Control device for human-powered vehicle and power transmission system

Abstract

To provide a control device for a human-powered vehicle and a power transmission system that suitably change a transmission gear ratio.SOLUTION: A human-powered vehicle includes: a crank shaft; a first rotor; wheels; a second rotor; a transmission body which transmits drive power between the first rotor and the second rotor; a derailleur which operates the transmission body in order to change a transmission gear ratio; and a motor for driving the transmission body. A control device has a control part. When the derailleur operates to change a transmission gear ratio, and when a predetermined condition related to pedaling is satisfied, the control part controls the motor so that the transmission body is driven by the motor, and controls the motor so that rotational speed of the motor increases as a difference increases between a first rotational speed calculated according to rotational speed of the wheels and a transmission gear ratio, and a predetermined rotational speed or a rotational speed of a predetermined range.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a control device and a power transmission system for a human-powered vehicle. [Background technology]

[0002] For example, the human-powered vehicle disclosed in Patent Document 1 includes a derailleur that operates a transmission body so as to change the gear ratio. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-222211 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a control device and a power transmission system for a human-powered vehicle that can suitably change the gear ratio. [Means for solving the problem]

[0005] A control device according to a first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the control unit is configured to control the motor so that the rotational speed of the motor increases as the difference between a first rotational speed calculated in accordance with the rotational speed of the wheel and the gear ratio increases, and to drive the transmission body using the motor. According to the control device of the first aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the first aspect, the motor is controlled to drive the transmission body so that the rotational speed of the motor increases the greater the difference between a first rotational speed calculated in accordance with the wheel rotational speed and the gear ratio and a predetermined rotational speed or a rotational speed within a predetermined range, enabling the gear ratio to be changed appropriately.

[0006] In the control device of the second aspect according to the first aspect of the present disclosure, the first rotational speed, the predetermined rotational speed, and the predetermined range of rotational speed correspond to the rotational speed of the crankshaft. According to the control device of the second aspect, the motor can be suitably controlled in accordance with the rotational speed of the crankshaft.

[0007] In the control device of the third aspect according to the second aspect of the present disclosure, the predetermined rotation speed and the predetermined range of rotation speed are rotation speeds equal to or greater than 50 rpm and equal to or less than 80 rpm. According to the control device of the third aspect, the user can easily maintain the rotation speed of the crankshaft at a rotation speed of 50 rpm or more and 80 rpm or less.

[0008] A control device according to a fourth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the control unit is configured to change the rotational speed of the motor in accordance with acceleration in the direction of travel of the human-powered vehicle, and to control the motor so that the rotational speed of the motor increases as the acceleration of the human-powered vehicle increases, thereby causing the motor to drive the transmission body. According to the control device of the fourth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the fourth aspect, the motor is controlled to drive the transmission body by the motor so that the rotation speed of the motor increases as the acceleration of the human-powered vehicle increases, enabling the gear ratio to be changed appropriately.

[0009] A control device according to a fifth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the control unit is configured to control the motor to change at least one of the rotation angle of the motor and the output torque of the motor in accordance with a state of the human-powered vehicle, and to cause the motor to drive the transmission body. According to the control device of the fifth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the fifth aspect, the motor is controlled to change at least one of the rotation angle of the motor and the output torque of the motor in accordance with the state of the human-powered vehicle, making it possible to suitably change the gear ratio.

[0010] In the control device of the sixth aspect according to the fifth aspect of the present disclosure, the state of the human-powered vehicle includes the rotational speed of the wheels and the gear ratio, and the control unit is configured to control the motor so that the rotational angle of the motor and at least one of the output torque become larger the greater the difference between a first rotational speed calculated according to the rotational speed of the wheels and the gear ratio, and a predetermined rotational speed or a rotational speed within a predetermined range. According to the control device of the sixth aspect, the motor is controlled so that the rotational speed of the motor increases as the difference between the first rotational speed calculated based on the rotational speed of the wheel and the gear ratio and a predetermined rotational speed or a rotational speed within a predetermined range increases, thereby enabling the gear ratio to be changed appropriately.

[0011] In the control device of the seventh aspect according to the fifth aspect of the present disclosure, the state of the human-powered vehicle includes a change in the vehicle speed of the human-powered vehicle or a change in the rotational speed of the wheels, and the control unit is configured to control the motor so that the rotational angle and / or output torque of the motor increases as the acceleration or deceleration in the direction of travel of the human-powered vehicle increases, or as the acceleration or deceleration of the rotational speed of the wheels in the rotational direction corresponding to the direction of travel of the human-powered vehicle increases. According to the control device of the seventh aspect, the motor is controlled so that the greater the acceleration or deceleration in the direction of travel of the human-powered vehicle, or the greater the acceleration or deceleration of the wheel rotational speed in the rotational direction corresponding to the direction of travel of the human-powered vehicle, the greater the motor rotation angle and / or output torque, and therefore the gear ratio can be changed appropriately.

[0012] In the control device of an eighth aspect according to any one of the first to seventh aspects of the present disclosure, the human-powered vehicle further includes a first operating device, and the control unit is configured to control the motor so as not to drive the transmission body when the first operating device is operated, even if the derailleur operates to change the gear ratio and a predetermined condition related to the pedaling is satisfied. According to the control device of the eighth aspect, even when the derailleur operates to change the gear ratio and predetermined conditions related to pedaling are met, when the operating device is operated, the motor is controlled so as not to drive the transmission body, thereby reducing the frequency with which the motor is driven.

[0013] A control device according to a ninth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and a first operating device, the control device including a control unit configured to control the motor, the control unit configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and the control unit configured to control the motor not to drive the transmission body when the first operating device is operated, even when the derailleur operates to change the gear ratio and when the predetermined condition related to pedaling is satisfied. According to the control device of the ninth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the ninth aspect, when the first operating device is operated, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to not drive the transmission body, allowing the user to select whether or not to drive the transmission body to change gears.

[0014] In the control device of the tenth aspect according to the ninth aspect of the present disclosure, the control unit is configured to control the motor so as not to drive the transmission body during at least one of the predetermined periods while the first operating device is being operated and after the first operating device is operated, even when the derailleur operates to change the gear ratio and a predetermined condition related to the pedaling is satisfied. According to the control device of the tenth aspect, the motor can be controlled so as not to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, at least one of while the first operating device is being operated and during a predetermined period after the first operating device is operated. According to the control device of the tenth aspect, when a user wants to suppress a change in the gear ratio, the user can easily suppress the change in the gear ratio by operating the first operating device.

[0015] In the control device of the eleventh aspect according to the ninth or tenth aspect of the present disclosure, the control unit is configured to control the motor so as not to drive the transmission body when a first operating unit included in the first operating device is operated or a predetermined operation is performed on the first operating unit, even if the derailleur operates to change the gear ratio and a predetermined condition related to the pedaling is satisfied. According to the control device of the eleventh aspect, when the first operating unit included in the first operating device is operated or a predetermined operation is performed on the first operating unit, the motor can be controlled so as not to drive the transmission body even when the derailleur operates to change the gear ratio and a predetermined condition related to pedaling is satisfied. According to the control device of the eleventh aspect, when a user wants to suppress a change in the gear ratio, the user can easily suppress the change in the gear ratio by operating the first operating device.

[0016] In the control device of a twelfth aspect according to any one of the eighth to eleventh aspects of the present disclosure, the human-powered vehicle further includes a second operating device configured to operate the derailleur, and the control unit is configured to be able to switch between a first mode and a second mode, and in the first mode, when the second operating device is operated and a predetermined condition related to the pedaling is satisfied, the control unit is configured to control the motor to drive the transmission body in accordance with the state of the human-powered vehicle, and in the second mode, when the second operating device is operated and even when a predetermined condition related to the pedaling is satisfied, the control unit is configured to control the motor not to drive the transmission body. According to the control device of the twelfth aspect, by switching between the first mode and the second mode, the user can select whether or not to change the speed by driving the transmission body with the motor.

[0017] In the control device of a thirteenth aspect according to any one of the first to twelfth aspects of the present disclosure, the control unit is configured to control the motor to stop driving the transmission body by the motor in accordance with the load on the motor when the derailleur operates to change the gear ratio and when predetermined conditions related to the pedaling are satisfied. According to the control device of the thirteenth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor can be controlled to stop driving the transmission body according to the load on the motor. The control device of the thirteenth aspect can prevent the human-powered vehicle from being propelled solely by the motor.

[0018] A control device according to a fourteenth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, and the control unit configured to control the motor to drive the transmission body by the motor when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and to stop driving of the transmission body by the motor depending on the load on the motor. According to the control device of the fourteenth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the fourteenth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor can be controlled to stop driving the transmission body according to the load on the motor.

[0019] In a control device of a fifteenth aspect according to the thirteenth or fourteenth aspect of the present disclosure, a first detection unit configured to detect the load on the motor is included, and the control unit is configured to control the motor so that the motor stops when the derailleur operates to change the gear ratio, when predetermined conditions related to pedaling are satisfied, and when the load on the motor is equal to or greater than a predetermined load. According to the control device of the fifteenth aspect, the motor can be controlled to stop when the derailleur operates to change the gear ratio, when predetermined pedaling conditions are met, and when the motor load is equal to or greater than a predetermined load. The control device of the fifteenth aspect can prevent the human-powered vehicle from being propelled solely by the motor.

[0020] In the control device of aspect 16 according to any one of aspects 1 to 15 of the present disclosure, when a predetermined condition related to the pedaling is satisfied, the control device is configured to control the motor so that driving of the transmission body is stopped when the vehicle speed of the human-powered vehicle becomes equal to or less than a first speed or when the rotational speed of the wheel becomes equal to or less than a predetermined rotational speed. According to the control device of the sixteenth aspect, when the derailleur operates to change the gear ratio and predetermined conditions related to pedaling are satisfied, the motor can be controlled so that drive of the transmission body is stopped when the vehicle speed of the human-powered vehicle falls below a first speed or the rotational speed of the wheel falls below a predetermined rotational speed. According to the control device of the sixteenth aspect, when the vehicle speed of the human-powered vehicle is low, gear changes can be suppressed.

[0021] A control device according to a seventeenth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, and a motor configured to drive the transmission body, the control device including a control unit configured to control the motor, the control unit configured to drive the transmission body with the motor when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and to control the motor so that driving of the transmission body is stopped when the vehicle speed of the human-powered vehicle becomes equal to or less than a first speed or the rotational speed of the wheel becomes equal to or less than a predetermined rotational speed. According to the control device of the seventeenth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the seventeenth aspect, the motor can be controlled to stop driving the transmission body when the vehicle speed of the human-powered vehicle falls below a first speed or when the wheel rotation speed falls below a predetermined rotation speed. According to the control device of the seventeenth aspect, when the vehicle speed of the human-powered vehicle is low, gear changes can be suppressed.

[0022] In the control device of aspect 18 according to any one of aspects 1 to 17 of the present disclosure, the human-powered vehicle further includes an electric actuator configured to operate the derailleur, and the control unit is configured to control the electric actuator. According to the control device of the eighteenth aspect, the derailleur can be operated by controlling the electric actuator.

[0023] In the control device of the 19th aspect according to the 18th aspect of the present disclosure, the control unit is configured to control the electric actuator so that the gear ratio is changed only in one of an increasing direction and a decreasing direction when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and to drive the transmission body using the motor. According to the control device of the nineteenth aspect, when a predetermined condition related to pedaling is satisfied, the gear ratio is changed only in one of the increasing direction and the decreasing direction, thereby reducing the processing load on the control unit.

[0024] A control device according to a twentieth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur, the control device including a control unit configured to control the electric actuator and the motor, and the control unit is configured to control the electric actuator so that the gear ratio is changed only in one of an increasing direction and a decreasing direction when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and to drive the transmission body with the motor. According to the control device of the twentieth aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the twentieth aspect, when predetermined conditions related to pedaling are satisfied, the gear ratio is changed only in the direction of increasing or decreasing, thereby reducing the processing load on the control unit.

[0025] In the control device of the 21st aspect according to the 19th or 20th aspect of the present disclosure, the control unit is configured to control the electric actuator to change the gear ratio within a predetermined gear range when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and to drive the transmission body using the motor. According to the control device of the twenty-first aspect, when predetermined conditions related to pedaling are satisfied, the gear ratio can be changed within an appropriate gear range.

[0026] A control device according to a 22nd aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur, the control device including a control unit configured to control the electric actuator and the motor, and the control unit is configured to, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, control the electric actuator to change the gear ratio within a predetermined gear range and cause the motor to drive the transmission body. According to the control device of the twenty-second aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the twenty-second aspect, when predetermined conditions related to pedaling are satisfied, the gear ratio can be changed within an appropriate gear range.

[0027] In the control device of the 23rd aspect according to the 21st or 22nd aspect of the present disclosure, the predetermined shift range includes a range equal to or less than a predetermined third shift ratio, and the predetermined third shift ratio is smaller than the maximum shift ratio among the shift ratios that can be changed by the derailleur. According to the control device of the 23rd aspect, when predetermined conditions related to pedaling are met, the gear ratio is prevented from being changed to the maximum gear ratio that can be changed by the derailleur, thereby preventing the user's load from increasing too much.

[0028] In the control device of the 24th aspect according to the 23rd aspect of the present disclosure, the control unit is configured to control the electric actuator to change the gear ratio within the predetermined gear range and drive the transmission body with the motor in at least one of the following cases: when the derailleur operates to change the gear ratio, predetermined conditions related to pedaling are satisfied, and the road on which the human-powered vehicle is traveling changes from an uphill to a downhill slope; and when the derailleur operates to change the gear ratio, predetermined conditions related to pedaling are satisfied, and the vehicle speed of the human-powered vehicle changes from an increasing state to a decelerating state. According to the control device of the 24th aspect, the gear ratio can be changed to an appropriate one in at least one of the following cases: when the road on which the human-powered vehicle is traveling changes from an uphill to a downhill slope; and when the vehicle speed of the human-powered vehicle changes from an increasing state to a decelerating state.

[0029] In the control device of aspect 25 according to any one of aspects 21 to 24 of the present disclosure, the predetermined shift range includes a range equal to or greater than a predetermined fourth shift ratio, and the predetermined fourth shift ratio is greater than the smallest shift ratio among the shift ratios that can be changed by the derailleur. According to the control device of the 25th aspect, when predetermined conditions related to pedaling are met, the gear ratio is prevented from being changed to the smallest gear ratio that can be changed by the derailleur, thereby preventing the crank rotation speed rotated by the user from increasing too much.

[0030] In the control device of the 26th aspect according to the 25th aspect of the present disclosure, the control unit is configured to control the electric actuator to change the gear ratio within the predetermined gear range and drive the transmission body with the motor in at least one of the following cases: when the derailleur operates to change the gear ratio, predetermined conditions related to pedaling are satisfied, and the vehicle speed of the human-powered vehicle becomes equal to or less than a predetermined sixth speed; and when the derailleur operates to change the gear ratio, predetermined conditions related to pedaling are satisfied, and the rotational speed of the crankshaft of the human-powered vehicle becomes equal to or less than a predetermined third rotational speed. According to the control device of the 26th aspect, the gear ratio can be changed to an appropriate one in at least one of the cases where the vehicle speed of the human-powered vehicle is equal to or lower than a predetermined sixth speed and where the rotational speed of the crankshaft of the human-powered vehicle is equal to or lower than a predetermined third rotational speed.

[0031] In the control device of aspect 27 according to any one of aspects 18 to 26 of the present disclosure, the control unit is configured to be able to switch between a first gear change mode in which the electric actuator is controlled in accordance with the state of the human-powered vehicle and a second gear change mode in which the electric actuator is controlled in accordance with the operation of a gear change operating device provided on the human-powered vehicle, and in the first gear change mode, is configured to be able to switch between a third mode and a fourth mode, and in the third mode, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the control unit is configured to control the motor to drive the transmission body in accordance with the state of the human-powered vehicle, and in the fourth mode, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the control unit is configured to control the motor not to drive the transmission body. According to the control device of the twenty-seventh aspect, in the first speed change mode, the user can switch between a third mode in which the transmission body is driven automatically and a fourth mode in which the transmission body is driven by the user.

[0032] A control device according to a twenty-eighth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur, the control device including a control unit configured to control the electric actuator and the motor, and The human-powered vehicle is configured to be switchable between a first speed change mode in which an actuator is controlled and a second speed change mode in which the electric actuator is controlled in response to operation of a speed change operating device provided on the human-powered vehicle, and in the first speed change mode, a third mode and a fourth mode are switchable. In the third mode, when the derailleur operates to change the speed ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body in response to the state of the human-powered vehicle, and in the fourth mode, the motor is controlled so as not to drive the transmission body even when the derailleur operates to change the speed ratio and when predetermined conditions related to pedaling are satisfied.

[0033] A control device according to a twenty-ninth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body; includes a control unit configured to control the electric actuator and the motor so that a first rotation speed calculated according to the rotation speed of the wheel and the gear ratio falls within a predetermined range, and the control unit is configured to drive the transmission body using the motor when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and to control the electric actuator so that, among multiple gear shift stages of the derailleur, the gear shift stage with the largest gear ratio is selected when the first rotation speed falls within the predetermined range. According to the control device of the 29th aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the 29th aspect, when the first rotational speed falls within the predetermined range in multiple gear stages of the derailleur, the electric actuator can be controlled to select the gear stage with the largest gear ratio among the multiple gear stages. According to the control device of the 29th aspect, it is possible to change to the optimal gear stage depending on the vehicle speed of the human-powered vehicle.

[0034] In the control device of aspect 30 according to any one of aspects 18 to 29 of the present disclosure, the control unit is configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied, and to control the electric actuator so that the gear ratio does not increase when the vehicle speed of the human-powered vehicle is equal to or greater than a second speed or when the rotational speed of the wheel is equal to or greater than a predetermined rotational speed. According to the control device of the thirtieth aspect, when the vehicle speed of the human-powered vehicle is equal to or higher than the second speed, or when the rotational speed of the wheels is equal to or higher than a predetermined rotational speed, the speed change ratio can be prevented from becoming too large.

[0035] A control device according to a thirty-first aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body, the control device including a control unit configured to control the electric actuator and the motor, the control unit being configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and being configured to control the electric actuator so as not to increase the gear ratio when the vehicle speed of the human-powered vehicle is equal to or higher than a second speed or when the rotational speed of the wheel is equal to or higher than a predetermined rotational speed. According to the control device of the 31st aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the 31st aspect, when the vehicle speed of the human-powered vehicle is equal to or higher than a second speed or when the rotational speed of the wheels is equal to or higher than a predetermined rotational speed, the gear ratio can be prevented from becoming too large. According to the control device of the 31st aspect, it is possible to prevent the vehicle speed of the human-powered vehicle from becoming too large.

[0036] In the control device of aspect 32 according to any one of aspects 29 to 31 of the present disclosure, the control unit is configured to control the electric actuator so that when the derailleur operates, the gear ratio is not changed until a first condition regarding gear shifting is satisfied. According to the control device of the thirty-second aspect, when the derailleur operates, the electric actuator can be controlled so that the gear ratio is not changed until the first condition regarding gear shifting is satisfied. The control device of the thirty-second aspect prevents the derailleur from operating continuously.

[0037] A control device according to a thirty-third aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body, the control device including a control unit that controls the motor and the electric actuator, the control unit being configured to control the motor to drive the transmission body when the derailleur is operated by the electric actuator to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and to control the electric actuator when the derailleur is operated so as not to change the gear ratio until a first condition related to gear shifting is satisfied. According to the control device of the 33rd aspect, when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, thereby making it possible to change the gear ratio appropriately. According to the control device of the 33rd aspect, when the vehicle speed of the human-powered vehicle is equal to or higher than a second speed or the wheel rotation speed is equal to or higher than a predetermined rotation speed, the electric actuator can be controlled to prevent the gear ratio from being changed until a first condition related to gear shifting is satisfied. According to the control device of the 33rd aspect, when the vehicle speed of the human-powered vehicle is equal to or higher than the second speed or the wheel rotation speed is equal to or higher than the predetermined rotation speed, continuous operation of the derailleur is suppressed.

[0038] In the control device of aspect 34 according to aspect 32 or 33 of the present disclosure, the human-powered vehicle further includes a second operating device configured to operate the derailleur, and the first condition regarding gear shifting is satisfied in at least one of the following cases: when a predetermined first time has elapsed since the second operating device was operated; when a predetermined second time has elapsed since the electric actuator stopped; when the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined first angle; and when the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined third speed. According to the control device of the 34th aspect, the electric actuator can be controlled so as not to change the gear ratio until at least one of the following occurs: a predetermined first time has elapsed since the second operating device was operated; a predetermined second time has elapsed since the electric actuator stopped; the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined first angle; and the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined third speed.

[0039] In the control device of aspect 35 according to any one of aspects 18 to 34 of the present disclosure, the control unit is configured to control the electric actuator so that, when the electric actuator and the motor are controlled so that the gear ratio increases or decreases a predetermined number of times or more within a predetermined third time period, the derailleur does not change the gear ratio until a second condition regarding gear shifting is satisfied. According to the control device of the thirty-fifth aspect, when the electric actuator and the motor are controlled so that the gear ratio increases or decreases a predetermined number of times or more within a predetermined third time period, the electric actuator can be controlled so that the gear ratio is not changed by the derailleur until a second condition regarding gear shifting is satisfied. The control device of the thirty-fifth aspect can suppress frequent changes in the gear ratio.

[0040] A control device according to a thirty-sixth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor that drives the transmission body, The control unit includes a control unit configured to control the actuator and the motor, and the control unit is configured to control the motor to drive the transmission body when the derailleur is operated by the electric actuator to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and when the electric actuator and the motor are controlled so that the gear ratio increases or decreases a predetermined number of times or more within a predetermined third time period, to control the electric actuator so that the gear ratio is not changed by the derailleur until a second condition related to gear shifting is satisfied. According to the control device of the 36th aspect, when the derailleur operates to change the gear ratio and a predetermined condition related to pedaling is satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the 36th aspect, when the electric actuator and the motor are controlled so that the gear ratio increases or decreases a predetermined number of times or more within a third predetermined time period, the electric actuator can be controlled so that the gear ratio is not changed by the derailleur until a second condition related to gear shifting is satisfied. The control device of the 36th aspect makes it possible to prevent frequent changes of the gear ratio.

[0041] In the control device of aspect 37 according to aspect 35 or 36 of the present disclosure, the second condition regarding the gear shift is satisfied in at least one of the following cases: when a predetermined fourth time has elapsed since the electric actuator stopped; when the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined second angle; and when the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined fourth speed. According to the control device of the 37th aspect, the electric actuator can be controlled so that the gear ratio is not changed by the derailleur until at least one of the following occurs: a predetermined fourth time has elapsed since the electric actuator stopped; the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined second angle; or the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined fourth speed.

[0042] In the control device of aspect 38 according to any one of aspects 19 to 35 of the present disclosure, the control unit is configured to control the electric actuator and the motor so that, when controlling the electric actuator and the motor to change the gear ratio and when a predetermined condition related to the pedaling is satisfied, relative movement between at least one of the first rotating body and the second rotating body and the derailleur begins simultaneously with or before the motor is driven. According to the control device of the thirty-eighth aspect, the electric actuator and the motor are controlled so that the relative movement between the derailleur and at least one of the first and second rotating bodies begins simultaneously with or before the motor is driven, thereby enabling the gear ratio to be changed appropriately.

[0043] A control device according to a thirty-ninth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body, the control device including a control unit configured to control the electric actuator and the motor, and the control unit is configured to control the electric actuator and the motor when controlling the electric actuator and the motor to change the gear ratio and when a predetermined condition related to pedaling is satisfied, so that relative movement between at least one of the first rotating body and the second rotating body and the derailleur begins simultaneously with or before the motor is driven. According to the control device of the 39th aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the 39th aspect, the electric actuator and the motor are controlled so that relative movement between the derailleur and at least one of the first rotating body and the second rotating body begins simultaneously with or before the motor is driven. This allows the gear ratio to be changed appropriately.

[0044] In the control device of aspect 40 according to aspect 38 or 39 of the present disclosure, the control unit is configured to receive a signal for adjusting the position of the derailleur, and when the signal is received, to drive the motor, and if a 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, to control the electric actuator so that the position of the derailleur corresponds to the first gear ratio. According to the control device of the 40th aspect, when a signal for adjusting the derailleur position is received and 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 motor is driven, thereby making it possible to suitably change the gear ratio.

[0045] In the control device of a 41st aspect according to any one of the 18th to 40th aspects of the present disclosure, the control unit is configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied, and is configured to control the electric actuator when the human-powered vehicle decelerates so that the gear stage of the derailleur approaches the predetermined gear stage or so that the gear ratio approaches a predetermined gear ratio, When the difference between the predetermined gear ratio and the current gear stage of the derailleur, or the difference between the predetermined gear ratio and the current gear ratio, is equal to or less than a predetermined value, the electric actuator is controlled to change the gear stage of the derailleur one gear at a time; and when the difference between the predetermined gear ratio 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 electric actuator is controlled to operate the derailleur continuously through multiple gear stages. According to the control device of the 41st aspect, when the difference between a 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 a predetermined value, the electric actuator can be controlled so that the derailleur operates continuously through multiple shift stages. According to the control device of the 41st aspect, the time until the current shift stage is changed to a preferred shift stage, or the time until the current gear ratio is changed to a preferred gear ratio, can be shortened.

[0046] A control device according to a forty-second aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur, the control device including a control unit configured to control the electric actuator and the motor, and the control unit controls the motor to operate the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied. The control unit is configured to control the motor to drive the human-powered vehicle, and when the human-powered vehicle decelerates, the control unit is configured to control the electric actuator so that the derailleur shift stage approaches the predetermined shift stage or so that the shift ratio approaches a predetermined shift ratio, and when the difference between the predetermined shift stage and the current shift stage of the derailleur, or the difference between the predetermined shift ratio and the current shift ratio, is equal to or smaller than a predetermined value, the control unit is configured to control the electric actuator to change the derailleur shift stage by one gear, and when the difference between the predetermined shift stage and the current shift stage of the derailleur, or the difference between the predetermined shift ratio and the current shift ratio, exceeds the predetermined value, the control unit is configured to control the electric actuator so that the derailleur operates continuously over a plurality of shift stages. According to the control device of the forty-second aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the control device of the forty-second aspect, when the human-powered vehicle decelerates, if the difference between a 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 a predetermined value, the electric actuator can be controlled so that the derailleur operates continuously through multiple gear stages. According to the control device of the forty-second aspect, the time until the current gear stage is changed to a preferred gear stage, or the time until the current gear ratio is changed to a preferred gear ratio, can be shortened.

[0047] In the control device of aspect 43 according to any one of aspects 18 to 42 of the present disclosure, the control unit is configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied, and is configured to control the electric actuator so that a fifth time during which the derailleur operates through a plurality of gear shift stages when the vehicle speed of the human-powered vehicle is equal to or less than a predetermined fifth speed is shorter than a sixth time during which the derailleur operates through the plurality of gear shift stages when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed. According to the control device of the 43rd aspect, when the derailleur is operated through multiple gear shift stages, the electric actuator can be controlled so that when the vehicle speed of the human-powered vehicle is equal to or lower than a predetermined fifth speed, the derailleur operation is completed in a shorter time than when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed. The control device of the 43rd aspect makes it easier to complete gear shifting before the human-powered vehicle comes to a stop.

[0048] A control device according to a forty-fourth aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur, The control unit includes a control unit configured to control the electric actuator and the motor, and the control unit is configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, and is configured to control the electric actuator so that a fifth time during which the derailleur operates through a plurality of gear shift stages when the vehicle speed of the human-powered vehicle is equal to or less than a predetermined fifth speed is shorter than a sixth time during which the derailleur operates through the plurality of gear shift stages when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed. According to the control device of the 44th aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor is controlled to drive the transmission body, thereby making it possible to suitably change the gear ratio. According to the control device of the 44th aspect, when the derailleur operates through multiple gear shift stages, the electric actuator can be controlled so that when the vehicle speed of the human-powered vehicle is equal to or lower than a predetermined fifth speed, the derailleur operation is completed in a shorter time than when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed. The control device of the 44th aspect makes it easier to complete gear changes before the human-powered vehicle comes to a stop.

[0049] In the control device of aspect 45 according to any one of aspects 1 to 44 of the present disclosure, the predetermined condition related to pedaling is satisfied in at least one of the following cases: when the manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when the rotational speed of the crankshaft is equal to or less than a second rotational speed; and when the crankshaft is oscillating. According to the control device of the 45th aspect, the gear ratio can be suitably changed by driving the motor in at least one of the following cases: when the manual driving force input to the crankshaft is equal to or less than a predetermined driving force, when the rotational speed of the crankshaft is equal to or less than a second rotational speed, and when the crankshaft is oscillating.

[0050] In the control device of aspect 46 according to any one of aspects 1 to 45 of the present disclosure, the motor is configured to impart a propulsive force to the human-powered vehicle in accordance with a human-powered driving force, and the control unit is configured to control the motor to drive the transmission body so as not to impart a propulsive force to the human-powered vehicle when the derailleur operates to change the gear ratio and when predetermined conditions related to the pedaling are satisfied. According to the control device of the 46th aspect, when the derailleur operates to change the gear ratio and when predetermined conditions related to pedaling are satisfied, the motor can be controlled to drive the transmission body so as not to impart propulsive force to the human-powered vehicle. The control device of the 46th aspect can reduce the power consumption of the motor.

[0051] A control device according to a forty-seventh aspect of the present disclosure is a control device for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, a derailleur having a plurality of shift positions and configured to operate the transmission body to change the transmission ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a front and a motor configured to drive the transmission body, wherein the control device includes a control unit configured to control the electric actuator and the motor and to receive a signal to adjust the position of the derailleur, wherein the control unit is configured to control the motor to drive the motor when the signal is received, and is configured to control the electric actuator so that the position of the derailleur corresponds to the first gear ratio when a 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. According to the control device of the 47th aspect, when a signal to adjust the position of the derailleur is received, the motor is driven, and if 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 electric actuator drives the derailleur to correspond to the first gear ratio, thereby allowing the gear ratio to be changed appropriately.

[0052] A power transmission system according to a 48th aspect of the present disclosure is a power transmission system for a human-powered vehicle, and includes a control device for a human-powered vehicle described in any one of the 1st to 47th aspects, and a first one-way clutch provided in a first power transmission path between the crankshaft and the first rotating body, configured to transmit rotational force in a first rotational direction from the crankshaft to the first rotating body and to suppress transmission of rotational force in the first rotational direction from the first rotating body to the crankshaft. According to the power transmission system of the 48th aspect, the gear ratio can be suitably changed. According to the power transmission system of the 48th aspect, when the first rotating body is rotated by the motor, the first one-way clutch can suppress transmission of the rotational force of the first rotating body to the crankshaft, so that when the motor is driven to change the gear ratio, the gear ratio can be suitably changed.

[0053] In a power transmission system of a 49th aspect according to the 48th aspect of the present disclosure, the power transmission system further includes a power storage device configured to store power generated by the motor, and the control unit is configured to control the motor using the power of the power storage device. According to the power transmission system of the forty-ninth aspect, the motor can be controlled using electric power from a power storage device that stores electric power generated by the motor. According to the power transmission system of the forty-ninth aspect, the frequency of charging the power storage device can be reduced.

[0054] A power transmission system according to a fiftieth aspect of the present disclosure is a power transmission system for a human-powered vehicle, the human-powered vehicle including a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, and a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel relative to the rotational speed of the crankshaft, the power transmission system including a motor configured to drive the transmission body and configured to generate electricity when driven by the transmission body, a power storage device configured to store the electricity generated by the motor, and a control device for the human-powered vehicle, the control device including a control unit configured to control the motor using the power of the power storage device, and the control unit configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied. According to the power transmission system of the 50th aspect, when the derailleur operates to change the gear ratio and when predetermined pedaling conditions are met, the motor is controlled to drive the transmission body, thereby enabling the gear ratio to be changed appropriately. According to the power transmission system of the 50th aspect, the motor can be controlled using power from a power storage device that stores power generated by the motor. According to the power transmission system of the 50th aspect, the frequency with which the power storage device needs to be charged can be reduced.

[0055] In the power transmission system of the 51st aspect according to the 50th aspect of the present disclosure, the human-powered vehicle includes an electric actuator configured to operate the derailleur, and the control unit is configured to control the electric actuator using power from the power storage device. According to the power transmission system of the fifty-first aspect, the electric actuator can be controlled using the power of the power storage device that stores the power generated by the motor.

[0056] In the power transmission system of the 52nd aspect according to the 50th or 51st aspect of the present disclosure, a first one-way clutch is provided in a first power transmission path between the crankshaft and the first rotating body, and is configured to transmit rotational force in a first rotational direction from the crankshaft to the first rotating body and to suppress transmission of rotational force in the first rotational direction from the first rotating body to the crankshaft. According to the power transmission system of the 52nd aspect, when the first rotating body is rotated by the motor, the first one-way clutch can suppress the transmission of the rotational force of the first rotating body to the crankshaft, so that when the motor is driven to change the gear ratio, the gear ratio can be changed appropriately.

[0057] In the power transmission system of aspect 53 according to any one of aspects 48 to 52 of the present disclosure, a second one-way clutch is provided in a second power transmission path between the second rotating body and the wheel, and is configured to transmit rotational force from the second rotating body to the wheel in the second rotational direction corresponding to the first rotational direction, and to suppress transmission of rotational force from the wheel to the second rotating body in the second rotational direction. According to the power transmission system of the fifty-third aspect, the second one-way clutch allows relative rotation between the second rotating body and the wheel, so that when the motor is driven to change the gear ratio, the gear ratio can be changed appropriately. [Effects of the Invention]

[0058] The control device and power transmission system for a human-powered vehicle disclosed herein can suitably change the gear ratio. [Brief explanation of the drawings]

[0059] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 2] FIG. 2 is a cross-sectional view of a drive unit included in the human-powered vehicle of FIG. 1. [Figure 3] Schematic diagram of the power transmission path of the power transmission system of the human-powered vehicle in Figure 1. [Figure 4] 1 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a first embodiment. [Figure 5] 5 is a flowchart of a process executed by the control unit of FIG. 4 to control the electric actuator and the motor in order to change the gear ratio. [Figure 6] 5 is a flowchart of a process executed by the control unit of FIG. 4 to control the electric actuator and the motor for adjusting the position of the derailleur. [Figure 7] 10 is a flowchart of a process for switching between the first mode and the second mode, which is executed by a control unit according to a second embodiment. [Figure 8]10 is a flowchart of a process executed by a control unit of a second embodiment to control an electric actuator and a motor in order to change a gear ratio. [Figure 9] FIG. 10 is a block diagram showing the electrical configuration of a control device for a human-powered vehicle according to a third embodiment. [Figure 10] 10 is a flowchart of a process executed by the control unit of FIG. 9 to control the electric actuator and the motor in order to change the gear ratio. [Figure 11] FIG. 10 is a block diagram showing the electrical configuration of a human-powered vehicle including a control device for a human-powered vehicle according to a third embodiment. [Figure 12] 12 is a flowchart of a process executed by the control unit of FIG. 11 to switch between the third mode and the fourth mode in the first speed change mode. [Figure 13] 10 is a flowchart of a process executed by a control unit of a first modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 14] 10 is a flowchart of a process executed by a control unit of a second modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 15] 10 is a flowchart of a process executed by a control unit of a third modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 16] 10 is a flowchart of a process executed by a control unit of a fourth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 17] 10 is a flowchart of a process executed by a control unit of a fifth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 18] 13 is a flowchart of a process executed by a control unit of a sixth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 19] 13 is a flowchart of a process executed by a control unit of a seventh modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 20]13 is a flowchart of a process executed by a control unit of an eighth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 21] 13 is a flowchart of a process executed by a control unit of a ninth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 22] 13 is a flowchart of a process executed by a control unit of a tenth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 23] 16 is a flowchart of a process executed by a control unit of an eleventh modification to control an electric actuator and a motor in order to change a gear ratio. [Figure 24] 20 is a flowchart of a process executed by a control unit of a twelfth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 25] 23 is a flowchart of a process executed by a control unit of a thirteenth modified example to control an electric actuator and a motor in order to change a gear ratio. [Figure 26] 23 is a flowchart of a process executed by a control unit of a fourteenth modification to control an electric actuator and a motor in order to change a gear ratio. [Figure 27] 23 is a flowchart of a process executed by a control unit of a fifteenth modification to control an electric actuator and a motor in order to change a gear ratio. [Figure 28] 20 is a flowchart of a process executed by a control unit of a sixteenth modification to control an electric actuator and a motor in order to change a gear ratio. DETAILED DESCRIPTION OF THE INVENTION

[0060] First Embodiment A power transmission system 60 and a control device 70 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS. 1 to 6. The human-powered vehicle 10 is a vehicle that has at least one wheel and can be driven by at least a human-powered driving force H. Examples of the human-powered vehicle 10 include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand bikes, and recumbent bikes. The number of wheels that the human-powered vehicle 10 has is not limited. Examples of the human-powered vehicle 10 include unicycles and vehicles with three or more wheels. The human-powered vehicle 10 is not limited to vehicles that can be driven solely by the human-powered driving force H. The human-powered vehicle 10 also includes e-bikes that use not only the human-powered driving force H but also the driving force of a motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by a motor. In the following embodiments, the human-powered vehicle 10 will be described as an electrically assisted bicycle.

[0061] The human-powered vehicle 10 includes a crankshaft 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 a pair of crank arms 26. The crankshaft 12 and the crank arms 26 form a crank 28. A human-powered driving force H is input to the crank 28. The human-powered vehicle 10 further includes a body 30. The wheels 16 include a rear wheel 16A and a front wheel 16B. The body 30 includes a frame 32. The crank 28 is rotatable relative to the frame 32. The pair of crank arms 26 includes a first crank arm 26A and a second crank arm 26B. The first crank arm 26A is provided at one axial end of the crankshaft 12. The second crank arm 26B is provided at the other axial end of the crankshaft 12. The human-powered vehicle 10 further includes pedals 34. The pedals 34 include a first pedal 34A and a second pedal 34B. The first pedal 34A is connected to the first crank arm 26A. The second pedal 34B is connected to the second crank arm 26B. The rear wheel 16A is driven by 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 connected by a drive mechanism 36.

[0062] The drive mechanism 36 includes a first rotating body 14, a second rotating body 18, and a transmission body 20. The first rotating body 14 is connected to the crankshaft 12. The second rotating body 18 is connected to the wheel 16. The transmission body 20 is configured to engage with the first rotating body 14 and the second rotating body 18 to transmit 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 this embodiment, the first rotating body 14 and the crankshaft 12 are arranged coaxially, but the first rotating body 14 and the crankshaft 12 do not have to be arranged coaxially. If the first rotating body 14 and the crankshaft 12 are not arranged coaxially, the first rotating body 14 and the crankshaft 12 are connected via a first transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt. In this embodiment, the second rotating body 18 and the rear wheel 16A are arranged coaxially, but the second rotating body 18 and the rear wheel 16A do not have to be arranged coaxially. If the second rotating body 18 and the rear wheel 16A are not arranged coaxially, the second rotating body 18 and the rear wheel 16A are connected via a second transmission mechanism including at least one of a gear, a pulley, a chain, a shaft, and a belt.

[0063] A front wheel 16B is attached to the frame 32 via a front fork 38. A handlebar 42 is connected to the front fork 38 via a stem 40. In this embodiment, the rear wheel 16A is connected to the crank 28 by the drive mechanism 36, but at least one of the rear wheel 16A and the front wheel 16B may be connected to the crank 28 by the drive mechanism 36.

[0064] The derailleur 22 is configured to operate the transmission body 20 to change the transmission ratio R of the rotational speed NW of the wheel 16 relative to the rotational speed NC of the crankshaft 12. The relationship between the transmission ratio R, the rotational speed NW, and the rotational speed NC is expressed by equation (1). Formula (1): Speed ​​ratio R = rotation speed NW / rotation speed NC

[0065] The derailleur 22 includes, for example, at least one of a front derailleur and a rear derailleur. If the derailleur 22 includes a rear derailleur, the first rotating body 14 includes at least one sprocket, the second rotating body 18 includes multiple sprockets, and the transmission body 20 includes a chain. If the derailleur 22 includes a rear derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the second rotating body 18 to another of the multiple sprockets. If the derailleur 22 includes a front derailleur, the first rotating body 14 includes multiple sprockets, the second rotating body 18 includes at least one sprocket, and the transmission body 20 includes a chain. If the derailleur 22 includes a front derailleur, the derailleur 22 shifts a chain that engages with one of the multiple sprockets included in the first rotating body 14 to another of the multiple sprockets. The derailleur 22 operates the transmission body 20 to change the state of engagement between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18, thereby changing the gear ratio R.

[0066] The first rotating body 14 and the second rotating body 18 may be provided in a gearbox. The gearbox is provided, for example, near the crankshaft 12. When the first rotating body 14 and the second rotating body 18 are provided in the gearbox, at least one of the first rotating body 14 and the second rotating body 18 includes a plurality of sprockets, and the derailleur 22 is provided in the gearbox and configured to change the engagement state between the transmission body 20 and at least one of the first rotating body 14 and the second rotating body 18.

[0067] Preferably, the human-powered vehicle 10 further includes 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 the user's hands and fingers, etc. The first operating device 44 includes a first operating unit 44A. The first operating device 44 is operated when the user intentionally prohibits gear shifting. Preferably, the human-powered vehicle 10 further includes 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 the user's hands and fingers, etc. The second operating device 45 includes at least a second operating unit 45A and a third operating unit 45B.

[0068] A portion of the first operating device 44 and a portion of the second operating device 45 may be integrally formed as a single member. For example, the first operating unit 44A of the first operating device 44 and the second operating unit 45A and third operating unit 45B of the second operating device 45 may be provided on a common base member. The first operating unit 44A includes, for example, a button switch or a lever switch. The first operating unit 44A is not limited to a button switch or a lever switch and may have any configuration as long as it is configured to transition between at least two states when operated by a user. The second operating unit 45A and the third operating unit 45B are, for example, button switches or lever switches. The second operating unit 45A and the third operating unit 45B are not limited to a button switch or a lever switch and may have any configuration as long as it is configured to transition between at least two states when operated by a user.

[0069] The second operating unit 45A and the third operating unit 45B are configured to operate the derailleur 22. The second operating device 45 outputs a gear shift operating signal to the control unit 72 of the control device 70 in response to an operation by the user. In addition to or instead of the second operating unit 45A and the third operating unit 45B, the second operating device 45 may include a fourth operating unit 45C configured to operate components for the human-powered vehicle other than the derailleur 22. Examples of components for the human-powered vehicle include at least one of a cycle computer, suspension, an adjustable seatpost, a lamp, or a drive unit. The gear shift operating signal includes, for example, a first operating signal including a command to operate the derailleur 22 to increase the gear ratio R, and a second operating signal including a command to operate the derailleur 22 to decrease the gear ratio R.

[0070] The second operating device 45 outputs a first operating signal when the second operating part 45A is operated, and outputs a second operating signal when the third operating part 45B is operated. In this embodiment, the rear derailleur is operated by the second operating part 45A and the third operating part 45B. However, the front derailleur may be operated by the second operating part 45A and the third operating part 45B, or both the rear derailleur and the front derailleur may be operated by the second operating part 45A and the third operating part 45B. In addition to the second operating part 45A and the third operating part 45B, the second operating device 45 may further include a fifth operating part and a sixth operating part. The fifth operating part and the sixth operating part may be configured similarly to the second operating part 45A and the third operating part 45B, for example. The rear derailleur may be operated by one of the second operating unit 45A and the third operating unit 45B and the fifth operating unit and the sixth operating unit, and the front derailleur may be operated by the other of the second operating unit 45A and the third operating unit 45B and the fifth operating unit and the sixth operating unit.

[0071] Preferably, the human-powered vehicle 10 further includes an electric actuator 48 configured to operate the derailleur 22. The electric actuator 48 includes, for example, an electric motor. The electric actuator 48 may further include, for example, a reducer connected to the output shaft of the electric motor. The electric actuator 48 may be provided on the derailleur 22, or may be provided at a location on the human-powered vehicle 10 separate from the derailleur 22. When driven by the electric actuator 48, the derailleur 22 operates the transmission body 20, thereby performing a gear shifting operation. The derailleur 22 includes, for example, a base member, a moving member, and a link member that movably connects the moving member to the base member. The moving member includes a guide member that guides the connecting member. The guide member includes, for example, a guide plate and a pulley. The electric actuator 48 may, for example, directly drive the link member. The electric actuator 48 may also drive the link member via a cable.

[0072] Preferably, the human-powered vehicle 10 further includes a battery 46. The battery 46 includes one or more battery elements. The battery element includes a rechargeable battery. The battery 46 is configured to supply power to the control device 70. Preferably, the battery 46 is also configured to supply power to the electric actuator 48. The battery 46 is preferably connected to a control unit 72 of the control device 70 so as to be able to communicate with the control unit 72 via wired or wireless communication. The battery 46 can communicate with the control unit 72 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0073] The motor 24 is configured to drive the transmission body 20. Preferably, the motor 24 is configured to provide propulsive force to the human-powered vehicle 10 in response to the human-powered driving force H. The motor 24 includes one or more electric motors. The electric motor included in the motor 24 is, for example, a brushless motor. The motor 24 is configured to transmit rotational force to a power transmission path of the human-powered driving force H from the pedals 34 to the second rotating body 18. In this embodiment, the motor 24 is provided on the frame 32 of the human-powered vehicle 10 and configured to transmit the rotational force to the first rotating body 14. The human-powered vehicle 10 further includes a housing 52 in which the motor 24 is provided. The motor 24 and the housing 52 form a drive unit 50. The housing 52 is attached to the frame 32. The housing 52 rotatably supports the crankshaft 12. The motor 24 may be configured to transmit rotational force to the transmission body 20, for example, without passing through the first rotating body 14. In this case, for example, a sprocket that engages with the transmission body 20 is provided on the output shaft of the motor 24 or on a transmission member to which the force of the output shaft is transmitted.

[0074] A reducer 54 may be provided between the motor 24 and the power transmission path of the human-powered driving force H. The reducer 54 may include, for example, a plurality of gears. A third one-way clutch 56 may preferably be provided between the motor 24 and the power transmission path of the human-powered driving force H to prevent the rotational force of the crank 28 from being transmitted to the motor 24 when the crankshaft 12 is rotated in the direction in which the human-powered vehicle 10 moves forward. The third one-way clutch 56 may include, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0075] The drive unit 50 includes an output portion 58. The output portion 58 is connected to, for example, the crankshaft 12 and also connected to a reducer 54. The output portion 58 receives the manual driving force H and the output of the motor 24. The first rotor 14 is connected to the output portion 58 so as to rotate integrally therewith.

[0076] Preferably, the power transmission system 60 includes a 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 crankshaft 12 and the first rotating body 14 and is configured to transmit rotational force from the crankshaft 12 to the first rotating body 14 in a first rotational direction and to suppress transmission of rotational force from the first rotating body 14 to the crankshaft 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 allow relative rotation between the crank 28 and the first rotating body 14 when the crank 28 rotates backward. The first one-way clutch 62 is provided in, for example, the housing 52 of the drive unit 50. The first one-way clutch 62 is provided between, for example, the crankshaft 12 and the output part 58. The first one-way clutch 62 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0077] The crankshaft 12 and the first rotor 14 may be coupled to rotate integrally. When the crankshaft 12 and the first rotor 14 are coupled to rotate integrally, the first one-way clutch 62 is omitted.

[0078] 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 suppress 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 allow relative rotation between the second rotating body 18 and the rear wheel 16A when the second rotating body 18 rotates backward. The second one-way clutch 64 is provided, for example, on the hub axle of the rear wheel 16A. The second one-way clutch 64 includes, for example, at least one of a roller clutch, a sprag clutch, and a pawl clutch.

[0079] The second rotating body 18 and the rear wheel 16A may be connected to rotate integrally. When the second rotating body 18 and the rear wheel 16A are connected to rotate integrally, the second one-way clutch 64 is omitted.

[0080] Preferably, the power transmission system 60 further includes a power storage device 66. The power storage device 66 is configured to store the power generated by the motor 24. Preferably, the control unit 72 is configured to control the motor 24 using the power of the power storage device 66. The power storage device 66 may include the battery 46, may include a battery separate from the battery 46, or may include a capacitor. The power storage device 66 is provided in the housing 52 of the drive unit 50, for example.

[0081] The control device 70 includes a control unit 72. The control unit 72 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The arithmetic processing units may be provided in multiple locations that are separate from each other. The control unit 72 may include one or more microcomputers. Preferably, the control device 70 further includes a memory unit 74. The memory unit 74 stores various control programs and information used for various control processes. The memory unit 74 includes, for example, a non-volatile memory and a volatile memory. The non-volatile memory includes, for example, at least one of a ROM (Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and a flash memory. The volatile memory includes, for example, a RAM (Random Access Memory).

[0082] The control device 70 preferably further includes a drive circuit 76 for the motor 24. The drive circuit 76 and the control unit 72 are preferably provided in the housing 52 of the drive unit 50. The drive circuit 76 and the control unit 72 may be provided on the same circuit board, for example. The drive circuit 76 includes an inverter circuit. The drive circuit 76 controls the power supplied from the battery 46 to the motor 24. The drive circuit 76 is connected to the control unit 72 so as to be able to communicate with each other via a wire or wirelessly. The drive circuit 76 drives the motor 24 in response to a control signal from the control unit 72.

[0083] Preferably, the control device 70 further includes a vehicle speed sensor 78, a crank rotation sensor 80, and a torque sensor 82.

[0084] The vehicle speed sensor 78 is configured to detect information corresponding to the rotation speed NW of the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is preferably configured to detect magnets provided on the wheels 16 of the human-powered vehicle 10. The vehicle speed sensor 78 is configured to output a detection signal a predetermined number of times per rotation of the wheels 16. The predetermined number is, for example, 1. The vehicle speed sensor 78 outputs a signal corresponding to the rotation speed NW of the wheels 16. The control unit 72 can calculate the vehicle speed V of the human-powered vehicle 10 based on the rotation speed NW of the wheels 16. The vehicle speed V can be calculated based on the rotation speed NW of the wheels 16 and information related to the circumference of the wheels 16. The information related to the circumference of the wheels 16 is stored in the memory unit 74.

[0085] The vehicle speed sensor 78 includes, for example, a magnetic reed constituting a reed switch or a Hall element. The vehicle speed sensor 78 may be attached to the chainstay 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 attached to the front fork 38 and configured to detect a magnet attached to the front wheel 16B. In this embodiment, the vehicle speed sensor 78 is configured so that the reed switch detects the magnet once for each rotation of the wheel 16. The vehicle speed sensor 78 may have any configuration as long as it can 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 control unit 72 via a wireless communication device or an electric cable.

[0086] The crank rotation sensor 80 is configured to detect information corresponding to the rotation speed NC of the crankshaft 12 of the human-powered vehicle 10. The crank rotation sensor 80 is provided, for example, on the frame 32 or drive unit 50 of the human-powered vehicle 10. The crank rotation sensor 80 includes a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet, whose magnetic field strength varies circumferentially, is provided on the crankshaft 12, a member that rotates in conjunction with the crankshaft 12, or the power transmission path from the crankshaft 12 to the first rotor 14. The member that rotates in conjunction with the crankshaft 12 may be the output shaft of the motor 24. The crank rotation sensor 80 outputs a signal corresponding to the rotation speed NC of the crankshaft 12.

[0087] The magnet may be provided on a member that rotates integrally with the crankshaft 12 in the power transmission path of the human-powered driving force H from the crankshaft 12 to the first rotating body 14. For example, if a first one-way clutch is not provided between the crankshaft 12 and the first rotating body 14, the magnet may be provided on the first rotating body 14. The crank rotation sensor 80 may have any configuration as long as it can detect information corresponding to the rotation speed NC of the crankshaft 12 of the human-powered vehicle 10, and may include, for example, an optical sensor, an acceleration sensor, or a torque sensor instead of a magnetic sensor. The crank rotation sensor 80 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0088] The torque sensor 82 is configured to output a signal corresponding to the torque applied to the crank 28 by the manual driving force H. The torque sensor 82 is configured to output information corresponding to the torque of the manual driving force H input to the crank 28. For example, if the first one-way clutch 62 is provided in the power transmission path, the torque sensor 82 is preferably provided upstream of the first one-way clutch 62 in the power transmission path. The torque sensor 82 includes a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes a strain gauge. The torque sensor 82 is provided in the power transmission path or on a component included in the power transmission path or in the vicinity of a component included in the power transmission path. The component included in the power transmission path is, for example, the crankshaft 12, a component that transmits the manual driving force H between the crankshaft 12 and the first rotor 14, the crank arm 26, or the pedal 34. The torque sensor 82 is connected to the control unit 72 via a wireless communication device or an electric cable.

[0089] Preferably, the control device 70 includes a first detection unit 84 configured to detect the load L of the motor 24. The first detection unit 84 includes a current sensor that detects the current flowing through the motor 24 and a rotation sensor that detects the rotation speed of the motor 24. The load L of the motor 24 can be detected using known technology based on the current flowing through the motor 24 and the rotation speed of the motor 24, so a detailed description thereof will be omitted.

[0090] Preferably, the control device 70 further includes a second detection unit 86 that detects the tilt angle D of the human-powered vehicle 10. The tilt angle D includes the pitch angle of the human-powered vehicle 10. The second detection unit 86 includes, for example, at least one of an tilt sensor and a GPS (global positioning system) receiver. The tilt sensor includes, for example, at least one of a gyro sensor and an acceleration sensor. If the second detection unit 86 includes a GPS receiver, map information including information about road gradients is pre-stored in the memory unit 74, and the control unit 72 obtains the road gradient at the current location of the human-powered vehicle 10 as the pitch angle.

[0091] Preferably, the control device 70 further includes a shifting status sensor 88. The shifting status sensor 88 outputs information related to the shifting status of the derailleur 22. The shifting status includes, for example, the shifting stage. The shifting status sensor 88 may be provided in the derailleur 22 or in the second operating device 45. The shifting status sensor 88 is configured to detect, for example, the operation of the electric actuator 48. The electric actuator 48 includes, for example, an electric motor and a reducer. The shifting status sensor 88 is configured to detect the operation of the electric motor or the reducer of the electric actuator 48. The shifting status sensor 88 is configured to include, for example, a magnetic sensor, a potentiometer, a rotary encoder, a linear encoder, or an optical sensor.

[0092] The memory unit 74 stores information relating to the gear change state output from the gear change state sensor 88 in association with information relating to the gear change ratio R of the human-powered vehicle 10. The association between the information relating to the gear change state and the information relating to the gear change ratio R of the human-powered vehicle 10 may be stored as a table or as a function. The control unit 72 can acquire information relating to the current gear change ratio R of the human-powered vehicle 10 based on the information relating to the gear change state output from the gear change state sensor 88 and the information stored in the memory unit 74. The information relating to the gear change ratio R of the human-powered vehicle 10 may be represented by the gear change ratio R itself, or may be represented by a parameter corresponding to the gear change ratio R rather than the gear change ratio R itself. The parameter corresponding to the gear change ratio R may be a parameter indicating a gear change stage.

[0093] The control unit 72 is configured to control the motor 24. The control unit 72 is configured to control the motor 24 in accordance with at least one of the vehicle speed V of the human-powered vehicle 10, the rotational speed N of the crank 28, and the human-powered driving force H, for example. The human-powered driving force H may be expressed by torque HT or may be expressed by power HW. When the human-powered driving force H is expressed by power HW, the human-powered driving force H is obtained by multiplying the torque detected by the torque sensor 82 by the rotational speed NC of the crankshaft 12 detected by the crank rotation sensor 80.

[0094] The control unit 72 is configured to control the motor 24 so that the assist force M by the motor 24 becomes a predetermined assist ratio A relative to the manual driving force H. The predetermined assist ratio A is not constant, but may vary, for example, depending on the manual driving force H, the vehicle speed V, or both the manual driving force H and the vehicle speed V. The manual driving force H and the assist force M may be expressed in terms of torque or power. When the manual driving force H and the assist force M are expressed in terms of torque, the manual driving force H is referred to as the manual torque TH, and the assist force M is referred to as the assist torque TM. When the manual driving force H and the assist force M are expressed in terms of power, the manual driving force H is referred to as the manual power WH, and the assist force M is referred to as the assist power WM. The torque ratio of the output torque MT to the manual torque TH of the human-powered vehicle 10 may be referred to as the assist ratio AT. The ratio of the assist power WM by the motor 24 to the manual power WH may be referred to as the assist ratio AW. The assist ratio A is equal to the ratio of the propulsive force generated in the human-powered vehicle 10 by the assist force of the motor 24 to the propulsive force generated in the human-powered vehicle by the human-powered driving force H.

[0095] The control unit 72 is configured to control the motor 24, for example, using one control state selected from a plurality of control states in which at least a portion of the correspondence between the manual driving force H and the ratio A differs from one another. The manual power WH is calculated by multiplying the manual torque TH by the rotational speed NC of the crankshaft 12. When the output of the motor 24 is input to the power path of the manual driving force H via the reducer 54, the output of the reducer 54 is taken as the assist force M. When the reducer 54 is not present, the assist power WM is calculated by multiplying the output torque of the motor 24 by the rotational speed of the motor 24. When the reducer 54 is present, the assist power WM is calculated by multiplying the output torque of the reducer 54 by the output rotational speed of the reducer 54. When the reducer 54 is present, the memory unit 74 is configured to store information related to the reduction ratio of the reducer 54.

[0096] The control unit 72 can calculate the output rotation speed of the reducer 54 in accordance with the rotation speed of the motor 24 and information related to the reduction ratio of the reducer 54. The memory unit 74 stores, for example, information indicating the relationship between a control command for the motor 24 and the output torque of the motor 24. The control unit 72 can calculate the output torque of the motor 24 in accordance with, for example, the information stored in the memory unit 74 indicating the relationship between the control command for the motor 24 and the output torque of the motor 24. The control unit 72 can calculate the output torque of the reducer in accordance with, for example, the output torque of the motor 24 and information related to the reduction ratio of the reducer 54. The control unit 72 is configured to output a control command to a drive circuit 76 of the motor 24 in accordance with the manual torque TH or the manual power WH. The control command includes, for example, a torque command value. The multiple control states may include a control state in which the motor 24 is not driven.

[0097] The control unit 72 is configured to control the motor 24 so that the assist force M is equal to or less than an upper limit value MX. When the assist force M is expressed by torque, the control unit 72 is configured to control the motor 24 so that the output torque MT is equal to or less than an upper limit value MTX. Preferably, the upper limit value MTX is a value in the range of 30 Nm to 90 Nm. The upper limit value MTX is, for example, 80 Nm. The upper limit value MTX is determined, for example, by the output characteristics of the motor 24. When the assist force M is expressed by power, the control unit 72 is configured to control the motor 24 so that the assist power WM is equal to or less than an upper limit value WMX.

[0098] For example, the control unit 72 stops the motor 24 when the vehicle speed V becomes equal to or greater than a predetermined vehicle speed VX. The predetermined vehicle speed VX is, for example, 45 km / h. The predetermined vehicle speed VX may be less than 45 km / h, for example, 25 km / h.

[0099] For example, when the rotation speed NC of the crankshaft 12 is less than a predetermined rotation speed NCX, the control unit 72 stops driving the motor 24 in accordance with at least one of the rotation speed N of the crank 28 and the manual driving force H. The predetermined rotation speed NCX is, for example, 0 rpm. For example, the control unit 72 may stop the motor 24 or control the motor 24 to reduce the assist force M when the rotation speed NC of the crankshaft 12 becomes equal to or greater than a predetermined rotation speed NCY. The predetermined rotation speed NCY is greater than the predetermined rotation speed NC and is, for example, a value in the range of 120 rpm to 200 rpm.

[0100] Preferably, the control unit 72 is configured to control the electric actuator 48. Preferably, the control unit 72 is configured to control the electric actuator 48 and the motor 24. The control unit 72 outputs a shift control signal to the electric actuator 48 to change the gear ratio R. When the shift control signal is input, the electric actuator 48 operates to operate the derailleur 22. The shift control signal includes, for example, power for driving the electric actuator 48. Preferably, the shift control signal includes a first shift control signal including a command for the electric actuator 48 to operate the derailleur 22 to increase the gear ratio R, and a second shift control signal including a command for the electric actuator 48 to operate the derailleur 22 to decrease the gear ratio R.

[0101] The control unit 72 is preferably configured to, when a shifting condition is met, control the electric actuator 48 so that the derailleur 22 operates to change the gear ratio R. When a shifting condition for increasing the gear ratio R is met, the control unit 72 sends a first shift control signal to the electric actuator 48, causing the electric actuator 48 to operate the derailleur 22 to increase the gear ratio R. When a shifting condition for decreasing the gear ratio R is met, the control unit 72 sends a second shift control signal to the electric actuator 48, causing the electric actuator 48 to operate the derailleur 22 to decrease the gear ratio R.

[0102] In this embodiment, the gear shift condition is met when the gear shift execution condition is met and gear shifting is not prohibited. The gear shift condition may also be met when the gear shift execution condition is met. The gear shift execution condition is met, for example, in at least one of the following cases: when a gear shift operation signal is input to the control unit 72 from the second operating device 45, and when a predetermined condition related to the traveling state of the human-powered vehicle 10 is met. The control unit 72 may control the derailleur 22 in response to a user's manual operation of the second operating device 45, may automatically control the derailleur 22 in response to the traveling state of the human-powered vehicle 10, or may control the derailleur 22 in response to both the user's manual operation of the second operating device 45 and the traveling state of the human-powered vehicle 10.

[0103] The control unit 72 may be configured to switch between a manual shifting mode, in which the derailleur 22 is controlled, and an automatic shifting mode, in which the derailleur 22 is automatically controlled in accordance with the traveling state of the human-powered vehicle 10, in response to a manual operation of the second operating device 45 by the user. For example, a third operating device for switching between the manual shifting mode and the automatic shifting mode may be provided on the handlebar 42, and the control unit 72 may switch between the manual shifting mode and the automatic shifting mode in response to the user operating the third operating device. For example, the control unit 72 may switch between the manual shifting mode and the automatic shifting mode in sequence each time the third operating device is operated. For example, the control unit 72 may switch between the manual shifting mode and the automatic shifting mode in response to the simultaneous operation of the second operating unit 45A and the third operating unit 45B of the second operating device 45.

[0104] For example, when the second operating device 45 is operated in the manual shifting mode, the control unit 72 may be configured to automatically switch from the manual shifting mode to the automatic shifting mode in accordance with the difference between a first rotation speed N1 calculated in accordance with the rotation speed NW of the wheels 16 and the gear ratio R, and a predetermined rotation speed or a rotation speed within a predetermined range. The first rotation speed N1 is calculated using equation (2). Formula (2): First rotation speed N1 = rotation speed NW / gear ratio R

[0105] For example, when switching to the automatic transmission mode, the control unit 72 controls the motor 24 and the electric actuator 48 so as to achieve a transmission ratio R that is set according to the difference between the first rotation speed N1 stored in the memory unit 74 and a predetermined rotation speed or a rotation speed within a predetermined range. In both cases where switching to the automatic transmission mode is performed automatically and where switching to the automatic transmission mode is performed by a user operation, the control unit 72 may be configured to be able to switch from the automatic transmission mode to the manual transmission mode in at least one of the following cases: when a predetermined time has elapsed, when the manual driving force H becomes equal to or greater than a predetermined value, and when the rotation amount of the crankshaft 12 becomes equal to or greater than a predetermined rotation amount.

[0106] The predetermined condition regarding the traveling state of the human-powered vehicle 10 is satisfied, for example, in at least one of the following cases: when the rotation speed NC of the crankshaft 12 is outside a predetermined first range, when the human-powered driving force H is outside a predetermined second range, and when the human-powered vehicle 10 is decelerating. The predetermined condition regarding the traveling state of the human-powered vehicle 10 may be satisfied in only one or two of the following cases: when the rotation speed NC of the crankshaft 12 is outside the predetermined first range, when the human-powered driving force H is outside the predetermined second range, and when the human-powered vehicle 10 is decelerating. The control unit 72 is configured to control the electric actuator 48 so that the first rotation speed N1 falls within the predetermined range.

[0107] The deceleration of the human-powered vehicle 10 preferably includes a case where the deceleration in the direction corresponding to the traveling direction of the human-powered vehicle 10 is greater than a predetermined deceleration. The predetermined deceleration preferably corresponds to the deceleration when the human-powered vehicle 10 suddenly decelerates due to sudden braking.

[0108] The gear change execution conditions may include conditions related to the running resistance of the human-powered vehicle 10. The running resistance may include, for example, at least one of air resistance, rolling resistance, gradient resistance, and acceleration resistance. For example, the control unit 72 may control the electric actuator 48 to decrease the gear ratio R when the running resistance increases, and may control the electric actuator 48 to increase the gear ratio R when the running resistance decreases.

[0109] The control unit 72 includes at least one of the following components (A1), (A2), (A3), and (A4). The control unit 72 may include two, three, or all of the components (A1), (A2), (A3), and (A4).

[0110] (A1) The control unit 72 is configured to control the electric actuator 48 so that the gear ratio R does not increase when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 or when the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX. In the configuration of (A1), the control unit 72 may be configured to control the electric actuator 48 so that the gear ratio R does not increase when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 and the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX.

[0111] (A2) When the derailleur 22 operates, the control unit 72 is configured to control the electric actuator 48 so as not to change the gear ratio R until a first condition regarding gear shifting is satisfied.

[0112] (A3) When the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a predetermined third time T3, the control unit 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed by the derailleur 22 until a second condition regarding gear shifting is satisfied.

[0113] (A4) The control unit 72 is configured to control the electric actuator 48 so that when the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the first speed V1, or when the rotational speed NW of the wheels 16 becomes equal to or less than a predetermined rotational speed NX, the control unit 72 does not change the gear ratio R by the derailleur 22, even if a predetermined condition regarding the running state of the human-powered vehicle 10 is met.

[0114] When the control unit 72 includes the configuration of (A1), the control unit 72 does not control the electric actuator 48 to increase the gear ratio R when at least one of the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 and the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX. For example, the control unit 72 does not send a first gear change control signal to the electric actuator 48 when at least one of the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 and the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX. For example, the control unit 72 is configured to be able to send a second gear change control signal to the electric actuator 48 in accordance with the gear change execution condition when at least one of the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 and the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX. The control unit 72 controls the electric actuator 48 so that the gear ratio R does not increase when the vehicle speed V is equal to or greater than the second speed V2 and when the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX, thereby suppressing an increase in the vehicle speed V of the human-powered vehicle 10.

[0115] When the control unit 72 includes the configuration of (A2), for example, when the derailleur 22 is operated by operating the second operating device 45, the control unit 72 is configured to control the electric actuator 48 so as not to change the gear ratio R until a first condition related to gear shifting is met. Preferably, the first condition related to gear shifting is met in at least one of the following cases: when a predetermined first time T1 has elapsed since the second operating device 45 was operated; when a predetermined second time T2 has elapsed since the electric actuator 48 stopped; when the lean angle D of the human-powered vehicle 10 is equal to or greater than a predetermined first angle D1; and when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than a predetermined third speed V3. When the derailleur 22 is operated and the first condition related to gear shifting is not met, the control unit 72 does not control the electric actuator 48 to change the gear ratio R. For example, if the derailleur 22 operates and the first condition related to gear shifting is not satisfied, the control unit 72 does not output the first gear shift control signal and the second gear shift control signal to the electric actuator 48. The predetermined first time T1 is, for example, a time in the range of 0.1 to 10 seconds. The predetermined second time T2 is, for example, a time in the range of 0.1 to 10 seconds. The predetermined first angle D1 is, for example, a pitch angle of the human-powered vehicle 10 that is equal to or greater than 5 degrees.

[0116] When the control unit 72 includes the configuration of (A3), for example, the second condition related to gear shifting is satisfied in at least one of the following cases: a predetermined fourth time T4 has elapsed since the electric actuator 48 stopped; the tilt angle D of the human-powered vehicle 10 is equal to or greater than a predetermined second angle D2; and the vehicle speed of the human-powered vehicle 10 is equal to or greater than a predetermined fourth speed V4. If the electric actuator 48 and the motor 24 have been controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a predetermined third time T3, and the second condition related to gear shifting is not satisfied, the control unit 72 does not control the electric actuator 48 to change the gear ratio R. For example, if the electric actuator 48 and the motor 24 have been controlled so that the gear ratio R increases or decreases a predetermined number of times or more within the predetermined third time T3, and the second condition related to gear shifting is not satisfied, the control unit 72 does not output the first gear shift control signal and the second gear shift control signal to the electric actuator 48. The predetermined fourth time T4 is, for example, a time in the range of 0.1 to 10 seconds. The fourth speed V4 is, for example, a speed of 3 km / h or more. The predetermined second angle D2 is, for example, a pitch angle of the human-powered vehicle 10 of 5 degrees or more.

[0117] When the control unit 72 includes the configuration of (A4), the first speed V1 and the predetermined rotational speed NX are, for example, values ​​appropriate for determining whether the human-powered vehicle 10 has stopped traveling. The first speed V1 is, for example, a value in the range of 0 km / h to 3 km / h. The predetermined rotational speed NX is, for example, a value in the range of 0 rpm to 5 rpm. When the first speed V1 and the predetermined rotational speed NX are values ​​appropriate for determining whether the human-powered vehicle 10 has stopped traveling, the control unit 72 can prevent the gear ratio R from being changed when the human-powered vehicle 10 stops. This makes it possible to prevent the human-powered vehicle 10 from stopping while the derailleur 22 is being shifted.

[0118] The control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. Preferably, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 so as not to impart propulsive force to the human-powered vehicle 10 when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. The control unit 72 drives 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 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. For example, the control unit 72 is configured to control the motor 24 so that the transmission body 20 is driven by the motor 24 and so that the rear wheel 16A is not rotated by the motor 24. For example, the control unit 72 is configured to control the motor 24 so that the rotational speed of the second rotor 18 is equal to or less than the rotational speed of the rear wheel 16A. The control unit 72 may also control the motor 24 so as not to apply propulsive force to the human-powered vehicle 10, based on information related to the rotational speed or rotational torque of the motor 24 that is pre-stored in the storage unit 74.

[0119] Preferably, when controlling the electric actuator 48 and the motor 24 to change the gear ratio R and when predetermined conditions related to pedaling are satisfied, the control unit 72 is configured to control the electric actuator 48 and the motor 24 so that relative movement between at least one of the first rotating body 14 and the second rotating body 18 and the derailleur 22 begins simultaneously with or before the motor 24 is driven. When controlling the electric actuator 48 and the motor 24 to change the gear ratio R and when predetermined conditions related to pedaling are satisfied, the control unit 72 may also be configured to control the electric actuator 48 and the motor 24 so that relative movement between at least one of the first rotating body 14 and the second rotating body 18 and the derailleur 22 begins after the motor 24 is driven.

[0120] In the gear shifting condition, the control unit 72 may be configured to control the electric actuator 48 to operate the derailleur 22 through a plurality of gear shift stages. In this case, the gear shift control signal includes a signal for operating the derailleur 22 through a plurality of gear shift stages. The control unit 72 may be configured to control the motor 24 so that the rotational speed of the motor 24 when the derailleur 22 changes gear stages multiple times until it reaches the target gear ratio R is greater than the rotational speed of the motor 24 when the derailleur 22 changes gear stages only once until it reaches the target gear ratio R. Preferably, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when a predetermined condition related to pedaling is satisfied.

[0121] The control unit 72 is configured to control the electric actuator 48 so that, when the human-powered vehicle 10 decelerates, the gear shift stage of the derailleur 22 approaches a predetermined gear shift stage or so that the gear ratio R approaches the predetermined gear shift ratio R. The control unit 72 is configured to control the electric actuator 48 so that the gear shift stage of the derailleur 22 changes one gear at a time when the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22, or the difference between the predetermined gear shift ratio R and the current gear shift ratio R, is equal to or smaller than a predetermined value. The control unit 72 is configured to control the electric actuator 48 so that the derailleur 22 operates continuously through multiple gear shift stages when the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22, or the difference between the predetermined gear shift ratio R and the current gear shift ratio R, exceeds a predetermined value.

[0122] The information regarding the predetermined gear shift stage or the information regarding the predetermined gear ratio R is stored in the storage unit 74, for example, as a target gear ratio R when the human-powered vehicle 10 decelerates. When shifting gears in accordance with the information regarding the predetermined gear shift stage, the predetermined value is preferably a value corresponding to a difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22 ranging from one to three gears. When shifting gears in accordance with the information regarding the predetermined gear ratio R, the predetermined value is preferably a value corresponding to a difference between the predetermined gear ratio R and the current gear ratio R ranging from one to three gears when converted into gear stages.

[0123] Preferably, the control unit 72 is configured to control the electric actuator 48 so that a fifth time T5 during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a predetermined fifth speed V5 is shorter than a sixth time T6 during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5. When the second rotating body 18 includes one or more gear shift facilitating regions suitable for gear shifting, the higher the vehicle speed V, the shorter the time required for the second rotating body 18 to pass through the gear shift facilitating region again after the second rotating body 18 has passed through the region in which the transmission body 20 moves due to the derailleur 22.

[0124] Preferably, the fifth speed V5 is a speed of 10 km / h or less. Preferably, the fifth time T5 is set to a time sufficient for the gear ratio R to be changed through a plurality of gear change stages in response to the gear change control signal when the vehicle speed V of the human-powered vehicle 10 is equal to or less than the predetermined fifth speed V5. Preferably, the sixth time T6 is set to a time sufficient for the gear ratio R to be changed through a plurality of gear change stages in response to the gear change control signal when the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5.

[0125] When the derailleur 22 is operated through multiple shift stages, the control unit 72 may be configured to change the operating speed of the derailleur 22, or to control the electric actuator 48 so that the derailleur 22 stops each time the shift stage is changed, and to change the predetermined interval until the next operation is started. The predetermined interval is, for example, in the range of 0.5 seconds or more and less than 1 second when the vehicle speed V is 15 kilometers per hour or less, and in the range of 0.25 seconds or more and less than 0.5 seconds when the vehicle speed V is greater than 15 kilometers per hour. The shifting conditions may include conditions for shifting the derailleur 22 through multiple shift stages, or may include only conditions for shifting the derailleur 22 through only one shift stage.

[0126] Preferably, the predetermined pedaling condition is satisfied in at least one of the following cases: when the human-powered driving force H input to the crankshaft 12 is equal to or less than a predetermined driving force HX; when the rotation speed NC of the crankshaft 12 is equal to or less than a second rotation speed NC2; and when the crankshaft 12 is oscillating. Preferably, the predetermined pedaling condition is a condition that determines that pedaling has stopped. The predetermined driving force HX and the second rotation speed NC2 are preferably values ​​appropriate for determining that the rotation of the crankshaft 12 of the human-powered vehicle 10 has stopped. The predetermined driving force HX is, for example, a value in the range of 0 Nm to 3 Nm. The second rotation speed NC2 is, for example, a value in the range of 0 rpm to 5 rpm. The case where the crankshaft 12 is oscillating includes a case where the crankshaft 12 has not completely stopped and the rotation angle CC of the crankshaft 12 is maintained within a predetermined angle range. The predetermined angle range is, for example, 1 degree to 20 degrees.

[0127] For example, if the rider stops pedaling with their feet on the pedals 34, the crankshaft 12 may oscillate. When the crankshaft 12 has stopped rotating or is oscillating, the first rotating body 14 and the second rotating body 18 do not rotate due to the manual driving force H, and therefore, even if the derailleur 22 operates, gear changes are not possible. When the derailleur 22 operates to change the gear ratio R and the crankshaft 12 has stopped rotating or is oscillating, the control unit 72 is configured to control the motor 24 to drive the transmission body 20, thereby rotating the first rotating body 14 and the second rotating body 18, and thus enabling gear changes by the derailleur 22.

[0128] The control unit 72 includes at least one of the following configurations (B1), (B2), (B3), and (B4), and controls the motor 24 when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. The control unit 72 may include two, three, or all of the configurations (B1), (B2), (B3), and (B4).

[0129] (B1) The control unit 72 is configured to control the motor 24 to drive the transmission body 20 by 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 based on the rotational speed NW of the wheels 16 and the gear ratio R and the predetermined rotational speed NX or the predetermined range of rotational speeds NA increases. Preferably, the first rotational speed N1, the predetermined rotational speed NX, and the predetermined range of rotational speeds NA correspond to the rotational speed NC of the crankshaft 12. The predetermined rotational speed NX and the predetermined range of rotational speeds NA are rotational speeds between 50 rpm and 80 rpm.

[0130] (B2) The control unit 72 is configured to change the rotation speed of the motor 24 in accordance with the acceleration in the traveling direction of the human-powered vehicle 10. The control unit 72 is configured to control the motor 24 so that the rotation speed NM of the motor 24 increases as the acceleration of the human-powered vehicle 10 increases, and to drive the transmission body 20 with the motor 24.

[0131] (B3) The control unit 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 in accordance with the state of the human-powered vehicle 10. The state of the human-powered vehicle 10 includes at least one of the rotation speed NW of the wheels 16 and the gear ratio R. Preferably, the control unit 72 is configured to control the motor 24 so that at least one of the rotation angle MN and the output torque MT of the motor 24 increases as the difference between a first rotation speed N1 calculated in accordance with the rotation speed NW of the wheels 16 and the gear ratio R increases, and a predetermined rotation speed NX or a rotation speed NA within a predetermined range.

[0132] (B4) The control unit 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 in accordance with the state of the human-powered vehicle 10. The state of the human-powered vehicle 10 includes changes in the vehicle speed V of the human-powered vehicle 10 or changes in the rotation speed NW of the wheels 16. Preferably, the control unit 72 is configured to control the motor 24 so that at least one of the rotation angle CA of the motor 24 and the output torque MT increases as the acceleration or deceleration in the traveling direction of the human-powered vehicle 10 increases, or as the acceleration or deceleration of the rotation speed NW of the wheels 16 in the rotational direction corresponding to the traveling direction of the human-powered vehicle 10 increases, causing the motor 24 to drive the transmission body 20. The control unit 72 is configured to calculate the acceleration or deceleration in the traveling direction of the human-powered vehicle 10, 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 in the traveling direction of the human-powered vehicle 10. If the human-powered vehicle 10 includes an acceleration sensor, information detected by the acceleration sensor is input to the control unit 72.

[0133] Instead of or in addition to at least one of the configurations (B1), (B2), (B3), and (B4), the control unit 72 may be configured to control the output of the motor 24 so that it varies depending on the gear ratio R or the gear stage. Preferably, the memory unit 74 stores information related to the gear ratio R and information related to the output of the motor 24 in association with each other. The association between the information related to the gear ratio R and the information related to the output of the motor 24 may be stored as a table or as a function. The control unit 72 is configured to control the motor 24 depending on the detection result of the gear shift state sensor 88 and the information stored in the memory unit 74.

[0134] Preferably, the control unit 72 is configured to control the motor 24 not to drive the transmission body 20 when the first operating device 44 is operated, even if the derailleur 22 operates to change the gear ratio R and a predetermined condition related to pedaling is satisfied. The control unit 72 is configured to control the motor 24 not to drive the transmission body 20 when a non-drive condition for the motor 24 is met, even if the derailleur 22 operates to change the gear ratio R and a predetermined condition related to pedaling is satisfied. The non-drive condition for the motor 24 includes at least one of a first non-drive condition and a second non-drive condition. The control unit 72 may be configured to control the motor 24 to stop when only one or both of the first non-drive condition and the second non-drive condition are met.

[0135] The first non-drive condition is met at least one of while the first operating device 44 is being operated and for a predetermined period of time after the first operating device 44 is operated. When the control unit 72 controls the motor 24 in accordance with the first non-drive condition, the control unit 72 is configured to control the motor 24 so as not to drive the transmission body 20 at least one of while the first operating device 44 is being operated and for a predetermined period of time after the first operating device 44 is operated, even if the derailleur 22 operates to change the gear ratio R and a predetermined condition related to pedaling is satisfied.

[0136] The second non-drive condition is met when first operating unit 44A included in first operating device 44 is operated or when a predetermined operation is performed on first operating device 44. When control unit 72 controls motor 24 in accordance with the second non-drive condition, control unit 72 is configured to control motor 24 so as not to drive transmission body 20 when first operating unit 44A included in first operating device 44 is operated or when a predetermined operation is performed on first operating unit 44A, even if derailleur 22 operates to change gear ratio R and a predetermined condition related to pedaling is satisfied.

[0137] The control unit 72 may be configured to control the motor 24 so as not to drive the transmission body 20 when at least one of the following third to sixth non-drive conditions is met, instead of or in addition to at least one of the first non-drive condition and the second non-drive condition.

[0138] The third non-driving condition is met when the acceleration of the human-powered vehicle 10 in the direction of travel is greater than a first value. The fourth non-driving condition is met when the deceleration of the human-powered vehicle 10 in the direction of travel is greater than a second value. The fifth non-driving condition is met when the acceleration of the rotational speed NW of the wheels 16 in the rotational direction corresponding to the direction of travel of the human-powered vehicle 10 is greater than a third value. The sixth non-driving condition is met when the deceleration of the rotational speed NW of the wheels 16 in the rotational direction corresponding to the direction of travel of the human-powered vehicle 10 is greater than a fourth value. The control unit 72 is configured to be able to calculate at least one of the acceleration and deceleration of the rotational speed NW of the wheels 16 in the rotational direction corresponding to the direction of travel of the human-powered vehicle 10, for example, by differentiating the rotational speed NW of the wheels 16. The first and third values ​​are values ​​that correspond to the case where the human-powered vehicle 10 suddenly accelerates, and are set in advance, for example, through experiments. The second and fourth values ​​are values ​​that correspond to the case where the human-powered vehicle 10 suddenly decelerates, and are set in advance, for example, through experiments, etc. The control unit 72 can suppress changes to the gear ratio R when the human-powered vehicle 10 suddenly accelerates or decelerates in the direction of travel.

[0139] When the control unit 72 controls the motor 24 to drive the transmission body 20 when a predetermined condition related to pedaling is satisfied, the control unit 72 is configured to control the motor 24 to stop driving the transmission body 20 when a stop condition for the motor 24 is satisfied. The stop condition for the motor 24 includes at least one of a first stop condition and a second stop condition. The control unit 72 may be configured to control the motor 24 to stop when only one of the first stop condition and the second stop condition or when both of them are satisfied.

[0140] The first stop condition relates to the load L of the motor 24. When controlling the motor 24 in accordance with the first stop condition, for example, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when a predetermined condition related to pedaling is satisfied, and to control the motor 24 to stop driving the transmission body 20 by the motor 24 in accordance with the load L of the motor 24. The first stop condition is met, for example, when the load L of the motor 24 is equal to or greater than a predetermined load L1. Preferably, the control unit 72 is configured to control the motor 24 to stop the motor 24 when the derailleur 22 operates to change the gear ratio R, when a predetermined condition related to pedaling is satisfied, and when the load L of the motor 24 is equal to or greater than the predetermined load L1.

[0141] The predetermined load L1 is set to a value that is greater than the load L that would occur if the rear wheels 16A of the human-powered vehicle 10 were rotated solely by the driving force of the motor 24 when the rear wheels 16A are not in contact with the ground so that they can rotate freely, and is smaller than the value of the load L that would occur if the human-powered vehicle 10 were propelled on flat ground. In this case, when the rear wheels 16A of the human-powered vehicle 10 are not in contact with the ground so that they can rotate freely, the transmission body 20 is driven by the motor 24, but when the rear wheels 16A of the human-powered vehicle 10 are in contact with the ground, the human-powered vehicle 10 is not propelled on flat ground by the driving force of the motor 24 alone.

[0142] The second stop condition relates to the vehicle speed V of the human-powered vehicle 10 or the rotational speed NW of the wheels 16. The second stop condition is met when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a first speed V1, or the rotational speed NW of the wheels 16 is equal to or less than a predetermined rotational speed NX. When controlling the motor 24 in accordance with the second stop condition, for example, the control unit 72 is configured to control the motor 24 so that driving of the transmission body 20 is stopped when the vehicle speed V of the human-powered vehicle 10 is equal to or less than the first speed V1, or the rotational speed NW of the wheels 16 is equal to or less than a predetermined rotational speed NX, when a predetermined condition related to pedaling is satisfied. The first speed V1 and the predetermined rotational speed NX are, for example, values ​​appropriate for determining whether the human-powered vehicle 10 has stopped traveling. The first speed V1 is, for example, a value in the range of 0 km / h to 3 km / h. The predetermined rotational speed NX is, for example, a value in the range of 0 rpm to 5 rpm.

[0143] The control unit 72 can suppress changes in the gear ratio R when the human-powered vehicle 10 is stopped, even when the human-powered vehicle 10 is coasting. When controlling the motor 24 in accordance with the second stop condition, for example, the control unit 72 may be configured to control the motor 24 so that driving of the transmission body 20 is stopped when a predetermined condition related to pedaling is satisfied and a predetermined condition related to the traveling state of the human-powered vehicle 10 is established, and when the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than the first speed V1, or when the rotational speed NW of the wheels 16 becomes equal to or less than a predetermined rotational speed NX. With this configuration, when the control unit 72 changes the gear ratio R using the derailleur 22 in accordance with the traveling conditions regardless of the rider's intentions, the gear ratio R is suppressed from becoming smaller when the human-powered vehicle 10 is stopped. The control unit 72 may be configured to set a lower limit value for the gear ratio R when the vehicle speed V is equal to or lower than the first speed V1 or when the rotation speed NW of the wheels 16 is equal to or lower than a predetermined rotation speed NX.

[0144] When the vehicle speed V is equal to or less than the first speed V1 or the rotational speed NW of the wheels 16 is equal to or less than a predetermined rotational speed NX, the control unit 72 changes the gear ratio R using the derailleur 22 so that the gear ratio R does not become less than its lower limit. In this case, the human-powered vehicle 10 is prevented from resuming traveling when the gear ratio R is less than the lower limit, allowing the human-powered vehicle 10 to resume traveling in an appropriate manner. The lower limit value of the gear ratio R is stored in the memory unit 74. The control unit 72 may be configured so that the user can change the lower limit value of the gear ratio R stored in the memory unit 74 by operating the first operating device 44 or the external device 90. The external device 90 includes, for example, at least one of a personal computer, a tablet computer, and a smartphone.

[0145] Instead of or in addition to being configured to control the motor 24 in accordance with at least one of the first and second stop conditions, the control unit 72 may be configured to stop the motor 24 in accordance with at least one of a third and fourth stop condition. The third stop condition is met when the gear ratio R does not change even when the motor 24 is driven. The fourth stop condition is met when the braking force applied by the braking device of the human-powered vehicle 10 is equal to or greater than a predetermined braking force.

[0146] The process by which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described with reference to Fig. 5. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in Fig. 5. When the flowchart of Fig. 5 ends, the control unit 72 repeats the process from step S11 after a predetermined period until the supply of power is stopped.

[0147] In step S11, the control unit 72 determines whether or not a gear shift execution condition is met. If the gear shift condition is not met, the control unit 72 ends the processing. If the gear shift condition is met, the control unit 72 proceeds to step S12.

[0148] In step S12, the control unit 72 determines the target gear ratio R, and proceeds to step S10. In step S12, instead of the target gear ratio R, a target gear stage may be determined.

[0149] In step S10, the control unit 72 determines whether a gear change is possible. If the control unit 72 determines that a gear change is possible, the process proceeds to step S13. If the control unit 72 determines that a gear change is not possible, the process ends. The transmission formed by the derailleur 22, the first rotating body 14, and the second rotating body 18 is capable of gear changes within a range equal to or greater than the minimum gear ratio R and equal to or less than the maximum gear ratio R determined by the first rotating body 14 and the second rotating body 18. The control unit 72 is configured not to execute control to reduce the gear ratio R when the current gear ratio R is the minimum gear ratio R.

[0150] The control unit 72 is configured not to execute control to increase the gear ratio R if the current gear ratio R is the maximum gear ratio R. The control unit 72 determines, for example, whether the target gear ratio R is equal to or greater than the minimum gear ratio R determined by the first rotating body 14 and the second rotating body 18 and equal to or less than the maximum gear ratio R. Information related to the minimum gear ratio R and the maximum gear ratio R is stored in the memory unit 74. In step S10, if the target gear ratio R is equal to or greater than the minimum gear ratio R determined by the first rotating body 14 and the second rotating body 18 and equal to or less than the maximum gear ratio R, the control unit 72 determines that a gear change is possible and proceeds to step S13. In step S10, if the target gear ratio R is not equal to or greater than the minimum gear ratio R determined by the first rotating body 14 and the second rotating body 18 and equal to or less than the maximum gear ratio R, the control unit 72 ends the processing because a gear change is not possible.

[0151] When determining a target shift stage instead of the target gear ratio R in step S12, the control unit 72 may compare the target shift stage with information relating to the shift stages stored in the memory unit 74 in step S10. For example, if the target shift stage is the thirteenth shift stage and information relating to the first to twelfth shift stages is stored in the memory unit 74, the control unit 72 determines that shifting is not possible and ends the process.

[0152] In step S13, the control unit 72 determines whether or not a predetermined condition related to pedaling is satisfied. If the predetermined condition related to pedaling is satisfied, the control unit 72 proceeds to step S20.

[0153] In step S20, the control unit 72 determines whether the non-drive condition is met. If the non-drive condition is not met, the control unit 72 proceeds to step S30. If the non-drive condition is met, the control unit 72 ends the process.

[0154] In step S30, the control unit 72 determines whether or not a gear shift is prohibited. If in step S30 the control unit 72 determines that a gear shift is not prohibited, the control unit 72 proceeds to step S14. If in step S30 the control unit 72 determines that a gear shift is prohibited, the control unit 72 ends the processing. The control unit 72 determines whether or not a gear shift is prohibited according to at least one of the configurations (B1), (B2), (B3), and (B4), for example. For example, when the control unit 72 includes the configuration (B1), the control unit 72 determines that a gear shift is prohibited if the target gear ratio R is larger than the current gear ratio R, and determines that a gear shift is not prohibited if the target gear ratio R is smaller than the current gear ratio R.

[0155] For example, if the control unit 72 includes the configuration of (B2), when the derailleur 22 operates, the control unit 72 determines that shifting is prohibited until a first condition related to shifting is satisfied, and when the first condition related to shifting is satisfied, the control unit 72 determines that shifting is not prohibited. For example, if the control unit 72 includes the configuration of (B3), when the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a predetermined third time T3, the control unit 72 determines that shifting is prohibited until a second condition related to shifting is satisfied, and when the second condition related to shifting is satisfied, the control unit 72 determines that shifting is not prohibited.

[0156] The predetermined third time T3 is, for example, a time in the range of 1 to 10 seconds. The predetermined number of times is, for example, a value in the range of 2 to 10 times. For example, when the control unit 72 includes the configuration of (B4), the control unit 72 determines that gear shifting is prohibited when the vehicle speed V of the human-powered vehicle 10 is equal to or less than the first speed V1, and determines that gear shifting is not prohibited when the vehicle speed V of the human-powered vehicle 10 exceeds the first speed V1. For example, when the control unit 72 includes the configuration of (B4), the control unit 72 determines that gear shifting is prohibited when the rotational speed NW of the wheels 16 is equal to or less than a predetermined rotational speed NX, and determines that gear shifting is not prohibited when the rotational speed NW of the wheels 16 exceeds the predetermined rotational speed NX.

[0157] In step S14, the control unit 72 controls the motor 24 to drive the transmission body 20, and then proceeds to step S15. In step S15, the control unit 72 controls the electric actuator 48 to cause the derailleur 22 to start a gear shift operation so as to achieve the target gear ratio R, and then proceeds to step S16. In this embodiment, by executing the processes of steps S14 and S15, the control unit 72 controls the motor 24 and the electric actuator 48 to drive the motor 24 before the electric actuator 48 starts operating. In other words, by executing the processes of steps S14 and S15, the control unit 72 controls the motor 24 and the electric actuator 48 to drive the transmission body 20 before the derailleur 22 starts operating.

[0158] The control unit 72 may execute the processes of steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the start of operation of the electric actuator 48 and the start of driving the motor 24 are simultaneous. In other words, the control unit 72 may execute the processes of steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the start of operation of the derailleur 22 and the start of driving the transmission body 20 are simultaneous. The control unit 72 may execute the processes of steps S14 and S15 to control the motor 24 and the electric actuator 48 so that the motor 24 is driven after the motor 24 has started operating. In other words, the control unit 72 executes the processes of 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 has started operating.

[0159] In step S16, the control unit 72 determines whether or not a stop condition for the motor 24 is met. If the stop condition for the motor 24 is not met, the control unit 72 proceeds to step S17. In step S17, the control unit 72 determines whether or not the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S16. If the stop condition for the motor 24 is met in step S16, the control unit 72 proceeds to step S18. If the gear shift is complete in step S17, the control unit 72 proceeds to step S18. In step S18, the control unit 72 controls the motor 24 to stop the motor 24, and ends the process.

[0160] If the predetermined pedaling condition is not satisfied in step S13, control unit 72 proceeds to step S19. In step S19, control unit 72 controls electric actuator 48 to operate derailleur 22 so as to achieve target gear ratio R, and then ends the process.

[0161] Preferably, the control unit 72 is configured to receive a signal to adjust the position of the derailleur 22, and when receiving the signal to adjust the position of the derailleur 22, to drive the motor 24, and if the first gear ratio R1 corresponding to the rotational speed of the motor 24 and the rotational speed NW of the wheel 16 does not correspond to the current position of the derailleur 22, to control the electric actuator 48 so that the position of the derailleur 22 corresponds to the first gear ratio R1.

[0162] The signal for adjusting the position of the derailleur 22 is transmitted, for example, from an external device 90 connected to the control unit 72. The signal for adjusting the position of the derailleur 22 may be transmitted from the first operating device 44 or the second operating device 45. For example, the second operating device 45 may be configured so that a signal for adjusting the position of the derailleur 22 is transmitted when the second operating device 45A and the third operating device 45B are simultaneously operated. Preferably, the control unit 70 includes an interface 89. The interface 89 includes at least one of a wireless communication device and a connection port for a communication line. The interface 89 is communicatively connected to the control unit 72. If the interface 89 includes a wireless communication device, it is connected to communicate with at least one of the external device 90, the first operating device 44, and the second operating device 45 via short-range wireless communication, such as Bluetooth (registered trademark) or ANT+ (registered trademark).

[0163] Referring to Figure 6, the process by which the control unit 72 controls the motor 24 and the electric actuator 48 to adjust the position of the derailleur 22 will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S21 of the flowchart shown in Figure 6. When the flowchart of Figure 6 ends, the control unit 72 repeats the process from step S21 after a predetermined period until the supply of power is stopped. The adjustment of the position of the derailleur 22 is performed when the rear wheel 16A of the human-powered vehicle 10 is not in contact with the ground so that it can rotate freely.

[0164] In step S21, the control unit 72 determines whether or not it has received a signal to adjust the position of the derailleur 22. If the control unit 72 has not received a signal to adjust the position of the derailleur 22, it ends the process. If the control unit 72 has received a signal to adjust the position of the derailleur 22, it proceeds to step S22.

[0165] In step S22, the control unit 72 controls the motor 24 to drive the transmission body 20, and then proceeds to step S23. In step S23, the control unit 72 determines whether the motor 24 is rotating. If the control unit 72 determines that the motor 24 is rotating, the control unit 72 proceeds to step S24. If the control unit 72 determines that the motor 24 is not rotating, the control unit 72 proceeds to step S28. In step S23, the control unit 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, rather than determining whether the motor 24 is rotating. In any of the cases where the control unit 72 determines that the first rotating body 14 is rotating, whether the second rotating body 18 is rotating, and whether the rear wheel 16A is rotating, the control unit 72 proceeds to step S24.

[0166] In step S24, the control unit 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. The control unit 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 shifting status sensor 88. If 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 control unit 72 proceeds to step S28. If 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 control unit 72 proceeds to step S25.

[0167] In step S25, control unit 72 controls electric actuator 48 to start operation of derailleur 22 so as to increase gear ratio R or decrease gear ratio R, and then proceeds to step S26. In step S25, control unit 72 determines whether to operate derailleur 22 so as to increase the gear ratio or decrease the gear ratio based on the rotational speed NM of motor 24, the rotational speed NW of wheel 16, the first gear ratio R1 corresponding to the rotational speed NW of wheel 16, and the current position of derailleur 22, and controls electric actuator 48 accordingly.

[0168] In step S26, the control unit 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. The control unit 72 performs the determination process of step S26, for example, in the same manner as in step S24. If 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 control unit 72 executes the process of step S26 again. If 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 control unit 72 proceeds to step S27.

[0169] In step S27, the control unit 72 controls the electric actuator 48 to stop the operation of the derailleur 22, and then proceeds to step S28. In step S28, the control unit 72 controls the motor 24 to stop the motor 24, and then ends the process.

[0170] In this embodiment, when driving the motor 24 in step S14, the control unit 72 preferably drives the motor 24 so that the rotational speed of the second rotating body 18 driven by the motor 24 is slower than the rotational speed of the rear wheel 16A. If the rotational speed of the second rotating body 18 driven by the motor 24 is slower than the rotational speed of the rear wheel 16A, the driving force of the motor 24 is not transmitted to the rear wheel 16A. When driving the motor 24 in step S14, the control unit 72 may also drive the motor 24 so that the load L of the motor 24 is smaller than the value of the load L that occurs when propelling the human-powered vehicle 10 on flat ground.

[0171] Second Embodiment A control device 70 of the second embodiment will be described with reference to Figures 7 and 8. The control device 70 of the second embodiment is similar to the control device 70 of the first embodiment except that it is capable of switching between the first mode and the second mode. Therefore, the same reference numerals as in the first embodiment are used for the components common to the first embodiment, and redundant explanations will be omitted.

[0172] The control unit 72 may be configured to be able to switch between a first mode and a second mode. In the first mode, when the second operating device 45 is operated and predetermined conditions related to pedaling are satisfied, the control unit 72 is configured to control the motor 24 so as to drive the transmission body 20 in accordance with the state of the human-powered vehicle 10. In the second mode, when the second operating device 45 is operated and predetermined conditions related to pedaling are satisfied, the control unit 72 is configured to control the motor 24 so as not to drive the transmission body 20.

[0173] The control unit 72 is configured to be able to switch between a first mode and a second mode in response to, for example, the operation of at least one of the second operating device 45 and the external device 90. In the first mode, the control unit 72 may be configured to control the motor 24 to drive the transmission body 20 in accordance with the state of the human-powered vehicle 10 when a gear-shift condition is met by the fulfillment of a predetermined condition related to the traveling state of the human-powered vehicle 10, and when a predetermined condition related to pedaling is satisfied. In the second mode, the control unit 72 may be configured to control the motor 24 not to drive the transmission body 20, even when a gear-shift condition is met by the fulfillment of a predetermined condition related to the traveling state of the human-powered vehicle 10, and when a predetermined condition related to pedaling is satisfied.

[0174] The process by which the control unit 72 switches between the first mode and the second mode will be described with reference to Fig. 7. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S31 of the flowchart shown in Fig. 7. When the flowchart of Fig. 7 ends, the control unit 72 repeats the process from step S31 after a predetermined period until the supply of power is stopped.

[0175] In step S31, the control unit 72 determines whether or not there is a mode switching request. The control unit 72 determines that there is a mode switching request when, for example, an operation for switching modes 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 control unit 72 ends the processing. If there is a mode switching request, the control unit 72 proceeds to step S32.

[0176] In step S32, the control unit 72 determines whether or not the first mode is selected. If the first mode is selected, the control unit 72 proceeds to step S33. In step S33, the control unit 72 switches to the second mode and ends the process.

[0177] If the mode is not the first mode in step S32, the control unit 72 proceeds to step S34. In step S34, the control unit 72 switches to the first mode and ends the process.

[0178] 5 and 8, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S11 of the flowchart shown in Fig. 5. When the flowchart in Fig. 5 ends, the control unit 72 repeats the process from step S11 after a predetermined period until the supply of power is stopped.

[0179] If the determination in step S13 is YES, the control unit 72 proceeds to step S41 in Fig. 8. If the first mode is selected in step S41, the control unit 72 proceeds to step S20 in Fig. 5. If the first mode is not selected in step S41, the control unit 72 ends the process.

[0180] <Third embodiment> A control device 70 of the third embodiment will be described with reference to Figures 9 and 10. The control device 70 of the third embodiment is similar to the control device 70 of the first and second embodiments except that the control unit 72 does not control the derailleur 22 using the electric actuator 48. Therefore, the same components as those of the first and second embodiments are designated by the same reference numerals as those of the first and second embodiments, and redundant description will be omitted.

[0181] The derailleur 22 of this embodiment is a cable-type transmission that is connected to a manual shifting device by, for example, a Bowden cable and is configured to be operated by a user mechanically operating the Bowden cable via the manual shifting device. The manual shifting device is provided on, for example, the handlebar 42.

[0182] The shifting status sensor 88 of this embodiment may be provided in the derailleur 22, the Bowden cable, or the manual shifting operation device. The shifting status sensor 88 is configured to detect, for example, at least one of the operation of a movable part of the derailleur 22, the operation of the Bowden cable, and the operation of the manual shifting operation device.

[0183] The control unit 72 of this embodiment is configured to control the motor 24 so as to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied.

[0184] The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 10. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S51 of the flowchart shown in Fig. 10. When the flowchart of Fig. 10 ends, the control unit 72 repeats the process from step S51 after a predetermined period until the supply of power is stopped.

[0185] In the flowchart of FIG. 10, the processes of steps S13, S20, S14, S16, and S18 are performed in the same manner as steps S13, S20, S14, S16, and S18 in the flowchart of FIG.

[0186] In the processing of FIG. 10, if the control unit 72 detects a gear shifting operation in step S51, the processing proceeds to step S13. The control unit 72 detects a gear shifting operation, for example, when the output signal of the gear shift state sensor 88 changes. If the control unit 72 does not detect a gear shifting operation in step S51, the processing ends. If the control unit 72 detects a gear shifting operation in step S51, the processing proceeds to step S13. If the determination in step S13 is YES, the control unit 72 proceeds to step S20. If the determination in step S20 is YES, the control unit 72 proceeds to step S14.

[0187] In step S14, the control unit 72 controls the motor 24 to drive the transmission body 20, and then proceeds to step S16. If the determination in step S16 is NO, the control unit 72 proceeds to step S57. In step S57, the control unit 72 determines whether or not the gear shifting operation has stopped. If the control unit 72 determines in step S57 that the gear shifting operation has stopped, the control unit 72 proceeds to step S18. If the control unit 72 determines that the gear shifting operation has not stopped, the control unit 72 proceeds to step S16. In the processing of FIG. 10, if a predetermined condition related to pedaling is not satisfied in step S13, the control unit 72 ends the processing.

[0188] <Fourth embodiment> A control device 70 of the fourth embodiment will be described with reference to Figures 11 and 12. The control device 70 of the fourth embodiment is similar to the control device 70 of the first and second embodiments except that the control unit 72 has a first speed change mode and a second speed change mode. Therefore, the same reference numerals as in the first and second embodiments are used for configurations common to the first and second embodiments, and redundant description will be omitted.

[0189] The human-powered vehicle 10 of this embodiment is equipped with a gear change operating device 92. Preferably, the gear change operating device 92 has a configuration similar to at least one of the second operating device 45 and the third operating device of the first embodiment. The gear change operating device 92 may have a different configuration from the second operating device 45.

[0190] The control unit 72 is configured to control the electric actuator 48 and the motor 24. The control device 70 is configured to be able to switch between a first speed change mode and a second speed change mode. In the first speed change mode, the electric actuator 48 is controlled in accordance with the state of the human-powered vehicle 10. In the second speed change mode, the electric actuator 48 is controlled in accordance with the operation of a speed change operating device 92 provided on the human-powered vehicle 10. Preferably, the first speed change mode corresponds to the automatic speed change mode of the first embodiment, and the second speed change mode corresponds to the manual speed change mode of the first embodiment. Preferably, the first speed change mode and the second speed change mode are switched between by the same operation as when switching between the automatic speed change mode and the manual speed change mode.

[0191] The control device 70 is configured to be able to switch between a third mode and a fourth mode in the first gear change mode. In the third mode, when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied, the control device 70 is configured to control the motor 24 to drive the transmission body 20 in accordance with the state of the human-powered vehicle 10. In the fourth mode, when the derailleur 22 operates to change the gear ratio R and even when predetermined conditions related to pedaling are satisfied, the control device 70 is configured to control the motor 24 not to drive the transmission body 20.

[0192] The process by which the control unit 72 switches between the third mode and the fourth mode in the first speed change mode will be described with reference to Fig. 12. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S61 of the flowchart shown in Fig. 12. When the flowchart of Fig. 12 ends, the control unit 72 repeats the process from step S61 after a predetermined period until the supply of power is stopped.

[0193] In step S61, the control unit 72 determines whether or not there is a request to switch to the first gear shift mode. The control unit 72 determines that there is a request to switch to the first gear shift mode when, for example, the gear shift operating device 92 is operated to switch the first gear shift mode. If there is no request to switch to the first gear shift mode, the control unit 72 ends the processing. If there is a request to switch to the first gear shift mode, the control unit 72 proceeds to step S62.

[0194] In step S62, the control unit 72 determines whether the mode is the third mode. If the mode is the third mode, the control unit 72 proceeds to step S63. In step S63, the control unit 72 switches to the fourth mode and ends the process.

[0195] If the control unit 72 determines in step S62 that the mode is not the third mode, the control unit 72 proceeds to step S64. In step S64, the control unit 72 switches to the third mode and ends the process.

[0196] <Modification> The descriptions of the embodiments are merely examples of possible forms of a control device and power transmission system for a human-powered vehicle according to the present disclosure, and are not intended to limit the forms. A control device and power transmission system for a human-powered vehicle according to the present disclosure can take the form of, for example, a modified version of the embodiment shown below, or a combination of at least two mutually consistent modified versions. In the following modified versions, parts that are common to the embodiment will be assigned the same reference numerals as in the embodiment, and descriptions thereof will be omitted.

[0197] The control unit 72 may include at least one of the components (A5) and (A6) instead of or in addition to at least one of the components (A1), (A2), (A3), and (A4). (A5) The control unit 72 is configured to control the electric actuator 48 so that the gear ratio R is changed only in one of an increasing direction and a decreasing direction. The control unit 72 may be configured to be able to select whether the gear ratio R is changed to an increasing direction or a decreasing direction when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. The user selects whether the gear ratio R is changed to an increasing direction or a decreasing direction by operating the first operating device 44 or the external device 90, for example, when the derailleur 22 operates to change the gear ratio R and when predetermined conditions related to pedaling are satisfied. (A6) The control unit 72 is configured to control the electric actuator 48 to change the gear ratio R within a predetermined gear range. Information about the predetermined gear range is stored in the storage unit 74. The information about the predetermined gear range may be stored in the storage unit 74 in a changeable manner. The user changes the information about the predetermined gear range stored in the storage unit 74 by, for example, operating the first operating device 44 or the external device 90. In a first example of the configuration of (A6), the predetermined shifting range includes a range equal to or less than a predetermined third shift ratio R3, and the predetermined third shift ratio R3 is smaller than the maximum shift ratio R among the shift ratios R that can be changed by the derailleur 22. In a second example of the configuration of (A6), the predetermined shifting range includes a range equal to or greater than a predetermined fourth shift ratio R4, and the predetermined fourth shift ratio R4 is larger than the minimum shift ratio R among the shift ratios R that can be changed by the derailleur 22. Preferably, in the configuration of (A6), the control unit 72 is configured to control the electric actuator 48 to change the gear ratio R within a predetermined gear range and drive the transmission body 20 by the motor 24 in at least one of the following cases: when the derailleur 22 operates to change the gear ratio R, and predetermined conditions related to pedaling are satisfied, and the vehicle speed V of the human-powered vehicle 10 becomes equal to or less than a predetermined sixth speed V6; and when the derailleur 22 operates to change the gear ratio R, and predetermined conditions related to pedaling are satisfied, and the rotational speed N of the crankshaft 12 of the human-powered vehicle 10 becomes equal to or less than a predetermined third rotational speed N3. In the configuration of (A6), the control unit 72 may control the electric actuator 48 to change the gear ratio R within a predetermined gear range when at least one of the following occurs: the road on which the human-powered vehicle 10 is traveling changes from an uphill to a downhill slope, and the vehicle speed V of the human-powered vehicle 10 changes from an increasing state to a decelerating state. In the configuration of (A6), the control unit 72 may control the electric actuator 48 to change the gear ratio R within a predetermined gear range when the road on which the human-powered vehicle 10 is traveling changes from an uphill to a downhill slope, and the vehicle speed V of the human-powered vehicle 10 changes from an increasing state to a decelerating state.

[0198] When the derailleur 22 operates to change the gear ratio R and a predetermined condition related to pedaling is satisfied, the control unit 72 controls the motor 24 so that the rotational speed of the motor 24 increases the greater the difference between the first rotational speed N1 calculated based on the rotational speed of the wheel and the gear ratio R and the predetermined rotational speed or a rotational speed within a predetermined range, thereby driving the transmission body 20. Other components may be omitted as long as the control unit 72 is configured to control the motor 24 to drive the transmission body 20. In this modification, the derailleur 22 may or may not include the electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 13. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S71 of the flowchart shown in Fig. 13. When the flowchart of Fig. 13 ends, the control unit 72 repeats the process from step S71 after a predetermined period until the supply of power is stopped. In step S71, the control unit 72 determines whether the derailleur 22 operates. For example, if the shift execution condition of the first embodiment is met, the control unit 72 determines that the derailleur 22 operates. Preferably, the control unit 72 determines that the derailleur 22 operates if the shift execution condition is met and a shift is possible. For example, in step S71, the control unit 72 executes the same processes as steps S11, S12, and S10 of FIG. 5 of the first embodiment, and determines that the derailleur 22 operates if the determination in step S11 is YES and the determination in step S10 is YES. The control unit 72 may determine whether the derailleur 22 operates based on the output of a sensor that detects the movement of the derailleur 22, a sensor that detects the movement of the Bowden cable, or a sensor that detects the movement of the gear shift operating device 92. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 is operating, the control unit 72 proceeds to step S72. In step S72, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S73. In step S73, the control unit 72 controls the motor 24 so that the rotation speed of the motor 24 increases as the difference between the first rotation speed N1 and a predetermined rotation speed or a rotation speed within a predetermined range increases, and then the process proceeds to step S74. In step S73, the control unit 72 controls the motor 24 to drive the transmission body 20. In step S74, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S73. If the gear shift is complete, the control unit 72 proceeds to step S75. In step S75, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0199] When the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, the control unit 72 changes the rotational speed of the motor 24 in accordance with the acceleration of the human-powered vehicle 10 in the direction of travel, controlling the motor 24 so that the rotational speed of the motor 24 increases as the acceleration of the human-powered vehicle 10 increases, thereby driving the transmission body 20. Other components may be omitted as long as this modification is adopted. In this modification, the derailleur 22 may or may not include an electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 14. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S81 of the flowchart shown in Fig. 14. When the flowchart of Fig. 14 ends, the control unit 72 repeats the process from step S81 after a predetermined period until the supply of power is stopped. In step S81, the control unit 72 determines whether the derailleur 22 operates. For example, in step S81, the control unit 72 executes the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S82. In step S82, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S83. In step S83, the control unit 72 controls the motor 24 so that the rotation speed of the motor 24 increases as the acceleration of the human-powered vehicle 10 increases, and then the process proceeds to step S84. In step S83, the control unit 72 controls the motor 24 so that the transmission body 20 is driven by the motor 24. In step S84, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S83. If the gear shift is complete, the control unit 72 proceeds to step S85. In step S85, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0200] When the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, the control unit 72 controls the motor 24 to change at least one of the rotation angle and the output torque of the motor 24 in accordance with the state of the human-powered vehicle 10, and drives the transmission body 20 using the motor 24. Other components may be omitted. In this modification, the derailleur 22 may or may not include the electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 15. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S91 of the flowchart shown in Fig. 15. When the flowchart of Fig. 15 ends, the control unit 72 repeats the process from step S91 after a predetermined period until the supply of power is stopped. In step S91, the control unit 72 determines whether the derailleur 22 operates. In step S91, the control unit 72 executes, for example, the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S92. In step S92, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S93. In step S93, the control unit 72 controls 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, and then proceeds to step S84. In step S93, the control unit 72 controls the motor 24 to drive the transmission body 20 by the motor 24. In step S93, in a first example, the state of the human-powered vehicle 10 includes the rotation speed of the wheels 16 and the gear ratio R, and the control unit 72 is configured to control the motor 24 such that at least one of the rotation angle of the motor 24 and the output torque increases as the difference between the first rotation speed N1 and a predetermined rotation speed or a rotation speed within a predetermined range increases. In step S93, in the 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 wheels 16, and the control unit 72 is configured to control the motor 24 so that the rotational angle and / or output torque of the motor 24 increases as the acceleration or deceleration in the direction of travel of the human-powered vehicle 10 increases, or as the acceleration or deceleration of the rotational speed of the wheels 16 in the rotational direction corresponding to the direction of travel of the human-powered vehicle 10 increases. In step S94, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S93. If the gear shift is complete, the control unit 72 proceeds to step S95. In step S95, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0201] Other components may be omitted as long as the control unit 72 is configured to control the motor 24 so that it drives the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, and to control the motor 24 so that it does not drive the transmission body 20 when the first operating device 44 is operated, even when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met. In this modified example, the derailleur 22 may or may not include the electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 16. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S101 of the flowchart shown in Fig. 16. When the flowchart of Fig. 16 ends, the control unit 72 repeats the process from step S101 after a predetermined period until the supply of power is stopped. In step S101, the control unit 72 determines whether the derailleur 22 operates. In step S101, the control unit 72 executes, for example, the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S102. In step S102, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S103. In step S103, the control unit 72 determines whether or not the first operating device 44 has been operated. If the first operating device 44 has been operated, the control unit 72 ends the processing. If the first operating device 44 has not been operated, the control unit 72 proceeds to step S104. In step S104, the control unit 72 controls the motor 24 so as to drive the transmission body 20, and then the process proceeds to step S105. In step S105, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S104. If the gear shift is complete, the control unit 72 proceeds to step S106. In step S106, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0202] Other components may be omitted as long as the control unit 72 is configured to control the motor 24 so that, when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, the motor 24 drives the transmission body 20 and stops driving the transmission body 20 according to the load L of the motor 24. In this modification, the derailleur 22 may or may not include the electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 17. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S111 of the flowchart shown in Fig. 17. When the flowchart of Fig. 17 ends, the control unit 72 repeats the process from step S111 after a predetermined period until the supply of power is stopped. In step S111, the control unit 72 determines whether the derailleur 22 operates. In step S111, the control unit 72 executes, for example, the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S112. In step S112, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S113. In step S113, the control unit 72 controls the motor 24 to drive the transmission body 20, and proceeds to step S114. In step S114, the control unit 72 determines whether the load L of the motor 24 is equal to or greater than a predetermined load L1. If the load L of the motor 24 is equal to or greater than the predetermined load L1, the control unit 72 proceeds to step S116. If the load L of the motor 24 is not equal to or greater than the predetermined load L1, the control unit 72 proceeds to step S115. In step S115, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S114. If the gear shift is complete, the control unit 72 proceeds to step S116. In step S116, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0203] The control unit 72 may have no other components as long as it is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, and to stop driving the transmission body 20 when the vehicle speed V of the human-powered vehicle 10 falls below the first speed V1 or the rotational speed of the wheels 16 falls below a predetermined rotational speed. In this modification, the derailleur 22 may or may not include the electric actuator 48. The process by which the control unit 72 controls the motor 24 to change the gear ratio R will be described with reference to Fig. 18. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S121 of the flowchart shown in Fig. 18. When the flowchart of Fig. 18 ends, the control unit 72 repeats the process from step S121 after a predetermined period until the supply of power is stopped. In step S121, the control unit 72 determines whether the derailleur 22 operates. In step S121, the control unit 72 executes, for example, the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S122. In step S122, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S123. In step S123, the control unit 72 controls the motor 24 to drive the transmission body 20, and then proceeds to step S124. In step S124, the control unit 72 determines whether the vehicle speed V is equal to or less than a first speed V1, or whether the rotational speed of the wheels 16 is equal to or less than a predetermined rotational speed. If the vehicle speed V is equal to or less than the first speed V1, or if the rotational speed of the wheels 16 is equal to or less than the predetermined rotational speed, the control unit 72 proceeds to step S126. If the vehicle speed V is not equal to or less than the first speed V1 and if the rotational speed of the wheels 16 is not equal to or less than the predetermined rotational speed, the control unit 72 proceeds to step S125. If the vehicle speed V is equal to or less than the first speed V1 and if the rotational speed of the wheels 16 is equal to or less than the predetermined rotational speed in step S124, the control unit 72 may proceed to step S126. In step S125, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S124. If the gear shift is complete, the control unit 72 proceeds to step S126. In step S126, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0204] When the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, the control unit 72 controls the electric actuator 48 so that the gear ratio R is changed only in one of the directions of increasing and decreasing, and drives the transmission body 20 using the motor 24. Other components may be omitted. In this modification, the derailleur 22 has the electric actuator 48. Referring to Fig. 19, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S131 of the flowchart shown in Fig. 19. When the flowchart in Fig. 19 ends, the control unit 72 repeats the process from step S131 after a predetermined period until the supply of power is stopped. In step S131, the control unit 72 determines whether the derailleur 22 operates. For example, if the shift execution condition of the first embodiment is met, the control unit 72 determines that the derailleur 22 operates. Preferably, the control unit 72 determines that the derailleur 22 operates if the shift execution condition is met and a shift is possible. For example, in step S131, the control unit 72 executes the same processes as steps S11, S12, and S10 of FIG. 5 of the first embodiment, and determines that the derailleur 22 operates if step S11 is YES and step S10 is YES. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S132. In step S132, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S133. In step S133, the control unit 72 controls the electric actuator 48 so that the transmission ratio R is changed only in one of the increasing and decreasing directions, and drives the transmission body 20 by the motor 24, and then proceeds to step S134. In step S134, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S133. If the gear shift is complete, the control unit 72 proceeds to step S135. In step S135, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0205] When the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, the control unit 72 controls the electric actuator 48 to change the gear ratio R within a predetermined gear range and drives the transmission body 20 using the motor 24, so other components may be omitted. In this modified example, the derailleur 22 includes the electric actuator 48. Referring to Fig. 20, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S141 of the flowchart shown in Fig. 20. When the flowchart in Fig. 20 ends, the control unit 72 repeats the process from step S141 after a predetermined period until the supply of power is stopped. In step S141, the control unit 72 determines whether the derailleur 22 operates. In step S141, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S142. In step S142, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S143. In step S143, the control unit 72 controls the electric actuator 48 to change the speed change ratio R within a predetermined speed change range, and drives the transmission body 20 by the motor 24, and then the process proceeds to step S144. In step S144, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S143. If the gear shift is complete, the control unit 72 proceeds to step S145. In step S145, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0206] The control device 70 is configured to be switchable between a first gear change mode in which the electric actuator 48 is controlled in accordance with the state of the human-powered vehicle 10, and a second gear change mode in which the electric actuator 48 is controlled in accordance with the operation of a gear change operating device provided on the human-powered vehicle 10, and is configured to be switchable between a third mode and a fourth mode in the first gear change mode, and is configured to control the motor 24 in the third mode to drive the transmission body 20 in accordance with the state of the human-powered vehicle 10 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are satisfied, and in the fourth mode to control the motor 24 not to drive the transmission body 20 even when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are satisfied, so long as these configurations are met, other components may be omitted. In this modified example, the derailleur 22 has the electric actuator 48. Referring to Fig. 21, a process in which the control unit 72 controls the motor 24 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S151 of the flowchart shown in Fig. 21. When the flowchart in Fig. 21 ends, the control unit 72 repeats the process from step S151 after a predetermined period until the supply of power is stopped. In step S151, the control unit 72 determines whether the derailleur 22 operates. In step S151, the control unit 72 executes, for example, the same process as step S71 in Figure 13. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S152. In step S152, the control unit 72 determines whether or not a predetermined condition related to pedaling is satisfied. If the predetermined condition related to pedaling is not satisfied, the control unit 72 ends the process. If the predetermined condition related to pedaling is satisfied, the control unit 72 proceeds to step S153. In step S153, the control unit 72 determines whether or not the fourth mode is selected. If the fourth mode is selected, the control unit 72 ends the process. If the fourth mode is not selected, the control unit 72 proceeds to step S154. In step S154, the control unit 72 controls the motor 24 to drive the transmission body 20, and proceeds to step S155. In step S155, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S154. If the gear shift is complete, the control unit 72 proceeds to step S156. In step S156, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process. The control unit 72 may control the electric actuator 48 by a process different from that in the flowchart of Fig. 21, or may control the electric actuator 48 in the flowchart of Fig. 21. For example, in step S154, the electric actuator 48 is controlled.

[0207] Other components may be omitted as long as the control unit 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, falls within a predetermined range, to drive the transmission body 20 using the motor 24 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, and to control the electric actuator 48 so that, among the multiple gear stages of the derailleur 22, the gear stage with the largest gear ratio R is selected when the first rotational speed N1 falls within the predetermined range. In this modified example, the derailleur 22 has the electric actuator 48. Referring to Fig. 22, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S161 of the flowchart shown in Fig. 22. When the flowchart in Fig. 22 ends, the control unit 72 repeats the process from step S161 after a predetermined period until the supply of power is stopped. In step S161, the control unit 72 determines whether the derailleur 22 operates. In step S161, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S162. In step S162, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S163. In step S163, the control unit 72 determines whether the first rotation speed N1 falls within a predetermined range. If the first rotation speed N1 falls within the predetermined range, the control unit 72 proceeds to step S164. In step S164, the control unit 72 controls the electric actuator 48 and the motor 24 so as to select the gear shift stage with the largest gear ratio R among the multiple gear shift stages, and then proceeds to step S166. In step S164, the control unit 72 controls the motor 24 so as to drive the transmission body 20. If the first rotation speed N1 is not within the predetermined range in step S163, the control unit 72 proceeds to step S165. In step S165, the control unit 72 controls the electric actuator 48 and the motor 24 so that the first rotation speed N1 is within the predetermined range, and then proceeds to step S166. In step S165, the control unit 72 controls the motor 24 so that the motor 24 drives the transmission body 20. In step S166, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 executes the process of step S166 again. If the gear shift is complete, the control unit 72 proceeds to step S167. In step S167, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0208] The control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, and to control the electric actuator 48 so that the gear ratio R does not increase when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 or the rotational speed of the wheels 16 is equal to or greater than a predetermined rotational speed. Other components may be omitted. In this modification, the derailleur 22 has the electric actuator 48. Referring to Fig. 23, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S171 of the flowchart shown in Fig. 23. When the flowchart in Fig. 23 ends, the control unit 72 repeats the process from step S171 after a predetermined period until the supply of power is stopped. In step S171, the control unit 72 determines whether the derailleur 22 operates. In step S171, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S172. In step S172, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S173. In step S173, the control unit 72 determines whether the vehicle speed V is equal to or greater than the second speed V2 or whether the rotational speed of the wheels 16 is equal to or greater than a predetermined rotational speed. If the vehicle speed V is equal to or greater than the second speed V2 or the rotational speed of the wheels 16 is equal to or greater than the predetermined rotational speed, the control unit 72 proceeds to step S174. In step S174, the control unit 72 controls the electric actuator 48 and the motor 24 so as to prevent the gear ratio R from becoming large, and proceeds to step S176. In step S174, the control unit 72 controls the motor 24 so as to drive the transmission body 20. In step S174, the control unit 72 controls the electric actuator 48 so as to reduce the gear ratio R. If the vehicle speed V is equal to or greater than the second speed V2 and the rotational speed of the wheels 16 is equal to or greater than the predetermined rotational speed in step S173, the control unit 72 may proceed to step S174. If, in step S173, the vehicle speed V is not equal to or greater than the second speed V2 and the rotational speed of the wheels 16 is not equal to or greater than a predetermined rotational speed, the control unit 72 proceeds to step S175. In step S175, the control unit 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R, and then proceeds to step S176. In step S175, the control unit 72 controls the motor 24 to drive the transmission body 20. In step S176, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 executes the process of step S176 again. If the gear shift is complete, the control unit 72 proceeds to step S177. In step S177, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process. Control unit 72 may set a target gear ratio R in steps S174 and S175. Control unit 72 may set a target gear ratio R in a separate process when derailleur 22 is operating, and if the target gear ratio R is greater than the current gear ratio R in step S174, change the target gear ratio R so that it is equal to or less than the current gear ratio R. Control unit 72 may set a target gear ratio R in a separate process when derailleur 22 is operating, and if the target gear ratio R is greater than the current gear ratio R in step S174, not change the gear ratio R.

[0209] Other components may be omitted as long as the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and when a predetermined pedaling condition is met, and to control the electric actuator 48 so as not to change the gear ratio R when the derailleur 22 is operated until a first condition related to gear shifting is met. In this modified example, the derailleur 22 has the electric actuator 48. Referring to Fig. 24, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S181 of the flowchart shown in Fig. 24. When the flowchart in Fig. 24 ends, the control unit 72 repeats the process from step S181 after a predetermined period until the supply of power is stopped. In step S181, the control unit 72 determines whether the derailleur 22 operates. In step S181, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S182. In step S182, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S183. In step S183, the control unit 72 determines whether or not a first condition related to gear shifting is satisfied. If the first condition related to gear shifting is not satisfied, the control unit 72 executes the process of step S183 again. If the first condition related to gear shifting is satisfied, the control unit 72 proceeds to step S184. In step S184, the control unit 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R, and then proceeds to step S185. In step S184, the control unit 72 controls the motor 24 to drive the transmission body 20. In step S185, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 executes the process of step S185 again. If the gear shift is complete, the control unit 72 proceeds to step S186. In step S186, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0210] Other components may be omitted as long as the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and when a predetermined condition related to pedaling is satisfied, and to control the electric actuator 48 so that the gear ratio R is not changed by the derailleur 22 until a second condition related to gear shifting is satisfied when the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a third predetermined time T3. In this modified example, the derailleur 22 has the electric actuator 48. Referring to Fig. 25, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S191 of the flowchart shown in Fig. 25. When the flowchart in Fig. 25 ends, the control unit 72 repeats the process from step S191 after a predetermined period until the supply of power is stopped. In step S191, the control unit 72 determines whether the derailleur 22 operates. In step S191, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S192. In step S192, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S193. In step S193, the control unit 72 determines whether the electric actuator 48 and the motor 24 have been controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a predetermined third time T3. If the electric actuator 48 and the motor 24 have been controlled so that the gear ratio R increases or decreases a predetermined number of times or more within the predetermined third time T3, the control unit 72 proceeds to step S194. If the electric actuator 48 and the motor 24 have not been controlled so that the gear ratio R increases or decreases a predetermined number of times or more within the predetermined third time T3, the control unit 72 proceeds to step S195. In step S194, the control unit 72 determines whether the second condition regarding gear shifting is satisfied. If the second condition regarding gear shifting is not satisfied, the control unit 72 ends the processing. If the second condition regarding gear shifting is satisfied, the control unit 72 proceeds to step S195. In step S195, the control unit 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R, and then proceeds to step S196. In step S195, the control unit 72 controls the motor 24 to drive the transmission body 20. In step S196, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 executes the process of step S196 again. If the gear shift is complete, the control unit 72 proceeds to step S197. In step S197, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0211] When the control unit 72 controls the electric actuator 48 and the motor 24 to change the gear ratio R and when a predetermined condition related to pedaling is satisfied, the control unit 72 controls the electric actuator 48 and the motor 24 so that the relative movement between at least one of the first rotating body and the second rotating body and the derailleur 22 begins simultaneously with or before the motor 24 is driven. In this modification, the derailleur 22 has the electric actuator 48. Referring to Fig. 26, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S201 of the flowchart shown in Fig. 26. When the flowchart in Fig. 26 ends, the control unit 72 repeats the process from step S201 after a predetermined period until the supply of power is stopped. In step S201, the control unit 72 determines whether the derailleur 22 operates. In step S201, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S202. In step S202, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S203. In step S203, the control unit 72 controls the electric actuator 48 and the motor 24 so that the relative movement between at least one of the first rotating body 14 and the second rotating body 18 and the derailleur 22 begins simultaneously with or before the motor 24 is driven, and then the process proceeds to step S204. In step S203, the control unit 72 controls the motor 24 so that the motor 24 drives the transmission body 20. In step S204, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S203. If the gear shift is complete, the control unit 72 proceeds to step S205. In step S205, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0212] The control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when a predetermined condition related to pedaling is satisfied, and is configured to control the electric actuator 48 when the human-powered vehicle 10 decelerates so that the gear stage of the derailleur 22 approaches a predetermined gear stage or so that the gear ratio R approaches a predetermined gear ratio R ... predetermined gear stage and the current gear stage of the derailleur 22 approach a predetermined gear stage or so that the difference between the predetermined gear stage and the current gear stage of the derailleur 22 is satisfied. Other components may be omitted as long as the control circuit is configured to control electric actuator 48 so that the gear stage of derailleur 22 changes one gear at a time when the difference, or the difference between predetermined gear ratio R and current gear ratio R, is equal to or smaller than a predetermined value, and to control electric actuator 48 so that derailleur 22 operates continuously through multiple gear stages when the difference, or the difference, between predetermined gear ratio R and current gear ratio R, exceeds the predetermined value. In this modified example, derailleur 22 has electric actuator 48. Referring to Fig. 27, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S211 of the flowchart shown in Fig. 27. When the flowchart in Fig. 27 ends, the control unit 72 repeats the process from step S211 after a predetermined period until the supply of power is stopped. In step S211, the control unit 72 determines whether the derailleur 22 operates. In step S211, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S212. In step S212, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S213. In step S213, the control unit 72 determines whether or not the human-powered vehicle 10 is decelerating. If the human-powered vehicle 10 is not decelerating, the control unit 72 ends the process. If the human-powered vehicle 10 is decelerating, the control unit 72 proceeds to step S214. In step S214, the control unit 72 determines whether the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is equal to or less than a predetermined value. If the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is equal to or less than the predetermined value, the control unit 72 proceeds to step S215. If the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22, or the difference between the predetermined gear ratio R and the current gear ratio R, is not equal to or less than the predetermined value, the control unit 72 proceeds to step S216. In step S215, the control unit 72 controls the motor 24 to drive the transmission body 20, and controls the electric actuator 48 to change the gear shift stage of the derailleur 22 one gear at a time, and then proceeds to step S217. In step S216, the control unit 72 controls the motor 24 to drive the transmission body 20, and controls the electric actuator 48 to operate the derailleur 22 continuously across multiple shift stages, and then proceeds to step S217. In step S217, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S214. If the gear shift is complete, the control unit 72 proceeds to step S218. In step S218, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0213] The control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 operates to change the gear ratio R and when predetermined pedaling conditions are met, and to control the electric actuator 48 so that the fifth time T5 during which the derailleur 22 operates through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a predetermined fifth speed V5 is shorter than the sixth time T6 during which the derailleur 22 operates through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5. Other components may be omitted. In this modification, the derailleur 22 includes the electric actuator 48. Referring to Fig. 28, a process in which the control unit 72 controls the motor 24 and the electric actuator 48 to change the gear ratio R will be described. When power is supplied to the control unit 72, the control unit 72 starts the process and proceeds to step S221 of the flowchart shown in Fig. 28. When the flowchart in Fig. 28 ends, the control unit 72 repeats the process from step S221 after a predetermined period until the supply of power is stopped. In step S221, the control unit 72 determines whether the derailleur 22 operates. In step S221, the control unit 72 executes, for example, the same process as step S131 in Figure 19. If the derailleur 22 does not operate, the control unit 72 ends the process. If the derailleur 22 operates, the control unit 72 proceeds to step S222. In step S222, the control unit 72 determines whether or not predetermined conditions related to pedaling are satisfied. If the predetermined conditions related to pedaling are not satisfied, the control unit 72 ends the processing. If the predetermined conditions related to pedaling are satisfied, the control unit 72 proceeds to step S223. In step S223, the control unit 72 determines whether the vehicle speed V of the human-powered vehicle 10 is equal to or less than a predetermined fifth speed V5. If the vehicle speed V of the human-powered vehicle 10 is equal to or less than the predetermined fifth speed V5, the control unit 72 proceeds to step S224. If the vehicle speed V of the human-powered vehicle 10 is not equal to or less than the predetermined fifth speed V5, the control unit 72 proceeds to step S225. In step S224, the control unit 72 controls the motor 24 to drive the transmission body 20, and controls the electric actuator 48 so that the fifth time T5 is shorter than the sixth time T6, and then proceeds to step S226. In step S225, the control unit 72 controls the motor 24 and the electric actuator 48 so as to drive the transmission body 20 by the motor 24, and then the process proceeds to step S226. In step S226, the control unit 72 determines whether the gear shift is complete. If the gear shift is not complete, the control unit 72 proceeds to step S223. If the gear shift is complete, the control unit 72 proceeds to step S227. In step S227, the control unit 72 stops driving the transmission body 20 by the motor 24 and ends the process.

[0214] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of the processes of steps S16, S20, and S30 in FIG. 5 may be omitted. When at least one of the processes of steps S16, S20, and S30 in FIG. 5 is omitted, the configuration corresponding to the omitted process may also be omitted from the configuration of the control unit 72. When step S16 is omitted, the control unit 72 executes the process of step S15 in FIG. 5 and then proceeds to step S17. If the determination in step S17 is NO, the control unit 72 repeats the process of step S17. When step S20 is omitted, the control unit 72 proceeds to step S30 if the determination in step S13 in FIG. 5 is YES. When step S30 is omitted, the control unit 72 proceeds to step S14 if the determination in step S20 in FIG. 5 is YES. When steps S20 and S30 are omitted, the control unit 72 proceeds to step S14 if the determination in step S13 in FIG. 5 is YES. In the third embodiment or an embodiment including a modified example of the third embodiment, at least one of the processes of steps S16 and S20 in Fig. 10 can be omitted. When at least one of the processes of steps S16 and S20 in Fig. 10 is omitted, the configuration corresponding to the omitted process can also be omitted from the configuration of the control unit 72. When step S16 is omitted, the control unit 72 executes the process of step S14 in Fig. 10, and then proceeds to step S57. If the determination in step S57 is NO, the process of step S57 is repeated. When the process of step S20 is omitted, if the determination in step S13 in Fig. 10 is YES, the control unit 72 proceeds to step S14.

[0215] In the first embodiment, the second embodiment, the modified example of the first embodiment, the modified example of the second embodiment, the third embodiment, or an embodiment including the modified example of the third embodiment, the control unit 72 is not limited to the configurations (A1), (A2), (A3), and (A4), and may have any configuration as long as it can control the motor 24 to drive the transmission body 20. The control unit 72 may control the motor 24 to drive the transmission body 20 using a configuration different from (A1), (A2), (A3), and (A4). As a configuration different from the configurations (A1), (A2), (A3), and (A4), the control unit 72 may include the following configuration (A5), (A6), or (A7). (A5) When the transmission body 20 is driven by the motor 24, the control unit 72 is configured to control the motor 24 so that the moving speed of the transmission body 20 is constant regardless of the gear ratio R. (A6) The control unit 72 is configured to control the motor 24 so that the moving speed of the transmission body 20 increases after it starts moving, regardless of the speed change ratio R. (A7) The control unit 72 is configured to control the motor 24 so that the moving speed of the transmission body 20 increases after it starts moving and then becomes a constant speed, regardless of the speed change ratio R. For example, in the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, in step S14 of Fig. 5, the control unit 72 may control the motor 24 so as to drive the transmission body 20 by the motor 24 using a configuration different from (A1), (A2), (A3), and (A4). For example, in the third embodiment or an embodiment including the modified example of the third embodiment, in step S14 of Fig. 10, the control unit 72 may control the motor 24 so as to drive the transmission body 20 by the motor 24 using a configuration different from (A1), (A2), (A3), and (A4).

[0216] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of the processes of steps S16, S20, and S30 in Fig. 5 may be omitted, and in step S14 in Fig. 5, the control unit 72 may control the motor 24 to drive the transmission body 20 by a configuration different from (A1), (A2), (A3), and (A4). When at least one of the processes of steps S16, S20, and S30 in Fig. 5 is omitted, the configuration corresponding to the omitted process may also be omitted from the configuration of the control unit 72.

[0217] In the third embodiment or an embodiment including a modified example of the third embodiment, at least one of the processes of steps S16 and S20 in FIG. 10 may be omitted, and in step S14 in FIG. 10, the control unit 72 may control the motor 24 to drive the transmission body 20 by a configuration different from (A1), (A2), (A3), and (A4). When at least one of the processes of steps S16 and S20 in FIG. 10 is omitted, the configuration corresponding to the omitted process may also be omitted from the configuration of the control unit 72. The configuration different from (A1), (A2), (A3), and (A4) may be the configuration of (A5), (A6), or (A7), or may be another configuration. In this modification, the motor 24 of the power transmission system 60 is configured to drive the transmission body 20 and to generate electricity by being driven by the transmission body 20, the power storage device 66 is configured to store the electric power generated by the motor 24, and the control device 70 is configured to control the motor 24 using the electric power of the power storage device 66. This allows the gear ratio R to be suitably changed.

[0218] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of steps S16, S20, and S30 in FIG. 5 can be omitted. When at least one of steps S16, S20, and S30 in FIG. 5 is omitted, the configuration corresponding to the omitted process can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the electric actuator 48 so that, when the first rotational speed N1 falls within a predetermined range in the multiple shift stages of the derailleur 22, the shift stage with the largest gear ratio R is selected. In this modified example, in step S15 in FIG. 5, when the first rotational speed N1 falls within a predetermined range in the multiple shift stages of the derailleur 22, the control unit 72 controls the electric actuator 48 so that the shift stage with the largest gear ratio R is selected, thereby suitably changing the gear ratio R.

[0219] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of steps S16 and S20 in FIG. 5 can be omitted. When at least one of steps S16 and S20 in FIG. 5 is omitted, the components corresponding to the omitted processes can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and when a predetermined condition related to pedaling is satisfied. The control unit 72 is also configured to control the electric actuator 48 so as not to increase the gear ratio R when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 or when the rotational speed NW of the wheels 16 is equal to or greater than the predetermined rotational speed NWX. This allows the gear ratio R to be changed appropriately. 5, the control unit 72 determines whether the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2, or whether the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX, and whether the target gear ratio R is smaller than the current gear ratio R. In this modified example, the control unit 72 may be configured to control the electric actuator 48 so that the gear ratio R does not increase when the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2 and the rotational speed NW of the wheels 16 is equal to or greater than the predetermined rotational speed NWX. When the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2, or when the rotational speed NW of the wheels 16 is equal to or greater than the predetermined rotational speed NWX, the control unit 72 does not output the first gear change control signal to the electric actuator 48. In step S30 of FIG. 5, the control unit 72 ends the process if the vehicle speed V of the human-powered vehicle 10 is equal to or greater than the second speed V2, or if the rotational speed NW of the wheels 16 is equal to or greater than a predetermined rotational speed NWX, and if the gear shift execution condition for increasing the gear ratio R is met.

[0220] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of steps S16 and S20 in FIG. 5 can be omitted. When at least one of steps S16 and S20 in FIG. 5 is omitted, the components corresponding to the omitted processes can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and when a predetermined condition related to pedaling is satisfied. When the derailleur 22 is operated, the control unit 72 is configured to control the electric actuator 48 so as not to change the gear ratio R until a first condition related to gear shifting is satisfied. This allows the gear ratio R to be changed appropriately. When the derailleur 22 is operated, the control unit 72 does not output a gear shift control signal to the electric actuator 48 until the first condition related to gear shifting is satisfied. In step S30 of FIG. 5, if the derailleur 22 has operated and the first condition regarding gear shifting has not been satisfied, the control unit 72 ends the process.

[0221] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of steps S16 and S20 in FIG. 5 can be omitted. When at least one of steps S16 and S20 in FIG. 5 is omitted, the components corresponding to the omitted processes can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the motor 24 to drive the transmission body 20 when the derailleur 22 is operated by the electric actuator 48 to change the gear ratio R and when a predetermined condition related to pedaling is satisfied. When the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a third predetermined time T3, the control unit 72 is configured to control the electric actuator 48 so that the gear ratio R is not changed by the derailleur 22 until a second condition related to gear shifting is satisfied. This allows the gear ratio R to be changed appropriately. If the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within a predetermined third time T3, the control unit 72 does not output a gear shift control signal to the electric actuator 48 until a second condition related to gear shifting is satisfied. In step S30, if the electric actuator 48 and the motor 24 are controlled so that the gear ratio R increases or decreases a predetermined number of times or more within the predetermined third time T3 and the second condition related to gear shifting is not satisfied, the control unit 72 ends the processing.

[0222] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, at least one of steps S16, S20, and S30 in FIG. 5 may be omitted. When at least one of steps S16, S20, and S30 in FIG. 5 is omitted, the configuration corresponding to the omitted process may also be omitted from the configuration of the control unit 72. In this modified example, when controlling the electric actuator 48 and the motor 24 to change the gear ratio R and when a predetermined pedaling condition is satisfied, the control unit 72 controls the electric actuator 48 and the motor 24 so that relative movement between at least one of the first rotating body 14 and the second rotating body 18 and the derailleur 22 begins simultaneously with or before the motor 24 is driven. This allows the gear ratio R to be changed appropriately. In this modified example, preferably, in step S14 in FIG. 5, the control unit 72 controls the motor 24 so that the motor 24 does not drive until the electric actuator 48 is operated in step S15.

[0223] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, it is also possible to omit at least one of steps S16, S20, and S30 in Fig. 5. When omitting at least one of steps S16, S20, and S30 in Fig. 5, the configuration corresponding to the omitted process can also be omitted from the configuration of the control unit 72. In this modification, the control unit 72 is configured to control the electric actuator 48 so that the gear stage of the derailleur 22 approaches a predetermined gear stage or so that the gear ratio R approaches a predetermined gear ratio RX when the human-powered vehicle 10 decelerates, to control the electric actuator 48 so that the gear stage of the derailleur 22 changes gear by gear 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 is equal to or smaller than a predetermined value, and to control the electric actuator 48 so that the derailleur 22 operates continuously through multiple gear 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 a predetermined value. This allows the gear ratio R to be changed appropriately. In this modified example, the control unit 72 determines in step S11 that the gear shift execution condition is met when the human-powered vehicle 10 is decelerating, and in step S15 controls the electric actuator 48 so that the gear shift stage of the derailleur 22 approaches a predetermined gear shift stage or so that the gear ratio R approaches a predetermined gear ratio RX. If the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R is equal to or less than a predetermined value, the control unit 72 controls the electric actuator 48 so that the gear shift stage of the derailleur 22 is changed one gear at a time. If the difference between the predetermined gear shift stage and the current gear shift stage of the derailleur 22 or the difference between the predetermined gear ratio R and the current gear ratio R exceeds a predetermined value, the control unit 72 controls the electric actuator 48 so that the derailleur 22 operates continuously across multiple gear shift stages. In step S11, the control unit 72 may determine that the gear shift execution condition is met, for example, when the deceleration in the direction corresponding to the traveling direction of the human-powered vehicle 10 is greater than a predetermined deceleration.

[0224] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, it is possible to omit at least one of steps S16, S20, and S30 in Figure 5. When omitting at least one of steps S16, S20, and S30 in Figure 5, the configuration corresponding to the omitted process can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the electric actuator 48 so that a fifth time T5, during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a predetermined fifth speed V5, is shorter than a sixth time T6, during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5. 5, the electric actuator 48 is controlled so that the fifth time T5, during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 is equal to or less than a predetermined fifth speed V5, is shorter than the sixth time T6, during which the derailleur 22 is operated through multiple gear shift stages when the vehicle speed V of the human-powered vehicle 10 exceeds the predetermined fifth speed V5. This allows the gear ratio R to be changed appropriately.

[0225] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, the control unit 72 may execute the processing of the flowchart in FIG. 6 and omit all of the processing of the flowchart in FIG. 5. When omitting the processing of FIG. 5, the components corresponding to the omitted processing can also be omitted from the configuration of the control unit 72. In this modified example, the control device 70 includes a control unit 72 configured to control the electric actuator 48 and the motor 24 and to receive a signal to adjust the position of the derailleur 22. The control unit 72 is configured to control the motor 24 to drive the motor 24 when a signal to adjust the position of the derailleur 22 is received. If the first gear ratio R1 corresponding to the rotational speed 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 control unit 72 is configured to control the electric actuator 48 so that the position of the derailleur 22 corresponds to the first gear ratio R1. This allows the gear ratio R to be suitably changed.

[0226] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, the control unit 72 may omit all of the processes in the flowchart of FIG. 5 and all of the processes in the flowchart of FIG. 6. When the processes in FIG. 5 are omitted, the configuration corresponding to the omitted processes can also be omitted from the configuration of the control unit 72. In this modified example, the control unit 72 is configured to control the electric actuator 48 using the power of the power storage device 66. This allows the gear ratio R to be suitably changed.

[0227] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, the control unit 72 can also omit the processing of step S13 in the flowchart of FIG. 5. When the processing of step S13 in FIG. 5 is omitted, the configuration corresponding to the omitted processing can also be omitted from the configuration of the control unit 72. In this case, in the flowchart of FIG. 5, if the determination in step S10 is YES, the control unit 72 may proceed to step S20 or to step S19. In the flowchart of FIG. 5, after executing the processing of step S12, the control unit 72 may proceed to either step S20 or step S19 depending on a condition that is different from the predetermined condition related to pedaling. Furthermore, in this modification, at least one of the processes of steps S16, S20, and S30 in FIG. 5 may be omitted, and in step S14 in FIG. 5, the control unit 72 may control the motor 24 to drive the transmission body 20 by a configuration different from (A1), (A2), (A3), and (A4). In the third embodiment or the modification of the third embodiment, the control unit 72 may also omit the process of step S13 in the flowchart of FIG. 10. When the process of step S13 in FIG. 10 is omitted, the configuration corresponding to the omitted process may also be omitted from the configuration of the control unit 72. In this case, in the flowchart of FIG. 10, the control unit 72 proceeds to step S20 when the determination in step S51 is YES. In a modification in which step S13 of the flowchart in FIG. 10 is omitted, at least one of steps S16 and S20 in FIG. 10 may be omitted, and in step S14 in FIG. 10, the control unit 72 may control the motor 24 to drive the transmission body 20 using a configuration different from (A1), (A2), (A3), and (A4). In a modification in which the processing of step S13 in FIG. 5 is omitted and a modification in which the processing of step S13 in FIG. 10 is omitted, the motor 24 of the power transmission system 60 is configured to drive the transmission body 20 and to generate electricity by being driven by the transmission body 20, the power storage device 66 is configured to store the electric power generated by the motor 24, and the control device 70 is configured to control the motor 24 using the electric power of the power storage device 66. This allows the gear ratio R to be suitably changed.

[0228] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, the motor 24 may be configured not to apply a propulsive force to the human-powered vehicle 10 in accordance with the human-powered driving force H.

[0229] In the first embodiment, the second embodiment, the modified example of the first embodiment, or the modified example of the second embodiment, instead of the process in step S17 of the flowchart in FIG. 5 , the control unit 72 may determine whether a predetermined time has elapsed since the motor 24 was driven. Information regarding the predetermined time T is stored in the storage unit 74. When the predetermined time T has elapsed since the motor 24 was driven, the control unit 72 proceeds to step S18. The predetermined time T may be constant, or may be changed depending on at least one of the current gear ratio R and the target gear ratio R. Information regarding the predetermined time T is stored in the storage unit 74. The control unit 72 repeats the process of step S17 until a predetermined time T has elapsed since the motor 24 was driven. In the third embodiment or the modified example of the third embodiment, instead of the process in step S57 of the flowchart in FIG. 10 , the control unit 72 may determine whether a predetermined time has elapsed since the motor 24 was driven. When the predetermined time T has elapsed since the motor 24 was driven, the control unit 72 proceeds to step S18. The predetermined time T may be constant, or may be changed depending on at least one of the current gear ratio R and the target gear ratio R. The control unit 72 repeats the process of step S57 until the predetermined time T has elapsed since the motor 24 was driven.

[0230] The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" when the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" when the number of options is three or more. [Explanation of symbols]

[0231] 10...human-powered vehicle, 12...crankshaft, 16...wheel, 14...first rotating body, 18...second rotating body, 20...transmission body, 22...derailleur, 24...motor, 44...first operating device, 44A...first operating section, 45...second operating 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 section, 84...first detection section, 92...gear change operating device.

Claims

1. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the control device includes a controller configured to control the motor; The control unit when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to change at least one of the rotation angle and the output torque of the motor in accordance with the state of the human-powered vehicle, and the transmission body is driven by the motor; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. a control device, wherein the state of the human-powered vehicle includes a first rotation speed corresponding to the rotation speed of the crankshaft calculated based on the rotation speed of the wheels and the gear ratio;

2. The state of the human-powered vehicle includes the rotational speed of the wheels and the gear ratio, 2. The control device according to claim 1, wherein the control unit is configured to control the motor so that at least one of the rotation angle of the motor and the output torque increases as a difference between the first rotation speed calculated based on the rotation speed of the wheel and the gear ratio and a predetermined rotation speed or a rotation speed within a predetermined range increases.

3. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the control device includes a controller configured to control the motor; The control unit when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to change at least one of the rotation angle and the output torque of the motor in accordance with the state of the human-powered vehicle, and the transmission body is driven by the motor; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. the state of the human-powered vehicle includes the rotational speed of the wheels and the gear ratio; The control unit is a control device configured to control the motor so that the rotation angle of the motor and at least one of the output torque become larger as the difference between a first rotation speed calculated based on the rotation speed of the wheel and the gear ratio and a predetermined rotation speed or a rotation speed within a predetermined range becomes larger.

4. The state of the human-powered vehicle includes a change in the vehicle speed of the human-powered vehicle or a change in the rotational speed of the wheels, The control unit 4. The control device according to claim 1, 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 in the traveling direction of the human-powered vehicle increases, or as the acceleration or deceleration of the rotational speed of the wheel in the rotational direction corresponding to the traveling direction of the human-powered vehicle increases.

5. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the control device includes a controller configured to control the motor; The control unit when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to change at least one of the rotation angle and the output torque of the motor in accordance with the state of the human-powered vehicle, and the transmission body is driven by the motor; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. the state of the human-powered vehicle includes a change in the vehicle speed of the human-powered vehicle or a change in the rotational speed of the wheels; The control unit a control device 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 in the direction of travel of the human-powered vehicle increases, or as the acceleration or deceleration of the rotational speed of the wheel in the rotational direction corresponding to the direction of travel of the human-powered vehicle increases.

6. The human-powered vehicle further includes a first operating device, 6. The control device according to claim 1, wherein the control unit is configured to control the motor so as not to drive the transmission body when the first operating device is operated, even if the derailleur operates to change the gear ratio and a predetermined condition related to the pedaling is satisfied.

7. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the control device includes a controller configured to control the motor; The control unit when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to change at least one of the rotation angle and the output torque of the motor in accordance with the state of the human-powered vehicle, and the transmission body is driven by the motor; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. the human-powered vehicle further includes a first operating device; The control unit is configured to control the motor so as not to drive the transmission body when the first operating device is operated, even if the derailleur operates to change the gear ratio and a predetermined condition related to the pedaling is satisfied.

8. The human-powered vehicle further includes a second operating device configured to operate the derailleur; the control unit is configured to be able to switch between a first mode and a second mode, in the first mode, when the second operating device is operated and when a predetermined condition related to the pedaling is satisfied, the motor is controlled to drive the transmission body in accordance with a state of the human-powered vehicle; 8. The control device according to claim 1, wherein, in the second mode, the motor is controlled so as not to drive the transmission body even when the second operating device is operated and a predetermined condition related to the pedaling is satisfied.

9. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, and a motor configured to drive the transmission body. the control device includes a controller configured to control the motor; The control unit When the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to drive the transmission body by the motor, the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. the human-powered vehicle further includes a second operating device configured to operate the derailleur; the control unit is configured to be able to switch between a first mode and a second mode, in the first mode, when the second operating device is operated and when a predetermined condition related to the pedaling is satisfied, the motor is controlled to drive the transmission body in accordance with a state of the human-powered vehicle; In the second mode, the control device is configured to control the motor so as not to drive the transmission body even when the second operating device is operated and a predetermined condition related to the pedaling is satisfied.

10. The control unit:

10. The control device according to claim 1, wherein the control device is configured to control the motor to stop driving the transmission body according to a load on the motor when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied.

11. A first detection unit configured to detect the load of the motor, 11. The control device according to claim 10, wherein the control unit is configured to control the motor so that the motor stops when the derailleur operates to change the gear ratio, when a predetermined condition related to the pedaling is satisfied, and when the load on the motor is equal to or greater than a predetermined load.

12. A control device as described in any one of claims 1 to 11, wherein the control unit is configured to control the motor so that, when a predetermined condition regarding the pedaling is satisfied, the vehicle speed of the human-powered vehicle becomes equal to or less than a first speed, or the rotational speed of the wheels becomes equal to or less than a predetermined rotational speed, the drive of the transmission body is stopped.

13. The human-powered vehicle further includes an electric actuator configured to operate the derailleur; The control device according to claim 1 , wherein the control unit is configured to control the electric actuator.

14. The control device described in Claim 13, wherein the control unit is configured to control the electric actuator so that the gear ratio is changed only in one of an increasing direction and a decreasing direction when the derailleur operates to change the gear ratio and when predetermined conditions regarding the pedaling are satisfied, and to drive the transmission body with the motor.

15. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit 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 relative to a rotational speed of the crankshaft, a motor configured to drive the transmission body, and an electric actuator configured to operate the derailleur. the control device includes a control unit configured to control the electric actuator and the motor; the control unit is configured to control the electric actuator so that the gear ratio is changed only in one of an increasing direction and a decreasing direction when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, and to drive the transmission body by the motor; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. The control unit is configured to be able to select whether the gear ratio is changed in an increasing direction or a decreasing direction when the derailleur operates to change the gear ratio based on the user's operation of an operating device and when predetermined conditions related to the pedaling are satisfied.

16. A control device as described in claim 14 or 15, wherein the control unit is configured to control the electric actuator to change the gear ratio within a predetermined gear range when the derailleur operates to change the gear ratio and when predetermined conditions regarding the pedaling are satisfied, and to drive the transmission body with the motor.

17. The predetermined shift range includes a range equal to or lower than a predetermined third shift ratio, 17. The control device according to claim 16, wherein the third predetermined gear ratio is smaller than the maximum gear ratio among the gear ratios that can be changed by the derailleur.

18. The control device described in Claim 17, wherein the control unit is configured to control the electric actuator to change the gear ratio within the predetermined gear range and to drive the transmission body with the motor in at least one of the following cases: when the derailleur operates to change the gear ratio and predetermined conditions related to the pedaling are satisfied and the road on which the human-powered vehicle is traveling changes from an uphill to a downhill; and when the derailleur operates to change the gear ratio and predetermined conditions related to the pedaling are satisfied and the vehicle speed of the human-powered vehicle changes from an increasing state to a decelerating state.

19. The predetermined shift range includes a range equal to or greater than a predetermined fourth shift ratio, 19. The control device according to claim 16, wherein the fourth predetermined gear ratio is greater than the smallest gear ratio among the gear ratios that can be changed by the derailleur.

20. The control device described in Claim 19, wherein the control unit is configured to control the electric actuator to change the gear ratio within the predetermined gear range and drive the transmission body with the motor in at least one of the following cases: when the derailleur operates to change the gear ratio, and predetermined conditions related to the pedaling are satisfied, and the vehicle speed of the human-powered vehicle becomes equal to or less than a predetermined sixth speed; and when the derailleur operates to change the gear ratio, and predetermined conditions related to the pedaling are satisfied, and the rotational speed of the crankshaft of the human-powered vehicle becomes equal to or less than a predetermined third rotational speed.

21. The control unit a first speed change mode in which the electric actuator is controlled in accordance with a state of the human-powered vehicle, and a second speed change mode in which the electric actuator is controlled in accordance with operation of a speed change operating device provided on the human-powered vehicle, In the first speed change mode, a third mode and a fourth mode can be switched, In the third mode, when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, the motor is controlled to drive the transmission body in accordance with a state of the human-powered vehicle, 21. The control device according to claim 13, wherein in the fourth mode, the control device is configured to control the motor so as not to drive the transmission body even when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied.

22. The control unit: the motor is controlled to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, 22. The control device according to claim 13, wherein the control device is configured to control the electric actuator so that the gear ratio does not increase when the vehicle speed of the human-powered vehicle is equal to or greater than a second speed or when the rotational speed of the wheels is equal to or greater than a predetermined rotational speed.

23. The control device described in Claim 22, wherein the control unit is configured to control the electric actuator so that when the derailleur operates, the gear ratio is not changed until a first condition regarding gear shifting is satisfied.

24. The human-powered vehicle further includes a second operating device configured to operate the derailleur; 24. The control device according to claim 23, wherein the first condition related to the gear shift is satisfied in at least one of the following cases: when a predetermined first time has elapsed since the second operating device was operated; when a predetermined second time has elapsed since the electric actuator stopped; when the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined first angle; and when the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined third speed.

25. A control device as described in any one of claims 13 to 24, wherein the control unit is configured to control the electric actuator so that, when the electric actuator and the motor are controlled so that the gear ratio increases or decreases a predetermined number of times or more within a predetermined third time period, the derailleur does not change the gear ratio until a second condition regarding gear shifting is satisfied.

26. A control device as described in Claim 25, wherein the second condition regarding the gear shift is satisfied in at least one of the following cases: when a predetermined fourth time has elapsed since the electric actuator stopped; when the tilt angle of the human-powered vehicle becomes equal to or greater than a predetermined second angle; and when the vehicle speed of the human-powered vehicle becomes equal to or greater than a predetermined fourth speed.

27. ​​A control device as described in any one of claims 14 to 25, wherein the control unit is configured to control the electric actuator and the motor so that, when controlling the electric actuator and the motor to change the gear ratio and when predetermined conditions related to the pedaling are satisfied, relative movement between at least one of the first rotating body and the second rotating body and the derailleur begins simultaneously with or before the motor is driven.

28. A control device for a human-powered vehicle, The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body to transmit driving force between the first rotating body and the second rotating body, a derailleur configured to operate the transmission body to change the gear ratio of the rotational speed of the wheel to the rotational speed of the crankshaft, an electric actuator configured to operate the derailleur, and a motor configured to drive the transmission body, the control device includes a control unit configured to control the electric actuator and the motor; the control unit is configured to control the electric actuator and the motor to change the gear ratio and, when a predetermined condition related to pedaling is satisfied, to control the electric actuator and the motor so that relative movement between at least one of the first rotating body and the second rotating body and the derailleur begins simultaneously with or before the motor is driven, a control device in which the predetermined condition related to pedaling is satisfied in at least one of the following cases: when the manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when the rotational speed of the crankshaft is equal to or less than a second rotational speed; and when the crankshaft is oscillating.

29. The control device described in Claim 28, wherein the control unit is configured to receive a signal for adjusting the position of the derailleur, and when the signal is received, to drive the motor, and when a 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, to control the electric actuator so that the position of the derailleur corresponds to the first gear ratio.

30. The control unit the motor is controlled to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, When the human-powered vehicle decelerates, the electric actuator is controlled so that the gear stage of the derailleur approaches a predetermined gear stage or so that the gear ratio approaches a predetermined gear ratio, the electric actuator is controlled to change the gear stage of the derailleur one gear at a time when a difference between the predetermined gear stage and the current gear stage of the derailleur, or a difference between the predetermined gear ratio and the current gear ratio, is equal to or less than a predetermined value; 30. The control device of claim 13, wherein the control device is configured to control the electric actuator to operate the derailleur continuously through a plurality of shift stages when a difference between the predetermined shift stage and the current shift stage of the derailleur or a difference between the predetermined shift ratio and the current shift ratio exceeds the predetermined value.

31. The control unit the motor is controlled to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied, 31. The control device according to claim 13, wherein the control device is configured to control the electric actuator so that a fifth time during which the derailleur is operated through a plurality of gear shift stages when the vehicle speed of the human-powered vehicle is equal to or less than a predetermined fifth speed is shorter than a sixth time during which the derailleur is operated through the plurality of gear shift stages when the vehicle speed of the human-powered vehicle exceeds the predetermined fifth speed.

32. The motor is configured to provide a propulsive force to the human-powered vehicle in response to a human-powered driving force; 32. The control device according to claim 1, wherein the control unit is configured to control the motor to drive the transmission body so as not to impart propulsive force to the human-powered vehicle when the derailleur operates to change the gear ratio and when a predetermined condition related to the pedaling is satisfied.

33. A power transmission system for a human-powered vehicle, comprising: A control device for a human-powered vehicle according to any one of claims 1 to 32; a first one-way clutch provided in a first power transmission path between the crankshaft and the first rotating body, configured to transmit rotational force in a first rotational direction from the crankshaft to the first rotating body and to suppress transmission of rotational force in the first rotational direction from the first rotating body to the crankshaft.

34. The electric power generating device further includes a power storage device configured to store the power generated by the motor, 34. The power transmission system according to claim 33, wherein the control unit is configured to control the motor using the power of the power storage device.

35. A power transmission system for a human-powered vehicle, comprising: The human-powered vehicle includes a crankshaft, a first rotating body connected to the crankshaft, a wheel, a second rotating body connected to the wheel, a transmission body configured to engage with the first rotating body and the second rotating body and transmit driving force between the first rotating body and the second rotating body, and a derailleur configured to operate the transmission body to change a gear ratio of a rotational speed of the wheel relative to a rotational speed of the crankshaft, The power transmission system includes: a motor configured to drive the transmission body and configured to generate electricity by being driven by the transmission body; a power storage device configured to store the power generated by the motor; a control device for the human-powered vehicle, the control device includes a control unit configured to control the motor using power from the power storage device; The control unit configured to control the motor to drive the transmission body when the derailleur operates to change the gear ratio and when a predetermined condition related to pedaling is satisfied; the predetermined condition related to pedaling is satisfied in at least one of the following cases: when a manual driving force input to the crankshaft is equal to or less than a predetermined driving force; when a rotation speed of the crankshaft is equal to or less than a second rotation speed; and when the crankshaft is swinging. the human-powered vehicle further includes a second operating device configured to operate the derailleur; the control unit is configured to be able to switch between a first mode and a second mode, in the first mode, when the second operating device is operated and when a predetermined condition related to the pedaling is satisfied, the motor is controlled to drive the transmission body in accordance with a state of the human-powered vehicle; In the second mode, the power transmission system is configured to control the motor so as not to drive the transmission body even when the second operating device is operated and a predetermined condition related to the pedaling is satisfied.

36. The human-powered vehicle includes an electric actuator configured to operate the derailleur, 36. The power transmission system according to claim 35, wherein the control unit is configured to control the electric actuator using the electric power of the power storage device.

37. A power transmission system as described in claim 34 or 36, further comprising a first one-way clutch provided in a first power transmission path between the crankshaft and the first rotating body, configured to transmit rotational force in a first rotational direction from the crankshaft to the first rotating body and to suppress the transmission of rotational force in the first rotational direction from the first rotating body to the crankshaft.

38. A power transmission system as described in any one of claims 33 to 37, further comprising a second one-way clutch provided in a second power transmission path between the second rotating body and the wheel, configured to transmit rotational force in a second rotational direction from the second rotating body to the wheel and to suppress transmission of rotational force in the second rotational direction from the wheel to the second rotating body.

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