicator, the wired communicator WC2 can be omitted from the control device 10.

[0101] The additional wired communicator of the power source PS is provided in the battery holder PS2 and is configured to communicate with the wired communicator WC2 using PLC via the wired communication structure WS. The additional wired communicator of the derailleur FD is configured to communicate with the wired communicator WC2 using PLC via the wired communication structure WS. Therefore, the controller 12 is configured to communicate with the power source PS and the derailleur FD using PLC via the wired communicator WC2 and the wired communication structure WS.

[0102] like Figure 2As shown, the control device 10 includes a notification unit 16. Notification unit 16 is configured to inform a user of the status of at least one of the control device 10 and the derailleur RD. For example, notification unit 16 is electrically mounted on circuit board 12C of controller 12. Notification unit 16 is electrically connected to controller 12. Controller 12 is configured to control notification unit 16 to inform a user of the status of the derailleur RD. Examples of the status of at least one of the control device 10 and the derailleur RD include the wireless communication status, the pairing status of wireless communicator WC1, the status of power source PS, and a fault in the derailleur RD (e.g., a fault in actuator RD3). Examples of notification unit 16 include a light-emitting diode (LED), a lamp, a speaker, and a vibrator. In the first embodiment, notification unit 16 includes a light-emitting diode (LED) configured to emit light. However, notification unit 16 may include other components if needed and / or desired.

[0103] like Figure 2 As shown, a derailleur RD for a human-powered vehicle 2 includes a detector 18. Detector 18 is configured to detect actuation information related to the movement of an output member RD4. The movable member RD2 is coupled to the output member RD4 of the actuator RD3 so as to move relative to the base RD1 together with the output member RD4. Therefore, detector 18 is configured to detect the movement of the movable member RD2 relative to the base RD1 as actuation information.

[0104] The movement of the output member RD4 includes at least one of the position of the output member RD4 and the amount of movement of the output member RD4. In the first embodiment, the movement of the output member RD4 includes both the position of the output member RD4 and the amount of movement of the output member RD4. However, if necessary and / or desired, the movement of the output member RD4 may include only one of the position of the output member RD4 and the amount of movement of the output member RD4.

[0105] The detector 18 is configured to detect the position of the output member RD4 as actuation information. For example, the detector 18 is configured to detect the rotational position of the output member RD4. Examples of the detector 18 include an encoder and a potentiometer. Examples of encoders include optical encoders and magnetic encoders. The detector 18 is configured to detect the relative position of the output member RD4. However, if necessary and / or desired, the detector 18 can be configured to detect the absolute position of the output member RD4.

[0106] The controller 12 is electrically connected to the detector 18 to obtain actuation information detected by the detector 18. The controller 12 is electrically connected to the detector 18 to obtain movement of the output member RD4 detected by the detector 18. The controller 12 is electrically connected to the detector 18 to obtain the position of the output member RD4 detected by the detector 18. The controller 12 is configured to periodically obtain the current position of the output member RD4 detected by the detector 18. The controller 12 is configured to periodically store the current position of the output member RD4 detected by the detector 18.

[0107] like Figure 3 As shown, the derailleur RD has a plurality of gears GP1 to GP12. The controller 12 is configured to control the actuator RD3 to selectively stop the movable member RD2 in each of the gears GP1 to GP12. The sprocket assembly RS includes a plurality of sprockets RS1 to RS12. The sprocket assembly RS is rotatable around a rotation axis A1. The sprocket RS1 has the largest outer diameter among the plurality of sprockets RS1 to RS12 and corresponds to the lowest gear of the sprocket assembly RS. The sprocket RS12 has the smallest outer diameter among the plurality of sprockets RS1 to RS12 and corresponds to the highest gear of the sprocket assembly RS. The gears GP1 to GP12 of the movable member RD2 correspond to the sprockets RS1 to RS12 of the sprocket assembly RS, respectively.

[0108] The output member RD4 has a plurality of positions RP1 to RP12. When the actuator RD3 rotates the output member RD4, the positions RP1 to RP12 may also be referred to as rotational positions RP1 to RP12. For example, the positions of the gears included in the gear structure RD32 are sensed as the positions of the output member RD4. The positions RP1 to RP12 of the output member RD4 correspond to the gear positions GP1 to GP12 of the movable member RD2, respectively. For example, when the actuator RD3 moves the output member RD4 from position RP1 to position RP2, the movable member RD2 moves from gear position GP1 to GP2.

[0109] The controller 12 is configured to control the actuator RD3 in response to a first control signal CS1 to move the output member RD4 in a first actuation direction D11 by one gear phase. The controller 12 is configured to control the actuator RD3 in response to a second control signal CS2 to move the output member RD4 in a second actuation direction D12 by one gear phase. For example, when the output member RD4 is in position RP1, the controller 12 is configured to control the actuator RD3 in response to the first control signal CS1 to move the output member RD4 from position RP1 to position RP2. When the output member RD4 is in position RP2, the controller 12 is configured to control the actuator RD3 in response to the second control signal CS2 to move the output member RD4 from position RP2 to position RP1.

[0110] Actuator RD3 is configured to move movable member RD2 via output member RD4. Therefore, controller 12 is configured to control actuator RD3 in response to first control signal CS1 to move movable member RD2 by one gear phase in a first actuation direction D21. Controller 12 is configured to control actuator RD3 in response to second control signal CS2 to move movable member RD2 by one gear phase in a second actuation direction D22. For example, when movable member RD2 is in gear position GP1, controller 12 is configured to control actuator RD3 in response to first control signal CS1 to move movable member RD2 from gear position GP1 to gear position GP2. When movable member RD2 is in gear position GP2, controller 12 is configured to control actuator RD3 in response to second control signal CS2 to move movable member RD2 from gear position GP2 to gear position GP1.

[0111] like Figure 4 As shown, the controller 12 is configured to control the output member RD4 from the starting position P1 to the target position P2 in response to the control information. The starting position P1 may be one of the positions RP1 to RP12 (see, for example, Figure 3 ). The target position P2 may be another one of the positions RP1 to RP12 (see, for example Figure 3 ), which is adjacent to the starting position P1 with no other position between them. The difference between the starting position P1 and the target position P2 corresponds to one gear phase of the derailleur RD. The difference between the starting position P1 and the target position P2 corresponds to the target movement amount ΔT.

[0112] The controller 12 is configured to periodically obtain the current position P3 of the output member RD4 detected by the detector 18. The controller 12 is configured to control the actuator RD3 in response to control information (e.g., the first control signal CS1 and the second control signal CS2) to begin moving the output member RD4. The controller 12 is configured to periodically compare the current position P3 with the target position P2 after the actuator RD3 moves the output member RD4 from the starting position P1 toward the target position P2. The controller 12 is configured to control the actuator RD3 to stop the output member RD4 when the current position P3 reaches the target position P2.

[0113] The controller 12 is configured to store the target position P2 as the starting position P1 after the actuator RD3 moves the output member RD4 from the starting position P1 to the target position P2. The controller 12 may be configured to obtain the starting position P1 of the output member RD4 detected by the detector 18 before the controller 12 controls the actuator RD3 to move the output member RD4 in response to the control information.

[0114] like Figure 3As shown, the controller 12 is configured to store the target movement amount AT defined between two adjacent positions among the plurality of positions RP1 to RP12 in the memory 12M. When the controller 12 selects the target position P2, the controller 12 is configured to select the target movement amount AT based on the starting position P1 and the target position P2.

[0115] like Figure 5 As shown, if the movement of at least one of the output member RD4 and the movable member RD2 is restricted by foreign matter, if the actuator RD3 (e.g., the motor RD31, the gear structure RD32) is damaged, or if the force required to move the chain 6 exceeds the force generated by the actuator RD3 due to foreign matter attached to the sprocket assembly RS, the movement of the output member RD4 cannot reach the target movement.

[0116] The target movement includes at least one of the target position P2 of the output member RD4 and the target movement amount ΔT of the output member RD4. In the first embodiment, the target movement includes both the target position P2 of the output member RD4 and the target movement amount ΔT of the output member RD4. However, if necessary and / or desired, the target movement may include only one of the target position P2 of the output member RD4 and the target movement amount ΔT of the output member RD4.

[0117] Therefore, the controller 12 is configured to determine whether the movement of the output member RD4 has reached the target movement after the controller 12 controls the actuator RD3 based on the control information. The controller 12 is configured to determine whether the current position P3 of the output member RD4 has reached the target position P2 after the controller 12 controls the actuator RD3 based on the control information. The controller 12 is configured to determine whether the movement amount of the output member RD4 has reached the target movement amount ΔT after the controller 12 controls the actuator RD3 based on the control information.

[0118] For example, the controller 12 is configured to store the current stop position of the output member RD4 as the starting position P1 when or before the controller 12 receives the control information. The controller 12 is configured to select the target position P2 from among the positions RP1 to RP12 based on the starting position P1 and the control information.

[0119] The controller 12 is configured to select one of the positions RP1 to RP12 that is adjacent to the starting position P1 in the first actuation direction D11 as the target position P2 if the controller 12 receives the first control signal CS1. The controller 12 is configured to select one of the positions RP1 to RP12 that is adjacent to the starting position P1 in the second actuation direction D12 as the target position P2 if the controller 12 receives the second control signal CS2. The controller 12 is configured to temporarily store the starting position P1 and the target position P2 in the memory 12M.

[0120] like Figure 2 As shown, controller 12 is configured to determine whether power source PS is in a first power state or a second power state different from the first power state. In the first embodiment, if power source PS is in the first power state, power source PS has a first remaining level. If power source PS is in the second power state, power source PS has a second remaining level. The second remaining level is different from the first remaining level. In the first embodiment, the second remaining level is lower than the first remaining level. However, if necessary and / or desired, the second remaining level may be higher than or equal to the first remaining level.

[0121] The controller 12 is configured to obtain remaining level information related to the remaining level of the electric power source PS. The remaining level of the electric power source PS includes at least one of the state of charge (SOC) of the electric power source PS and the depth of discharge (DOD) of the electric power source PS. The SOC of the electric power source PS is the ratio of the charge level of the electric power source PS to the capacity of the electric power source PS. The DOD of the electric power source PS is the inverse of the SOC of the electric power source PS. In the first embodiment, the remaining level of the electric power source PS includes the SOC of the electric power source PS. However, if necessary and / or desired, the remaining level of the electric power source PS may include the DOD of the electric power source PS.

[0122] Furthermore, if the power source PS is in the first power state, the power source PS has a first capacity. If the power source PS is in the second power state, the power source PS has a second capacity. The second capacity is different from the first capacity. In the first embodiment, the second capacity is smaller than the first capacity. However, if necessary and / or desired, the second capacity may be greater than or equal to the first capacity.

[0123] The controller 12 is configured to obtain capacity information related to the capacity of the power source PS. The capacity of the power source PS includes at least one of the rated discharge capacity of the power source PS and the state of health (SOH) of the power source PS. In the first embodiment, the capacity of the power source PS includes the SOH of the power source PS. The SOH of the power source PS is the ratio of the current full charge capacity of the power source PS to the original full charge capacity of the power source PS (e.g., the rated discharge capacity). The SOH indicates the degree of degradation of the power source PS. If needed and / or desired, the capacity of the power source PS may include the rated discharge capacity.

[0124] like Figure 2As shown, the controller 12 is configured to determine whether the power source PS is in the first power state or the second power state based on at least one of the voltage, current, and temperature of the power source PS. In the first embodiment, the power source PS includes a voltage sensor PS3, a current sensor PS4, a temperature sensor PS5, and an additional wired communicator PS6. The voltage sensor PS3 is configured to sense the voltage of the power source PS. The current sensor PS4 is configured to sense the current of the power source PS. The temperature sensor PS5 is configured to sense the temperature of the power source PS.

[0125] The additional wired communicator PS6 is configured to communicate with the wired communicator WC2 of the control device 10 using PLC through the wired communication structure WS. The additional wired communicator PS6 is configured to transmit the voltage sensed by the voltage sensor PS3, the current sensed by the current sensor PS4, and the temperature sensed by the temperature sensor PS5 to the control device 10. The controller 12 is configured to obtain the voltage sensed by the voltage sensor PS3, the current sensed by the current sensor PS4, and the temperature sensed by the temperature sensor PS5 from the power source PS using PLC through the additional wired communicator PS6, the wired communication structure WS, and the wired communicator WC2.

[0126] The controller 12 is configured to calculate an estimated remaining level of the power source PS based on at least one of the voltage, current, and temperature of the power source PS. In the first embodiment, the controller 12 is configured to calculate the estimated remaining level (e.g., SOC) of the power source PS based on the voltage, current, and temperature. For example, the controller 12 is configured to calculate the estimated remaining level (e.g., SOC) based on an open circuit voltage (OCV) method or an integrated current value method. The controller 12 is configured to periodically calculate the estimated remaining level of the power source PS. The controller 12 is configured to store the estimated remaining level of the power source PS.

[0127] The controller 12 is configured to periodically compare the estimated remaining power level with a remaining power level threshold. The controller 12 is configured to store the remaining power level threshold in the memory 12M. If the estimated remaining power level is higher than the remaining power level threshold, the controller 12 is configured to determine that the power source PS is in the first power state. If the estimated remaining power level is lower than the remaining power level threshold, the controller 12 is configured to determine that the power source PS is in the second power state.

[0128] In the first embodiment, the controller 12 is configured to determine that the power source PS is in the first power state if the estimated remaining level is equal to the remaining level threshold. However, the controller 12 may be configured to determine that the power source PS is in the second power state if the estimated remaining level is equal to the remaining level threshold. If necessary and / or desired, the controller 12 may be configured to calculate the estimated remaining level of the power source PS based on at least one of the voltage, current, and temperature of the power source PS.

[0129] The controller 12 is configured to calculate the capacity of the power source PS based on at least one of the voltage, current, and temperature of the power source PS. The controller 12 is configured to calculate the internal resistance of the power source PS based on the voltage and current. The controller 12 is configured to calculate the ratio of the current internal resistance to the initial internal resistance of the power source PS to obtain the capacity (e.g., SOH). The controller 12 is configured to periodically calculate the capacity of the power source PS. The controller 12 is configured to store the capacity of the power source PS.

[0130] The controller 12 is configured to periodically compare the capacity with a reference capacity. The controller 12 is configured to store the reference capacity in the memory 12M. If the capacity is greater than the reference capacity, the controller 12 is configured to determine that the power source PS is in the first power state. If the capacity is less than the reference capacity, the controller 12 is configured to determine that the power source PS is in the second power state. In the first embodiment, the controller 12 is configured to determine that the power source PS is in the first power state if the capacity is equal to the reference capacity. However, if needed and / or desired, the controller 12 can be configured to determine that the power source PS is in the second power state if the capacity is equal to the reference capacity.

[0131] like Figure 6 and Figure 7 As shown, if the movement of the output member RD4 does not reach the target movement after the controller 12 controls the actuator RD3 based on the control information, the controller 12 is configured to control the actuator RD3 to move the output member RD4 at least once in one of the first actuation mode and the second actuation mode. This action may also be referred to as a retry action.

[0132] However, the retry action affects the power consumption of the derailleur RD. Therefore, the controller 12 is configured to change the actuation mode of the actuator RD3 in the retry action according to the state of the power source PS.

[0133] A retry operation does not include a fine-tuning operation. In a fine-tuning operation, the movement of the actuator's output member from the starting position to the target position is divided into multiple separate movements. At least one temporary target position is set between the starting position and the target position. In a fine-tuning operation, the actuator temporarily stops the output member at each temporary target position. In a retry operation, such temporary target positions are not set between the starting position P1 and the target position P2. In a retry operation, the actuator RD3 attempts to continuously move the output member RD4 from the starting position P1 to the target position P2 without temporarily stopping the output member RD4.

[0134] like Figure 8As shown, the controller 12 is configured to, in a first state in which the power source PS configured to supply power to the actuator RD3 is in a first power state and the movement of the output member RD4 does not reach the target movement after the controller 12 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a first actuation mode. The controller 12 is configured to, in a second state in which the power source PS is in a second power state different from the first power state and the movement of the output member RD4 does not reach the target movement after the controller 12 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode.

[0135] The state in which the movement of the output member RD4 does not reach the target movement includes at least one of a state in which the current position P3 of the output member RD4 does not reach the target position P2 and a state in which the movement amount of the output member RD4 is less than the target movement amount ΔT. In the first embodiment, the state in which the movement of the output member RD4 does not reach the target movement includes both a state in which the current position P3 of the output member RD4 does not reach the target position P2 and a state in which the movement amount of the output member RD4 is less than the target movement amount ΔT. However, if desired and / or necessary, the state in which the movement of the output member RD4 does not reach the target movement may include only one of a state in which the current position P3 of the output member RD4 does not reach the target position P2 and a state in which the movement amount of the output member RD4 is less than the target movement amount ΔT.

[0136] The controller 12 is configured to control the actuator RD3 to move the output member RD4 at a first number N1 during an actuation time period TP in a first state. The controller 12 is configured to control the actuator RD3 to move the output member RD4 at a second number N2, which is different from the first number N1, during an actuation time period TP in a second state. The actuation time period TP in the first state is equal to the actuation time period TP in the second state.

[0137] When the actuator RD3 moves the output member RD4 at a first number N1 during the actuation time period TP, the power consumption of the derailleur RD is a first power consumption. When the actuator RD3 moves the output member RD4 at a second number N2 during the actuation time period TP, the power consumption of the derailleur RD is a second power consumption. The second number N2 is less than the first number N1. Therefore, the second power consumption of the derailleur RD is lower than the first power consumption of the derailleur RD.

[0138] like Figure 8As shown, the controller 12 is configured to store in the memory 12M a normal time period TN required to move the output member RD4 from the starting position P1 to the target position P2. The controller 12 is configured to store an initial determination time period DT0 that is longer than or equal to the normal time period TN. The controller 12 is configured to control the actuator RD3 to move the output member RD4 at an initial velocity V0.

[0139] The controller 12 is configured to periodically acquire a current position P3 of the output member RD4 (see, for example, FIG. 1 ) after the controller 12 controls the actuator RD3 to move the output member RD4 based on the control information. Figure 4 ). The controller 12 is configured to compare the current position P3 with the target position P2 (see, for example, Figure 4 If the current position P3 of the output member RD4 has reached the target position P2 (see, for example, Figure 4 ), the controller 12 determines that the movement of the output member RD4 reaches the target movement. If the current position P3 of the output member RD4 does not reach the target position P2 (see, for example, Figure 4 ), the controller 12 determines that the movement of the output member RD4 has not reached the target movement.

[0140] like Figure 8 As shown, in the first state, the controller 12 is configured to determine whether the movement of the output member RD4 has reached the target movement based on the first determination time period DT1 rather than the initial determination time period DT0. In the second state, the controller 12 is configured to determine whether the movement of the output member RD4 has reached the target movement based on the second determination time period DT2 rather than the initial determination time period DT0. The second determination time period DT2 is different from the first determination time period DT1. Because the second determination time period N2 is smaller than the first determination time period N1, the second determination time period DT2 is longer than the first determination time period DT1. If needed and / or desired, the second determination time period DT2 can be shorter than or equal to the first determination time period DT1.

[0141] The controller 12 is configured to control the actuator RD3 to move the output member RD4 at a first speed V1 in the first state. The controller 12 is configured to control the actuator RD3 to move the output member RD4 at a second speed V2 in the second state. The second speed V2 is different from the first speed V1. Since the second determination time period DT2 is longer than the first determination time period DT1 when the target movement amount AT is applied in each of the first and second states, the second speed V2 is lower than the first speed V1. If necessary and / or desired, the second speed V2 may be higher than or equal to the first speed V1.

[0142] like Figure 6 As shown, the controller 12 is configured to control the actuator RD3 to stop the output member RD4 if the movement of the output member RD4 reaches the target movement before the total number N of times the actuator RD3 moves the output member RD4 reaches the first number N1. The controller 12 is configured to control the actuator RD3 to stop the output member RD4 if the movement of the output member RD4 reaches the target movement before the total number N of times the actuator RD3 moves the output member RD4 reaches the second number N2.

[0143] like Figure 7 As shown, the controller 12 is configured to control the actuator RD3 to stop the output member RD4 if the movement of the output member RD4 does not reach the target movement after the total number N of times the actuator RD3 moves the output member RD4 reaches a first number N1. The controller 12 is configured to control the actuator RD3 to stop the output member RD4 if the movement of the output member RD4 does not reach the target movement after the total number N of times the actuator RD3 moves the output member RD4 reaches a second number N2.

[0144] The controller 12 is configured to control the notification unit 16 to notify the user of a derailleur RD malfunction if the output member RD4 does not reach the target movement when the actuator RD3 moves the output member RD4 by the first number N1 or the second number N2. The controller 12 is configured to generate an alarm signal if the output member RD4 does not reach the target movement when the actuator RD3 moves the output member RD4 by the first number N1. The controller 12 is configured to transmit the alarm signal to another component, such as a computer, via the wireless communicator WC1.

[0145] The following will refer to Figure 9 and Figure 10 Describe the control of the derailleur RD.

[0146] like Figure 9 As shown, the controller 12 determines whether the power source PS is in the first power state or the second power state (step S1). In step S1, for example, the controller 12 determines whether the remaining level of the power source PS is higher than or equal to the remaining level threshold and / or whether the capacity of the power source PS is higher than or equal to the reference capacity.

[0147] If the power source PS is in the first power state, the first determination time period DT1 is stored in the memory 12M as the determination time period DT (steps S1 and S2). If the power source PS is in the first power state, the first number N1 is stored in the memory 12M as the determination number NT (steps S1 and S2). If the power source PS is in the first power state, the first speed V1 is stored in the memory 12M as the application speed V (steps S1 and S2).

[0148] If the power source PS is in the second power state, the second determination time period DT2 is stored in the memory 12M as the determination time period DT (steps S1 and S3). If the power source PS is in the second power state, the second number N2 is stored in the memory 12M as the determination number NT (steps S1 and S3). If the power source PS is in the second power state, the second speed V2 is stored in the memory 12M as the application speed V (steps S1 and S3).

[0149] The controller 12 determines whether the controller 12 has received the control information (step S4). Specifically, the controller 12 determines whether the controller 12 has received the first control signal CS1 or the second control signal CS2 via the wireless communicator WC1. If the controller 12 has received the first control signal CS1, the controller 12 executes steps S5 to S15. If the controller 12 has received the second control signal CS2, the controller 12 executes Figure 10 If the controller 12 does not receive the control information, the process returns to step S1. Steps S1 to S3 are repeatedly performed by the controller 12 until the controller 12 receives the control information.

[0150] A target position P2 adjacent to the start position P1 in the first actuation direction D11 is selected from among the positions RP1 to RP12 based on the start position P1 and the first control signal CS1 (step S5 ).

[0151] The controller 12 controls the actuator RD3 to start moving the output member RD4 in the first actuation direction D11 at an initial speed V0 (step S6). The controller 12 determines whether the current position P3 reaches the target position P2 (step S7). If the current position P3 reaches the target position P2, the process returns to step S1.

[0152] The controller 12 determines whether the initial determination time period DT0 has elapsed after the actuator RD3 begins to move the output member RD4 (step S8). If the initial determination time period DT0 has not elapsed, the controller 12 repeatedly executes steps S7 and S8. If the initial determination time period DT0 has elapsed before the current position P3 reaches the target position P2, the controller 12 controls the actuator RD3 to stop moving the output member RD4 (steps S8 and S9). The process then proceeds to a retry operation (steps S10 to S14).

[0153] During the retry operation, actuator RD3 repeatedly moves output member RD4 a determination number NT. If power source PS is in the first power state, determination number NT is a first number N1 (see steps S1 and S2). If power source PS is in the second power state, determination number NT is a second number N2 (see steps S1 and S3).

[0154] The controller 12 controls the actuator RD3 to start moving the output member RD4 along the first actuation direction D11 at the application speed V (step S10). The controller 12 determines whether the current position P3 reaches the target position P2 (step S11). If the current position P3 reaches the target position P2, the process returns to step S1. Figure 8 As shown, the first speed V1 is used as the application speed V in the first state, and the second speed V2 is used as the application speed V in the second state.

[0155] like Figure 9 As shown, the controller 12 determines whether the determination time period DT has elapsed after the actuator RD3 starts to move the output member RD4 (step S12). If the determination time period DT has not elapsed, the controller 12 repeats steps S11 and S12. If the determination time period DT has elapsed before the current position P3 reaches the target position P2, the controller 12 controls the actuator RD3 to stop moving the output member RD4 (steps S12 and S13).

[0156] like Figure 8 As shown, the first judgment time period DT1 is used as the judgment time period DT in the first state, and the second judgment time period DT2 is used as the judgment time period DT in the second state.

[0157] like Figure 9 As shown, the controller 12 determines whether the current number N of executions of steps S10 to S13 has reached the determination number NT. If the current number N has not reached the determination number NT, the process returns to step S10 (step S14). If the current number N has reached the determination number NT before the current position P3 of the output member R4 reaches the target position P2, the notification unit 16 notifies the user of the fault (steps S14 and S15).

[0158] like Figure 8 As shown, the first number N1 is used as the number of determination times NT in the first state, and the second number N2 is used as the number of determination times NT in the second state.

[0159] like Figure 9 and Figure 10 As shown, Figure 9 As in steps S5 to S15, if the controller 12 Figure 9In step S4, the controller 12 receives the second control signal CS2, and then executes Figure 10 Steps S25 to S35 shown in FIG. Figure 10 Steps S25 to S35 are the same as Figure 9 Steps S5 to S15 are substantially the same, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, the description of steps S5 to S15 can be used as the description of steps S25 to S35 by replacing "first actuation direction D11" with "second actuation direction D12." For the sake of brevity, steps S25 to S35 will not be described in detail here.

[0160] Second embodiment

[0161] The following will refer to Figures 11 to 14 A control device 210 according to a second embodiment will be described. The control device 210 has the same structure and / or configuration as the control device 10 except for the controller 12. Therefore, elements having substantially the same functions as those in the first embodiment will be denoted by the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0162] like Figure 11 As shown, the control device 210 for the human-powered vehicle 2 includes a controller 212. The controller 212 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 212 has a structure substantially the same as that of the controller 12 described in the first embodiment.

[0163] like Figure 12 As shown, the controller 212 is configured to, in a first state in which the power source PS configured to supply power to the actuator RD3 is in a first power state and the movement of the output member RD4 does not reach the target movement after the controller 212 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a first actuation mode. The controller 212 is configured to, in a second state in which the power source PS is in a second power state different from the first power state and the movement of the output member RD4 does not reach the target movement after the controller 212 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode.

[0164] In the second embodiment, the controller 212 is configured to control the actuator RD3 in the first state to move the output member RD4 during a first actuation time period TP1. The controller 212 is configured to control the actuator RD3 in the second state to move the output member RD4 during a second actuation time period TP2 that is different from the first actuation time period TP1. In the second embodiment, the second actuation time period TP2 is shorter than the first actuation time period TP1. However, if needed and / or desired, the second actuation time period TP2 can be longer than the first actuation time period TP1.

[0165] Controller 212 is configured to control actuator RD3 in a first state to move output member RD4 a determination number of times NT during a first actuation time period TP1. Controller 212 is configured to control actuator RD3 in a second state to move output member RD4 a determination number of times NT during a second actuation time period TP2 that is different from the first actuation time period TP1. Determination number NT in the first state is equal to determination number NT in the second state. However, if necessary and / or desired, determination number NT in the first state may be different from determination number NT in the second state. The first number N1, the second number N2, or another default number is stored in memory 12M as determination number NT.

[0166] In the second embodiment, the second determination time period DT2 is shorter than the first determination time period DT1. The second speed V2 is higher than the first speed V1. However, if necessary and / or desired, the second determination time period DT2 can be longer than or equal to the first determination time period DT1. If necessary and / or desired, the second speed V2 can be lower than or equal to the first speed V1.

[0167] like Figure 13 and 14 As shown, the control of the derailleur RD has the same Figure 9 and 10 The flowchart shown is basically the same as the flowchart.

[0168] like Figure 13 As shown, the controller 212 determines whether the power source PS is in the first power state or the second power state (step S1).

[0169] If the power source PS is in the first power state, the first determination time period DT1 is stored in the memory 12M as the determination time period DT (steps S1 and S202). If the power source PS is in the first power state, the first actuation time period TP1 is stored in the memory 12M as the actuation time period TP (steps S1 and S202). If the power source PS is in the first power state, the first speed V1 is stored in the memory 12M as the application speed V (steps S1 and S202).

[0170] If the power source PS is in the second power state, the second determination time period DT2 is stored in the memory 12M as the determination time period DT (steps S1 and S203). If the power source PS is in the second power state, the second actuation time period TP2 is stored in the memory 12M as the actuation time period TP (steps S1 and S203). If the power source PS is in the second power state, the second speed V2 is stored in the memory 12M as the application speed V (steps S1 and S203).

[0171] like Figure 13 As shown, the controller 212 is Figure 9 Steps S4 to S13 are performed as in the flowchart shown in FIG. In the second embodiment, after step S13, the controller 212 determines whether the activation time period TP has elapsed (step S216). If the activation time period TP has not elapsed, the controller 212 executes step S14 (steps S216 and S14). If the activation time period TP has elapsed, the controller 212 executes step S15 (steps S216 and S15).

[0172] like Figure 12 As shown, the first actuation time period TP1 is used as the actuation time period TP in the first state, and the second actuation time period TP2 is used as the actuation time period TP in the second state.

[0173] like Figure 13 and Figure 14 As shown, Figure 13 As in steps S5 to S15 and S216, if the controller 212 Figure 13 In step S4, the controller 212 receives the second control signal CS2, and then executes Figure 14 Steps S25 to S35 and S236 shown in FIG. Figure 14 Steps S25 to S35 and S236 are the same as Figure 13 Steps S5 to S15 and S216 are substantially the same, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, by replacing "first actuation direction D11" with "second actuation direction D12," the description of steps S5 to S15 and S216 can be used as the description of steps S25 to S35 and S236. For the sake of brevity, steps S25 to S35 will not be described in detail here.

[0174] Third embodiment

[0175] The following will refer to Figures 15 to 17A control device 310 according to a third embodiment will be described. The control device 310 has the same structure and / or configuration as the control device 10 except for the controller 12. Therefore, elements having substantially the same functions as those in the first and second embodiments will be given the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0176] like Figure 15 As shown, the control device 310 for the human-powered vehicle 2 includes a controller 312. The controller 312 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 312 has substantially the same structure as the controller 12 described in the first embodiment.

[0177] like Figure 16 As shown, the controller 312 is configured to, in a first state in which the power source PS configured to supply power to the actuator RD3 is in a first power state and the movement of the output member RD4 does not reach the target movement after the controller 312 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a first actuation mode. The controller 312 is configured to, in a second state in which the power source PS is in a second power state different from the first power state and the movement of the output member RD4 does not reach the target movement after the controller 312 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode.

[0178] The controller 312 is configured to control the actuator RD3 to move the output member RD4 at a first number N1 during an actuation time period TP in the first state. The controller 312 is configured to control the actuator RD3 to move the output member RD4 at a second number N2 that is different from the first number N1 during an actuation time period TP in the second state. In the third embodiment, the second number N2 is less than the first number N1. However, if needed and / or desired, the second number N2 may be greater than or equal to the first number N1.

[0179] The actuation time period TP includes a first actuation time period TP1 and a second actuation time period TP2 that is different from the first actuation time period TP1. The controller 312 is configured to control the actuator RD3 in a first state to move the output member RD4 at a first number N1 during the first actuation time period TP1. The controller 312 is configured to control the actuator RD3 in a second state to move the output member RD4 at a second number N2 during the second actuation time period TP2. In the third embodiment, the second actuation time period TP2 is shorter than the first actuation time period TP1. However, if needed and / or desired, the second actuation time period TP2 may be longer than or equal to the first actuation time period TP1.

[0180] like Figure 17 As shown, the control of the derailleur RD has the same Figure 13 The flowchart shown is basically the same as the flowchart. Figure 14 The flowchart shown can be used as Figure 17 Continue with the flowchart.

[0181] like Figure 17 As shown, the controller 12 determines whether the power source PS is in the first power state or the second power state (step S1).

[0182] If the power source PS is in the first power state, the first activation time period TP1 is stored in the memory 12M as the activation time period TP (steps S1 and S302). If the power source PS is in the first power state, the first number N1 is stored in the memory 12M as the number of determinations NT (steps S1 and S302).

[0183] If the power source PS is in the second power state, the second activation time period TP2 is stored in the memory 12M as the activation time period TP (steps S1 and S303). If the power source PS is in the second power state, the second number N2 is stored in the memory 12M as the number of determinations NT (steps S1 and S303).

[0184] like Figure 16 As shown, the determination time period DT in the first state is equal to the determination time period DT in the second state. Therefore, the initial determination time period DT0, the first determination time period DT1, the second determination time period DT2, or another default determination time period is stored in the memory 12M as the determination time period DT. However, if necessary and / or desired, the determination time period DT in the first state may be different from the determination time period DT in the second state.

[0185] The application speed V in the first state is equal to the application speed V in the second state. Therefore, the initial speed V0, the first speed V1, the second speed V2, or another default speed is stored in the memory 12M as the application speed V. However, if needed and / or desired, the application speed V in the first state may be different from the application speed V in the second state.

[0186] like Figure 17 As shown, the controller 312 is Figure 13Steps S4 to S13 are performed as in the flowchart shown in FIG. In the third embodiment, after step S13, the controller 312 determines whether the activation time period TP has elapsed (step S216). If the activation time period TP has not elapsed, the controller 312 executes step S14 (steps S216 and S14). If the activation time period TP has elapsed, the controller 312 executes step S15 (steps S216 and S15).

[0187] like Figure 16 As shown, the first actuation time period TP1 is used as the actuation time period TP in the first state. The second actuation time period TP2 is used as the actuation time period TP in the second state. The first number N1 is used as the determination number NT in the first state. The second number N2 is used as the determination number NT in the second state.

[0188] like Figure 17 and Figure 14 As shown, Figure 17 As in steps S5 to S15 and S216, if the controller 312 Figure 17 In step S4, the controller 312 receives the second control signal CS2, and then executes Figure 14 Steps S25 to S35 and S236. Figure 14 Steps S25 to S35 and S236 are the same as Figure 17 Steps S5 to S15 and S216 are substantially the same, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, by replacing "first actuation direction D11" with "second actuation direction D12," the description of steps S5 to S15 and S216 can be used as the description of steps S25 to S35 and S236. For the sake of brevity, steps S25 to S35 will not be described in detail here.

[0189] Fourth embodiment

[0190] The following will refer to Figures 18 to 20 A control device 410 according to a fourth embodiment will be described. The control device 410 has the same structure and / or configuration as the control device 10 except for the controller 12. Therefore, elements having substantially the same functions as those in the first to third embodiments will be given the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0191] like Figure 18 As shown, the control device 410 for the human-powered vehicle 2 includes a controller 412. The controller 412 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 412 has substantially the same structure as the controller 12 described in the first embodiment.

[0192] like Figure 19 As shown, the controller 412 is configured to change the actuation manner of the actuator RD3 depending on the actuation direction in which the actuator RD3 moves the output member RD4 , since the actuation direction affects the power consumption of the derailleur RD.

[0193] like Figure 3 As shown, the first actuation direction D11 is the direction in which the power consumption of actuator RD3 is the first power consumption. The second actuation direction D12 is the direction in which the power consumption of actuator RD3 is the second power consumption. When actuator RD3 moves the output member RD4 in the second actuation direction D12, actuator RD3 presses the chain 6 against one of the sprockets RS1 to RS12 to facilitate gear shifting. Therefore, the second power consumption is higher than the first power consumption. When actuator RD3 moves the output member RD4 in the first actuation direction D11 by one gear phase, actuator RD3 uses the first power consumption. When actuator RD3 moves the output member RD4 in the second actuation direction D12 by one gear phase, actuator RD3 uses the second power consumption.

[0194] like Figure 19 As shown, the controller 412 is configured to control the actuator RD3 to move the output member RD4 in a first actuation manner in a first actuator state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 does not reach the target movement after the controller 412 controls the actuator RD3 based on the control information. The first actuator state may also be referred to as a third state.

[0195] The controller 412 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode in a second actuator state in which the control information indicates a second actuation direction D12 of the actuator RD3 that is different from the first actuation direction D11, and in which the movement of the output member RD4 does not reach the target movement after the controller 412 controls the actuator RD3 based on the control information. The second actuator state may also be referred to as a fourth state.

[0196] In the fourth embodiment, the controller 412 is configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on the control signal CS (e.g., the first control signal CS1, the second control signal CS2). However, if needed and / or desired, the controller 412 can be configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on other information.

[0197] The controller 412 is configured to control the actuator RD3 to move the output member RD4 by a first number N1 during the actuation time period TP in the first actuator state. The controller 412 is configured to control the actuator RD3 to move the output member RD4 by a second number N2 different from the first number N1 during the actuation time period TP in the second actuator state.

[0198] In the fourth embodiment, the second number N2 is less than the first number N1. The actuation time period TP in the first actuator state is equal to the actuation time period TP in the second actuator state. However, if needed and / or desired, the second number N2 can be greater than or equal to the first number N1. If needed and / or desired, the actuation time period TP in the first actuator state can be different from the actuation time period TP in the second actuator state.

[0199] like Figure 20 As shown, the control of the derailleur RD has the same Figure 9 The flowchart shown is basically the same as the flowchart. Figure 10 The flowchart shown can be used as Figure 20 Continue with the flowchart.

[0200] like Figure 20 As shown, the controller 412 does not determine whether the power source PS is in the first power state or the second power state. Figure 9 As in step S4 of the embodiment, the controller 412 determines whether the controller 412 has received control information (step S401). Specifically, the controller 412 determines whether the controller 412 has received the first control signal CS1 or the second control signal CS2 via the wireless communicator WC1.

[0201] If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first determination time period DT1 is stored in memory 12M as the determination time period DT (steps S401 and S402). If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first number N1 is stored in memory 12M as the determination number NT (steps S401 and S402). If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first speed V1 is stored in memory 12M as the application speed V (steps S401 and S402). Step S401 is repeatedly performed by controller 412 until controller 412 receives one of the first control signal CS1 and the second control signal CS2 (step S401).

[0202] If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second determination time period DT2 is stored in memory 12M as the determination time period DT (steps S401 and S403). If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second number N2 is stored in memory 12M as the determination number NT (steps S401 and S403). If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second speed V2 is stored in memory 12M as the application speed V (steps S401 and S403).

[0203] If the controller 412 receives the first control signal CS1, the controller 412 executes steps S5 to S15. If the controller 412 receives the second control signal CS2, the controller 412 executes Figure 10 Steps S25 to S35 are shown. By replacing "first actuation direction D11" with "second actuation direction D12", the description of steps S5 to S15 can be used as the description of steps S25 to S35. Therefore, for the sake of brevity, steps S25 to S35 will not be described in detail here.

[0204] Fifth embodiment

[0205] The following will refer to Figures 21 to 23 A control device 510 according to a fifth embodiment will be described. Control device 510 has the same structure and / or configuration as control device 410 except for controller 412. Therefore, elements having substantially the same functions as those in the first to fourth embodiments will be denoted by the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0206] like Figure 21 As shown, the control device 510 for the human-powered vehicle 2 includes a controller 512. The controller 512 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 512 has substantially the same structure as the controller 412 described in the fourth embodiment.

[0207] like Figure 22 As shown, the controller 512 is configured to control the actuator RD3 to move the output member RD4 in the first actuation manner in a first actuator state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 does not reach the target movement after the controller 512 controls the actuator RD3 based on the control information. The first actuator state may also be referred to as a third state.

[0208] The controller 512 is configured to, in a second actuator state in which the control information indicates a second actuation direction D12 of the actuator RD3 that is different from the first actuation direction D11 and the movement of the output member RD4 does not reach the target movement after the controller 512 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a second actuation mode that is different from the first actuation mode. The second actuator state may also be referred to as a fourth state.

[0209] In the fifth embodiment, the controller 512 is configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on the control signal CS (e.g., the first control signal CS1, the second control signal CS2). However, if needed and / or desired, the controller 512 can be configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on other information.

[0210] The controller 512 is configured to control the actuator RD3 in the first actuator state to move the output member RD4 during a first actuation time period TP1. The controller 512 is configured to control the actuator RD3 in the second actuator state to move the output member RD4 during a second actuation time period TP2 that is different from the first actuation time period TP1. In the fifth embodiment, the second actuation time period TP2 is shorter than the first actuation time period TP1. However, if needed and / or desired, the second actuation time period TP2 can be longer than or equal to the first actuation time period TP1.

[0211] The controller 512 is configured to control the actuator RD3 in the first state to move the output member RD4 a determination number of times NT during a first actuation time period TP1. The controller 512 is configured to control the actuator RD3 in the second state to move the output member RD4 a determination number of times NT during a second actuation time period TP2 that is different from the first actuation time period TP1. However, if needed and / or desired, the determination number of times NT in the first state may be different from the determination number of times NT in the second state.

[0212] like Figure 23 As shown, the control of the derailleur RD has the same Figure 13 The flowchart shown is basically the same as the flowchart. Figure 14 The flowchart shown can be used as Figure 23 Continue with the flowchart.

[0213] like Figure 23 As shown, the controller 512 does not determine whether the power source PS is in the first power state or the second power state. Figure 13As in step S4, controller 512 determines whether it has received control information (step S401). Specifically, controller 512 determines whether it has received the first control signal CS1 or the second control signal CS2 via wireless communicator WC1. Controller 512 repeats step S401 until it receives one of the first control signal CS1 and the second control signal CS2 (step S401).

[0214] If the controller 512 receives the first control signal CS1 via the wireless communicator WC1, the first determination time period DT1 is stored in the memory 12M as the determination time period DT (steps S401 and S502). If the controller 512 receives the first control signal CS1 via the wireless communicator WC1, the first actuation time period TP1 is stored in the memory 12M as the actuation time period TP (steps S401 and S502). If the controller 512 receives the first control signal CS1 via the wireless communicator WC1, the first speed V1 is stored in the memory 12M as the application speed V (steps S401 and S502).

[0215] If controller 512 receives the second control signal CS2 via wireless communicator WC1, the second determination time period DT2 is stored in memory 12M as the determination time period DT (steps S401 and S503). If controller 512 receives the second control signal CS2 via wireless communicator WC1, the second actuation time period TP2 is stored in memory 12M as the actuation time period TP (steps S401 and S503). If controller 512 receives the second control signal CS2 via wireless communicator WC1, the second speed V2 is stored in memory 12M as the application speed V (steps S401 and S503).

[0216] If the controller 512 receives the first control signal CS1, the controller 512 executes Figure 23 Steps S5 to S15 and S216 are shown. If the controller 512 Figure 23 In step S401, the controller 512 receives the second control signal CS2, and then executes Figure 14 The description of steps S5 to S15 and S216 in the first embodiment can be used as the description of steps S25 to S35. Figure 23 By replacing "first actuation direction D11" with "second actuation direction D12", the description of steps S5 to S15 and S216 in the first embodiment can be used as a reference to the description of steps S5 to S15 and S216 in the second embodiment. Figure 23 Step S401 continues Figure 14Therefore, for the sake of brevity, steps S25 to S35 will not be described in detail here.

[0217] Sixth embodiment

[0218] The following will refer to Figures 24 to 26 A control device 610 according to a sixth embodiment will be described. The control device 610 has the same structure and / or configuration as the control device 410 except for the controller 412. Therefore, elements having substantially the same functions as those in the first to fourth embodiments will be denoted by the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0219] like Figure 24 As shown, the control device 610 for the human-powered vehicle 2 includes a controller 612. The controller 612 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 612 has substantially the same structure as the controller 412 described in the fourth embodiment.

[0220] like Figure 25 As shown, the controller 612 is configured to control the actuator RD3 to move the output member RD4 in the first actuation manner in a first actuator state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 does not reach the target movement after the controller 612 controls the actuator RD3 based on the control information. The first actuator state may also be referred to as a third state.

[0221] The controller 612 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode in a second actuator state in which the control information indicates a second actuation direction D12 of the actuator RD3 that is different from the first actuation direction D11, and in which the movement of the output member RD4 does not reach the target movement after the controller 612 controls the actuator RD3 based on the control information. The second actuator state may also be referred to as a fourth state.

[0222] In the sixth embodiment, the controller 612 is configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on the control signal CS (e.g., the first control signal CS1, the second control signal CS2). However, if needed and / or desired, the controller 612 can be configured to determine whether the control information indicates the first actuation direction D11 or the second actuation direction D12 based on other information.

[0223] The controller 612 is configured to control the actuator RD3 to move the output member RD4 at a first number N1 during an actuation time period TP in a first actuator state. The controller 612 is configured to control the actuator RD3 to move the output member RD4 at a second number N2, which is different from the first number N1, during an actuation time period TP in a second actuator state. In the sixth embodiment, the second number N2 is less than the first number N1. However, if needed and / or desired, the second number N2 can be greater than or equal to the first number N1.

[0224] The actuation time period TP includes a first actuation time period TP1 and a second actuation time period TP2 that is different from the first actuation time period TP1. The controller 612 is configured to control the actuator RD3 in a first actuator state to move the output member RD4 at a first number N1 during the first actuation time period TP1. The controller 612 is configured to control the actuator RD3 in a second actuator state to move the output member RD4 at a second number N2 during the second actuation time period TP2. In the sixth embodiment, the second actuation time period TP2 is shorter than the first actuation time period TP1. However, if needed and / or desired, the second actuation time period TP2 can be longer than or equal to the first actuation time period TP1.

[0225] like Figure 26 As shown, the control of the derailleur RD has the same Figure 13 The flowchart shown is basically the same as the flowchart. Figure 14 The flowchart shown can be used as Figure 26 Continue with the flowchart.

[0226] like Figure 26 As shown, the controller 612 does not determine whether the power source PS is in the first power state or the second power state. Figure 13 As in step S4, controller 612 determines whether it has received control information (step S401). Specifically, controller 612 determines whether it has received the first control signal CS1 or the second control signal CS2 via wireless communicator WC1. Controller 612 repeats step S401 until it receives one of the first control signal CS1 and the second control signal CS2 (step S401).

[0227] If the controller 612 receives the first control signal CS1 via the wireless communicator WC1, the first activation time period TP1 is stored in the memory 12M as the activation time period TP (steps S401 and S602). If the controller 612 receives the first control signal CS1 via the wireless communicator WC1, the first count N1 is stored in the memory 12M as the number of determinations NT (steps S401 and S602).

[0228] If controller 612 receives the second control signal CS2 via wireless communicator WC1, the second activation time period TP2 is stored in memory 12M as activation time period TP (steps S401 and S603). If controller 612 receives the second control signal CS2 via wireless communicator WC1, the second number N2 is stored in memory 12M as the number of determinations NT (steps S401 and S603).

[0229] If the controller 512 receives the first control signal CS1, the controller 512 executes Figure 26 Steps S5 to S15 and S216 are shown. If the controller 512 Figure 26 In step S401, the controller 512 receives the second control signal CS2, and then executes Figure 17 The description of steps S5 to S15 and S216 in the first embodiment can be used as the description of steps S25 to S35. Figure 26 By replacing "first actuation direction D11" with "second actuation direction D12", the description of steps S5 to S15 and S216 in the first embodiment can be used as a reference to the description of steps S5 to S15 and S216 in the second embodiment. Figure 26 Step S401 continues Figure 17 For the sake of brevity, steps S25 to S35 will not be described in detail here.

[0230] Seventh embodiment

[0231] The following will refer to Figure 27 and Figure 28 A control device 710 according to a seventh embodiment will be described. The control device 710 has the same structure and / or configuration as the control device 410 except for the controller 412. Therefore, elements having substantially the same functions as those in the first to fourth embodiments will be denoted by the same reference numerals herein and will not be described and / or illustrated in detail herein for the sake of brevity.

[0232] like Figure 27 As shown, the control device 710 for the human-powered vehicle 2 includes a controller 712. The controller 712 is configured to control the actuator RD3 based on control information to move the output member RD4. The controller 712 has substantially the same structure as the controller 412 described in the fourth embodiment.

[0233] like Figure 28As shown, the controller 712 is configured to control the actuator RD3 to move the output member RD4 in a first actuation manner in a first device state when the control information indicates a first movement of the actuator RD3 and the movement of the output member RD4 does not reach a target movement after the controller 712 controls the actuator RD3 based on the control information. The first device state may also be referred to as a fifth state.

[0234] The controller 712 is configured to, in a second device state in which the control information indicates a second movement of the actuator RD3 and the movement of the output member RD4 does not reach the target movement after the controller 712 controls the actuator RD3 based on the control information, control the actuator RD3 to move the output member RD4 in a second actuation mode that is different from the first actuation mode. The second device state may also be referred to as a sixth state.

[0235] The first movement has a first actuation force. The second movement has a second actuation force different from the first actuation force. In the first movement, actuator RD3 moves output member RD4 in a first actuation direction D11. In the second movement, actuator RD3 moves output member RD4 in a second actuation direction D12. However, if needed and / or desired, the first and second movements may include other movements of actuator RD3.

[0236] As described in the fourth embodiment, when actuator RD3 moves output member RD4 in the second actuation direction D12, actuator RD3 presses chain 6 against one of sprockets RS1 to RS12 to facilitate gear shifting. Therefore, the second actuation force of the second movement is greater than the first actuation force of the first movement. However, if needed and / or desired, the second actuation force of the second movement can be less than or equal to the first actuation force of the first movement.

[0237] The controller 712 is configured to determine whether the control information indicates the first movement or the second movement based on the control signal CS. The controller 712 is configured to determine that the control information indicates the first movement if the controller 712 receives the first control signal CS1. The controller 712 is configured to determine that the control information indicates the second movement if the controller 712 receives the second control signal CS2. Therefore, Figure 20 、 Figure 23 and Figure 26 At least one of the flowcharts shown in FIG5 can be applied to the control of the control device 710. For the sake of brevity, they will not be described in detail here.

[0238] In the first through seventh embodiments and their variations, the operating device 4 is configured to transmit control information to each of the control devices 10 through 710. However, if necessary and / or desired, at least one of the control devices 10 through 710 may be configured to generate control information based on information related to a human-driven vehicle. In other words, if necessary and / or desired, at least one of the control devices 10 through 710 may be applied to an automatic shifting system for a human-driven vehicle.

[0239] In the first, third, fourth, and sixth embodiments, the first number N1 is five, and the second number N2 is three. In the second and fifth embodiments, the number of determinations NT is three. However, the first number N1 is not limited to five. The second number N2 is not limited to three. The number of determinations NT is not limited to three. The same modifications can be applied to the seventh embodiment.

[0240] In this application, the term "include" and its derivatives as used herein are intended to be open-ended terms that specify the presence of stated features, elements, components, groups, integers, and / or steps, but do not preclude the presence of other unstated features, elements, components, groups, integers, and / or steps. This concept also applies to words with similar meanings, for example, the term "have," "include," and their derivatives.

[0241] The terms “member,” “section,” “portion,” “section,” “element,” “body,” and “structure” when used in the singular can have the dual meaning of a single part or a plurality of parts.

[0242] Ordinal numbers such as "first" and "second" described in this application are merely identifiers and do not have any other meanings, such as a specific order. In addition, for example, the term "first element" itself does not mean the existence of a "second element", and the term "second element" itself does not mean the existence of a "first element".

[0243] The term "a pair" used herein may encompass both a configuration in which a pair of elements have the same shape or structure as each other and a configuration in which a pair of elements have different shapes or structures from each other.

[0244] The terms "a" (or "an"), "one or more" and "at least one" are used interchangeably herein.

[0245] The phrase “at least one of…” as used in this disclosure means “one or more” of the desired options. For example, if the number of options is two, the phrase “at least one of…” as used in this disclosure means “only one single option” or “both of the two options”. For example, if the number of options is equal to or greater than three, the phrase “at least one of…” as used in this disclosure means “only one single option” or “any combination of equal to or greater than two options”. For example, the phrase “at least one of A and B” covers (1) A alone, (2) B alone, and (3) both A and B. The phrase “at least one of A, B, and C” includes (1) A alone, (2) B alone, (3) C alone, (4) both A and B, (5) both B and C, (6) both A and C, and (7) all of A, B, and C. In other words, in this disclosure, the phrase “at least one of A and B” does not mean “at least one A and at least one B”.

[0246] Finally, as used herein, terms of degree such as "substantially," "approximately," and "approximately" refer to a reasonable amount of deviation of the modified term such that the end result is not significantly changed. All numerical values ​​described in this application are to be construed as including terms such as "substantially," "approximately," and "approximately."

[0247] Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the present invention may be practiced otherwise than as specifically described herein.

Claims

1. A control device for a human-driven vehicle, the control device comprising: a controller configured to control the actuator to move the output member based on the control information, The controller is configured to, in a first state in which a power source configured to supply power to the actuator is in a first power state and movement of the output member does not reach a target movement after the controller controls the actuator based on the control information, control the actuator to move the output member in a first actuation manner, and The controller is configured to control the actuator to move the output member in a second actuation mode different from the first actuation mode in a second state in which the electric power source is in a second power state different from the first power state and the movement of the output member does not reach the target movement after the controller controls the actuator based on the control information.

2. The control device according to claim 1, wherein The controller is configured to control the actuator to move the output member a first number of times during an actuation time period in the first state, and The controller is configured to control the actuator to move the output member a second number of times different from the first number of times during the actuation time period in the second state.

3. The control device according to claim 2, wherein If the electric power source is in the first power state, the electric power source has a first remaining level, If the electric power source is in the second power state, the electric power source has a second remaining level, the second remaining level is lower than the first remaining level, and The second number is smaller than the first number.

4. The control device according to claim 2, wherein If the power source is in the first power state, the power source has a first capacity, If the power source is in the second power state, the power source has a second capacity, The second capacity is smaller than the first capacity, and The second number is smaller than the first number.

5. The control device according to claim 2, wherein The actuation time period in the first state is equal to the actuation time period in the second state.

6. The control device according to claim 1, wherein The controller is configured to control the actuator to move the output member during a first actuation time period in the first state, and The controller is configured to control the actuator to move the output member during a second actuation time period different from the first actuation time period in the second state.

7. The control device according to claim 6, wherein If the electric power source is in the first power state, the electric power source has a first remaining level, If the electric power source is in the second power state, the electric power source has a second remaining level, the second remaining level is lower than the first remaining level, and The second actuation time period is shorter than the first actuation time period.

8. The control device according to claim 6, wherein If the power source is in the first power state, the power source has a first capacity, If the power source is in the second power state, the power source has a second capacity, The second capacity is smaller than the first capacity, and The second actuation time period is shorter than the first actuation time period.

9. The control device according to claim 2, wherein the actuation time period includes a first actuation time period and a second actuation time period different from the first actuation time period, The controller is configured to control the actuator to move the output member the first number of times during the first actuation time period in the first state, and The controller is configured to control the actuator to move the output member the second number of times during the second actuation time period in the second state.

10. The control device according to claim 9, wherein If the power source is in the first power state, the power source has a first capacity, If the power source is in the second power state, the power source has a second capacity, The second capacity is smaller than the first capacity, and The second actuation time period is shorter than the first actuation time period.

11. A control device for a human-driven vehicle, the control device comprising: a controller configured to control the actuator to move the output member based on the control information, The controller is configured to control the actuator to move the output member in a first actuation manner in a first actuator state in which the control information indicates a first actuation direction of the actuator and the movement of the output member does not reach a target movement after the controller controls the actuator based on the control information, and The controller is configured to control the actuator to move the output member in a second actuation manner different from the first actuation manner in a second actuator state in which the control information indicates a second actuation direction of the actuator different from the first actuation direction and the movement of the output member does not reach the target movement after the controller controls the actuator based on the control information.

12. The control device according to claim 11, wherein The controller is configured to control the actuator to move the output member a first number of times during an actuation time period in the first actuator state, and The controller is configured to control the actuator to move the output member a second number of times different from the first number of times during the actuation time period in the second actuator state.

13. The control device according to claim 12, wherein The first actuation direction is a direction in which the power consumption of the actuator is a first power consumption, The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption, and The second number is smaller than the first number.

14. The control device according to claim 12, wherein The actuation time period in the first actuator state is equal to the actuation time period in the second actuator state.

15. The control device according to claim 12, wherein the actuation time period includes a first actuation time period and a second actuation time period different from the first actuation time period, The controller is configured to control the actuator to move the output member the first number of times during the first actuation time period in the first actuator state, and The controller is configured to control the actuator to move the output member a second number of times during the second actuation time period in the second actuator state.

16. The control device according to claim 15, wherein The first actuation direction is a direction in which the power consumption of the actuator is a first power consumption, The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption, and The second actuation time period is shorter than the first actuation time period.

17. The control device according to claim 11, wherein The controller is configured to control the actuator to move the output member during a first actuation time period in the first actuator state, and The controller is configured to control the actuator in the second actuator state to move the output member during a second actuation time period different from the first actuation time period.

18. The control device according to claim 17, wherein The first actuation direction is a direction in which the power consumption of the actuator is a first power consumption, The second actuation direction is a direction in which the power consumption of the actuator is a second power consumption higher than the first power consumption, and The second actuation time period is shorter than the first actuation time period.

19. The control device according to claim 1, wherein The controller is configured to determine whether the power source is in the first power state or the second power state based on at least one of a voltage, a current, and a temperature of the power source.

20. A control device for a human-powered vehicle, the control device comprising: a controller configured to control the actuator to move the output member based on the control information, The controller is configured to, in a first device state in which the control information indicates a first movement of the actuator and the movement of the output member does not reach a target movement after the controller controls the actuator based on the control information, control the actuator to move the output member in a first actuation mode, and the controller being configured to, in a second device state in which the control information indicates a second movement of the actuator and the movement of the output member does not reach the target movement after the controller controls the actuator based on the control information, control the actuator to move the output member in a second actuation mode different from the first actuation mode, The first movement has a first actuation force, and The second movement has a second actuation force different from the first actuation force.

21. A derailleur for a human-powered vehicle, the derailleur comprising: base; a movable member movably coupled to the base; The control device according to claim 1; the actuator including the output member, the actuator being configured to move the output member using electric power supplied from the electric power source; and a detector configured to detect actuation information related to the movement of the output member, The actuator is coupled to the movable member to move the movable member relative to the base using power supplied from the power source, and The detector is configured to detect movement of the movable member relative to the base as the actuation information.

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