Control device for a muscle-powered vehicle and power transmission system

Abstract

Control device (70) for a muscle-powered vehicle (10), wherein the muscle-powered vehicle (10) comprises a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) engaged with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) comprises: a control (72) configured to control the motor (24) and to drive the transmission body (20) with the motor (24) to increase a rotational speed of the motor (24) when a difference is calculated between a first rotational speed corresponding to a rotational speed of the wheel (16) and the gear ratio, and a predetermined rotational speed or a rotational speed in a predetermined range in a case where the derailleur (22) is actuated / set to change the gear ratio, and a predetermined condition regarding pedaling is met.

Description

BACKGROUND

[0001] This application claims priority to Japanese Patent Application No. JP 2019-228121, filed on December 18, 2019, and Japanese Patent Application No. JP 2020-183008, filed on October 30, 2020. The entire disclosure of Japanese Patent Application No. JP 2019-228121 and Japanese Patent Application No. JP 2020-183008 is hereby incorporated by reference.

[0002] The present disclosure relates to a control device for a human-powered vehicle and a power transmission system.

[0003] Japanese Laid-Open Patent Publication No. 2008-222211 discloses an example of a human-powered vehicle comprising a derailleur for operating a transmission body to change the gear ratio. SUMMARY OF REVELATION

[0004] An object of the present disclosure is to provide a control device for a human-powered vehicle and a power transmission system changing the gear ratio in a preferential manner.

[0005] A control device according to a first aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to actuate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body.The control device includes a controller configured to control the motor and drive the transmission body with the motor, such that a rotational speed of the motor is increased when a difference between a first rotational speed calculated according to a rotational speed of the wheel and the gear ratio and a predetermined rotational speed or a rotational speed within a predetermined range increases when the derailleur is operated / adjusted to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0006] The control device according to the first aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the first aspect is configured to control the motor and drive the transmission body such that the rotational speed of the motor is increased as the difference between the first rotational speed calculated according to the rotational speed of the wheel and the gear ratio and the predetermined rotational speed or the rotational speed within the predetermined range increases. This changes the gear ratio in a preferential manner.

[0007] According to a second aspect of the present disclosure, the control device according to the first aspect is configured such that the first rotational speed, the predetermined rotational speed, and the rotational speed in the predetermined range correspond to a rotational speed of the crank axis.

[0008] In the control device according to the second aspect, the motor is preferably controlled in accordance with the rotational speed of the crank shaft.

[0009] In accordance with a third aspect of the present disclosure, the control device according to the second aspect is configured such that the predetermined rotational speed and the rotational speed in the predetermined range are 50 rpm or greater and 80 rpm or less.

[0010] The control device according to the third aspect allows the user to easily maintain the rotational speed of the crank axis at a rotational speed of 50 rpm or more and 80 rpm or less.

[0011] A control device according to a fourth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to actuate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body.The control device includes a controller configured to control the motor and drive the transmission body with the motor to change a rotational speed of the motor in accordance with the acceleration of the human-powered vehicle in a traveling direction and to increase the rotational speed of the motor as the acceleration of the human-powered vehicle increases in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0012] The control device according to the fourth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferred manner. The control device according to the fourth aspect is configured to control the motor and drive the transmission body with the motor to increase the rotational speed of the motor as the acceleration of the human-powered vehicle increases. This changes the gear ratio in a preferred manner.

[0013] A control device according to a fifth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body.The control device includes a controller configured to control the motor and drive the transmission body with the motor to change at least one of a rotation angle of the motor and an output torque of the motor in accordance with a state of the human-powered vehicle in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0014] The control device according to the fifth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the fifth aspect is configured to control the motor and drive the transmission body with the motor in accordance with the state of the human-powered vehicle, so as to change at least one of the rotation angle of the motor and the output torque of the motor. This changes the gear ratio in a preferential manner.

[0015] According to a sixth aspect of the present disclosure, the control device according to the fifth aspect is configured such that a state of the human-powered vehicle includes the wheel rotational speed and the gear ratio. The controller is configured to control the motor such that at least one of the motor rotation angle and the output torque is increased when a difference between a first rotational speed calculated according to the wheel rotational speed and the gear ratio and a predetermined rotational speed or an output speed is increased within a predetermined range.

[0016] The control device according to the sixth aspect is configured to control the motor to increase the rotational speed of the motor as the difference between the first rotational speed calculated according to the rotational speed of the wheel and the gear ratio and the predetermined rotational speed or the rotational speed within the predetermined range increases. This changes the gear ratio in a preferential manner.

[0017] According to a seventh aspect of the present disclosure, the control device according to the fifth aspect is configured such that a state of the human-powered vehicle includes a change in a vehicle speed of the human-powered vehicle or a change in the rotational speed of the wheel. The controller is configured to control the motor to increase at least one of a rotational angle of the motor and an output torque when an acceleration or deceleration of the human-powered vehicle in a traveling direction increases or an acceleration or deceleration of the rotational speed of the wheel in a rotating direction increases, corresponding to the traveling direction of the human-powered vehicle.

[0018] The control device according to the seventh aspect is configured to control the motor so that at least one of the rotation angle of the motor and the output torque increases as the acceleration or deceleration of the human-powered vehicle in the traveling direction increases, or the acceleration or deceleration of the rotational speed of the wheel in the traveling direction increases, corresponding to the traveling direction of the human-powered vehicle. This changes the gear ratio in a preferred manner.

[0019] According to an eighth aspect of the present disclosure, the control device according to any one of the first to seventh aspects is configured so that a human-powered vehicle further comprises a first operating device. The controller is configured to control the motor not to drive the transmission body when the first operating device is operated even in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met.

[0020] The control device according to the eighth aspect is configured to control the motor so as not to drive the transmission body when the first operating device is operated, even in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This reduces the drive frequency of the motor.

[0021] A control device according to a ninth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit drive power between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and a first actuating device.The control device includes a controller configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the motor not to drive the transmission body if the first actuating device is also actuated in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met.

[0022] The control device according to the ninth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferable manner. The control device according to the ninth aspect is configured to control the motor not to drive the transmission body when the first operating device is also operated in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This allows the user to select whether to drive the transmission body with the motor to perform gear shifting.

[0023] According to a tenth aspect of the present disclosure, in the control device according to the ninth aspect, the controller is configured to control the motor not to drive the transmission body during at least one of a period during which the first operating device is operated and a predetermined period after the first operating device is operated, even in a case where the derailleur is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied.

[0024] The control device according to the tenth aspect controls the motor not to drive the transmission body during at least one of the period in which the first operating device is operated and the predetermined period after the operation of the first operating device, even in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. With the control device according to the tenth aspect, in a case where the user wants to reduce changes in the gear ratio, changes in the gear ratio are easily reduced by operating the first operating device.

[0025] According to an eleventh aspect of the present disclosure, in the control device according to the ninth or tenth aspect, the controller is configured to control the motor not to drive the transmission body when a first operation portion included in the first operation device is operated or a predetermined operation is performed on the first operation portion, even in a case where the derailleur is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied.

[0026] The control device according to the eleventh aspect controls the motor not to drive the transmission body when the first operating portion of the first operating device is operated or the predetermined operation is performed on the first operating portion, even in a case where the operating device is operated to change the gear ratio and the predetermined pedaling condition is met. With the control device according to the eleventh aspect, in a case where the user wants to reduce changes in the gear ratio, changes in the gear ratio are easily reduced by operating the first operating device.

[0027] According to a twelfth aspect of the present disclosure, the control device according to any one of the eighth to eleventh aspects is configured such that the human-powered vehicle further comprises a second operating device configured to operate the derailleur. The controller is configured to be switchable between a first mode and a second mode. The controller is configured to control the motor in the first mode to drive the transmission body in accordance with a state of the human-powered vehicle in a case where the second operating device has been operated and the predetermined condition regarding pedaling is met. The controller is configured to control the motor in the second mode not to drive the transmission body even in a case where the second operating device has been operated and the predetermined condition regarding pedaling is met.

[0028] The control device according to the twelfth aspect allows the user to switch between the first mode and the second mode to select whether the transmission body is driven by the motor to perform the switching.

[0029] According to a thirteenth aspect of the present disclosure, in the control device according to any one of the first to twelfth aspects, the controller is configured to control the motor to stop driving the transmission body with the motor according to a load on the motor in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0030] The control device according to the thirteenth aspect controls the motor and stops the drive of the transmission body with the motor in accordance with the load on the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. The control device according to the thirteenth aspect prevents the human-powered vehicle from being driven solely by the motor.

[0031] A control device according to a fourteenth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body. The control device includes a controller configured to control the motor.The controller is configured to drive the transmission body with the motor when the derailleur is actuated to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to stop the drive of the transmission body with the motor according to the load on the motor.

[0032] The control device according to the fourteenth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the fourteenth aspect controls the motor and stops the drive of the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met.

[0033] According to a fifteenth aspect of the present disclosure, the control device according to the thirteenth or fourteenth aspect further comprises a first detection device configured to detect the load on the motor. The controller is configured to control the motor and stop the motor when the derailleur is operated to change the gear ratio in a case where the predetermined condition regarding pedaling is met and the load on the motor is / becomes greater than or equal to a predetermined load.

[0034] The control device according to the fifteenth aspect controls the motor and stops the motor when the derailleur is operated to change the gear ratio in a case where the predetermined pedaling condition is met and the load on the motor is greater than or equal to the predetermined load. The control device according to the fifteenth aspect prevents the human-powered vehicle from being driven only by the motor.

[0035] According to a sixteenth aspect of the present disclosure, in the control device according to any one of the first to fifteenth aspects, the controller is configured to control the motor to stop driving the transmission body when a vehicle speed of the human-powered vehicle is less than or equal to a first speed or the rotational speed of the wheel is less than or equal to a predetermined rotational speed in a case where the predetermined condition regarding pedaling is satisfied.

[0036] The control device according to the sixteenth aspect controls the motor to stop driving the transmission body when the vehicle speed of the human-powered vehicle is less than or equal to the first speed or the rotational speed of the wheel is less than or equal to the predetermined rotational speed in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. The control device according to the sixteenth aspect limits gear shifting in a case where the vehicle speed of the human-powered vehicle is / becomes low.

[0037] A control device according to a seventeenth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, and a motor configured to drive the transmission body.The control device includes a controller configured to control the motor to drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and configured to control the motor to stop the drive of the transmission body in a case where a vehicle speed of the human-powered vehicle is / becomes less than or equal to a first speed or a rotational speed of the wheel is / becomes less than or equal to a predetermined rotational speed.

[0038] The control device according to the seventeenth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the seventeenth aspect controls the motor to stop driving the transmission body in a case where the vehicle speed of the human-powered vehicle is / becomes less than or equal to the first speed or the rotational speed of the wheel is / becomes less than or equal to the predetermined rotational speed. The control device according to the seventeenth aspect restricts gear shifting in a case where the vehicle speed of the human-powered vehicle is / becomes low.

[0039] According to an eighteenth aspect of the present disclosure, the control device according to any one of the first to seventeenth aspects is configured such that the human-powered vehicle further comprises an electric actuator configured to actuate the derailleur. The controller is configured to control the electric actuator.

[0040] The control device according to the eighteenth aspect controls the electric actuator to operate the derailleur.

[0041] According to a nineteenth aspect of the present disclosure, in the control device according to the eighteenth aspect, the controller is configured to control the electric actuator and drive the transmission body with the motor so that the gear ratio is changed only in one of an ascending direction and a descending direction in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0042] In the control device according to the nineteenth aspect, the gear ratio is changed only in one of an increasing direction and a decreasing direction in a case where the predetermined condition regarding pedaling is satisfied. This reduces the processing burden of the control.

[0043] A control device according to a twentieth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the electric actuator and drive the transmission body with the motor so that the gear ratio is changed only in one of an ascending direction and a descending direction in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0044] The control device according to the twentieth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. Furthermore, in the control device according to the twentieth aspect, the gear ratio is changed only in one of the ascending direction and the descending direction in a case where the predetermined pedaling condition is met. This reduces the processing burden of the control.

[0045] According to a twenty-first aspect of the present disclosure, in the control device according to the nineteenth or twentieth aspect, the controller is configured to control the electric actuator and drive the transmission body with the motor so that the gear ratio is changed in a predetermined shift range in a case where the derailleur is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied.

[0046] With the control device according to the twenty-first aspect, the gear ratio is changed in an appropriate shift range in a case where the predetermined condition regarding pedaling is satisfied.

[0047] A control device according to a twenty-second aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the electric actuator and drive the transmission body with the motor to change the gear ratio in a predetermined shifting range when the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is met.

[0048] The control device according to the twenty-second aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. With the control device according to the twenty-second aspect, the gear ratio is changed within a suitable shift range in a case where the predetermined pedaling condition is met.

[0049] According to a twenty-third aspect of the present disclosure, the control device according to the twenty-first or twenty-second aspect is configured such that the predetermined shifting range includes a range less than or equal to a predetermined third gear ratio, and the predetermined third gear ratio is less than a maximum gear ratio changeable by the derailleur.

[0050] The control device according to the twenty-third aspect reduces changes in the gear ratio to the maximum gear ratio changeable by the derailleur in a case where the predetermined pedaling condition is met. This limits an excessive increase in the load on the user.

[0051] According to a twenty-fourth aspect of the present disclosure, in the control device according to the twenty-third aspect, the controller is configured to control the electric actuator and drive the transmission body with the motor to change the gear ratio in a predetermined shift range in at least one of a case where the derailleur is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and a road on which the human-powered vehicle is traveling changes from an uphill state to a downhill state, and a case where the derailleur is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and a vehicle speed of the human-powered vehicle changes from an ascending state to a descending state.

[0052] With the control device according to the twenty-fourth aspect, the gear ratio is appropriately changed in at least one of a case where the road on which the human power vehicle is traveling changes from an uphill state to a downhill state and a case where the vehicle speed of the human power vehicle changes from an increasing state to a descending state.

[0053] According to a twenty-fifth aspect of the present disclosure, the control device according to any one of the twenty-first to twenty-fourth aspects is configured such that the predetermined shifting range includes a range greater than or equal to a predetermined fourth gear ratio, and the predetermined fourth gear ratio is / becomes greater than a minimum ratio of the gear ratio changeable by the derailleur.

[0054] The control device according to the twenty-fifth aspect reduces changes in the gear ratio to the minimum of the gear ratio changeable by the derailleur when the predetermined pedaling condition is met. This limits an excessive increase in the rotational speed of the crank rotated by the user.

[0055] According to a twenty-sixth aspect of the present disclosure, in the control device according to the twenty-fifth aspect, the controller is configured to control the electric actuator and drive the transmission body with the motor so that the gear ratio is changed in the predetermined shift range in at least one of a case where the derailleur is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and a vehicle speed of the human-powered vehicle is equal to or less than a sixth speed, and a case where the derailleur is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and the rotational speed of the crank axis of the human-powered vehicle is equal to or less than a third rotational speed.

[0056] With the control device according to the twenty-sixth aspect, the gear ratio is appropriately changed in at least one of a case where the vehicle speed of the human-powered vehicle is less than or equal to the sixth speed and a case where the rotational speed of the crank axle of the human-powered vehicle is less than or equal to the third rotational speed.

[0057] According to a twenty-seventh aspect of the present disclosure, in the control device according to any one of the eighteenth to twenty-sixth aspects, the controller is configured to be switchable between a first switching mode in which the controller controls the electric actuator in accordance with a state of the human-powered vehicle, and a second switching mode in which the controller controls the electric actuator in accordance with the operation of a transmission operating device provided on the human-powered vehicle. The controller is configured to be switchable between a third mode and a fourth mode in the first switching mode.In the third mode, the controller is configured to control the motor and drive the transmission body in accordance with the state of the human-powered vehicle in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. In the fourth mode, the controller is configured to control the motor not to drive the transmission body even in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met.

[0058] With the control device according to the twenty-seventh aspect, in the first switching mode, the user can switch between the third mode in which the transmission body is automatically driven and the fourth mode in which the transmission body is user-driven.

[0059] A control device according to a twenty-eighth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to be switchable between a first switching mode, in which the controller controls the electric actuator in accordance with a state of the human-powered vehicle, and a second switching mode, in which the controller controls the electric actuator in accordance with the operation of an operating device provided on the human-powered vehicle. The controller is configured to be switchable between a third mode and a fourth mode in the first switching mode. In the third mode, the controller is configured to control the motor and drive the transmission body in accordance with the state of the human-powered vehicle in a case where the derailleur is operated to change the gear ratio and a predetermined pedaling condition is met.In the fourth mode, the controller is configured to control the motor not to drive the transmission body even in a case where the derailleur is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied.

[0060] The control device according to the twenty-eighth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the twenty-eighth aspect allows the user, in the first shifting mode, to switch between the third mode in which the transmission body is automatically driven and the fourth mode in which the transmission body is driven by the user.

[0061] A control device according to a twenty-ninth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body.The control device includes a controller configured to control the electric actuator and the motor so that the first rotational speed, calculated according to the rotational speed of the wheel and the gear ratio, is set within a predetermined range. The controller is configured to drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the electric actuator so that, among a plurality of gear stages of the derailleur, the gear ratio is set to be in the largest gear stage when the first rotational speed is included in the predetermined range.

[0062] The control device according to the twenty-ninth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the twenty-ninth aspect controls the electric actuator so that, among a plurality of gear stages of the derailleur, the gear ratio is set to be in the largest gear stage when the first rotational speed is included in the predetermined range. The control device according to the twenty-ninth aspect optimally changes the gear stage in accordance with the vehicle speed of the human-powered vehicle.

[0063] According to a thirtieth aspect of the present disclosure, in the control device according to any one of the eighteenth to twenty-ninth aspects, the controller is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. The controller is configured to control the electric actuator so that the gear ratio does not increase in a case where a vehicle speed of the human-powered vehicle is greater than or equal to a second speed or the rotational speed of the wheel is greater than or equal to a predetermined rotational speed.

[0064] The control device according to the thirtieth aspect limits an increase in the gear ratio in a case where the vehicle speed of the human-powered vehicle is / becomes greater than or equal to the second speed or the rotational speed of the wheel is / becomes greater than or equal to the predetermined rotational speed. The control device according to the thirtieth aspect limits an excessive increase in the vehicle speed of the human-powered vehicle.

[0065] A control device according to a thirty-first aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the motor and drive the transmission body with the motor when the actuator is actuated to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the electric actuator so that the gear ratio does not increase when a vehicle speed of the human-powered vehicle is greater than or equal to a second speed or the rotational speed of the wheel is greater than or equal to a predetermined rotational speed.

[0066] The control device according to the thirty-first aspect is configured to control the motor and drive the transmission body with the motor in a case where the actuator is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the thirty-first aspect limits an increase in the gear ratio in a case where the vehicle speed of the human-powered vehicle is / becomes greater than or equal to the second speed or the rotational speed of the wheel is / becomes greater than or equal to the predetermined rotational speed. The control device according to the thirty-first aspect limits an excessive increase in the vehicle speed of the human-powered vehicle.

[0067] According to a thirty-second aspect of the present disclosure, in the control device according to any one of the twenty-ninth to thirty-first aspects, the controller is configured to control the electric actuator not to change the gear ratio until a first condition related to shifting is satisfied in a case where the derailleur is operated.

[0068] The control device according to the thirty-second aspect controls the electric actuator not to change the gear ratio until the first condition related to shifting is met in a case where the derailleur is / will be operated. The control device according to the thirty-second aspect limits the continuous operation of the derailleur.

[0069] A control device according to a thirty-third aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, an electric actuator configured to operate the derailleur, and a motor configured to operate the transmission body. The control device includes a controller configured to control the motor and the electric actuator.The controller is configured to control the motor and drive the transmission body when the derailleur is operated with the electric actuator to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the electric actuator not to change the gear ratio until a first shifting condition is met when the derailleur is operated.

[0070] The control device according to the thirty-third aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the thirty-third aspect controls the electric actuator so that the gear ratio is not changed until the first gearshift condition is met in a case where the vehicle speed of the human-powered vehicle is / becomes greater than or equal to the second speed or the rotational speed of the wheel is / becomes greater than or equal to the predetermined rotational speed.The control device according to the thirty-third aspect limits the continuous operation of the derailleur in a case where the vehicle speed of the human-powered vehicle is / becomes greater than or equal to the second speed or the rotational speed of the wheel is / becomes greater than or equal to the predetermined rotational speed.

[0071] According to a thirty-fourth aspect of the present disclosure, the control device according to the thirty-second or thirty-third aspect is configured such that the human-powered vehicle further includes a second operating device configured to operate the derailleur. The first condition related to shifting is satisfied in at least one of a case where a predetermined first time elapses from a time of operating the second operating device, a case where a predetermined second time elapses from a time of stopping the electric actuator, a case where an inclination angle of the human-powered vehicle becomes greater than or equal to a first angle, and a case where a vehicle speed of the human-powered vehicle becomes greater than or equal to a predetermined third speed.

[0072] The control device according to the thirty-fourth aspect controls the electric actuator so that the gear ratio is not changed in at least one of a case where the predetermined first time elapses from the time of operating the second operating device, a case where the predetermined second time elapses from the time of stopping the electric actuator, a case where the inclination angle of the human-powered vehicle becomes greater than or equal to the first angle, and a case where the vehicle speed of the human-powered vehicle becomes greater than or equal to the predetermined third speed.

[0073] According to a thirty-fifth aspect of the present disclosure, in the control device according to any one of the eighteenth to thirty-fourth aspects, the controller is configured to control the electric actuator not to change the gear ratio with the derailleur until a second condition related to shifting is satisfied in a case where the electric actuator and the motor are controlled to increase or decrease the gear ratio a predetermined number of times or more within a predetermined third time.

[0074] The control device according to the thirty-fifth aspect controls the electric actuator so that the gear ratio is not changed with the derailleur until the second shifting condition is met, in a case where the electric actuator and the motor are controlled to increase or decrease the gear ratio a predetermined number of times or more within the predetermined third time. The control device according to the thirty-fifth aspect reduces frequent changes in the gear ratio.

[0075] A control device according to a thirty-sixth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, an electric actuator configured to operate the derailleur, and a motor driving the transmission body. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the motor and drive the transmission body in a case where the derailleur is operated with the electric actuator to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the electric actuator not to change the gear ratio with the derailleur until a second shifting condition is met in a case where the electric actuator and the motor are controlled to increase or decrease the gear ratio a predetermined number of times or more within a predetermined third time.

[0076] The control device according to the thirty-sixth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferable manner. The control device according to the thirty-sixth aspect controls the electric actuator so that the gear ratio is not changed with the derailleur until the second shifting condition is met in a case where the electric actuator and the motor are controlled to increase or decrease the gear ratio a predetermined number of times or more within the predetermined third time.The control device in accordance with the thirty-sixth aspect reduces frequent changes in the gear ratio.

[0077] According to a thirty-seventh aspect of the present disclosure, the control device according to the thirty-fifth or thirty-sixth aspect is configured such that the second condition related to switching is satisfied in at least one of a case where a predetermined fourth time elapses from a time of stopping the electric actuator, a case where an inclination angle of the human-powered vehicle becomes greater than or equal to a second angle, and a case where a vehicle speed of the human-powered vehicle becomes greater than or equal to a predetermined fourth speed.

[0078] The control device according to the thirty-seventh aspect controls the electric actuator so that the gear ratio with the actuator is not changed until at least one of a case where the predetermined fourth time elapses from the time of stopping the electric actuator, a case where the inclination angle of the human-powered vehicle becomes greater than or equal to the second angle, and a case where the vehicle speed of the human-powered vehicle becomes greater than or equal to the predetermined fourth speed is satisfied.

[0079] According to a thirty-eighth aspect of the present disclosure, in the control device according to any one of the nineteenth to thirty-fifth aspects, the controller is configured to control the motor and the electric actuator so that the relative movement of the derailleur and at least one of the first rotating body and the second rotating body is started simultaneously when the motor is driven or before the motor is driven in a case where the electric actuator and the motor are controlled to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0080] The control device according to the thirty-eighth aspect controls the motor and the electric actuator so that the relative movement of the derailleur and at least one of the first rotating body and the second rotating body begins simultaneously when the motor is driven or before the motor is driven. This preferentially changes the gear ratio.

[0081] A control device according to a thirty-ninth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the electric actuator and the motor so that the relative movement of the derailleur and at least one of the first transmission body and the second transmission body is started simultaneously when the motor is driven or before the motor is driven in a case where the electric actuator and the motor are controlled to change the gear ratio and a predetermined condition regarding pedaling is satisfied.

[0082] The control device according to the thirty-ninth aspect is configured to control the motor and drive the transmission body with the motor in a case where the actuator is operated to change the gear ratio and the predetermined condition regarding pedaling is met. Thereby, the gear ratio is changed in a preferential manner. The control device according to the thirty-ninth aspect controls the motor and the electric actuator so that the relative movement of the derailleur and at least one of the first rotating body and the second rotating body is started simultaneously when the motor is driven or before the motor is driven. Thereby, the gear ratio changes in a preferential manner.

[0083] According to a fortieth aspect of the present disclosure, in the control device according to the thirty-eighth or thirty-ninth aspect, the controller is configured to receive a signal for adjusting a position of the derailleur. The controller is configured to drive the motor in a case where the signal is received. The controller is configured to control the electric actuator so that the position of the derailleur corresponds to the first gear ratio in a case where a first gear ratio, corresponding to a rotational speed of the motor and a rotational speed of the wheel, does not correspond to the current position of the derailleur.

[0084] The control device according to the fortieth aspect drives the motor in a case where the signal for adjusting the position of the derailleur is received and the first gear ratio corresponding to the rotational speed of the motor and the rotational speed of the wheel does not match the current position of the derailleur. This changes the gear ratio in a preferential manner.

[0085] According to a forty-first aspect of the present disclosure, in the control device according to any one of the eighteenth to fortieth aspects, the controller is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. The controller is configured to control the electric actuator so that a shift stage of the derailleur approaches a predetermined shift stage or the gear ratio approaches a predetermined gear ratio when the human-powered vehicle is decelerated.The controller is configured to control the electric actuator and gradually change the shifting stage of the derailleur when a difference between the predetermined shifting stage and a current shifting stage of the derailleur, or a difference between the predetermined gear ratio and the current gear ratio, is / becomes less than or equal to a predetermined value. The controller is configured to control the electric actuator to continuously actuate the derailleur across a plurality of shifting stages in a case where a difference between the predetermined shifting stage and a current shifting stage of the derailleur, or a difference between the predetermined gear ratio and the current gear ratio, exceeds the predetermined value.

[0086] The control device according to the forty-first aspect controls the electric actuator to continuously operate the derailleur across a plurality of shift stages in a case where the difference between the predetermined shift stage and the current shift stage of the derailleur or the difference between the predetermined gear ratio and the current gear ratio exceeds the predetermined value. The control device according to the forty-first aspect reduces the time for changing the current shift stage to a preferred shift stage or the time for changing the current gear ratio to a preferred gear ratio.

[0087] A control device according to a forty-second aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is met. The controller is configured to control the electric actuator so that a shift stage of the derailleur approaches a predetermined shift stage or the gear ratio approaches a predetermined gear ratio when the human-powered vehicle is decelerated. The controller is configured to control the electric actuator and change the shift stage of the derailleur step by step when a difference between the predetermined shift stage and a current shift stage of the derailleur or a difference between the predetermined gear ratio and the current gear ratio is / becomes less than or equal to a predetermined value.The controller is configured to control the electric actuator to operate the derailleur continuously through a plurality of shift stages in a case where a difference between the predetermined shift stage and a current shift stage of the derailleur or a difference between the predetermined gear ratio and the current gear ratio exceeds the predetermined value.

[0088] The control device according to the forty-second aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The control device according to the forty-second aspect controls the electric actuator to continuously operate the derailleur through a plurality of gear stages in a case where the human-powered vehicle is decelerated and the difference between the predetermined gear stage and the current gear stage of the derailleur or the difference between the predetermined gear ratio and the current gear ratio exceeds the predetermined value.The control device according to the forty-second aspect reduces the time for changing the current gear stage to a preferential gear stage or the time for changing the current gear ratio to a preferential gear ratio.

[0089] According to a forty-third aspect of the present disclosure, in the transmission device according to any one of the eighteenth to forty-second aspects, the controller is configured to control the motor and drive the transmission body with the motor in a case where the actuator is operated to change the transmission ratio and the predetermined pedaling condition is satisfied. The controller is configured to control the electric actuator so that a fifth time during which the derailleur is operated through a plurality of shift stages in a case where a vehicle speed of the human-powered vehicle is less than or equal to a fifth speed becomes shorter than a sixth time during which the derailleur is operated through the plurality of shift stages in a case where the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed.

[0090] The control device according to the forty-third aspect controls the electric actuator so that, when the derailleur is operated through a plurality of shift stages and the vehicle speed of the human-powered vehicle is equal to or less than the fifth speed, the operation of the derailleur is completed in a shorter time than when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed. The control device according to the forty-third aspect facilitates completion of the shifting before the human-powered vehicle stops.

[0091] A control device according to a forty-fourth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. The control device includes a controller configured to control the electric actuator and the motor.The controller is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and a predetermined pedaling condition is met. The controller is configured to control the electric actuator so that a fifth time during which the derailleur is operated across a plurality of shift stages in a case where a vehicle speed of the human-powered vehicle is less than or equal to a fifth speed becomes shorter than a sixth time during which the derailleur is operated across the plurality of shift stages in a case where the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed.

[0092] The control device according to the forty-fourth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is satisfied. This changes the gear ratio in a preferential manner. The control device according to the forty-fourth aspect controls the electric actuator so that, in a case where the shifting member is operated through a plurality of shift stages and the vehicle speed of the human-powered vehicle is equal to or less than the fifth speed, the operation of the shifting member is completed in a shorter time than in a case where the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed.The control device in accordance with the forty-fourth aspect facilitates completion of the shifting before the human-powered vehicle stops.

[0093] According to a forty-fifth aspect of the present disclosure, in the control device according to any one of the first to forty-fourth aspects, the predetermined condition related to pedaling is satisfied in at least one of a case where the human driving force applied to the crank axle is equal to or less than a predetermined driving force, a case where a rotational speed of the crank axle is equal to or less than a second rotational speed, and a case where the crank axle oscillates.

[0094] The control device according to the forty-fifth aspect drives the motor in at least one of a case where the human driving force applied to the crank shaft is less than or equal to the predetermined driving force, a case where the rotational speed of the crank shaft is less than or equal to the second rotational speed, and a case where the crank shaft oscillates. This changes the gear ratio in a preferential manner.

[0095] According to a forty-sixth aspect of the present disclosure, in the control device according to any one of the first to forty-fifth aspects, the motor is configured to apply driving force to the human-powered vehicle in accordance with the human driving force. The controller is configured to control the motor and drive the transmission body so as not to apply driving force to the human-powered vehicle in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met.

[0096] The control device according to the forty-sixth aspect controls the motor and drives the transmission body so that no driving force is applied to the human-powered vehicle when the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. The control device according to the forty-sixth aspect reduces the power consumption of the motor.

[0097] A control device according to a forty-seventh aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle and comprising a plurality of shift positions, an electric actuator configured to operate the derailleur, and a motor configured to operate the transmission body.The control device comprises a controller configured to control the electric actuator and the motor and to receive a signal for adjusting the position of the derailleur. The controller is configured to control the motor to drive the motor when the signal is received. The controller is configured to control the electric actuator so that the position of the derailleur corresponds to a first gear ratio, corresponding to a rotational speed of the motor and the rotational speed of the wheel, when the first gear ratio does not match a current position of the derailleur.

[0098] The control device according to the forty-seventh aspect drives the motor in a case where a signal for adjusting the position of the derailleur is received, and drives the derailleur with the electric actuator, so that in a case where the first gear ratio, corresponding to the rotational speed of the motor and the rotational speed of the wheel, does not correspond to the current position of the derailleur, the current position of the derailleur corresponds to the first gear ratio.

[0099] A power transmission system according to a forty-eighth aspect of the present disclosure is for a human-powered vehicle. The power transmission system includes the control device according to any one of the first to forty-seventh aspects and a first one-way clutch provided in a first power transmission path between the crank axle and the first rotating body and configured to transmit rotation from the crank axle to the first rotating body in a first rotational direction and to limit the transmission of rotational power from the first rotating body to the crank axle in the first rotational direction.

[0100] The power transmission system according to the forty-eighth aspect changes the gear ratio in a preferential manner. The power transmission system according to the forty-eighth aspect limits the transmission of the rotational force of the first rotating body to the crank shaft with the first one-way clutch in a case where the first rotating body is rotated by the engine. This changes the gear ratio in a preferential manner in a case where the engine is driven to change the gear ratio.

[0101] According to a forty-ninth aspect of the present disclosure, the control device according to the forty-eighth aspect further includes an energy storage device configured to store electrical energy generated by the motor. The controller is configured to control the motor using the electrical energy of the energy storage device.

[0102] The power transmission system according to the forty-ninth aspect controls the motor using the electrical energy of the energy storage device configured to store the electrical energy generated by the motor. The power transmission system according to the forty-ninth aspect reduces the charging frequency of the energy storage device.

[0103] A power transmission system according to a fiftieth aspect of the present disclosure is for a human-powered vehicle. The human-powered vehicle includes a crank axle, a first rotating body connected to the crank axle, a wheel, a second rotating body connected to the wheel, a transmission body engaged with the first rotating body and the second rotating body and configured to transmit a driving force between the first rotating body and the second rotating body, and a derailleur configured to actuate the transmission body to change a gear ratio of a rotational speed of the wheel to a rotational speed of the crank axle.The power transmission system includes a motor configured to drive the transmission body and generate electrical energy due to the drive by the transmission body, an energy storage device configured to store the electrical energy generated by the motor, and a control device for the human-powered vehicle, wherein the control device includes a controller configured to control the motor with the electrical energy of the energy storage device, and the controller is configured to control the motor and drive the transmission body in a case where the derailleur is operated to change the gear ratio and a predetermined condition regarding pedaling is met.

[0104] The power transmission system according to the fiftieth aspect is configured to control the motor and drive the transmission body with the motor in a case where the derailleur is operated to change the gear ratio and the predetermined pedaling condition is met. This changes the gear ratio in a preferential manner. The power transmission system according to the fiftieth aspect controls the motor using electrical energy from the energy storage device configured to store electrical energy generated by the motor. The power transmission system according to the fiftieth aspect reduces the charging frequency of the energy storage device.

[0105] According to a fifty-first aspect of the present disclosure, the power transmission system is configured in accordance with the fiftieth aspect, such that the human-powered vehicle further comprises an electric actuator configured to actuate the derailleur. The controller is configured to control the electric actuator using the electrical energy of the energy storage device.

[0106] The power transmission system according to the fifty-first aspect controls the electric actuator using electric energy of the energy storage device configured to store electric energy generated by the engine.

[0107] In accordance with a fifty-second aspect of the present disclosure, the power transmission system according to the forty-ninth or fiftieth aspect further comprises a first one-way clutch provided in a first power transmission path between the crank axis and the first rotating body and configured to transmit rotation from the crank axis to the first rotating body in a first rotational direction and to limit the transmission of rotational power from the first rotating body to the crank axis in the first rotational direction.

[0108] The power transmission system according to the fifty-second aspect limits the transmission of the rotational force of the first rotating body to the crank shaft with the first one-way clutch when the first rotating body is rotated by the engine. This changes the gear ratio in a preferential manner when the engine is driven to change the gear ratio.

[0109] According to a fifty-third aspect of the present disclosure, the power transmission system according to any one of the forty-eighth to fifty-second aspects further comprises a second one-way clutch provided in a second power transmission path between the second rotating body and the wheel and configured to transmit a rotational force from the second rotating body to the wheel in a second rotational direction corresponding to the first rotational direction and to limit the transmission of the rotational force from the wheel to the second rotating body in the second rotational direction.

[0110] In the power transmission system according to the fifty-third aspect, the second one-way clutch allows relative rotation of the second rotating body and the gear. This favorably changes the gear ratio in a case where the motor is driven to change the gear ratio.

[0111] The human-powered vehicle control apparatus and power transmission system of the present disclosure change the gear ratio in a preferred manner. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view of a human-powered vehicle including a first embodiment of a control device for a human-powered vehicle. Fig. Figure 2 is a cross-sectional view of a drive unit included in the human-powered vehicle shown in Fig. 1. Fig. 3 is a diagram showing a power transmission path of a power transmission system of the Fig. 1 depicted muscle-powered vehicle. Fig. 4 is a block diagram showing the electrical equipment of the human power vehicle including the control device of the first embodiment. Fig. 5 is a flowchart of a process performed by the Fig. 4 for controlling an electric actuator and a motor to change the gear ratio. Fig. 6 is a flowchart of a process performed by the Fig. 4 for controlling the electric actuator and the motor to adjust the position of a derailleur. Fig. 7 is a flowchart of an operation performed by a second embodiment of a controller for switching between a first mode and a second mode. Fig. 8 is a flowchart of an operation performed by the controller of the second embodiment for controlling the electric actuator and the motor to change the gear ratio. Fig. 9 is a block diagram showing the electrical device of a third embodiment of a control device for a human-powered vehicle. Fig. 10 is a flowchart of a process performed by the Fig. 9 for controlling the electric actuator and the motor to change the gear ratio. Fig. 11 is a block diagram showing the electrical equipment of the human power vehicle including the control device of the third embodiment. Fig. 12 is a flowchart of a process performed by the Fig. 11 illustrated control for switching between a third mode and a fourth mode in a first switching mode. Fig. 13 is a flowchart of an operation executed by a first modified example of a controller for controlling the electric actuator and the motor to change the gear ratio. Fig. 14 is a flowchart of an operation performed by a second modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 15 is a flowchart of an operation performed by a third modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 16 is a flowchart of an operation performed by a fourth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 17 is a flowchart of an operation executed by a fifth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 18 is a flowchart of an operation performed by a sixth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 19 is a flowchart of an operation executed by a seventh modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 20 is a flowchart of an operation performed by an eighth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 21 is a flowchart of a process performed by a ninth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 22 is a flowchart of an operation executed by a tenth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 23 is a flowchart of a process executed by an eleventh modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 24 is a flowchart of an operation executed by a twelfth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 25 is a flowchart of a process executed by a thirteenth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 26 is a flowchart of an operation executed by a fourteenth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 27 is a flowchart of an operation executed by a fifteenth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. Fig. 28 is a flowchart of an operation executed by a sixteenth modified example of a controller for controlling an electric actuator and a motor to change the gear ratio. EMBODIMENTS OF THE DISCLOSUREFirst Embodiment

[0112] A first embodiment of a power transmission system 60 for a human-powered vehicle and a control device 70 for a human-powered vehicle will now be described with reference to the Fig. 1 to 6. A human-powered vehicle 10 is a vehicle comprising at least one wheel and driven by at least one human driving force H. The human-powered vehicle 10 includes, for example, various types of bicycles, such as a mountain bike, a racing bike, a city bike, a cargo bike, a hand bike, and a recumbent bike. The number of wheels of the human-powered vehicle 10 is not limited. The human-powered vehicle 10 includes, for example, a unicycle and a vehicle comprising three or more wheels. The human-powered vehicle 10 is not limited to a vehicle configured to be driven solely by the human driving force H. The human-powered vehicle 10 includes an e-bike, which uses the driving force of a motor for propulsion in addition to the human driving force H. The e-bike includes an electric-assisted bicycle that supports propulsion with a motor.In the embodiments described below, the human-powered vehicle 10 refers to an electric assist bicycle.

[0113] The human-powered vehicle 10 includes a crank axle 12, a first rotating body 14, a wheel 16, a second rotating body 18, a transmission body 20, a derailleur 22, and a motor 24. The human-powered vehicle 10 further includes two crank arms 26. The crank axle 12 and the crank arms 26 constitute a crank 28. The human driving force H is applied to the crank 28. The human-powered vehicle 10 further includes a vehicle body 30. The wheel 16 includes a rear wheel 16A and a front wheel 16B. The vehicle body 30 includes a frame 32. The crank 28 is rotatable relative to the frame 32. The crank arms 26 include a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is provided at one axial end of the crank axle 12. The second crank arm 26B is provided at the other axial end of the crank axle 12. The human-powered vehicle 10 includes pedals 34.The pedals 34 include a first pedal 34A and a second pedal 34B. The first pedal 34A is coupled to the first crank arm 26A. The second pedal 34B is coupled to the second crank arm 26B. The rear wheel 16A is driven in accordance with the rotation of the crank 28. The rear wheel 16A is supported by the frame 32. The crank 28 and the rear wheel 16A are coupled by a drive mechanism 36.

[0114] The drive mechanism 36 includes the first rotating body 14, the second rotating body 18, and the transmission body 20. The first rotating body 14 is connected to the crank axle 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is engaged with the first rotating body 14 and the second rotating body 18 and configured to transmit the driving force between the first rotating body 14 and the second rotating body 18. The transmission body 20 transmits the rotational force of the first rotating body 14 to the second rotating body 18. In the present embodiment, the first rotating body 14 is coaxial with the crank axle 12. However, the first rotating body 14 may also be configured to be non-coaxial with the crank axle 12.In a case where the first rotating body 14 is not coaxial with the crank axle 12, the first rotating body 14 and the crank axle 12 are connected by a first transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt. In the present embodiment, the second rotating body 18 is coaxial with the rear wheel 16A. However, the second rotating body 18 may also be configured to be non-coaxial with the rear wheel 16A. In a case where the second rotating body 18 is not coaxial with the rear wheel 16A, the second rotating body 18 and the rear wheel 16A are connected by a second transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt.

[0115] The front wheel 16B is attached to the frame 32 by a front fork 38. The front fork 38 is connected to a handlebar 42 via a shaft 40. In the present embodiment, the rear wheel 16A is coupled to the crank 28 via the drive mechanism 36. However, at least one of the rear wheel 16A and the front wheel 16B may be coupled to the crank 28 via the drive mechanism 36.

[0116] The derailleur 22 is configured to actuate the transmission body 20 to change a gear ratio R of the rotational speed NW of the wheel 16 to the rotational speed NC of the crank axle 12. The relationship between the gear ratio R, the rotational speed NW, and the rotational speed NC is expressed by equation (1).

[0117] Equation (1): Gear ratio R = rotational speed NW / rotational speed NC.

[0118] The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. In a case where the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes a plurality of sprockets, and the transmission body 20 includes a chain. In a case where the derailleur 22 includes a rear derailleur, the derailleur 22 moves the chain from one of the sprockets of the second rotating body 18 to another of the sprockets, engaging with the chain. In a case where the derailleur 22 includes a front derailleur, the first rotating body 14 includes a plurality of sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain.In a case where the derailleur 22 comprises a front derailleur, the derailleur 22 moves the chain from one of the sprockets of the first rotating body 14 to another of the sprockets meshing with the chain. The derailleur 22 actuates the transmission body 20 to change the gear ratio R by changing the engagement state of the transmission body 20 with at least one of the first rotating body 14 and the second rotating body 18.

[0119] The first rotating body 14 and the second rotating body 18 may be provided on a transmission. For example, the transmission is provided near the crank axis 12. In a case where the first rotating body 14 and the second rotating body 18 are provided on the transmission, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the sprocket 22 is provided on the transmission and is configured to change the engagement state of the transmission body 20 with at least one of the first rotating body 14 and the second rotating body 18.

[0120] Preferably, the human-powered vehicle 10 further comprises a first operating device 44. The first operating device 44 is provided, for example, on the handlebar 42. The first operating device 44 is configured to be operated by a user's hand or finger, or the like. The first operating device 44 includes a first operating portion 44A. The first operating device 44 is operated by the user to intentionally prevent gear shifting. Preferably, the human-powered vehicle 10 further comprises a second operating device 45 configured to operate the derailleur 22. The second operating device 45 is provided, for example, on the handlebar 42. The second operating device 45 is configured to be operated by a user's hand or finger, or the like.The second actuating device 45 comprises at least a second actuating portion 45A and a third actuating portion 45B.

[0121] A part of the first operating device 44 and a part of the second operating device 45 may be formed integrally with each other. For example, the first operating portion 44A of the first operating device 44 and the second operating portion 45A and the third operating portion 45B of the second operating device 45 may be provided on the same base member. The first operating portion 44A includes, for example, a button switch or a lever switch. The first operating portion 44A is not limited to a button switch or a lever switch and may have any configuration, alternating between at least two states depending on the user's operation. The second operating portion 45A and the third operating portion 45B include, for example, a button switch or a lever switch.The second operation section 45A and the third operation section 45B are not limited to a button switch or a lever switch and may have any device switching between at least two states in accordance with the user's operation.

[0122] The second operating portion 45A and the third operating portion 45B are configured to operate the derailleur 22. The second operating device 45 outputs a shift operation signal to a controller 72 of the control device 70 in accordance with the user's operation. In addition to or instead of the second operating portion 45A and the third operating portion 45B, the second operating device 45 may include a fourth operating portion 45C configured to operate a human-powered vehicle component excluding the derailleur 22. The human-powered vehicle includes, for example, at least one of a bicycle computer, a suspension, an adjustable seat post, a light, and a drive unit.The shift actuation signal comprises, for example, a first actuation signal comprising an instruction to actuate the derailleur 22 to increase the gear ratio R, and a second actuation signal comprising an instruction to actuate the derailleur 22 to decrease the gear ratio R.

[0123] The second operating device 45 outputs the first operating signal when the second operating portion 45A is operated, and outputs the second operating signal when the third operating portion 45B is operated. In the present embodiment, the rear derailleur is operated by the second operating portion 45A and the third operating portion 45B. However, the front derailleur may also be operated by the second operating portion 45A and the third operating portion 45B. Both the front derailleur and the rear derailleur may be operated by the second operating portion 45A and the third operating portion 45B. In addition to the second operating portion 45A and the third operating portion 45B, the second operating device 45 may further include a fifth operating portion and a sixth operating portion.The fifth operating portion and the sixth operating portion are configured, for example, in the same manner as the second operating portion 45A and the third operating portion 45B. The rear derailleur can be operated by one of the set of the second operating portion 45A and the third operating portion 45B and the set of the fifth operating portion and the sixth operating portion, and the front derailleur can be operated by the other of the set of the second operating portion 45A and the third operating portion 45B and the set of the fifth operating portion and the sixth operating portion.

[0124] Preferably, the human-powered vehicle 10 further comprises an electric actuator 48 configured to actuate the derailleur 22. The electric actuator 48 comprises, for example, an electric motor. The electric actuator 48 may further comprise, for example, a speed reducer coupled to an output shaft of the electric motor. The electric actuator 48 may be provided on the derailleur 22 or provided on the human-powered vehicle 10 at a position separate from the derailleur 22. The electric actuator 48 is driven so that the derailleur 22 actuates the transmission body 20 to perform a shifting operation. The derailleur 22 comprises, for example, a base member, a movable member, and a connecting member that movably couples the movable member to the base member. The movable member comprises a guide member that guides a coupling member.The guide member comprises, for example, a guide plate and a pulley. The electric actuator 48 can, for example, drive the connecting member directly. The electric actuator 48 can drive the connecting member via a cable.

[0125] Preferably, the human-powered vehicle 10 further comprises a battery 46. The battery 46 comprises one or more battery elements. The battery elements comprise a rechargeable battery. The battery 46 is configured to supply the control device 70 with electrical energy. Preferably, the battery 46 is also configured to supply the electric actuator 48 with electrical energy. Preferably, the battery 46 is connected to the controller 72 of the control device 70 such that wired or wireless communication is performed. The battery 46 is configured to communicate with the controller 72, for example, via power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0126] The motor 24 is configured to drive the transmission body 20. Preferably, the motor 24 is configured to provide a driving force to the human-powered vehicle 10 in accordance with the human driving force H. The motor 24 includes one or more electric motors. The electric motor of the motor 24 is, for example, a brushless motor. The motor 24 is configured to transmit rotation of the human driving force H to a power transmission path extending from the pedals 34 to the second rotating body 18. In the present embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and configured to transmit rotation to the first rotating body 14. The human-powered vehicle 10 further includes a housing 52 on which the motor 24 is provided. A drive unit 50 is configured to include the motor 24 and the housing 52.The housing 52 is arranged on the frame 32. The housing 52 rotatably supports the crank axle 12. The motor 24 can be configured to transmit rotation to the transmission body 20, for example, without using the first rotating body 14. In this case, for example, a sprocket configured to engage with the transmission body 20 is provided on the output shaft of the motor 24 or a member to which the power of the output shaft is transmitted.

[0127] A speed reducer 54 may be provided between the motor 24 and the power transmission path of the human drive force H. The speed reducer 54 is configured, for example, to include a transmission. Preferably, a third one-way clutch 56 may be provided between the motor 24 and the power transmission path of the human drive force H to limit the transmission of the rotational force of the crank 28 to the motor 24 in a case where the crank shaft 12 is rotated in a direction in which the human-powered vehicle 10 travels forward. The third one-way clutch 56 includes, for example, at least one of a roller clutch, a one-way clutch, and a dog clutch.

[0128] The drive unit 50 includes an output section 58. The output section 58 is coupled, for example, to the crank shaft 12 and the speed reducer 54. The human driving force H and the output of the motor 24 are input to the output section 58. The first rotating body 14 is coupled to the output section 58 to rotate integrally with the output section 58.

[0129] Preferably, the power transmission system 60 includes the control device 70 and a first one-way clutch 62. The first one-way clutch 62 is provided in a first power transmission path between the crank axle 12 and the first rotating body 14 and is configured to transmit rotational force from the crank axle 12 to the first rotating body 14 in a first rotational direction and to restrict transmission of the rotational force from the first rotating body 14 to the crank axle 12 in the first rotational direction. The first one-way clutch 62 is configured to rotate the first rotating body 14 forward when the crank 28 rotates forward and to enable relative rotation of the crank 28 and the first rotating body 14 when the crank 28 rotates reversely. The first one-way clutch 62 is provided, for example, on the housing 52 of the drive unit 50. The first one-way clutch 62 is provided, for example, between the crank axle 12 and the output portion 58.The first one-way clutch 62 includes, for example, at least one of a roller clutch, a one-way clutch, and a dog clutch.

[0130] The crank shaft 12 and the first rotating body 14 can be coupled to rotate integrally with each other. In a case where the crank shaft 12 and the first rotating body 14 are coupled to rotate integrally with each other, the first one-way clutch 62 is omitted.

[0131] Preferably, the power transmission system 60 further includes a second one-way clutch 64. The second one-way clutch 64 is provided in a second power transmission path between the second rotating body 18 and the wheel 16 and is configured to transmit rotational force from the second rotating body 18 to the wheel 16 in a second rotational direction corresponding to the first rotational direction and to restrict the transmission of rotational force from the wheel 16 to the second rotating body 18 in the second rotational direction. The second one-way clutch 64 is configured to rotate the rear wheel 16A forward when the second rotating body 18 rotates forward and to enable relative rotation of the second rotating body 18 and the rear wheel 16A when the second rotating body 18 rotates reversely. The second one-way clutch 64 is provided, for example, on a hub axle of the rear wheel 16A.The second one-way clutch 64 includes, for example, at least one of a roller clutch, a one-way clutch, and a dog clutch.

[0132] The second rotating body 18 and the rear wheel 16A may be coupled to rotate together. In a case where the second rotating body 18 and the rear wheel 16A are coupled to rotate integrally with each other, the second one-way clutch 64 is omitted.

[0133] Preferably, the power transmission system 60 further includes an energy storage device 66. The energy storage device 66 is configured to store electrical energy generated by the motor 24. Preferably, the controller 72 is configured to control the motor 24 using electrical energy from the energy storage device 66. The energy storage device 66 may include the battery 46, may include a battery different from the battery 46, or may include a capacitor. The energy storage device 66 is provided, for example, on the housing 52 of the drive unit 50.

[0134] The control device 70 includes the controller 72. The controller 72 includes an arithmetic processing unit executing a predetermined control program. The arithmetic processing unit includes, for example, a central processing unit (CPU) or a microprocessing unit (MPU). Arithmetic processing units can be provided at different, separate locations. The controller 72 can include one or more microcomputers. Preferably, the control device 70 further includes a memory 74. The memory 74 stores various control programs and information used for various control operations. The memory 74 includes, for example, a non-volatile memory and a volatile memory.The non-volatile memory includes, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory.

[0135] Volatile memory includes, for example, random access memory (RAM).

[0136] Preferably, the control device 70 further comprises a drive circuit 76 of the motor 24. Preferably, the drive circuit 76 and the controller 72 are provided on the housing 52 of the control unit 50. The drive circuit 76 and the controller 72 can, for example, be provided on the same circuit substrate. The drive circuit 76 comprises an inverter circuit. The drive circuit 76 controls the electrical power supplied from the battery 46 to the motor 24. The drive circuit 76 is connected to the controller 72 so that wired or wireless communication takes place. The drive circuit 76 drives the motor 24 in accordance with a control signal from the controller 72.

[0137] Preferably, the control device 70 further comprises a vehicle speed sensor 78, a crank rotation sensor 80 and a torque sensor 82.

[0138] The vehicle speed sensor 78 is configured to detect information corresponding to the rotational speed NW of the wheel 16 of the human-powered vehicle 10. Preferably, the vehicle speed sensor 78 is configured to detect a magnet provided on the wheel 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured to output detection signals, for example, a predetermined number of times per rotation of the wheel 16. The predetermined number of times is, for example, one. The vehicle speed sensor 78 outputs a signal corresponding to the rotational speed NW of the wheel 16. The controller 72 calculates a vehicle speed V of the human-powered vehicle 10 from the rotational speed NW of the wheel 16. The vehicle speed V is calculated from the rotational speed NW of the wheel 16 and information about the circumference of the wheel 16.The information(s) about the circumference of the wheel 16 is / are stored in the memory 74.

[0139] The vehicle speed sensor 78 includes, for example, a magnetic reed forming a reed switch or a Hall element. The vehicle speed sensor 78 may be mounted on a rear fork of the frame 32 of the human-powered vehicle 10 and configured to detect a magnet attached to the rear wheel 16A, or may be provided on the front fork 38 and configured to detect a magnet attached to the front wheel 16B. In the present embodiment, the vehicle speed sensor 78 is configured so that the reed switch detects the magnet once for one rotation of the wheel 16. The vehicle speed sensor 78 may be configured in any way to detect information corresponding to the rotational speed NW of the wheel 16 of the human-powered vehicle 10 and may include, for example, an optical sensor or an acceleration sensor.The vehicle speed sensor 78 is connected to the controller 72 via a wireless communication device or an electrical cable.

[0140] The crank rotation sensor 80 is configured to detect information corresponding to the rotational speed NC of the crank axle 12 of the human-powered vehicle 10. The crank rotation sensor 80 is provided, for example, on the frame 32 of the human-powered vehicle 10 or on the drive unit 50. The crank rotation sensor 80 is configured to include a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. A ring magnet with a magnetic field whose strength varies in the circumferential direction is provided on the crank axle 12, a member that rotates in cooperation with the crank axle 12, or on the power transmission path between the crank axle 12 and the first rotating body 14. The member that rotates in cooperation with the crank axle 12 may include the output shaft of the motor 24.The output of the crank rotation sensor 80 is a signal corresponding to the rotational speed NC of the crank axis 12.

[0141] The magnet may be provided on a member that rotates integrally with the crank axle 12 in the power transmission path of the human drive force H between the crank axle 12 and the first rotating body 14. For example, in a case where the first one-way clutch is not provided between the crank axle 12 and the first rotating body 14, the magnet may be provided on the first rotating body 14. The crank rotation sensor 80 may be arbitrarily configured to detect information corresponding to the rotational speed NC of the crank axle 12 of the human-powered vehicle 10 and may include, for example, an optical sensor, an acceleration sensor, or a torque sensor instead of the magnetic sensor. The crank rotation sensor 80 is connected to the controller 72 via a wireless communication device or an electric cable.

[0142] The torque sensor 82 is configured to output a signal corresponding to the torque applied to the crank 28 by the human driving force H. The torque sensor 82 is configured to output information corresponding to the torque applied to the crank 28 by the human driving force H. For example, in a case where the first one-way clutch 62 is provided on the power transmission path, it is preferable that the torque sensor 82 be provided on the upstream side of the first one-way clutch 62 in the power transmission path. The torque sensor 82 includes, for example, a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The torque sensor 82 is provided on a member in the power transmission path or on a member near the member in the power transmission path.The member included in the power transmission path is, for example, the crank axle 12, a member that transmits the human driving force H between the crank axle 12 and the first rotating body 14, the crank arms 26, or the pedals 34. The torque sensor 82 is connected to the controller 72 via a wireless communication device or an electric cable.

[0143] Preferably, the control device 70 includes a first detector 84 configured to detect a load L of the motor 24. The first detector 84 includes a current sensor that detects the current flowing through the motor 24 and a rotation sensor that detects the rotational speed of the motor 24. Since a known method can be used to detect the load L of the motor 24 based on the current flowing through the motor 24 and the rotational speed of the motor 24, the method will not be described in detail.

[0144] Preferably, the control device 70 further includes a second detector 86 for detecting a tilt angle D of the human-powered vehicle 10. The tilt angle D includes a pitch angle of the human-powered vehicle 10. The second detector 86 includes, for example, at least one of a tilt sensor and a global positioning system (GPS). The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. In a case where the second detector 86 includes a GPS receiver, the memory 74 stores map information including information regarding the road slope in advance, and the controller 72 obtains the road slope of the current position of the human-powered vehicle 10 as the tilt angle.

[0145] Preferably, the control device 70 further comprises a gear state sensor 88. The gear state sensor 88 outputs information related to a gear state of the derailleur 22. The gear state comprises, for example, a shift stage. The gear state sensor 88 can be provided on the derailleur 22 or on the second actuating device 45. The gear state sensor 88 is configured to detect, for example, an action of the electric actuator 48. The electric actuator 48 comprises, for example, an electric motor and a speed reducer. The gear state sensor 88 is configured to detect an action of the electric motor or the speed reducer of the electric actuator 48. The gear state sensor 88 is configured to comprise, for example, a magnetic sensor, a potentiometer, a rotary encoder, a linear encoder, or an optical sensor.

[0146] The memory 74 stores information related to the gear state output by the gear state sensor 88 along with information related to the gear ratio R of the human-powered vehicle 10. The association of information about the gear state with information about the gear ratio R of the human-powered vehicle 10 can be stored as a table or function. The controller 72 receives information related to the current gear ratio R of the human-powered vehicle 10 based on the information related to the gear state output by the gear state sensor 88 and information stored in the memory 74.The information regarding the gear ratio R of the human-powered vehicle 10 may be expressed by the gear ratio R or by a parameter corresponding to the gear ratio R instead of the gear ratio R. The parameter corresponding to the gear ratio R may be a parameter expressing the gear stage.

[0147] The controller 72 is configured to control the motor 24. The controller 72 is configured to control the motor 24, for example, in accordance with at least one of the vehicle speed V of the human-powered vehicle 10, a rotational speed N of the crank 28, and the human driving force H. The human driving force H can be expressed as torque HT or power HW. In a case where the human driving force H is expressed as power HW, the human driving force H is obtained by multiplying the torque detected by the torque sensor 82 by the rotational speed NC of the crank axle 12 detected by the crank rotation sensor 80.

[0148] The controller 72 is configured to control the motor 24, for example, such that the ratio of an assist force M generated by the motor 24 to the human driving force H corresponds to a predetermined assist ratio A. The predetermined assist ratio A does not have to be constant and may change, for example, in accordance with the human driving force H, the vehicle speed V, or both the human driving force H and the vehicle speed V. The human driving force H and the assist force M may be expressed as torque or power. When the human driving force H and the assist force M are expressed as torque, the human driving force H is referred to as human torque TH and the assist force M is referred to as assist torque TM.When the human driving force H and the assisting force M are expressed as power, the human driving force H is referred to as human power WH, and the assisting force M is referred to as assisting power WM. In the description, the ratio of an output torque MT to the human torque TH of the human-powered vehicle 10 may be referred to as the assist ratio AT. The ratio of the assisting power WM of the motor 24 to the human power WH may be referred to as the assist ratio AW in the description. The assist ratio A is equal to the ratio of the driving force generated in the human-powered vehicle 10 by the assisting power of the motor 24 to the driving force generated in the human-powered vehicle by the human driving force H.

[0149] The controller 72 is configured to control the motor 24, for example, in a control state selected from a plurality of control states, differing from each other at least partially in the correspondence relationship between the human driving force H and the ratio A. The human power WH is calculated by multiplying the human torque TH by the rotational speed NC of the crank axis 12. In a case where the output of the motor 24 is input to the power transmission path of the human driving force H via the speed reducer 54, the output of the speed reducer 54 is used as the assist force M. In a case where the speed reducer 54 is not provided, the assist force WM is calculated by multiplying the output torque of the motor 24 by the rotational speed of the motor 24.When the speed reducer 54 is provided, the assist power WM is calculated by multiplying the output torque of the speed reducer 54 by an output speed of the speed reducer 54. In a case where the speed reducer 54 is provided, the memory 74 is configured to store information related to a reduction ratio of the speed reducer 54.

[0150] The controller 72 calculates the output speed of the speed reducer 54 based on the rotational speed of the motor 24 and information related to the reduction ratio of the speed reducer 54. The memory 74 stores, for example, information indicating the relationship between a control instruction of the motor 24 and the output torque of the motor 24. The controller 72 calculates the output torque of the motor 24 in accordance with, for example, information about the relationship between the control instruction of the motor 24 and the output torque of the motor 24 stored in the memory 74. The controller 72 calculates the output torque of the speed reducer 54 in accordance with, for example, the output torque of the motor 24 and information related to the reduction ratio of the speed reducer.The controller 72 is configured to output the control instruction to the drive circuit 76 of the motor 24 depending on the human torque TH or the human power WH. The control instruction includes, for example, a torque instruction value. The control states may include a control state in which the motor 24 is not driven.

[0151] The controller 72 is configured to control the motor 24 such that the assist force M becomes less than or equal to an upper limit value MX. In a case where the assist force M is expressed as torque, the controller 72 is configured to control the motor 24 such that the output torque MT becomes less than or equal to an upper limit value MTX. Preferably, the upper limit value MTX lies in a range greater than or equal to 30 Nm and less than or equal to 90 Nm. The upper limit value MTX is, for example, 80 Nm. The upper limit value MTX is determined, for example, by an output characteristic of the motor 24. In a case where the assist force M is expressed in power, the controller 72 is configured to control the motor 24 such that the assist power WM becomes less than or equal to an upper limit value WMX.

[0152] For example, in a case where the vehicle speed V becomes greater than or equal to a predetermined vehicle speed VX, the controller 72 stops the engine 24. The predetermined vehicle speed VX is, for example, 45 km per hour. The predetermined vehicle speed VX may be less than 45 km per hour and may be, for example, 25 km per hour.

[0153] For example, in a case where the rotational speed NC of the crank axis 12 is less than a predetermined rotational speed NCX, the controller 72 stops driving the motor 24 in accordance with at least one of the rotational speed N of the crank 28 and the human driving force H. The predetermined rotational speed NCX is, for example, 0 rpm. For example, in a case where the rotational speed NC of the crank axis 12 is greater than or equal to a predetermined rotational speed NCY, the controller 72 may stop the motor 24 or control the motor 24 to decrease the assist force M. The predetermined rotational speed NCY is greater than a predetermined rotational speed NC and has, for example, a value in a range of 120 rpm to 200 rpm.

[0154] Preferably, the controller 72 is configured to control the electric actuator 48. Preferably, the controller 72 is configured to control the electric actuator 48 and the motor 24. The controller 72 outputs a shift control signal for changing the gear ratio R to the electric actuator 48. In a case where the shift control signal is effected, the electric actuator 48 is actuated / actuated to actuate the derailleur 22. The shift control signal includes, for example, electrical energy for driving the electric actuator 48. Preferably, the shift control signal includes a first shift control signal comprising an instruction that the electric actuator 48 actuates the derailleur 22 to increase the gear ratio R, and a second shift control signal comprising an instruction that the electric actuator 48 actuates the derailleur 22 to decrease the gear ratio R.

[0155] Preferably, in a case where a shifting condition is met, the controller 72 is configured to control the electric actuator 48 so that the derailleur 22 is actuated to change the gear ratio R. In a case where a shifting condition for increasing the gear ratio R is met, the controller 72 transmits the first shifting control signal to the electric actuator 48 to actuate the derailleur 22 so that the electric actuator 48 increases the gear ratio R. In a case where a shifting condition for decreasing the gear ratio R is met, the controller 72 transmits the second shifting control signal to the electric actuator 48 to actuate the derailleur 22 so that the electric actuator 48 decreases the gear ratio R.

[0156] In the present embodiment, the shift condition is satisfied in a case where a shift execution condition is satisfied and shifting is not prohibited. The shift condition may be satisfied in a case where the shift execution condition is satisfied. For example, the shift execution condition is satisfied in at least one of a case where the shift operation signal is input from the second operation device 45 to the controller 72 and a case where a predetermined condition regarding a traveling state of the human-powered vehicle 10 is satisfied.The controller 72 may control the derailleur 22 in accordance with a manual operation performed by the user on the second operating device 45, may automatically control the derailleur 22 in accordance with the control state of the human-powered vehicle 10, or may control the derailleur 22 in accordance with both the manual operation performed by the user on the second operating device 45 and the control state of the human-powered vehicle 10.

[0157] The controller 72 may be configured to switch between a manual shifting mode and an automatic shifting mode. In the manual shifting mode, the derailleur 22 is controlled in accordance with the user's manual operation on the second operating device 45. In the automatic shifting mode, the derailleur 22 is automatically controlled in accordance with the driving state of the human-powered vehicle 10. For example, a third operating device may be provided on the handlebar 42 to switch between the manual shifting mode and the automatic shifting mode. In a case where the user operates the third operating device, the controller 72 may switch between the manual shifting mode and the automatic shifting mode. For example, the controller 72 alternately switches between the manual shifting mode and the automatic shifting mode each time the third operating device is operated.For example, in a case where the second operating portion 45A and the third operating portion 45B of the second operating device 45 are operated simultaneously, the controller 72 can switch between the manual shift mode and the automatic shift mode.

[0158] For example, in a case where the second operating device 45 is operated in the manual shift mode, the controller 72 may be configured to automatically switch from the manual shift mode to the automatic shift mode in accordance with a difference between a first rotational speed N1, calculated in accordance with the rotational speed NW of the wheel 16 and the gear ratio R, and a predetermined rotational speed or a rotational speed within a predetermined range. The first rotational speed N1 is given by equation (2).

[0159] Equation (2): First rotational speed N1 = rotational speed NW / gear ratio R

[0160] For example, in a case of switching to the automatic shift mode, the controller 72 controls the motor 24 and the electric actuator 48 so that the gear ratio R is set according to a difference between the first rotational speed N1 stored in the memory 74 and the predetermined rotational speed or the rotational speed within the predetermined range. In each of a case of automatically switching to the automatic shift mode and a case of switching to the automatic shift mode by user operation, the controller 72 may be configured to be switchable from the automatic shift mode to the manual shift mode in at least one of a case where a predetermined time elapses, a case where the human driving force H becomes greater than or equal to a predetermined value, and a case where the rotational value of the crank shaft 12 becomes greater than or equal to a predetermined rotational value.

[0161] The predetermined condition related to the driving state of the human-powered vehicle 10 is satisfied, for example, in at least one of a case where the rotational speed NC of the crank axle 12 is outside a predetermined first range, a case where the human-powered force H is outside a predetermined second range, and a case where the human-powered vehicle 10 is decelerating. The predetermined condition related to the driving state of the human-powered vehicle 10 may be satisfied only in one or two of the cases where the rotational speed NC of the crank axle 12 is outside a predetermined first range, a case where the human-powered force H is outside a predetermined second range, and a case where the human-powered vehicle 10 is decelerating.The controller 72 is configured to control the electric actuator 48 so that the first rotational speed N1 is contained within a predetermined range.

[0162] Preferably, the case in which the human-powered vehicle 10 is decelerated includes a case in which the deceleration in a direction corresponding to the traveling direction of the human-powered vehicle 10 becomes greater than a predetermined deceleration. Preferably, the predetermined deceleration corresponds to a deceleration in a case in which the human-powered vehicle 10 is decelerated rapidly as a result of an emergency braking.

[0163] The shift execution condition may include a condition related to a driving resistance of the human-powered vehicle 10. The driving resistance includes, for example, at least one of air resistance, rolling resistance, gradient resistance, and acceleration resistance. For example, the controller 72 may control the electric actuator 48 to decrease the gear ratio R when the driving resistance increases and to increase the gear ratio R when the driving resistance decreases.

[0164] The controller 72 comprises at least one of the following configurations (A1), (A2), (A3), and (A4). The controller 72 may comprise two, three, or all of the configurations (A1), (A2), (A3), and (A4).

[0165] (A1) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R does not increase in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to a second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to a predetermined rotational speed NWX. In the embodiment (A1), the controller 72 may be configured to control the electric actuator 48 so that the gear ratio R does not increase in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 and the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX.

[0166] (A2) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed until a first condition related to shifting is satisfied in a case where the derailleur 22 is / is operated.

[0167] (A3) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed with the derailleur 22 until a second condition related to shifting is satisfied in a case where the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within a predetermined third time T3.

[0168] (A4) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed with the derailleur 22 in a case where the vehicle speed V of the human-powered vehicle 10 is less than or equal to a first speed V1 or the rotational speed NW of the wheel 16 is less than or equal to a predetermined rotational speed NX, even if the predetermined condition regarding the traveling state of the human-powered vehicle 10 is satisfied.

[0169] In a case where the controller 72 includes configuration (A1), the controller 72 does not perform control of the electric actuator 48 to increase the gear ratio R in at least one of a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 and a case where the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX. For example, in at least one of a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 and a case where the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX, the controller 72 does not transmit the first shift control signal to the electric actuator 48.For example, in at least one of a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 and a case where the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX, the controller 72 is configured to transmit the second shift control signal to the electric actuator 48 in accordance with the shift execution condition. In at least one of a case where the vehicle speed V is greater than or equal to the second speed V2 and the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX, the controller 72 controls the electric actuator 48 not to increase the gear ratio R, so that increases in the vehicle speed V of the human-powered vehicle 10 are limited.

[0170] In a case where the controller 72 includes the configuration (A2), the controller 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed until the first condition related to shifting is satisfied, for example, in a case where the derailleur 22 is operated / set by operating the second operating device 45.Preferably, the first condition related to shifting is satisfied in at least one of a case where a predetermined first time T1 elapses from the time the second operating device 45 is operated, a case where a predetermined second time T2 elapses from the time the electric actuator 48 stops, a case where the inclination angle D of the human-powered vehicle 10 becomes greater than or equal to a predetermined first angle D1, and a case where the vehicle speed V of the human-powered vehicle 10 becomes greater than or equal to a predetermined third speed V3. The controller 72 does not execute control of the electric actuator 48 to change the gear ratio R in a case where the derailleur 22 is operated and the first condition related to shifting is not satisfied.For example, in a case where the derailleur 22 is actuated and the first condition related to shifting is not met, the controller 72 does not output the first shift control signal and the second shift control signal to the electric actuator 48. The predetermined first time T1 is, for example, within a range of 0.1 seconds to 10 seconds. The predetermined second time T2 is, for example, within a range of 0.1 seconds to 10 seconds. The predetermined first angle D1 is, for example, an inclination angle of the human-powered vehicle 10 that is greater than or equal to 5 degrees.

[0171] In a case where the controller 72 includes the configuration (A3), the second condition related to the switching is satisfied, for example, in at least one of a case where a predetermined fourth time T4 elapses from the time point of the electric actuator 48 stopping, a case where the inclination angle D of the human-powered vehicle 10 becomes greater than or equal to a predetermined second angle D2, and a case where the vehicle speed of the human-powered vehicle 10 becomes greater than or equal to a predetermined fourth speed V4.The controller 72 does not perform control on the electric actuator 48 to change the gear ratio R in a case where the second condition related to shifting is not satisfied and the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. For example, the controller 72 does not output the first shift control signal and the second shift control signal to the electric actuator 48 when the second condition related to shifting is not satisfied and the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. The predetermined fourth time T4 is, for example, in a range of 0.1 second to 10 seconds.The fourth speed V4 is, for example, greater than or equal to 3 km per hour. The predetermined second angle D2 is, for example, an inclination angle of the human-powered vehicle 10 greater than or equal to 5 degrees.

[0172] In a case where the controller 72 includes configuration (A4), the first speed V1 and the predetermined rotational speed NX have values ​​suitable for determining a stoppage of the travel of the human-powered vehicle 10. The first speed V1 has, for example, a value in a range from 0 km / h to 3 km / h. The predetermined rotational speed NX has, for example, a value in a range from 0 rpm to 5 rpm. In a case where the first speed V1 and the predetermined rotational speed NX have values ​​suitable for determining a stoppage of the travel of the human-powered vehicle 10, the controller 72 limits changes in the gear ratio R in a case where the human-powered vehicle 10 stops. This prevents the human-powered vehicle 10 from stopping during a shifting operation of the derailleur 22.

[0173] The controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and a predetermined pedaling condition is met. Preferably, the controller 72 is configured to control the motor 24 and drive the transmission body 20 so as not to apply any driving force to the human-powered vehicle 10 when the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met. The controller 72 controls the transmission body 20 so that the driving force of the motor 24 is not transmitted to the rear wheel 16A when the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met.For example, the controller 72 is configured to control the motor 24 so that the transmission body 20 is driven by the motor 24 and the rear wheel 16A is not rotated by the motor 24. For example, the controller 72 is configured to control the motor 24 so that the rotational speed of the second rotating body 18 becomes less than or equal to the rotational speed of the rear wheel 16A. The controller 72 can control the motor 24 so that no driving force is applied to the human-powered vehicle 10, in accordance with information related to the rotational speed or torque of the motor 24, prestored in the memory 74.

[0174] Preferably, the controller 72 is configured to control the electric actuator 48 and the motor 24 such that the relative movement of the derailleur 22 and at least one of the first rotary body 14 and the second rotary body 18 is started simultaneously when the motor 24 is driven or before the motor 24 is driven in a case where the electric actuator 48 and the motor 24 are controlled to change the gear ratio R and the predetermined condition regarding pedaling is met. The controller 72 may be configured to control the electric actuator 48 and the motor 24 such that the relative movement of the derailleur 22 and at least one of the first transmission body 14 and the second rotary body 18 is started after the motor 24 is driven in a case where the electric actuator 48 and the motor 24 are controlled to change the gear ratio R and the predetermined condition regarding pedaling is met.

[0175] During the shifting condition, the controller 72 may be configured to control the electric actuator 48 such that the derailleur 22 is / will be actuated through a plurality of shifting stages. In this case, the shifting control signal includes a signal for actuating the derailleur 22 through a plurality of shifting stages. The controller 72 may be configured to control the motor 24 such that the rotational speed of the motor 24 in a case where the derailleur 22 changes the shifting stage two or more times to achieve the target gear ratio R is greater than the rotational speed of the motor 24 in a case where the derailleur 22 changes the shifting stage only once to achieve the target gear ratio R.Preferably, the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition regarding pedaling is satisfied.

[0176] The controller 72 is configured to control the electric actuator 48 such that the shift stage of the derailleur 22 approaches a predetermined shift stage or the gear ratio R approaches a predetermined gear ratio R when the human-powered vehicle 10 is decelerated. The controller 72 is configured to control the electric actuator 48 and to change the shift stage of the derailleur 22 in steps when a difference between the predetermined shift stage and the current shift stage of the derailleur 22 or a difference between the predetermined gear ratio R and the current gear ratio R is / becomes less than or equal to a predetermined value.The controller 72 is configured to control the electric actuator 48 to continuously operate the derailleur 22 through a plurality of shift stages when the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R exceeds the predetermined value.

[0177] Information related to the predetermined shift stage or information related to the predetermined gear ratio R is / are stored in the memory 74 as the target gear ratio R, for example, in a case where the human-powered vehicle 10 is decelerated. In a case where shifting is performed according to the information related to the predetermined shift stage, it is preferable that the predetermined value is such that the difference between the predetermined shift stage and the actual shift stage of the derailleur 22 corresponds to a range of one stage to three stages.In a case where the shifting is performed according to the information(s) related to the predetermined gear ratio R, it is preferable that the predetermined value is such that the difference of the predetermined gear ratio R and the current gear ratio R corresponds to a range of one stage to three stages when converted into a shift stage.

[0178] Preferably, the controller 72 is configured to control the electric actuator 48 such that a fifth time T5 during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 is / becomes less than or equal to a predetermined fifth speed V5 becomes shorter than a sixth time T6 during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5.In a case in which the second rotating body 18 comprises one or more shifting support ranges suitable for shifting, it takes less time with increasing vehicle speed V until the shifting support range of the second rotating body 18, after passing through the range in which the transmission body 20 is moved by the derailleur 22, transitions back into the range in which the transmission body 20 moves.

[0179] Preferably, the fifth speed V5 is less than or equal to 10 km per hour. Preferably, the fifth time T5 is set to a time sufficient to change the gear ratio R through a plurality of shift stages in accordance with the shift control signal when the vehicle speed V of the human-powered vehicle 10 is / becomes less than or equal to the predetermined fifth speed V5. Preferably, the sixth time T6 is set to a time sufficient to change the gear ratio R through a plurality of shift stages in accordance with the shift control signal in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5.

[0180] The controller 72 may be configured to change the operating speed of the derailleur 22 in a case where the derailleur 22 is shifted through a plurality of shift stages. The controller 72 may be configured to control the electric actuator 48 to stop the derailleur 22 each time the shift stage is changed by one stage and to change a predetermined interval until the next operation begins. For example, the predetermined interval is in a range greater than or equal to 0.5 seconds and less than 1 second when the vehicle speed V is / becomes less than or equal to 15 km per hour, and in a range greater than or equal to 0.25 seconds and less than 0.5 seconds when the vehicle speed V is / becomes greater than 15 km per hour.The shifting condition may include a condition for shifting the derailleur 22 through a plurality of shifting steps or may include only a condition for shifting the derailleur 22 by only one step.

[0181] Preferably, the predetermined condition related to pedaling is satisfied in at least one of a case where the human driving force H applied to the crank axle 12 is less than or equal to a predetermined driving force HX, a case where the rotational speed NC of the crank axle 12 is less than or equal to a second rotational speed NC2, and a case where the crank axle 12 is oscillating. Preferably, the predetermined condition related to pedaling determines that pedaling is / has been stopped. Preferably, the predetermined driving rotational force HX and the second rotational speed NC2 have values ​​suitable for determining a standstill of the rotation of the crank axle 12 of the human-powered vehicle 10. The predetermined driving force HX has, for example, a value in a range of 0 Nm to 3 Nm. The second rotational speed NC2 has, for example, a value in a range of 0 rpm to 5 rpm.The case where the crank shaft 12 oscillates includes a case where the crank shaft 12 is not completely stopped and a rotation angle CC of the crank shaft 12 has been maintained within a predetermined angular range. The predetermined angular range is, for example, greater than or equal to 1 degree and less than or equal to 20 degrees.

[0182] For example, in a case where the rider's feet are on the pedals 34 and the rider is not pedaling, the crank axle 12 may swing. In a case where the rotation of the crank axle 12 is stopped or the crank axle 12 swings, the first rotating body 14 and the second rotating body 18 are not rotated by the human driving force H. Therefore, shifting cannot be performed even in a case where the derailleur 22 is operated. In a case where the derailleur 22 is operated to change the gear ratio R and the rotation of the crank axle 12 is stopped or the crank axle 12 swings, the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24, so that the first rotating body 14 and the second rotating body 18 are rotated. This allows the derailleur 22 to perform shifting.

[0183] The controller 72 includes at least one of the following configurations (B1), (B2), (B3), and (B4), and controls the motor 24 when the derailleur 22 is actuated to change the gear ratio R and the predetermined pedaling condition is met. The controller 72 may include two, three, or all of the configurations (B1), (B2), (B3), and (B4).

[0184] (B1) The controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24, so that the rotational speed NM of the motor 24 increases as the difference DN between the first rotational speed N1, calculated according to the rotational speed NW of the gear 16 and the gear ratio R, and the predetermined rotational speed NX or a rotational speed NA within a predetermined range. Preferably, the first rotational speed N1, the predetermined rotational speed NX, and the rotational speed NA within the predetermined range correspond to the rotational speed NC of the crank axle 12. The predetermined rotational speed NX and the rotational speed NA within the predetermined range are greater than or equal to 50 rpm and less than or equal to 80 rpm.

[0185] (B2) The controller 72 is configured to change the rotational speed of the motor 24 according to the acceleration of the human-powered vehicle 10 in the traveling direction. The controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 to increase the rotational speed NM of the motor 24 as the acceleration of the human-powered vehicle 10 increases.

[0186] (B3) The controller 72 is configured to control the motor 24 to change at least one of a rotation angle CA of the motor 24 and the output torque MT of the motor 24 according to a state of the human-powered vehicle 10. The state of the human-powered vehicle 10 includes at least one of the rotational speed NW of the wheel 16 and the gear ratio R. Preferably, the controller 72 is configured to control the motor 24 so that at least one of a rotation angle MN of the motor 24 and the output torque MT is increased when the difference between the first rotational speed N1 calculated according to the rotational speed NW of the wheel 16 and the gear ratio R and the predetermined rotational speed NX or the rotational speed NA is increased within the predetermined range.

[0187] (B4) The controller 72 is configured to control the motor 24 to change at least one of the rotation angle CA of the motor 24 and the output torque MT of the motor 24 according to a state of the human-powered vehicle 10. The state of the human-powered vehicle 10 includes a change in the vehicle speed V of the human-powered vehicle 10 or a change in the rotational speed NW of the wheel 16. Preferably, the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 to increase at least one of the rotation angle of the motor 24 and the output torque MT when an acceleration or deceleration of the human-powered vehicle 10 in the traveling direction increases or an acceleration or deceleration of the rotational speed NW of the wheel 16 increases in a rotational direction corresponding to the traveling direction of the human-powered vehicle 10.The controller 72 is configured to calculate the acceleration or deceleration of the human-powered vehicle 10 in the direction of travel, for example, by differentiating the vehicle speed V. The human-powered vehicle 10 may include an acceleration sensor that detects information regarding the acceleration or deceleration of the human-powered vehicle 10 in the direction of travel. In a case where the human-powered vehicle 10 includes an acceleration sensor, the controller 72 receives the information detected by the acceleration sensor.

[0188] Instead of or in addition to at least one of configurations (B1), (B2), (B3), and (B4), the human-powered vehicle 10 may be configured to set up the control such that the output of the motor 24 differs according to the gear ratio R or the gear stage. Preferably, the memory 74 stores information related to the gear ratio R together with information related to the output of the motor 24. The association of information related to the gear ratio R with information related to the output of the motor 24 may be stored in the form of a table or a function. The controller 72 is configured to control the motor 24 in accordance with the detection result of the gear state sensor 88 and the information stored in the memory 74.

[0189] Preferably, the controller 72 is configured to control the motor 24 not to drive the transmission body 20 when the first actuating device 44 is also actuated in a case where the actuating device 22 is actuated to change the gear ratio R and the predetermined condition related to pedaling is met. The controller 72 is configured to control the motor 24 not to drive the transmission body 20 when a non-drive condition of the motor 24 is also met in a case where the derailleur 22 is actuated to change the gear ratio R and the predetermined condition related to pedaling is met. The non-drive condition of the motor 24 includes at least one of a first non-drive condition and a second non-drive condition.In a case where only one or both of the first non-drive condition and the second non-drive condition are met, the controller 72 may be configured to control the motor 24 to stop.

[0190] The first non-drive condition is satisfied in at least one of during the operation of the first operating device 44 and in a predetermined period after the operation of the first operating device 44. In a case where the controller 72 controls the motor 24 under the first non-drive condition, the controller 72 is configured to control the motor 24 so as not to drive the transmission body 20 in at least one of during the operation of the first operating device 44 and in the predetermined period after the operation of the first operating device 44, even in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition related to pedaling is satisfied.

[0191] The non-drive condition is satisfied when the first operating portion 44A of the first operating device 44 is operated or a predetermined operation is performed on the first operating device 44. In a case where the controller 72 controls the motor 24 under the second non-drive condition, the controller 72 is configured to control the motor 24 not to drive the transmission body 20 when the first operating portion 44A of the first operating device 44 is operated or the predetermined operation is performed on the first operating portion 44A, even in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition related to pedaling is satisfied.

[0192] Instead of or in addition to at least one of the first non-drive condition and the second non-drive condition, the controller 72 may be configured to control the motor 24 so as not to drive the transmission body 20 in a case where at least one of the following third to sixth non-drive conditions is / is satisfied.

[0193] The non-drive condition is met when the acceleration of the muscle-powered vehicle 10 in the direction of travel is / becomes greater than a first value. The non-drive condition is met when the deceleration of the muscle-powered vehicle 10 in the direction of travel is / becomes greater than a second value. The fifth non-drive condition is met when the acceleration of the rotational speed NW of the wheel 16 in the direction of rotation corresponding to the direction of travel of the muscle-powered vehicle 10 is / becomes greater than a third value. The sixth non-drive condition is met when the deceleration of the rotational speed NW of the wheel 16 in the direction of rotation corresponding to the direction of travel of the muscle-powered vehicle 10 is / becomes greater than a fourth value.The controller 72 is configured to calculate at least one of the acceleration and deceleration of the rotational speed NW of the wheel 16 in the direction of travel corresponding to the direction of travel of the human-powered vehicle 10, for example, by differentiating the rotational speed NW of the wheel 16. The first value and the third value correspond to a rapid acceleration of the human-powered vehicle 10 and are preset, for example, based on tests. The second value and the fourth value correspond to a rapid deceleration of the human-powered vehicle 10 and are preset, for example, based on tests. In a case where the human-powered vehicle 10 accelerates or decelerates rapidly in the direction of travel, the controller 72 restricts changes in the gear ratio R.

[0194] In a case where the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24 when the predetermined pedaling condition is met, the controller 72 is configured to control the motor 24 to stop the drive of the transmission body 20 with the motor 24 when a stop condition of the motor 24 is / becomes met. The stop condition of the motor 24 includes at least one of a first stop condition and a second stop condition. In a case where only one or both of the first stop condition and the second stop condition are met, the controller 72 may be configured to control the motor 24 to stop.

[0195] The first stop condition relates to the load L of the motor 24. In a case where the motor 24 is controlled under the first stop condition, the controller 72 is configured, for example, to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition related to pedaling is satisfied, and to stop the drive of the transmission body 20 with the motor 24 in accordance with the load L of the motor 24. The first stop condition is satisfied, for example, in a case where the load L on the motor 24 is / becomes greater than or equal to a predetermined load L1.Preferably, in a case where the actuator 22 is operated to change the gear ratio R, the predetermined condition regarding pedaling is satisfied and the load L of the motor 24 is greater than or equal to the predetermined load L1, the controller 72 is configured to control the motor 24 so that the motor 24 is stopped.

[0196] The predetermined load L1 is set, for example, to a value greater than a load L generated to rotate the rear wheel 16A with only the driving force of the motor 24 in a state where the rear wheel 16A of the human-powered vehicle 10 is off the ground and freely rotatable, and smaller than a load L generated to drive the human-powered vehicle 10 on a flat road. In this case, in a state where the rear wheel 16A of the human-powered vehicle 10 is off the ground and freely rotatable, the transmission body 20 is driven by the motor 24. In a state where the rear wheel 16A of the human-powered vehicle 10 is in contact with the ground, the human-powered vehicle 10 is not driven on the flat road only by the driving force of the motor 24.

[0197] The second stop condition relates to the vehicle speed V of the human-powered vehicle 10 or the rotational speed NW of the wheel 16. The second stop condition is met when the vehicle speed V of the human-powered vehicle 10 is / becomes less than or equal to the first speed V1 or the rotational speed NW of the wheel 16 is / becomes less than or equal to the predetermined rotational speed NX. In a case where the motor 24 is controlled under the second stop condition, the controller 72 is configured to control the motor 24 and stop the drive of the transmission body 20, for example, in a case where the predetermined condition regarding pedaling is met and the vehicle speed V of the human-powered vehicle 10 becomes less than or equal to the first speed V1 or the rotational speed NW of the wheel 16 becomes less than or equal to the predetermined rotational speed NX.The first speed V1 and the predetermined rotational speed NX have values ​​suitable, for example, for determining a travel stop of the human-powered vehicle 10. The first speed V1 has, for example, a value in a range from 0 km / h to 3 km / h. The predetermined rotational speed NX has, for example, a value in a range from 0 rpm to 5 rpm.

[0198] Even in a case where the human-powered vehicle 10 is idling, the controller 72 restricts changes in the gear ratio R in a case where the human-powered vehicle 10 stops. In a case where the motor 24 is controlled under the second stop condition, the controller 72 may be configured to control the motor 24 and stop the drive of the transmission body 20, for example, in a case where the predetermined condition regarding pedaling is satisfied, the predetermined condition regarding a traveling state of the human-powered vehicle 10 is satisfied, and the vehicle speed V of the human-powered vehicle 10 becomes less than or equal to the first speed V1, or the rotational speed NW of the wheel 16 becomes less than or equal to the predetermined rotational speed NX.In a case where the controller 72 changes the gear ratio R with the derailleur 22 based on the riding condition regardless of the rider's intention, this arrangement avoids a situation where the gear ratio R is reduced when the human-powered vehicle 10 is stopped. The controller 72 may be configured to set a lower limit of the gear ratio R in a case where the vehicle speed V becomes less than or equal to the first speed V1 or the rotational speed NW of the wheel 16 becomes less than or equal to the predetermined rotational speed NX.

[0199] In a case where the vehicle speed V becomes less than or equal to the first speed V1 or the rotational speed NW of the wheel 16 becomes less than or equal to the predetermined rotational speed NX, the controller 72 changes the gear ratio R with the derailleur 22 so that the gear ratio R does not become less than the lower limit value. In this case, the human-powered vehicle 10 will not continue traveling in a state where the gear ratio R is / becomes less than the lower limit value. Thus, the human-powered vehicle 10 preferentially resumes traveling. The lower limit value of the gear ratio R is stored in the memory 74. The controller 72 may be configured to change the lower limit value of the gear ratio R stored in the memory 74 in accordance with a user operation on the first operating device 44 or an external device 90.The external device 90 includes, for example, at least one of a personal computer, a tablet computer, and a smartphone.

[0200] Instead of or in addition to the configuration that controls the motor 24 under at least one of the first stop condition and the second stop condition, the controller 72 may be configured to stop the motor 24 based on at least one of a third stop condition and a fourth stop condition. The third stop condition is met when the motor 24 is driven but the gear ratio R remains the same. The fourth stop condition is met in a case where the braking force of a braking device of the human-powered vehicle 10 is / becomes greater than or equal to a predetermined braking force.

[0201] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 5. In a case where electrical power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S11 of the Fig. 5. After completing the process shown in Fig. 5, the controller 72 repeats the process from step S11 in predetermined cycles until the supply of electrical energy is stopped.

[0202] In step S11, the controller 72 determines whether the shift execution condition is / will be met. If the shift condition is not met, the controller 72 ends the process. If the shift condition is met, the controller 72 proceeds to step S12.

[0203] In step S12, the controller 72 determines the target gear ratio R and proceeds to step S10. In step S12, a target gear stage may be determined instead of the target gear ratio R.

[0204] In step S10, the controller 72 determines whether shifting is / will be performed. If it is determined that shifting is possible, the controller 72 proceeds to step S13. If it is determined that shifting is not possible, the controller 72 ends the process. The derailleur 22, the first rotating body 14, and the second rotating body 18 form a gear ratio. The gear ratio is configured to perform shifting in a range that is greater than or equal to a minimum gear ratio R and less than or equal to a maximum gear ratio R determined by the first rotating body 14 and the second rotating body 18. In a case where the current gear ratio R is the minimum gear ratio R, the controller 72 is configured not to execute control to decrease the gear ratio R.

[0205] In a case where the present gear ratio R is the maximum gear ratio R, the controller 72 is configured not to execute control increasing the gear ratio R. For example, the controller 72 determines whether the target gear ratio R is greater than or equal to the minimum gear ratio R and less than or equal to the maximum gear ratio R determined by the first rotating body 14 and the second rotating body 18. Information related to the minimum gear ratio R and the maximum gear ratio R is / are stored in the memory 74.In step S10, in a case where the target gear ratio R is greater than or equal to the minimum gear ratio R and less than or equal to the maximum gear ratio R determined by the first rotary body 14 and the second rotary body 18, the controller 72 determines that the shift is feasible and proceeds to step S13. In step S10, in a case where the target gear ratio R is not greater than or equal to the minimum gear ratio R and not less than or equal to the maximum gear ratio R determined by the first rotary body 14 and the second rotary body 18, the controller 72 determines that the shift is not feasible and ends the process.

[0206] In a case where the target shift stage is determined instead of the target gear ratio R in step S12, the controller 72 may compare the target shift stage with information related to the shift stage stored in the memory 74 in step S10. For example, if the target shift stage is a thirteenth shift stage and the memory 74 stores information related to the first to twelfth shift stages, the controller 72 determines that the shift is not feasible and terminates the process.

[0207] In step S13, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is met, the controller 72 proceeds to step S20.

[0208] In step S20, the controller 72 determines whether the non-drive condition is met. If the non-drive condition is not met, the controller 72 proceeds to step S30. If the non-drive condition is met, the controller 72 ends the process.

[0209] In step S30, the controller 72 determines whether shifting is prohibited. If it is determined in step S30 that shifting is not prohibited, the controller 72 proceeds to step S14. In step S30, if it is determined that shifting is prohibited, the controller 72 ends the process. The controller 72 determines whether shifting is prohibited, for example, in accordance with at least one of the configurations (B1), (B2), (B3), and (B4). For example, in a case where the controller 72 includes the configuration (B1), the controller 72 determines that shifting is prohibited in a case where the target gear ratio R is greater than the current gear ratio R. In a case where the target gear ratio R is smaller than the current gear ratio R, the controller 72 determines that shifting is not prohibited.

[0210] For example, in a case where the controller 72 includes the configuration (B2), the controller 72 determines that shifting is prohibited until the first condition related to shifting is satisfied in a case where the actuator 22 is operated, and determines that shifting is not prohibited in a case where the first condition related to shifting is satisfied. For example, in a case where the controller 72 includes the configuration (B3), the controller 72 determines that shifting is prohibited until the second condition related to shifting is satisfied in a case where the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. In a case where the second condition related to shifting is satisfied, the controller 72 determines that shifting is not prohibited.

[0211] The predetermined third time T3 is, for example, within a range of 1 second to 10 seconds. The predetermined number of times is, for example, within a range of 2 times to 10 times. For example, in a case where the controller 72 includes the configuration (B4), the controller 72 determines that shifting is prohibited in a case where the vehicle speed V of the human-powered vehicle 10 is less than or equal to the first speed V1, and determines that shifting is not prohibited in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the first speed V1.For example, in a case where the controller 72 includes the configuration (B4), the controller 72 determines that shifting is prohibited in a case where the rotational speed NW of the wheel 16 is less than or equal to the predetermined rotational speed NX, and determines that shifting is not prohibited in a case where the rotational speed NW of the wheel 16 exceeds the predetermined rotational speed NX.

[0212] In step S14, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S15. In step S15, the controller 72 controls the electric actuator 48 so that the derailleur 22 begins shifting to achieve the target gear ratio R, and then proceeds to step S16. In the present embodiment, the controller 72 executes steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the motor 24 is driven before the electric actuator 48 begins shifting. In other words, the controller 72 executes steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the transmission body 20 is driven before the derailleur 22 begins to be actuated.

[0213] The controller 72 may execute steps S14 and S15 to control the motor 24 and the electric actuator 48 such that the electric actuator 48 begins to operate simultaneously with the start of driving the motor 24. In other words, the controller 72 may execute steps S14 and S15 to control the motor 24 and the electric actuator 48 such that the derailleur 22 begins to operate simultaneously with the start of driving the transmission body 20. The controller 72 may execute steps S14 and S15 to control the motor 24 and the electric actuator 48 such that the motor 24 is driven after the electric actuator 48 begins to operate. In other words, the controller 72 may execute steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the transmission body 20 is driven after the derailleur 22 starts to operate.

[0214] In step S16, the controller 72 determines whether the stop condition of the motor 24 is / will be met. If the stop condition of the motor 24 is not met, the controller 72 proceeds to step S17. In step S17, the controller 72 determines whether the shifting operation is completed. If the shifting is not completed, the controller 72 proceeds to step S16. In step S16, if the stop condition of the motor 24 is met, the controller 72 proceeds to step S18. In step S17, if the shifting is completed, the controller 72 proceeds to step S18. In step S18, the controller 72 controls the motor 24 to stop it and then ends the operation.

[0215] In step S13, if the predetermined pedaling condition is not met, the controller 72 proceeds to step S19. In step S19, the controller 72 controls the electric actuator 48 and operates the derailleur 22 with the electric actuator 48 to obtain the target gear ratio R, and then terminates the process.

[0216] Preferably, the controller 72 is configured to receive a signal for adjusting the position of the derailleur 22. The controller 72 is configured to drive the motor 24 when the signal for adjusting the position of the derailleur 22 is received, and is configured to control the electric actuator 48 such that the position of the derailleur 22 corresponds to a first gear ratio R1 when the first gear ratio R1 does not correspond to the current position of the derailleur 22 according to the rotational speed of the motor 24 and the rotational speed NW of the wheel 16.

[0217] The external device 90, connected to the controller 72, outputs, for example, the signal for adjusting the position of the derailleur 22. The signal for adjusting the position of the derailleur 22 can be transmitted from the first operating device 44 or the second operating device 45. For example, the second operating device 45 can be configured to transmit the signal for adjusting the position of the derailleur 22 in a case where the second operating portion 45A and the third operating portion 45B are operated simultaneously. Preferably, the control device 70 includes an interface 89. The interface 89 includes at least one of a wireless communication device and a connection of a communication line. The interface 89 is connected to the controller 72 so that it can communicate with the controller 72.In a case where the interface 89 includes a wireless communication device, the interface 89 is connected to perform communication with at least one of the external device 90, the first operating device 44, and the second operating device 45, for example, through near-field communication such as Bluetooth (registered trademark) or ANT+ (registered trademark).

[0218] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 for adjusting the position of the derailleur 22 will now be described with reference to Fig. 6. In a case where electrical power is supplied to the controller 72, the controller 72 starts the process and goes to step S21 of the Fig. 6. After completing the process described in Fig. 6, the controller 72 repeats the process from step S21 in predetermined cycles until the supply of electric power is stopped. The position of the derailleur 22 is adjusted in a state where the rear wheel 16A of the human-powered vehicle 10 is off the ground and freely rotatable.

[0219] In step S21, the controller 72 determines whether a signal for adjusting the position of the derailleur 22 is received. If the signal for adjusting the position of the derailleur 22 is not received, the controller 72 ends the process. If the signal for adjusting the position of the derailleur 22 is received, the controller 72 proceeds to step S22.

[0220] In step S22, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S23. In step S23, the controller 72 determines whether the motor 24 is rotating. If it is determined that the motor 24 is rotating, the controller 72 proceeds to step S24. If it is determined that the motor 24 is not rotating, the controller 72 proceeds to step S28. In step S23, instead of determining whether the motor 24 is rotating, the controller 72 may determine whether the first rotating body 14 is rotating, whether the second rotating body 18 is rotating, or whether the rear wheel 16A is rotating. In any case where it is determined that the first rotating body 14 is rotating, in a case where it is determined that the second rotating body 18 is rotating, and in a case where it is determined that the rear wheel 16A is rotating, the controller 72 proceeds to step S24.

[0221] In step S24, the controller 72 determines whether the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 corresponds to the current position of the derailleur 22. For example, based on the current position of the derailleur 22 detected by the gear state sensor 88, the controller 72 determines whether the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 corresponds to the current position of the derailleur 22. In a case where the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 corresponds to the current position of the derailleur 22, the controller 72 proceeds to step S28.In a case where the first gear ratio R1, corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16, does not correspond to the current position of the derailleur 22, the controller 72 proceeds to step S25.

[0222] In step S25, the controller 72 controls the electric actuator 48 and begins operating the derailleur 22 to decrease or increase the gear ratio R, and then proceeds to step S26. In step S25, the controller 72 determines whether the derailleur 22 is operated to increase the gear ratio or to decrease the gear ratio, in accordance with the first gear ratio R1, the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16, and the current position of the derailleur 22, and controls the electric actuator 48.

[0223] In step S26, the controller 72 determines whether the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 agrees with the current position of the derailleur 22. The controller 72 executes the determination process of step S26, for example, in the same manner as that of step S24. In a case where the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 does not agree with the current position of the derailleur 22, the controller 72 executes step S26 again. In the case where the first gear ratio R1 corresponding to the rotational speed NM of the motor 24 and the rotational speed NW of the wheel 16 agrees with the current position of the derailleur 22, the controller 72 proceeds to step S27.

[0224] In step S27, the controller 72 controls the electric actuator 48 to stop the operation of the derailleur 22 and proceeds to step S28. In step S28, the controller 72 controls the motor 24 to stop the motor 24 and ends the process.

[0225] In the present embodiment, in a case where the motor 24 is driven in step S14, it is preferable that the controller 72 controls the motor 24 so that the rotational speed of the second rotating body 18 driven by the motor 24 is lower than the rotational speed of the rear wheel 16A. In a case where the rotational speed of the second rotating body 18 driven by the motor 24 is lower than the rotational speed of the rear wheel 16A, the driving force of the motor 24 is not transmitted to the rear wheel 16A. In a case where the motor 24 is driven in step S14, the controller 72 may control the motor 24 so that the load L of the motor 24 is less than a load L generated to drive the human-powered vehicle 10 on a flat road. Second embodiment

[0226] A second embodiment of a control device 70 will now be described with reference to Fig. 7 and Fig. 8. The control device 70 of the second embodiment is the same as the control device 70 of the first embodiment, except that the second embodiment is switchable between a first mode and a second mode. Therefore, the same reference numerals are used for those components that are identical to the corresponding components of the first embodiment. Such components will not be described in detail.

[0227] The controller 72 may be configured to be switchable between the first mode and the second mode. The controller 72 is configured to control the motor 24 in the first mode to drive the transmission body 20 in accordance with a state of the human-powered vehicle 10 in a case where the second operating device 45 is operated and the predetermined pedaling condition is met. The controller 72 is configured to control the motor 24 in the second mode to not drive the transmission body 20 with the motor 24 in a case where the second operating device 45 is operated and the predetermined pedaling condition is met.

[0228] The controller 72 is configured to be switchable between the first mode and the second mode, for example, in accordance with the operation of at least one of the second operating device 45 and the external device 90. In the first mode, the controller 72 may be configured to control the motor 24 to drive the transmission body 20 in accordance with a state of the human-powered vehicle 10 in a case where the switching condition is satisfied as a result of the predetermined condition related to a traveling state of the human-powered vehicle 10 and the predetermined condition related to pedaling is satisfied.In the second mode, the controller 72 may be configured to control the motor 24 so as not to drive the transmission body 20 even in a case where the switching condition is satisfied as a result of the predetermined condition related to a traveling state of the human-powered vehicle 10 and the predetermined condition related to pedaling is satisfied.

[0229] An operation of the controller 72 for switching between the first mode and the second mode will be described with reference to Fig. 7. In a case where electrical power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S31 of the Fig. 7. After completing the process shown in Fig. 7, the controller 72 repeats the process from step S31 in predetermined cycles until the supply of electrical power is stopped.

[0230] In step S31, the controller 72 determines whether there is a mode switching request. The controller 72 determines that there is a mode switching request, for example, in a case where a mode switching operation is performed on at least one of the second operating device 45 and the external device 90. If there is no mode switching request, the controller 72 ends the process. In a case where there is a mode switching request, the controller 72 proceeds to step S32.

[0231] In step S32, the controller 72 determines whether the controller 72 is in the first mode. If the controller 72 is in the first mode, the controller 72 proceeds to step S33. In step S33, the controller 72 switches to the second mode and terminates the process.

[0232] In step S32, if the controller 72 is not in the first mode, the controller 72 proceeds to step S34. In step S34, the controller 72 switches to the first mode and ends the process.

[0233] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 5 and Fig. 8. In a case where electrical power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S11 of the Fig. 5. After completing the process shown in Fig. 5, the controller 72 repeats the process from step S11 in predetermined cycles until the supply of electrical power is stopped.

[0234] In a case where an affirmative determination is made in step S13, the controller 72 continues with the Fig. 8. In step S41, in a case where the controller 72 is in the first mode, the controller 72 proceeds to step S20 shown in Fig. 5. In step S41, in a case where the controller 72 is not in the first mode, the controller 72 ends the process. Third embodiment

[0235] A third embodiment of a control device 70 will now be described with reference to Fig. 9 and Fig. 10. The control device 70 of the third embodiment is the same as the control devices 70 of the first and second embodiments, except that the control unit 72 does not control the derailleur 22 with the electric actuator 48. Therefore, the same reference numerals are used for those components that are identical to the corresponding components of the first and second embodiments. Such components will not be described in detail.

[0236] In the present embodiment, the derailleur 22 is connected, for example, via a Bowden cable to a manual transmission actuation device and is configured as a cable-type transmission, configured to be operated by the user by mechanically operating the Bowden cable using the manual transmission actuation device. The manual transmission actuation device is provided, for example, on the handlebar 42.

[0237] In the present embodiment, the gear state sensor 88 can be provided on the derailleur 22, the Bowden cable, or the manual transmission actuation device. The gear state sensor 88 is configured to detect at least one of the movement of a movable portion of the derailleur 22, the movement of the Bowden cable, and the movement of the manual transmission actuation device.

[0238] In the present embodiment, the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and a predetermined condition regarding pedaling is satisfied.

[0239] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 10. In a case where electrical power is supplied to the controller 72, the controller 72 starts the process and proceeds to step S51 of the Fig. 10. After completing the process shown in Fig. 10, the controller 72 repeats the process from step S51 in predetermined cycles until the supply of electrical power is stopped.

[0240] The steps S13, S20, S14, S16 and S18 in the Fig. 10 are executed in the same manner as steps S13, S20, S14, S16 and S18 in the flow chart shown in Fig. 5 shown flowchart.

[0241] In the Fig. In the process illustrated in FIG. 10, in step S51, in a case where a shift operation is detected, the controller 72 proceeds to step S13. The controller 72 detects a shift operation, for example, in a case where output signals from the gear state sensor 88 change. In step S51, if the shift operation is not detected, the controller 72 ends the process. In step S51, in a case where the shift operation is detected, the controller 72 proceeds to step S13. In a case where an affirmative determination is made in step S13, the controller 72 proceeds to step S20. In a case where an affirmative determination is made in step S20, the controller 72 proceeds to step S14.

[0242] In step S14, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S16. In a case where a negative determination is made in step S16, the controller 72 proceeds to step S57. In step S57, the controller 72 determines whether the shift operation is stopped. If it is determined in step S57 that the shift operation is stopped, the controller 72 proceeds to step S18. If it is determined that the shift operation is not stopped, the controller 72 proceeds to step S16. Fig. In the process shown in Fig. 10, the controller 72 terminates the process in step S13 if the predetermined condition regarding pedaling is not met. Fourth embodiment

[0243] The control device 70 in accordance with a fourth embodiment will now be described with reference to Fig. 11 and Fig. 12. The control device 70 according to the fourth embodiment differs from the control device 70 according to the first embodiment and the second embodiment only in that the controller 72 has a first switching mode and a second switching mode. Therefore, those elements identical to the corresponding elements of the first embodiment are denoted by the same reference numerals. Such elements will not be described in detail.

[0244] The human-powered vehicle 10 of the present embodiment includes a transmission actuator 92. Preferably, the transmission actuator 92 is configured in the same manner as at least one of the second actuator 45 and the third actuator of the first embodiment. The transmission actuator 92 may be configured differently than the second actuator 45.

[0245] The controller 72 is configured to control the electric actuator 48 and the motor 24. The control device 70 is configured to be switchable between the first switching mode and the second switching mode. In the first switching mode, the electric actuator 48 is controlled in accordance with the state of the human-powered vehicle 10. In the second switching mode, the electric actuator 48 is controlled in accordance with the operation of the transmission operating device 92 provided on the human-powered vehicle 10. Preferably, the first switching mode corresponds to the automatic switching mode of the first embodiment, and the second switching mode corresponds to the manual switching mode of the first embodiment. Preferably, the first switching mode and the second switching mode are switched by an operation similar to that performed for switching between the automatic switching mode and the manual switching mode.

[0246] The control device 70 is configured to be switchable between a third mode and a fourth mode in the first switching mode. In the third mode, the control device 70 is configured to control the motor 24 and drive the transmission body 20 in accordance with the state of the human-powered vehicle 10 in a case where the derailleur 22 is operated to change the gear ratio R and a predetermined condition related to pedaling is met. In the fourth mode, the control device 70 is configured to control the motor 24 so as not to drive the transmission body 20 even in a case where the derailleur 22 is operated to change the gear ratio and the predetermined condition related to pedaling is met.

[0247] An operation for switching the controller 72 between the third mode and the fourth mode in the first switching mode will now be described with reference to Fig. 12. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and goes to step S61 of the Fig. 12. After completing the process described in Fig. 12, the controller 72 repeats the process from step S61 in predetermined cycles until the supply of electric power is stopped.

[0248] In step S61, the controller 72 determines whether there is a request to switch to the first shift mode. For example, the controller 72 determines that there is a request to switch to the first shift mode in a case where the transmission actuator 92 is operated to switch to the first shift mode. If there is no request to switch to the first shift mode, the controller 72 ends the process. In a case where there is a request to switch to the first shift mode, the controller 72 proceeds to step S62.

[0249] In step S62, the controller 72 determines whether the first shift mode is the third mode. If the first shift mode is the third mode, the controller 72 proceeds to step S63. In step S63, the controller 72 switches the first shift mode to the fourth mode and then ends the process.

[0250] If it is not in the third mode in step S62, the controller 72 proceeds to step S64. In step S64, the controller 72 switches the first switching mode to the third mode and then ends the process. Modified examples

[0251] The description regarding the above embodiments illustrates, by way of example and without any intention of limitation, applicable forms of a control device for a human-powered vehicle and a power transmission system according to the present disclosure. The control device for a human-powered vehicle and the power transmission system according to the present disclosure can be implemented, for example, on modified examples of the embodiments described below and combinations of at least two of the modified examples that do not contradict each other. In the modified embodiments described below, those elements that are identical to the corresponding elements of the above embodiments are denoted by the same reference numerals. Such elements will not be described in detail.

[0252] The controller 72 may include at least one of the configurations (A5) and (A6) instead of or in addition to at least one of the configurations (A1), (A2), (A3) and (A4).

[0253] (A5) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R is changed only in one of an ascending direction and a descending direction. The controller 72 may be configured to selectively change the gear ratio R in the ascending direction or in the descending direction when the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met. In a case where the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met, the user operates, for example, the first operating device 44 or the external device 90 to selectively change the gear ratio R in the ascending direction or the descending direction.

[0254] (A6) The controller 72 is configured to control the electric actuator 48 so that the gear ratio R is changed within a predetermined shift range. Information related to the predetermined shift range is / are stored in the memory 74. The information related to the predetermined shift range can be changeably stored in the memory 74. The user, for example, operates the first operating device 44 or the external device 90 to change the information related to the predetermined shift range stored in the memory 74.

[0255] In a first example of configuration (A6), the predetermined shifting range includes a range less than or equal to a predetermined third gear ratio R3. The predetermined third gear ratio R3 is less than the maximum gear ratio R of the gear ratio R, changeable by the derailleur 22. In a second example of configuration (A6), the predetermined shifting range includes a range greater than or equal to a predetermined fourth gear ratio R4. The predetermined fourth gear ratio R4 is greater than the minimum gear ratio R of the gear ratio R, changeable by the derailleur 22.

[0256] Preferably, in configuration (A6), the controller 72 is configured to control the electric actuator 48 and drive the transmission body 20 with the motor 24 so that the gear ratio R is changed in the predetermined shifting range in at least one of a case where the derailleur 22 is operated to switch the gear ratio R, the predetermined condition regarding pedaling is satisfied, and the vehicle speed V of the human-powered vehicle 10 is less than or equal to a predetermined sixth speed V6, and a case where the derailleur 22 is operated to change the gear ratio R, the predetermined condition regarding pedaling is satisfied, and the rotational speed N of the crank axle 12 of the human-powered vehicle 10 is less than or equal to a predetermined third rotational speed N3.

[0257] In configuration (A6), the controller 72 may configure the electric actuator 48 to change the gear ratio R within the predetermined shift range in at least one of a case where the road on which the human-powered vehicle 10 is traveling changes from an uphill to a downhill state and a case where the vehicle speed V of the human-powered vehicle 10 changes from an uphill state to a downhill state. In configuration (A6), the controller 72 may configure the electric actuator 48 to change the gear ratio R within the predetermined shift range when the road on which the human-powered vehicle 10 is traveling changes from an uphill to a downhill state and the vehicle speed V of the human-powered vehicle 10 changes from an uphill state to a downhill state.

[0258] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 to increase the rotational speed of the motor 24 when the difference between the first rotational speed N1 calculated according to the rotational speed of the wheel and the gear ratio R and the predetermined rotational speed or the rotational speed within the predetermined range increases in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition regarding pedaling is met, other configurations may be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0259] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 13. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S71 of the Fig. 13. After completing the process shown in Fig. 13, the controller 72 repeats the process from step S71 in predetermined cycles until the supply of electric power is stopped.

[0260] In step S71, the controller 72 determines whether the derailleur 22 is / is being operated. For example, in a case where the shift execution condition of the first embodiment is satisfied, the controller 72 determines that the derailleur 22 is / is being operated. Preferably, in a case where the shift execution condition is satisfied and shifting is feasible, the controller 72 determines that the derailleur 22 is / is being operated. For example, in step S71, the controller 72 performs the same operation as the Fig. 5 of the first embodiment. In a case where an affirmative determination is made in step S11 and an affirmative determination is made in step S10, the controller 72 determines that the derailleur 22 is / is being operated. The controller 72 can determine whether the derailleur 22 is / is being operated in accordance with an output of a sensor detecting the movement of the derailleur 22, a sensor detecting the movement of the Bowden cable, or a sensor detecting the movement of the transmission operating device 92. In a case where the derailleur 22 is not operated, the controller 72 ends the process. In a case where the derailleur 22 is operated, the controller 72 proceeds to step S72.

[0261] In step S72, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 terminates the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S73.

[0262] In step S73, the controller 72 controls the motor 24 so that the rotational speed of the motor 24 increases as the difference between the first rotational speed N1 and the predetermined rotational speed or the rotational speed within the predetermined range increases, and then proceeds to step S74. In step S73, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0263] In step S74, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S73. If the shifting is complete, the controller 72 proceeds to step S75. In step S75, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0264] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24, to change the rotational speed of the motor 24 according to the acceleration of the human-powered vehicle 10 in the traveling direction, and to increase the rotational speed of the motor 24 as the acceleration of the human-powered vehicle 10 increases, in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met, other configurations may be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0265] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 14. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S81 of the Fig. 14. After completing the process shown in Fig. 14, the controller 72 repeats the process from step S81 in predetermined cycles until the supply of electrical power is stopped.

[0266] In step S81, the controller 72 determines whether the derailleur 22 is / is being operated. In step S81, the controller 72 performs, for example, the same operation as in Fig. 13 in step S71. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S82.

[0267] In step S82, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S83.

[0268] In step S83, the controller 72 controls the motor 24 so that the rotational speed of the motor 24 increases as the acceleration of the human-powered vehicle 10 increases, and then proceeds to step S84. In step S83, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0269] In step S84, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S83. If the shifting is complete, the controller 72 proceeds to step S85. In step S85, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0270] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 to change at least one of the rotation angle of the motor 24 and the output torque of the motor 24 in accordance with the state of the human-powered vehicle 10 in a case where the derailleur 22 is operated to change the ratio R and the predetermined pedaling condition is met, other configurations may be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0271] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 15. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S91 of the Fig. 15. After completing the flow chart shown in Fig. 15, the controller 72 repeats the process from step S91 in predetermined cycles until the supply of electrical power is stopped.

[0272] In step S91, the controller 72 determines whether the derailleur 22 is / is being operated. In step S91, the controller 72 performs, for example, the same operation as in Fig. 13 in step S71. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S92.

[0273] In step S92, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 terminates the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S93.

[0274] In step S93, the controller 72 controls the motor 24 to change at least one of the rotational speed of the motor 24 and the output torque of the motor 24 according to the state of the human-powered vehicle 10, and then proceeds to step S84. In step S93, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24. In step S93, the state of the human-powered vehicle 10 includes, in a first example, the rotational speed of the wheel 16 and the gear ratio R. The controller 72 is configured to control the motor 24 to increase at least one of the rotational speed and the output torque of the motor 24 as the difference between the first rotational speed N1 and the predetermined rotational speed or the rotational speed within the predetermined range increases.

[0275] In step S93, in a second example, the state of the human-powered vehicle 10 includes a change in the vehicle speed V of the human-powered vehicle 10 or a change in the rotational speed of the wheel 16. The controller 72 is configured to control the motor 24 to increase at least one of the rotational speed and the output torque of the motor 24 when the acceleration or deceleration of the human-powered vehicle 10 increases in a traveling direction or the acceleration or deceleration of the rotational speed of the wheel 16 increases in a rotational direction corresponding to the traveling direction of the human-powered vehicle 10.

[0276] In step S94, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 proceeds to step S93. If the shifting is complete, the controller 72 proceeds to step S95. In step S95, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the process.

[0277] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the actuator 22 is operated to change the gear ratio R and the predetermined condition related to pedaling is met, and is configured to control the motor 24 not to drive the transmission body 20 when the first operating device 44 is also operated in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition related to pedaling is met, other configurations may be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0278] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 16. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S101 of the Fig. 16. After completing the flow chart shown in Fig. 16, the controller 72 repeats the process from step S101 in predetermined cycles until the supply of electric power is stopped.

[0279] In step S101, the controller 72 determines whether the derailleur 22 is / is being operated. In step S101, the controller 72 performs, for example, the same operation as in Fig. 13 with step S71. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S102.

[0280] In step S102, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S103.

[0281] In step S103, the controller 72 determines whether the first actuating device 44 is / is actuated. If the first actuating device 44 is actuated, the controller 72 ends the process. If the first actuating device 44 is not actuated, the controller 72 proceeds to step S104.

[0282] In step S104, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24 and then proceeds to step S105.

[0283] In step S105, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S104. If the shifting is complete, the controller 72 proceeds to step S106. In step S106, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0284] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the corresponding predetermined stop condition related to pedaling is met, and to stop the drive of the transmission body 20 with the motor 24 in accordance with the load L of the motor 24, other configurations may be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0285] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 17. In a case where the controller 72 is supplied with electrical power, the controller 72 starts the process and goes to step S111 of the Fig. 17. After completing the process described in Fig. 17, the controller 72 repeats the process from step S111 in predetermined cycles until the supply of electric power is stopped.

[0286] In step S111, the controller 72 determines whether the derailleur 22 is / is being operated. In step S111, the controller 72 performs, for example, the same operation as in Fig. 13 in step S71. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S112.

[0287] In step S112, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S113.

[0288] In step S113, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S114. In step S114, the controller 72 determines whether the load L on the motor 24 is / becomes greater than or equal to the predetermined load L1. If the load L of the motor 24 is greater than or equal to the predetermined load L1, the controller 72 proceeds to step S116. If the load L of the motor 24 is not greater than or equal to the predetermined load L1, the controller 72 proceeds to step S115.

[0289] In step S115, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 proceeds to step S114. If the shifting is complete, the controller 72 proceeds to step S116. In step S116, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the process.

[0290] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met, and to stop the drive of the transmission body 20 in a case where the vehicle speed V of the human-powered vehicle 10 becomes less than or equal to the first speed V1 or the rotational speed of the wheel 16 becomes less than or equal to a predetermined rotational speed, other configurations can be omitted. In this modified example, the derailleur 22 may be configured to include or not include the electric actuator 48.

[0291] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 18. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S121 of the Fig. 18. After completing the flowchart shown in Fig. 18, the controller 72 repeats the process from step S121 in predetermined cycles until the supply of electric power is stopped.

[0292] In step S121, the controller 72 determines whether the derailleur 22 is / is being operated. In step S121, the controller 72 performs, for example, the same operation as in Fig. 13 in step S71. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S122.

[0293] In step S122, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S123.

[0294] In step S123, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S124. In step S124, the controller 72 determines whether the vehicle speed V is less than or equal to the first speed V1 or the rotational speed of the wheel 16 is less than or equal to the predetermined rotational speed. In a case where the load of the motor 24 is greater than or equal to the predetermined load, the controller 72 proceeds to step S126. In a case where the vehicle speed V is not less than or equal to the first speed V1 and the rotational speed of the wheel 16 is not less than or equal to the predetermined rotational speed, the controller 72 proceeds to step S125.In step S124, the controller 72 may proceed to step S126 if the vehicle speed V is less than or equal to the first speed V1 and the rotational speed of the wheel 16 is less than or equal to the predetermined rotational speed.

[0295] In step S125, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S124. If the shifting is complete, the controller 72 proceeds to step S126. In step S126, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0296] As long as the controller 72 is configured to control the electric actuator 48 and drive the transmission body 20 with the motor 24 so that the gear ratio R is changed only in one of the ascending direction and the descending direction in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met, other configurations can be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0297] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 19. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S131 of the Fig. 19. After completing the process shown in Fig. 19, the controller 72 repeats the process from step S131 in predetermined cycles until the supply of electric power is stopped.

[0298] In step S131, the controller 72 determines whether the derailleur 22 is / is being operated. For example, in a case where the shift execution condition of the first embodiment is met, the controller 72 determines that the derailleur 22 is / is being operated. Preferably, in a case where the shift execution condition is met and shifting is feasible, the controller 72 determines that the derailleur 22 is / is being operated. For example, in step S131, the controller 72 performs the same operation as the Fig. 5 of the first embodiment. In a case where an affirmative determination is made in step S11 and an affirmative determination is made in step S10, the controller 72 determines that the derailleur 22 is / is being operated. In a case where the derailleur 22 is not operated, the controller 72 ends the process. In a case where the derailleur 22 is operated, the controller 72 proceeds to step S132.

[0299] In step S132, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S133.

[0300] In step S133, the controller 72 controls the electric actuator 48 and drives the transmission body 20 with the motor 24 so that the gear ratio R is changed only in the ascending direction or in the descending direction, and then proceeds to step S134.

[0301] In step S134, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 proceeds to step S133. If the shifting is complete, the controller 72 proceeds to step S135. In step S135, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the process.

[0302] As long as the controller 72 is configured to control the electric actuator 48 to change the gear ratio R within the predetermined shifting range and is configured to drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is actuated to change the gear ratio R and the predetermined pedaling condition is met, other configurations may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0303] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 20. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S141 of the Fig. 20. After completing the flowchart shown in Fig. 20, the controller 72 repeats the process from step S141 in predetermined cycles until the supply of electric power is stopped.

[0304] In step S141, the controller 72 determines whether the derailleur 22 is / is being operated. In step S141, the controller 72 performs, for example, the same operation as in step S131 shown in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S142.

[0305] In step S142, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S143.

[0306] In step S143, the controller 72 controls the electric actuator 48 and drives the transmission body 20 with the motor 24 so that the gear ratio R is changed in the predetermined shift range, and then proceeds to step S144.

[0307] In step S144, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S143. If the shifting is complete, the controller 72 proceeds to step S145. In step S145, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0308] As long as the controller 72 is configured to be switchable between the first switching mode, controlling the electric actuator 48 in accordance with the state of the human-powered vehicle 10, and the second switching mode, controlling the electric actuator 48 in accordance with the actuation of the transmission actuating device provided on the human-powered vehicle 10, configured to be switchable between the third mode and the fourth mode in the first switching mode, and configured in the third mode to control the motor 24 and drive the transmission body 20 in accordance with the state of the human-powered vehicle 10 in a case where the derailleur 22 is actuated to change the gear ratio R and the predetermined condition regarding pedaling is satisfied, and configured in the fourth mode to control the motor 24,to not drive the transmission body 20 even in a case where the derailleur 22 is actuated to change the gear ratio R and the predetermined pedaling condition is met, other configurations may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0309] An operation of the controller 72 for controlling the motor 24 to change the gear ratio R will be described with reference to Fig. 21. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S151 of the Fig. 21. After completing the flowchart shown in Fig. 21, the controller 72 repeats the process from step S151 in predetermined cycles until the supply of electrical power is stopped.

[0310] In step S151, the controller 72 determines whether the derailleur 22 is operated. In step S151, the controller 72 performs, for example, the same operation as that in Fig. 13. If the derailleur 22 is not actuated, the controller 72 terminates the process. If the derailleur 22 is actuated, the controller 72 proceeds to step S152.

[0311] In step S152, the controller 72 determines whether the predetermined pedaling condition is satisfied. If the predetermined pedaling condition is not satisfied, the controller 72 ends the process. If the predetermined pedaling condition is satisfied, the controller 72 proceeds to step S153. In step S153, the controller 72 determines whether the first shift mode is the fourth mode. If the first shift mode is the fourth mode, the controller 72 ends the process. If the first shift mode is not the fourth mode, the controller 72 proceeds to step S154. In step S154, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24, and then proceeds to step S155.

[0312] In step S155, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S154. If the shifting is complete, the controller 72 proceeds to step S156. In step S156, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0313] The controller 72 may control the electric actuator 48 using a process other than that described in Fig. 21 or control the electric actuator 48 using the flow chart shown in Fig. 21. For example, in step S154, the electric actuator 48 is controlled.

[0314] As long as the controller 72 is configured to control the electric actuator 48 and the motor 24 so that the first rotational speed N1 calculated according to the rotational speed of the wheel 16 and the gear ratio R is included in the predetermined range, configured to drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined pedaling condition is met, and configured to control the electric actuator 48 so that, among a plurality of gear ratios of the derailleur 22, the gear ratio R is set to be in the largest shift stage in a case where the first rotational speed N1 is included in the predetermined range, other configurations may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0315] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 22. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S161 of the Fig. 22. After completing the process shown in Fig. 22, the controller 72 repeats the process from step S161 in predetermined cycles until the supply of electric power is stopped.

[0316] In step S161, the controller 72 determines whether the derailleur 22 is operated. In step S161, the controller 72 performs, for example, the same operation as that in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S162.

[0317] In step S162, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S163.

[0318] In step S163, the controller 72 determines whether the first rotational speed N1 is within the predetermined range. If the first rotational speed N1 is within the predetermined range, the controller 72 proceeds to step S164. In step S164, the controller 72 controls the electric actuator 48 and the motor 24 so that, among a plurality of gear stages, the gear ratio R is set to be in the largest gear stage, and then proceeds to step S166. In step S164, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0319] In step S163, if the first rotational speed N1 is not within the predetermined range, the controller 72 proceeds to step S165. In step S165, the controller 72 controls the electric actuator 48 and the motor 24 so that the first rotational speed N1 is within the predetermined range and proceeds to step S166. In step S165, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0320] In step S166, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 executes step S166 again. If the shifting is complete, the controller 72 proceeds to step S167. In step S167, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the process.

[0321] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and a predetermined pedaling condition is met, and is configured to control the electric actuator 48 not to increase the gear ratio R in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed of the wheel 16 is greater than or equal to the predetermined rotational speed, other configurations can be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0322] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 23. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S171 of the Fig. 23. After completing the flowchart shown in Fig. 23, the controller 72 repeats the process from step S171 in predetermined cycles until the supply of electric power is stopped.

[0323] In step S171, the controller 72 determines whether the derailleur 22 is operated. In step S171, the controller 72 performs, for example, the same operation as that in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S172.

[0324] In step S172, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S173.

[0325] In step S173, the controller 72 determines whether the vehicle speed V is greater than or equal to the second speed V2 or the rotational speed of the wheel 16 is greater than or equal to the predetermined rotational speed. If the vehicle speed V is greater than or equal to the second speed V2 or the rotational speed of the wheel 16 is greater than or equal to the predetermined rotational speed, the controller 72 proceeds to step S174. In step S174, the controller 72 controls the electric actuator 48 and the motor 24 so that the gear ratio R is not increased, and then proceeds to step S176. In step S174, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24. In step S174, the controller 72 controls the electric actuator 48 to decrease the gear ratio R.In step S173, the controller 72 may proceed to step S174 if the vehicle speed V is greater than or equal to the second speed V2 and the rotational speed of the wheel 16 is greater than or equal to the predetermined rotational speed.

[0326] In step S173, in a case where the vehicle speed V is not greater than or equal to the second speed V2 and the rotational speed of the wheel 16 is not greater than or equal to the predetermined rotational speed, the controller 72 proceeds to step S175. In step S175, the controller 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R and proceeds to step S176. In step S175, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0327] In step S176, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 executes step S176 again. If the shifting is complete, the controller 72 proceeds to step S177. In step S177, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0328] In steps S174 and S175, the controller 72 may set the target gear ratio R. In a case where the derailleur 22 is operated, the controller 72 may set the target gear ratio R in another operation, and in step S174, in a case where the target gear ratio R is greater than the current gear ratio R, the controller 72 may change the target gear ratio R to be less than or equal to the current gear ratio R. In a case where the actuator 22 is operated, the controller 72 may set the target gear ratio R in another operation, and in step S174, in a case where the target gear ratio R is greater than the current gear ratio R, the controller 72 may be configured not to change the gear ratio R.

[0329] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined condition related to pedaling is met, and is configured to control the electric actuator 48 not to change the gear ratio R until the first condition related to shifting is met in a case where the derailleur 22 is operated, other configurations can be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0330] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 24. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S181 of the Fig. 24. After completing the flowchart shown in Fig. 24, the controller 72 repeats the process from step S181 in predetermined cycles until the supply of electrical power is stopped.

[0331] In step S181, the controller 72 determines whether the derailleur 22 is / is being operated. In step S181, the controller 72 performs, for example, the same operation as in step S131 shown in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S182.

[0332] In step S182, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S183.

[0333] In step S183, the controller 72 determines whether the first condition regarding shifting is met. If the first condition regarding shifting is not met, the controller 72 executes step S183 again. If the first condition regarding shifting is met, the controller 72 proceeds to step S184.

[0334] In step S184, the controller 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R and proceeds to step S185. In step S184, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0335] In step S185, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 executes step S185 again. If the shifting is complete, the controller 72 proceeds to step S186. In step S186, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0336] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined condition related to pedaling is satisfied, and is configured to control the electric actuator 48 not to change the gear ratio R until the second condition related to shifting is satisfied in a case where the electric actuator 48 and the motor 24 are switched to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. In this modified example, the derailleur 22 includes the electric actuator 48.

[0337] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 25. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S191 of the Fig. 25. After completing the flowchart shown in Fig. 25, the controller 72 repeats the process from step S191 in predetermined cycles until the supply of electric power is stopped.

[0338] In step S191, the controller 72 determines whether the derailleur 22 is / is being operated. In step S191, the controller 72 performs, for example, the same operation as that in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S192.

[0339] In step S192, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S193.

[0340] In step S193, the controller 72 determines whether the electric actuator 48 and the motor 24 are controlled so that the gear ratio R is increased or decreased by a predetermined number of times or more within the predetermined third time T3. In a case where the electric actuator 48 and the motor 24 are controlled so that the gear ratio R is increased or decreased by a predetermined number of times or more within the predetermined third time T3, the controller 72 proceeds to step S194. In a case where the electric actuator 48 and the motor 24 are not controlled so that the gear ratio R is increased or decreased by a predetermined number of times or more within the predetermined third time T3, the controller 72 proceeds to step S195.

[0341] In step S194, the controller 72 determines whether the second shifting condition is met. If the second shifting condition is not met, the controller 72 terminates the process. If the second shifting condition is met, the controller 72 proceeds to step S195.

[0342] In step S195, the controller 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R and proceeds to step S196. In step S195, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0343] In step S196, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 executes step S196 again. If the shifting is complete, the controller 72 proceeds to step S197. In step S197, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0344] As long as the controller 72 is configured to control the electric actuator 48 and the motor 24 such that the relative movement of the derailleur 22 and at least one of the first rotating body and the second rotating body begins simultaneously with the drive of the motor 24 or before the drive of the motor 24, when the electric actuator 48 and the motor 24 are controlled to obtain the gear ratio R and the predetermined pedaling condition is met, other configurations may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0345] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 26. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S201 of the Fig. 26. After completing the flowchart shown in Fig. 26, the controller 72 repeats the process from step S201 in predetermined cycles until the supply of electric power is stopped.

[0346] In step S201, the controller 72 determines whether the derailleur 22 is / is being operated. In step S201, the controller 72 performs, for example, the same operation as in step S131 shown in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S202.

[0347] In step S202, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S203.

[0348] In step S203, the controller 72 controls the electric actuator 48 and the motor 24 so that the relative movement of the derailleur 22 and at least one of the first rotating body 14 and the second rotating body 18 starts simultaneously with the drive of the motor 24 or before the drive of the motor 24, and then proceeds to step S204. In step S203, the controller 72 controls the motor 24 and drives the transmission body 20 with the motor 24.

[0349] In step S204, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 proceeds to step S203. If the shifting operation is complete, the controller 72 proceeds to step S205. In step S205, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0350] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition regarding pedaling is met, is configured to control the electric actuator 48 so that the shift stage of the derailleur 22 approaches the predetermined shift stage or the gear ratio R approaches a predetermined gear ratio R in a case where the human-powered vehicle 10 is decelerated, is configured to control the electric actuator 48 and change the shift stage of the derailleur 22 stepwise in a case where the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R is less than or equal to the predetermined value, and is configured,to control the electric actuator 48 to continuously operate the derailleur 22 through a plurality of shift stages when the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R exceeds the predetermined value; other configurations may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48.

[0351] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 27. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S211 of the Fig. 27. After completing the process shown in Fig. 27, the controller 72 repeats the process from step S211 in predetermined cycles until the supply of electric power is stopped.

[0352] In step S211, the controller 72 determines whether the derailleur 22 is operated. In step S211, the controller 72 performs, for example, the same operation as in step S131 shown in Fig. 19. In a case where the derailleur 22 is not actuated, the controller 72 ends the process. In a case where the derailleur 22 is actuated, the controller 72 proceeds to step S212.

[0353] In step S212, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S213.

[0354] In step S213, the controller 72 determines whether the human-powered vehicle 10 is decelerating. If the human-powered vehicle 10 is not decelerating, the controller 72 terminates the process. If the human-powered vehicle 10 is decelerating, the controller 72 proceeds to step S214.

[0355] In step S214, the controller 72 determines whether the difference between the predetermined shift stage and the current shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is less than or equal to the predetermined value. In a case where the difference between the predetermined shift stage and the current shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is less than or equal to the predetermined value, the controller 72 proceeds to step S215. In a case where the difference between the predetermined shift stage and the current shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is not less than or equal to the predetermined value, the controller 72 proceeds to step S216.

[0356] In step S215, the controller 72 controls the motor 24 to drive the transmission body 20 with the motor 24, and controls the electric actuator 48 to change the shift stage of the derailleur 22 stepwise, and proceeds to step S217.

[0357] In step S216, the controller 72 controls the motor 24 to drive the transmission body 20 with the motor 24, and controls the electric actuator 48 to continuously operate the derailleur 22 through a plurality of shift stages, and proceeds to step S217.

[0358] In step S217, the controller 72 determines whether the shifting operation is complete. If the shifting is not complete, the controller 72 proceeds to step S214. If the shifting is complete, the controller 72 proceeds to step S218. In step S218, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the operation.

[0359] As long as the controller 72 is configured to control the motor 24 and drive the transmission body 20 with the motor 24 in a case where the derailleur 22 is operated to change the gear ratio R and the predetermined condition regarding pedaling is satisfied, and is configured to control the electric actuator 48 so that the fifth time T5 during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 is less than or equal to the predetermined fifth speed V5 becomes shorter than the sixth time T6 during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5, other configurations may be omitted.In this modified example, the derailleur 22 includes the electric actuator 48.

[0360] An operation of the controller 72 for controlling the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 28. In a case where the controller 72 is supplied with electrical energy, the controller 72 starts the process and proceeds to step S221 of the Fig. 28. After completing the flowchart shown in Fig. 28, the controller 72 repeats the process from step S221 in predetermined cycles until the supply of electric power is stopped.

[0361] In step S221, the controller 72 determines whether the derailleur 22 is / is being operated. In step S221, the controller 72 performs, for example, the same operation as that in Fig. 19. If the derailleur 22 is not engaged, the controller 72 terminates the process. If the derailleur 22 is engaged, the controller 72 proceeds to step S222.

[0362] In step S222, the controller 72 determines whether the predetermined pedaling condition is met. If the predetermined pedaling condition is not met, the controller 72 ends the process. If the predetermined pedaling condition is met, the controller 72 proceeds to step S223.

[0363] In step S223, the controller 72 determines whether the vehicle speed V of the human-powered vehicle 10 is less than or equal to the predetermined fifth speed V5. If the vehicle speed V of the human-powered vehicle 10 is less than or equal to the predetermined fifth speed V5, the controller 72 proceeds to step S224. If the vehicle speed V of the human-powered vehicle 10 is not less than or equal to the predetermined fifth speed V5, the controller 72 proceeds to step S225.

[0364] In step S224, the controller 72 controls the motor 24 to drive the transmission body 20 with the motor 24, and controls the electric actuator 48 so that the fifth time T5 becomes shorter than the sixth time T6, and proceeds to step S226.

[0365] In step S225, the controller 72 controls the motor 24 to drive the transmission body 20 with the motor 24 and controls the electric actuator 48, and proceeds to step S226.

[0366] In step S226, the controller 72 determines whether the shifting is complete. If the shifting is not complete, the controller 72 proceeds to step S223. If the shifting is complete, the controller 72 proceeds to step S227. In step S227, the controller 72 stops driving the transmission body 20 with the motor 24 and ends the process.

[0367] In the first embodiment, the second embodiment, a modified embodiment of the first embodiment, or a modified embodiment of the second embodiment, at least one of steps S16, S20, and S30 of Fig. 5 may be omitted. In a case where at least one of steps S16, S20 and S30 is Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted by the controller 72. In a case where step S16 in Fig. 5 is omitted, the controller 72 executes step S15 and then proceeds to step S17. In a case where a negative determination is made in step S17, the controller 72 repeats step S17. If step S20 in Fig. 5 is omitted and an affirmative determination is made in step S13, the controller 72 proceeds to step S30. If in Fig. 5, step S30 is omitted and an affirmative determination is made in step S20, the controller 72 proceeds to step S14. In a case where steps S20 and S30 in Fig. 5 are omitted and an affirmative determination is made in step S13, the controller 72 proceeds to step S14. In an embodiment comprising the third embodiment or a modified example of the third embodiment, at least one of steps S16 and S20 may be Fig. 10 may be omitted. In a case where at least one of steps S16 and S20 of Fig. 10 is omitted, the configuration corresponding to the omitted step may be omitted by the controller 72. In a case where step S16 in Fig. 10 is omitted, the controller 72 executes step S14 and then proceeds to step S57. In a case where a negative determination is made in step S57, the controller 72 repeats step S57. In a case where step S20 in Fig. 10 is omitted and an affirmative determination is made in step S13, the controller 72 proceeds to step S14.

[0368] In an embodiment including the first embodiment, the second embodiment, a modified example of the first embodiment, a modified example of the second embodiment, the third embodiment, or a modified example of the third embodiment, the controller 72 is not limited to the configurations (A1), (A2), (A3), and (A4) and may have any configuration controlling the motor 24 to drive the transmission body 20 with the motor 24. The controller 72 may control the motor 24 to drive the transmission body 20 with the motor 24 using a configuration different from the configurations (A1), (A2), (A3), and (A4). The controller 72 includes the following configuration (A5), (A6), or (A7) as the configuration different from the configurations (A1), (A2), (A3), and (A4).

[0369] (A5) When the transmission body 20 is driven by the motor 24, the controller 72 is configured to control the motor 24 so that the transmission body 20 moves at a constant speed regardless of the transmission ratio R.

[0370] (A6) The controller 72 is configured to control the motor 24 so that the speed of movement of the transmission body 20 increases from the time of the start of movement independently of the transmission ratio R.

[0371] (A7) The controller 72 is configured to control the motor 24 so that the movement speed of the transmission body 20 increases from the time of the start of movement and then becomes constant regardless of the transmission ratio R.

[0372] For example, in the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, in the Fig. 5, the controller 72 controls the motor 24 to drive the transmission body 20 with the motor 24 using a configuration different from the configurations (A1), (A2), (A3), and (A4). For example, in an embodiment including the third embodiment or a modified example of the third embodiment, in the Fig. 10, the controller 72 may control the motor 24 to drive the transmission body 20 with the motor 24 using a configuration different from the configurations (A1), (A2), (A3), and (A4).

[0373] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16, S20, and S30 of Fig. 5 are omitted, and in the Fig. In step S14 shown in Fig. 5, the controller 72 may control the motor 24 to drive the transmission body 20 with the motor 24 using a configuration different from the configurations (A1), (A2), (A3), and (A4). In a case where at least one of steps S16, S20, and S30 of Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted by the controller 72.

[0374] In an embodiment comprising the third embodiment or a modified example of the third embodiment, at least one of steps S16 and S20 of Fig. 10 are omitted, and in the Fig. In step S14 shown in Fig. 10, the controller 72 may control the motor 24 to drive the transmission body 20 with the motor 24 using a configuration different from the configurations (A1), (A2), (A3), and (A4). In a case where at least one of steps S16 and S20 of Fig. 10 is omitted, the configuration corresponding to the omitted step may be omitted from the controller 72. The configuration other than configurations (A1), (A2), (A3), and (A4) may be configuration (A5), (A6), or (A7), or another configuration. In this modified example, the motor 24 of the power transmission system 60 is configured to drive the transmission body 20 and generate electrical energy by being driven by the transmission body 20, the energy storage device 66 is configured to store the electrical energy generated by the motor 24, and the control device 70 is configured to control the motor 24 using the electrical energy of the energy storage device 66. The gear ratio R is thus changed in a preferable manner.

[0375] In the first embodiment, the second embodiment, a modified embodiment of the first embodiment, or a modified embodiment of the second embodiment, for example, at least one of steps S16, S20, and S30 from Fig. 5 may be omitted. In a case where at least one of steps S16, S20 and S30 is Fig. 5 is omitted, the configuration corresponding to the omitted step can be omitted in the controller 72. In this modified example, the controller 72 is configured to control the electric actuator 48 so that, from a plurality of shift stages of the derailleur 22, the gear ratio R is set to be in the largest shift stage when the first rotational speed N1 is included in the predetermined range. In this modified example, the controller 72 controls the Fig. In step S15 shown in Figure 5, the electric actuator 48 is controlled so that, among a plurality of shift stages of the derailleur 22, the gear ratio R is set to be in the largest shift stage when the first rotational speed N1 is within the predetermined range. Thus, the ratio of the gear ratio R is preferably changed.

[0376] In the first embodiment, the second embodiment, a modified embodiment of the first embodiment, or a modified embodiment of the second embodiment, at least one of steps S16 and S20 of Fig. 5 may be omitted. In a case where at least one of steps S16 and S20 is Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted from the controller 72. In this modified example, the controller 72 is configured to control the motor 24 to drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined condition related to pedaling is satisfied, and is configured to control the electric actuator 48 not to increase the gear ratio R in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX. Thus, the gear ratio R is changed in a preferable manner.In this modified example, the controller 72 is configured to control the motor 24 to drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined pedaling condition is satisfied, and is configured to control the electric actuator 48 not to increase the gear ratio R in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX. Thus, in a preferable manner, the gear ratio R is changed. In the embodiment shown in FIG. Fig. In step S30 shown in Fig. 5, the controller 72 determines whether the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX and the target gear ratio R is smaller than the current gear ratio R. In this modified example, the controller 72 may be configured to control the electric actuator 48 so that the gear ratio R does not increase in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 and the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX.In a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX, the controller 72 does not output the first switching control signal to the electric actuator 48. In the case shown in . Fig. In step S30 shown in Fig. 5, the controller 72 ends the process in a case where the vehicle speed V of the human-powered vehicle 10 is greater than or equal to the second speed V2 or the rotational speed NW of the wheel 16 is greater than or equal to the predetermined rotational speed NWX and the shift execution condition for increasing the gear ratio R is / will be satisfied.

[0377] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16 and S20 of Fig. 5 may be omitted. In a case where at least one of steps S16 and S20 is Fig. 5 is omitted, the configuration corresponding to the omitted step can be omitted from the controller 72. In this modified example, the controller 72 is configured to control the motor 24 and drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined condition related to pedaling is met, and is configured to control the electric actuator 48 not to change the gear ratio R until the first condition related to shifting is met in a case where the derailleur 22 is operated. Thus, the gear ratio R is changed in a preferred manner. In a case where the derailleur 22 is operated, the controller 72 does not output the shift control signal to the electric actuator 48 until the first condition related to shifting is met. In the Fig. In step S30 shown in Fig. 5, the controller 72 terminates the process in a case where the derailleur 22 is operated and the first condition relating to shifting is / is not satisfied.

[0378] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16 and S20 of Fig. 5 may be omitted. In a case where at least one of steps S16 and S20 is Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted from the controller 72. In this modified example, the controller 72 is configured to control the motor 24 and drive the transmission body 20 in a case where the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and the predetermined condition related to pedaling is satisfied, and configured to control the electric actuator 48 not to change the gear ratio R with the derailleur 22 until the second condition related to shifting is satisfied in a case where the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. Thus, the gear ratio R is changed in a preferable manner.

[0379] The controller 72 does not output the shift control signal to the electric actuator 48 until the second condition related to shifting is satisfied in a case where the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3. In step S30, the controller 72 ends the process in a case where the electric actuator 48 and the motor 24 are controlled to increase or decrease the gear ratio R a predetermined number of times or more within the predetermined third time T3 and the second condition related to shifting is not satisfied.

[0380] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16, S20, and S30 of Fig. 5 may be omitted. In a case where at least one of steps S16, S20 and S30 is Fig. 5 is omitted, the configuration corresponding to the omitted step can be omitted from the controller 72. In this modified example, the controller 72 is configured to control the electric actuator 48 and the motor 24 so that the relative movement of the derailleur 22 and the first rotating body 14 and / or the second rotating body 18 is started simultaneously with the driving of the motor 24 or before the driving of the motor 24 in a case where the electric actuator 48 and the motor 24 are controlled to change the gear ratio R and the predetermined condition regarding pedaling is / is met. Thus, the gear ratio R is changed in a preferred manner. In this modified example, the controller 72 preferably controls in the manner shown in Fig. 5, the motor 24 is not driven until the electric actuator 48 is actuated in step S15.

[0381] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16, S20, and S30 of Fig. 5 may be omitted. In a case where at least one of steps S16, S20 and S30 is Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted from the controller 72. In this modified example, the controller 72 is configured to control the electric actuator 48 so that the shift stage of the derailleur 22 approaches the predetermined shift stage or the gear ratio R to a predetermined gear ratio RX in a case where the human-powered vehicle 10 is decelerated, configured to control the electric actuator 48 and change the shift stage of the derailleur 22 stepwise in a case where the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R is less than or equal to the predetermined value, and configured to control the electric actuator 48 to continuously actuate the derailleur 22 over a plurality of shift stages.when the difference between the predetermined gear stage and the current gear stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R exceeds the predetermined value. Thus, the gear ratio R is changed in a preferred manner.

[0382] In this modified example, in step S11, the controller 72 determines that the shift execution condition is / will be satisfied in a case where the human-powered vehicle 10 is decelerating. In step S15, the controller 72 controls the electric actuator 48 so that the shift stage of the derailleur 22 approaches the predetermined shift stage or the gear ratio R approaches the predetermined gear ratio RX in a case where the human-powered vehicle 10 is decelerating, and controls the electric actuator 48 and changes the shift stage of the derailleur 22 stepwise in a case where the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R is less than or equal to the predetermined value, and controls the electric actuator 48 to control the derailleur 22 in a casein which the difference between the predetermined shift stage and the current shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R exceeds the predetermined value, continuously over a plurality of shift stages. In step S11, for example, in a case where the deceleration in a direction corresponding to the direction of travel of the human-powered vehicle 10 is greater than the predetermined deceleration, the controller 72 may determine that the shift execution condition is / will be met.

[0383] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, at least one of steps S16, S20, and S30 of Fig. 5 may be omitted. In a case where at least one of steps S16, S20 and S30 is Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted from the controller 72. In this modified example, the controller 72 is configured to control the electric actuator 48 so that the fifth time T5, during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 is less than or equal to the predetermined fifth speed V5, becomes shorter than the sixth time T6, during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5.

[0384] In this modified example, the controller 72 controls the Fig. 5, the electric actuator 48 is controlled to make the fifth time T5, during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 is less than or equal to the predetermined fifth speed V5, shorter than the sixth time T6, during which the derailleur 22 is operated through a plurality of shift stages in a case where the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5. This preferably changes the gear ratio R.

[0385] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, the controller 72 may perform the operation in the manner shown in Fig. 6, and the entire process in the flowchart shown in Fig. The flowchart shown in Figure 5 can be omitted. In a case where the flow chart shown in Fig. 5 is omitted, the configuration of the controller 72 corresponding to the omitted step may be omitted. In this modified example, the control device 70 includes the controller 72 configured to control the electric actuator 48 and the motor 24 and receive a signal for adjusting the position of the derailleur 22. The controller 72 is configured to control the motor 24 and drive the motor 24 in a case where the signal for adjusting the position of the derailleur 22 is received, and is configured to control the electric actuator 48 to make the position of the derailleur 22 correspond to the first gear ratio R1 in a case where the first gear ratio R1 does not correspond to the current position of the derailleur 22 according to the rotational speed of the motor 24 and the rotational speed NW of the wheel 16. Therefore, the gear ratio R is changed in a preferable manner.

[0386] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, the entire process of the Fig. 5 and the entire process of the Fig. 6 can be omitted in the configuration of the controller 72. In a case where the flowchart shown in Fig. If the process illustrated in Figure 5 is omitted, the configuration of the controller 72 corresponding to the omitted step may be omitted. In this modified example, the controller 72 is configured to control the electric actuator 48 with electrical energy from the energy storage device 66. As a result, in a preferred embodiment, the gear ratio R is changed.

[0387] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, the controller 72 must execute step S13 in the Fig. 5. In a case where step S13 in Fig. 5 is omitted, the configuration corresponding to the omitted step may be omitted by the controller 72. In this case, the controller 72 may Fig. 5, in a case where an affirmative determination is made in step S10, proceed to step S20 or S19. In the flowchart shown in Fig. 5, after executing step S12, the controller 72 may proceed to one of steps S20 and S19 in accordance with a condition different from the predetermined condition regarding pedaling.

[0388] Furthermore, in this modified example, at least one of steps S16, S20 and S30 may be Fig. 5 are omitted, and in the Fig. In step S14 shown in Fig. 5, the controller 72 may control the motor 24 to drive the transmission body 20 with the motor 24 using a configuration other than the configurations (A1), (A2), (A3), and (A4). In the third embodiment or a modified example of the third embodiment, the controller 72 must execute step S13 in the manner shown in Fig. 10. In a case where step S13 in Fig. 10 is omitted, the configuration corresponding to the omitted step can be omitted by the controller 72. In this case, the controller 72 proceeds in the manner shown in Fig. 10, in a case where an affirmative determination is made in step S51, the flowchart proceeds to step S20.

[0389] Furthermore, in a modified example in which step S13 is omitted from the Fig. 10 is omitted, at least one of the steps S16 and S20 from Fig. 10 may be omitted, and in step S14, the controller 72 may control the motor 24 and drive the transmission body 20 with the motor 24 using a configuration other than the configurations (A1), (A2), (A3), and (A4). In a modified example in which step S13 is omitted from Fig. 5 is omitted, and in a modified example in which step S13 of Fig. 10 is omitted, the motor 24 of the power transmission system 60 is configured to drive the transmission body 20 and generate electrical energy by being driven by the transmission body 20, the energy storage device 66 is configured to store the electrical energy generated by the motor 24, and the control device 70 is configured to control the motor 24 using the electrical energy of the energy storage device 66. In this way, the gear ratio R is changed in a preferred manner.

[0390] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, the motor 24 may be configured not to apply driving force to the human-powered vehicle 10 in accordance with the human driving force H.

[0391] In the first embodiment, the second embodiment, a modified example of the first embodiment, or a modified example of the second embodiment, the controller 72 may, instead of executing step S17 in the Fig. 5, determine whether a predetermined time T has elapsed from the time the motor 24 was driven. Information related to the predetermined time T is stored in the memory 74. In a case where the predetermined time T has elapsed from the time the motor 24 was driven, the controller 72 proceeds to step S18. The predetermined time T may be fixed or may be changed in accordance with at least one of the current gear ratio R and the target gear ratio R.

[0392] The controller 72 repeats step S17 until the predetermined time T has elapsed from the time of driving the motor 24. In the third embodiment or a modified example of the third embodiment, the controller 72 may determine whether the predetermined time has elapsed from the time of driving the motor 24, instead of step S57 in the Fig. 10. In a case where the predetermined time T has elapsed from the time the motor 24 was driven, the controller 72 proceeds to step S18. The predetermined time T may be fixed or may be changed in accordance with at least one of the current gear ratio R and the target gear ratio R. The controller 72 repeats step S57 until the predetermined time T has elapsed from the time the motor 24 was driven.

[0393] In this specification, the phrase "at least one of" as used in this disclosure means "one or more" of a desired selection. In one example, the phrase "at least one of" as used in this disclosure means "only one selection" or "both of two selections" in a case where the number of selections is two. In another example, the phrase "at least one of" as used in this disclosure means "only a single selection" or "any combination of equal to or more than two selections" when the number of selections is equal to or more than three. Description of reference symbols 10 muscle-powered vehicle, 12 crank axle, 16 wheels, 14 first rotating body, 18 second rotating body, 20 transfer bodies, 22 derailleurs, 24 engine, 44 first actuating device, 44A first operating section, 45 second actuating device, 48 electric actuator, 60 power transmission system, 62 first one-way clutch, 64 second one-way clutch, 66 Energy storage device, 70 control device, 72 control, 84 first detector, 92 Transmission actuator. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-228121

[0001] JP 2020-183008

[0001] JP 2008-222211

[0003]

Claims

[1] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), the control device (70) comprising: a controller (72) configured to control the motor (24) and drive the transmission body (20) with the motor (24) to increase a rotational speed of the motor (24) when a difference between a first rotational speed corresponding to a rotational speed of the wheel (16) and the gear ratio is calculated, and a predetermined rotational speed or a rotational speed within a predetermined range increases in a case where the derailleur (22) is operated / set to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [2] The control device (70) according to claim 1, wherein the first rotational speed, the predetermined rotational speed and the rotational speed in the predetermined range correspond to a rotational speed of the crank shaft (12). [3] The control device (70) according to claim 2, wherein the predetermined rotational speed and the rotational speed in the predetermined range are 50 rpm or more and 80 rpm or less. [4] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), the control device (70) comprising: a controller (72) configured to control the motor (24) and drive the transmission body (20) with the motor (24) to change a rotational speed of the motor (24) in accordance with the acceleration of the human-powered vehicle (10) in a traveling direction and to increase the rotational speed of the motor (24) when the acceleration of the human-powered vehicle (10) increases in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [5] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), the control device (70) comprising: a controller (72) configured to control the motor (24) and drive the transmission body (20) with the motor (24) to change at least one of a rotation angle of the motor (24) and an output torque of the motor (24) according to a state of the human-powered vehicle (10) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [6] Control device (70) according to claim 5, wherein: the state of the muscle-powered vehicle (10) includes the rotational speed of the wheel (16) and the gear ratio; and the controller (72) is configured to control the motor (24) to increase at least one of the rotation angle of the motor (24) and the output torque when a difference of a first rotation speed calculated according to the rotation speed of the wheel (16) and the gear ratio and a predetermined rotation speed or a rotation speed in a predetermined range increases. [7] Control device (70) according to claim 5, wherein: the state of the muscle-powered vehicle (10) comprises a change in a vehicle speed of the muscle-powered vehicle (10) or a change in the rotational speed of the wheel (16); and the controller (72) is configured to control the motor (24) to increase at least one of a rotation angle of the motor (24) and an output torque when an acceleration or a deceleration of the human-powered vehicle (10) increases in a direction of travel or an acceleration or a deceleration of the rotational speed of the wheel (16) increases in a direction of rotation corresponding to the direction of travel of the human-powered vehicle (10). [8] Control device (70) according to one of claims 1 to 7, in which: the muscle-powered vehicle (10) further comprises a tt; and the controller (72) is configured to control the motor (24) not to drive the transmission body (20) when the first actuating device (44) is also actuated in a case where the derailleur (22) is actuated to change the gear ratio and the predetermined condition relating to pedaling is satisfied. [9] A control device (70) for a human-powered vehicle (10), wherein the human-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and a first actuating device (44), wherein the control device (70) comprises: a controller (72) configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and wherein the controller (72) is configured to control the motor (24) not to drive the transmission body (20) when the first actuating device (44) is also actuated in a case where the derailleur (22) is actuated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [10] The control device (70) according to claim 9, wherein the controller (72) is configured to control the motor (24) not to drive the transmission body (20) during at least one of a period during which the first operating device (44) is operated and a predetermined period after the first operating device (44) is operated, even in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [11] The control device (70) according to claim 9 or 10, wherein the controller (72) is arranged to control the motor (24) not to drive the transmission body (20) when a first operating portion (44A) included in the first operating device (44) is operated or a predetermined operation is performed on the first operating portion (44A), even in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [12] Control device (70) according to one of claims 1 to 11, in which: the muscle-powered vehicle (10) further comprises a second actuating device configured to actuate the derailleur (22); the controller (72) is configured to be switchable between a first mode and a second mode; the controller (72) is configured to control the motor (24) in the first mode to drive the transmission body (20) according to a state of the muscle-powered vehicle (10) in a case where the second operating device has been operated and the predetermined condition regarding pedaling is met; and the controller (72) is configured to control the motor (24) in the second mode so as not to drive the transmission body (20) even in a case where the second actuating device has been actuated and the predetermined condition regarding pedaling is met. [13] Control device (70) according to one of claims 1 to 12, wherein the controller (72) is arranged to control the motor (24) to stop the drive of the transmission body (20) with the motor (24) according to a load on the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [14] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), the control device (70) comprising: a controller (72) configured to control the motor (24), wherein the controller (72) is configured to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and the controller (72) is configured to stop the drive of the transmission body (20) with the motor (24) in accordance with the load on the motor (24). [15] Control device (70) according to claim 13 or 14, further comprising: a first detector (84) arranged to detect the load on the motor (24), wherein the controller (72) is configured to control the motor (24) and stop the motor (24) when the derailleur (22) is operated to change the gear ratio in a case where the predetermined condition regarding pedaling is satisfied and the load on the motor (24) is / becomes greater than or equal to a predetermined load. [16] Control device (70) according to one of claims 1 to 15, wherein the controller (72) is arranged to control the motor (24) to stop the drive of the transmission body (20) when a vehicle speed of the muscle-powered vehicle (10) is less than or equal to a first speed or the rotational speed of the wheel (16) is less than or equal to a predetermined rotational speed in a case where the predetermined condition regarding pedaling is met. [17] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), and a motor (24) configured to drive the transmission body (20), the control device (70) comprising: a controller (72) configured to control the motor (24) to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and configured to control the motor (24) to stop the drive of the transmission body (20) in a case where a vehicle speed of the human-powered vehicle (10) is less than or equal to a first speed or a rotational speed of the wheel (16) is less than or equal to a predetermined rotational speed. [18] Control device (70) according to one of claims 1 to 17, in which: the muscle-powered vehicle (10) further comprises an electric actuator (48) configured to actuate the derailleur (22); and the controller (72) is arranged to control the electric actuator (48). [19] The control device (70) according to claim 18, wherein the controller (72) is arranged to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio only in one of an ascending direction and a descending direction in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [20] A control device (70) for a human-powered vehicle (10), wherein the human-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and an electric actuator (48) configured to actuate the derailleur (22), wherein the control device (70) comprises: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio only in one of an ascending direction and a descending direction in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [21] Control device (70) according to claim 19 or 20, wherein the controller (72) is arranged to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio in a predetermined shift range in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [22] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) engaged with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and an electric actuator (48) configured to actuate the derailleur (22), the control device (70) comprising: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio in a predetermined shift range in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [23] Control device (70) according to claim 21 or 22, wherein: the predetermined shift range comprises a range less than or equal to a predetermined third gear ratio, and the predetermined third gear ratio is smaller than a maximum gear ratio, changeable by the derailleur (22). [24] The control device (70) according to claim 23, wherein the controller (72) is configured to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio in a predetermined shift range in at least one of a case where the derailleur (22) is operated to change the gear ratio, the predetermined pedaling condition is satisfied, and a road on which the human-powered vehicle (10) is traveling changes from an uphill state to a downhill state, and a case where the derailleur (22) is operated to change the gear ratio, the predetermined pedaling condition is satisfied, and a vehicle speed of the human-powered vehicle (10) changes from an ascending state to a descending state. [25] Control device (70) according to one of claims 21 to 24, in which the predetermined shift range comprises a range greater than or equal to a predetermined fourth gear ratio, and the predetermined fourth gear ratio is greater than a minimum gear ratio, changeable by the derailleur (22). [26] The control device (70) according to claim 25, wherein the controller (72) is configured to control the electric actuator (48) and drive the transmission body (20) with the motor (24) to change the gear ratio in the predetermined shift range in at least one of a case where the derailleur (22) is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and a vehicle speed of the human-powered vehicle (10) is less than or equal to a sixth speed, and a case where the derailleur (22) is operated to change the gear ratio, the predetermined condition regarding pedaling is satisfied, and the rotational speed of the crank axle (12) of the human-powered vehicle (10) is less than or equal to a third rotational speed. [27] Control device (70) according to one of claims 18 to 26, in which the controller (72) is configured to be switchable between a first switching mode in which the controller (72) controls the electric actuator (48) in accordance with a state of the muscle-powered vehicle (10), and a second switching mode in which the controller (72) controls the electric actuator (48) in accordance with the actuation of a transmission actuation device (92) provided on the muscle-powered vehicle (10), the controller (72) is configured to be switchable between a third mode and a fourth mode in the first switching mode, in the third mode, the controller (72) is arranged to control the motor (24) and drive the transmission body (20) in accordance with the state of the muscle-powered vehicle (10) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied, and in the fourth mode, the controller (72) is arranged to control the motor (24) not to drive the transmission body (20) even in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [28] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and an electric actuator (48) configured to actuate the derailleur (22), the control device (70) comprising: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to be switchable between a first switching mode in which the controller (72) controls the electric actuator (48) in accordance with a state of the muscle-powered vehicle (10), and a second switching mode in which the controller (72) controls the electric actuator (48) in accordance with the actuation of a transmission actuation device (92) provided on the muscle-powered vehicle (10), the controller (72) is configured to be switchable between a third mode and a fourth mode in the first switching mode, in the third mode, the controller (72) is arranged to control the motor (24) and drive the transmission body (20) in accordance with the state of the muscle-powered vehicle (10) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied, and in the fourth mode, the controller (72) is arranged to control the motor (24) not to drive the transmission body (20) even in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [29] A control device (70) for a human-powered vehicle (10), wherein the human-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) includes: a controller (72) arranged to control the electric actuator (48) and the motor (24) to maintain a first rotational speed, calculated in accordance with the rotational speed of the wheel (16) and the gear ratio, in a predetermined range, wherein the controller (72) is arranged to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and the controller (72) is arranged to control the electric actuator (48) so that, from a plurality of shift stages of the derailleur (22), the gear ratio is set to be in the largest shift stage in a case where the first rotational speed is included in the predetermined range. [30] Control device (70) according to one of claims 18 to 29, in which: the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is met; and the controller (72) is configured to control the electric actuator (48) so as not to increase the gear ratio in a case where a vehicle speed of the muscle-powered vehicle (10) is greater than or equal to a second speed or the rotational speed of the wheel (16) is greater than or equal to a predetermined rotational speed. [31] Control device (70) for a muscle-powered vehicle (10), wherein the muscle-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) includes: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met, and the controller (72) is configured to control the electric actuator (48) so as not to increase the gear ratio in a case where a vehicle speed of the muscle-powered vehicle (10) is greater than or equal to a second speed or the rotational speed of the wheel (16) is greater than or equal to a predetermined rotational speed. [32] Control device (70) according to one of claims 29 to 31, wherein the controller (72) is arranged to control the electric actuator (48) not to change the gear ratio until a first condition relating to shifting is met in a case where the derailleur (22) is / is actuated. [33] A control device (70) for a muscle-powered vehicle (10), wherein the muscle-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) includes: a controller (72) arranged to control the motor (24) and the electric actuator (48), wherein the controller (72) is configured to control the motor (24) and drive the transmission body (20) in a case where the derailleur (22) is operated with the electric actuator (48) to change the gear ratio and a predetermined condition regarding pedaling is met, and the controller (72) is arranged to control the electric actuator (48) not to change the gear ratio until a first condition relating to shifting is met in a case where the derailleur (22) is actuated. [34] Control device (70) according to claim 32 or 33, wherein: the muscle-powered vehicle (10) further comprises a second actuating device configured to actuate the derailleur (22); and the first condition relating to switching is satisfied in at least one of a case where a predetermined first time elapses from a time of operating the second operating device, a case where a predetermined second time elapses from a time of stopping the electric actuator (48), a case where an inclination angle of the human-powered vehicle (10) becomes greater than or equal to a first angle, and a case where a vehicle speed of the human-powered vehicle (10) becomes greater than or equal to a predetermined third speed. [35] Control device (70) according to one of claims 18 to 34, wherein the controller (72) is arranged to control the electric actuator (48) not to change the gear ratio with the derailleur (22) until a second condition relating to shifting is satisfied in a case where the electric actuator (48) and the motor (24) are controlled to increase or decrease the gear ratio a predetermined number of times or more within a predetermined third time. [36] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) driving the transmission body (20), the control device (70) comprising: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the motor (24) and drive the transmission body (20) in a case where the derailleur (22) is operated with the electric actuator (48) to change the gear ratio and a predetermined condition regarding pedaling is met, and the controller (72) is arranged to control the electric actuator (48) not to change the gear ratio with the derailleur (22) until a second condition relating to shifting is met in a case where the electric actuator (48) and the motor (24) are controlled to increase or decrease the gear ratio a predetermined number of times or more within a predetermined third time. [37] A control device (70) according to claim 35 or 36, wherein the second condition relating to switching is satisfied in at least one of a case where a predetermined fourth time elapses from a time of stopping the electric actuator (48), a case where an inclination angle of the human-powered vehicle (10) becomes greater than or equal to a second angle, and a case where a vehicle speed of the human-powered vehicle (10) becomes greater than or equal to a predetermined fourth speed. [38] Control device (70) according to one of claims 19 to 35, wherein the controller (72) is arranged to control the motor (24) and the electric actuator (48) so that a relative movement of the derailleur (22) and at least one of the first rotary body (14) and the second rotary body (18) is started simultaneously when the motor (24) is driven or before the motor (24) is driven in a case where the electric actuator (48) and the motor (24) are controlled to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [39] A control device (70) for a human-powered vehicle (10), wherein the human-powered vehicle (10) has a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) includes: a controller (72) configured to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the electric actuator (48) and the motor (24) such that relative movement of the derailleur (22) and at least one of the first rotary body (14) and the second rotary body (18) is started simultaneously when the motor (24) is driven or before the motor (24) is driven in a case where the electric actuator (48) and the motor (24) are controlled to change the gear ratio and a predetermined condition regarding pedaling is satisfied. [40] Control device (70) according to claim 38 or 39, in which the control (72) is arranged to receive a signal for setting a position of the derailleur (22), the controller (72) is arranged to drive the motor (24) in a case where the signal is received, and the controller (72) is configured to control the electric actuator (48) to make the position of the derailleur (22) correspond to the first gear ratio in a case where a first gear ratio corresponding to a rotational speed of the motor (24) and a rotational speed of the wheel (16) does not correspond to the current position of the derailleur (22). [41] Control device (70) according to one of claims 18 to 40, in which: the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is met; the controller (72) is configured to control the electric actuator (48) to approximate a shift stage of the derailleur (22) to a predetermined shift stage or to approximate the gear ratio to a predetermined gear ratio in a case where the muscle-powered vehicle (10) is braked; the controller (72) is configured to control the electric actuator (48) and to change the gear stage of the derailleur (22) stepwise in a case where a difference between the predetermined gear stage and a current gear stage of the derailleur (22) or a difference between the predetermined gear ratio and the current gear ratio is less than or equal to a predetermined value; and the controller (72) is configured to control the electric actuator (48) to continuously operate the derailleur (22) over a plurality of shift stages in a case where a difference between the predetermined shift stage and a current shift stage of the derailleur (22) or a difference between the predetermined gear ratio and the current gear ratio exceeds the predetermined value. [42] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and an electric actuator (48) configured to actuate the derailleur (22), the control device (70) comprising: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met; the controller (72) is configured to control the electric actuator (48) to approximate a shift stage of the derailleur (22) to a predetermined shift stage or to approximate the gear ratio to a predetermined gear ratio in a case where the muscle-powered vehicle (10) is braked; the controller (72) is configured to control the electric actuator (48) and to change the shift stage of the derailleur (22) stepwise in a case where a difference between the predetermined shift stage and a current shift stage of the derailleur (22) or a difference between the predetermined gear ratio and the current gear ratio is less than or equal to a predetermined value; the controller (72) is configured to control the electric actuator (48) to continuously operate the derailleur (22) over a plurality of shift stages in a case where a difference between the predetermined shift stage and a current shift stage of the derailleur (22) or a difference between the predetermined gear ratio and the current gear ratio exceeds the predetermined value. [43] Control device (70) according to one of claims 18 to 42, in which: the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is met; the controller (72) is configured to control the electric actuator (48) such that a fifth time during which the derailleur (22) is operated across a plurality of shift stages in a case where a vehicle speed of the muscle-powered vehicle (10) is less than or equal to a fifth speed becomes shorter than a sixth time during which the derailleur (22) is operated across the plurality of shift stages in a case where the vehicle speed of the muscle-powered vehicle (10) exceeds the predetermined fifth speed. [44] A control device (70) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) engaged with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), a motor (24) configured to drive the transmission body (20), and an electric actuator (48) configured to actuate the derailleur (22), the control device (70) comprising: a controller (72) arranged to control the electric actuator (48) and the motor (24), wherein the controller (72) is configured to control the motor (24) and to drive the transmission body (20) with the motor (24) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met; and the controller (72) is configured to control the electric actuator (48) such that a fifth time during which the derailleur (22) is operated across a plurality of shift stages in a case where a vehicle speed of the muscle-powered vehicle (10) is less than or equal to a fifth speed becomes shorter than a sixth time during which the derailleur (22) is operated across the plurality of shift stages in a case where the vehicle speed of the muscle-powered vehicle (10) exceeds the predetermined fifth speed. [45] The control device (70) according to any one of claims 1 to 44, wherein the predetermined condition relating to pedaling is satisfied in at least one of a case where the human driving force applied to the crank axle (12) is less than or equal to a predetermined driving force, a case where a rotational speed of the crank axle (12) is less than or equal to a second rotational speed, and a case where the crank axle (12) oscillates. [46] Control device (70) according to one of claims 1 to 45, in which: the motor (24) is arranged to provide a driving force to the muscle-powered vehicle (10) in accordance with the human driving force; and the controller (72) is configured to control the motor (24) and drive the transmission body (20) so as not to apply any driving force to the muscle-powered vehicle (10) in a case where the derailleur (22) is operated to change the gear ratio and the predetermined condition regarding pedaling is satisfied. [47] A control device (70) for a human-powered vehicle (10), wherein the human-powered vehicle (10) comprises a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), a derailleur (22) configured to actuate the transmission body (20) to change a gear ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12) from a plurality of shift positions, an electric actuator (48) configured to actuate the derailleur (22), and a motor (24) configured to drive the transmission body (20), wherein the control device (70) comprises: a controller (72) configured to control the electric actuator (48) and the motor (24) and to receive a signal for adjusting the position of the derailleur (22), wherein the controller (72) is configured to control the motor (24), to drive the motor (24) in a case where the signal is received, and the controller (72) is configured to control the electric actuator (48) such that a position of the derailleur (22) corresponds to a first gear ratio corresponding to a rotational speed of the motor (24) and the rotational speed of the wheel (16) in a case where the first gear ratio does not correspond to a current position of the derailleur (22). [48] ​​Power transmission system (60) for a muscle-powered vehicle (10), the power transmission system (60) comprising: the control device (70) according to one of claims 1 to 47; and a first one-way clutch (62) provided in a first power transmission path between the crank axle (12) and the first rotating body (14) and configured to transmit rotational power from the crank axle (12) to the first rotating body (14) in a first rotational direction and to restrict the transmission of rotational power from the first rotating body (14) to the crank axle (12) in the first rotational direction. [49] Control device (70) according to claim 48, further comprising an energy storage device (66) arranged to store electrical energy generated by the motor (24), wherein the controller (72) is configured to control the motor (24) with the electrical energy of the energy storage device (66). [50] A power transmission system (60) for a human-powered vehicle (10), the human-powered vehicle (10) comprising a crank axle (12), a first rotating body (14) connected to the crank axle (12), a wheel (16), a second rotating body (18) connected to the wheel (16), a transmission body (20) in engagement with the first rotating body (14) and the second rotating body (18) and configured to transmit a driving force between the first rotating body (14) and the second rotating body (18), and a derailleur (22) configured to actuate the transmission body (20) to change a transmission ratio of a rotational speed of the wheel (16) to a rotational speed of the crank axle (12), the power transmission system (60) comprising: a motor (24) arranged to drive the transmission body (20) and to generate electrical energy by means of drive by the transmission body (20); an energy storage device (66) arranged to store the electrical energy generated by the motor (24), and a control device (70) for the muscle-powered vehicle (10), wherein the control device (70) comprises a controller (72) configured to control the motor (24) with the electrical energy of the energy storage device (66), and the controller (72) is configured to control the motor (24) and drive the transmission body (20) in a case where the derailleur (22) is operated to change the gear ratio and a predetermined condition regarding pedaling is met. [51] Power transmission system (60) according to claim 50, wherein: the muscle-powered vehicle (10) further comprises an electric actuator (48) arranged to actuate the derailleur (22), and the controller (72) is configured to control the electric actuator (48) with the electrical energy of the energy storage device (66). [52] A power transmission system (60) according to claim 49 or 50, further comprising a first one-way clutch (62) provided in a first power transmission path between the crank axle (12) and the first rotating body (14) and configured to transmit rotational power from the crank axle (12) to the first rotating body (14) in a first rotational direction and to restrict the transmission of rotational power from the first rotating body (14) to the crank axle (12) in the first rotational direction. [53] Power transmission system (60) according to one of claims 48 to 52, further comprising: a second one-way clutch (64) provided in a second power transmission path between the second rotating body (18) and the wheel (16) and configured to transmit a rotational force from the second rotating body (18) to the wheel (16) in a second rotational direction corresponding to the first rotational direction, and to restrict the transmission of the rotational force from the wheel (16) to the second rotating body (18) in the second rotational direction.

Images