Assist device for human-powered vehicle, transmission device for human-powered vehicle, and control system for human-powered vehicle

Abstract

To provide an assist device for a human-powered vehicle, a transmission device for a human-powered vehicle, and a control system for a human-powered vehicle that are able to suitably change a gear ratio.SOLUTION: An assist device for a human-powered vehicle includes: an assist motor; a first communication unit configured to communicate with a transmission device and configured to receive first information from the transmission device; and a first control unit configured to control the first communication unit to transmit a predetermined signal to the transmission device to operate the transmission device to change a gear ratio. The transmission device is configured to switch the gear ratio. The first control unit is configured to acquire, based on the first information, a predetermined period; and to control the first communication unit to transmit the predetermined signal to the transmission device in accordance with the predetermined period. The first information includes information related to a plurality of transmission stages and to amounts of rotations of a plurality of sprockets.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1, for example, discloses a control device for a human-powered vehicle that is configured to control a transmission. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-089989 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide an assist device for a human-powered vehicle, a transmission for a human-powered vehicle, and a control system for a human-powered vehicle that are capable of suitably changing the gear ratio. [Means for solving the problem]

[0005] An assist device according to a first aspect of the present disclosure is an assist device for a human-powered vehicle, comprising: an assist motor that assists propulsion of the human-powered vehicle; a first communication unit configured to be able to communicate with a transmission configured to change a gear ratio of the human-powered vehicle and configured to receive first information from the transmission; and a first control unit configured to control the first communication unit to send a predetermined signal to the transmission to operate the transmission to change the gear ratio, wherein the transmission is configured to switch the gear ratio by shifting the chain between two adjacent sprockets among a plurality of sprockets, and the first control unit is configured to obtain a predetermined period based on the first information received by the first communication unit and is configured to control the first communication unit to send the predetermined signal to the transmission in accordance with the predetermined period, and the first information includes information regarding a plurality of gear stages corresponding to the gear ratio and the amount of rotation of the plurality of sprockets. According to the assist device of the first aspect, the first control unit changes the gear ratio using the transmission based on the predetermined period acquired based on the first information received from the transmission, and therefore the first control unit can change the gear ratio appropriately.

[0006] An assist device according to a second aspect of the present disclosure is an assist device for a human-powered vehicle, comprising: an assist motor that assists the propulsion of the human-powered vehicle; a first communication unit configured to be capable of wireless communication with a transmission configured to change the gear ratio of the human-powered vehicle and configured to receive specified information from the transmission; and a first control unit configured to control the first communication unit to send a specified signal to the transmission that operates the transmission to change the gear ratio, wherein the first control unit is configured to obtain a specified period based on the specified information received by the first communication unit, and is configured to control the first communication unit to send the specified signal to the transmission in accordance with the specified period. According to the assist device of the second aspect, the first control section can change the gear ratio using the transmission, based on the predetermined period acquired based on the predetermined information wirelessly received from the transmission.

[0007] In the assist device of a third aspect according to the second aspect of the present disclosure, the transmission is configured to switch the gear ratio by shifting the chain between two adjacent sprockets among the plurality of sprockets, and the specified information includes at least one of first information and second information, the first information includes information regarding a plurality of gear stages corresponding to the gear ratio and the rotation amount of the plurality of sprockets, and the second information includes at least one of identification information of the transmission and identification information of a set of the plurality of sprockets. According to the assist device of the third aspect, the first control unit can obtain the predetermined period based on at least one of the first information and the second information.

[0008] In the assist device of a fourth aspect according to the third aspect of the present disclosure, the specified information includes the first information, and the first control unit is configured to obtain the specified period based on the first information and the direction of change of the gear ratio. According to the assist device of the fourth aspect, the first control section can obtain the predetermined period based on the first information and the direction of change in the gear ratio.

[0009] In the assist device of a fifth aspect according to the third aspect of the present disclosure, the predetermined information includes the first information, and the first information includes a table indicating a correspondence relationship between the speed change stage and the rotation amount. According to the assist device of the fifth aspect, the first control section can change the gear ratio by the transmission based on the predetermined period acquired based on the table.

[0010] An assist device according to a sixth aspect of the present disclosure is an assist device for a human-powered vehicle, comprising: an assist motor that assists propulsion of the human-powered vehicle; a first communication unit configured to be able to communicate wirelessly with a transmission configured to change the gear ratio of the human-powered vehicle; and a first control unit configured to control the first communication unit to send a predetermined signal to the transmission to operate the transmission to change the gear ratio, wherein the transmission is configured to switch the gear ratio by relocating the chain between two adjacent sprockets among a plurality of sprockets, and the first control unit is configured to control the first communication unit to send the predetermined signal to the transmission in accordance with a predetermined period, and is configured to obtain the predetermined period based on the amount of rotation of the plurality of sprockets set for each of a plurality of gear stages corresponding to the gear ratio, the current gear ratio, and the direction of change of the gear ratio. According to the assist device of the sixth aspect, the first control unit changes the gear ratio using the transmission based on the rotation amount of the multiple sprockets, the current gear ratio, and a predetermined period acquired based on the direction of change in the gear ratio. Therefore, the first control unit can change the gear ratio appropriately.

[0011] In the assist device of the seventh aspect according to any one of the first to sixth aspects of the present disclosure, the first control unit is configured to control the first communication unit to transmit the predetermined signal based on the second gear change request to the gear shift device based on the predetermined period when a second gear change request is set after transmitting the predetermined signal in response to a first gear change request. According to the assist device of the seventh aspect, when a plurality of gear change requests are set, the first control section can transmit a predetermined signal to the gear change device based on a predetermined period of time.

[0012] In an assist device of an eighth aspect according to any one of the first to sixth aspects of the present disclosure, the first control unit is configured to control the first communication unit to send the predetermined signal based on the second gear change request to the transmission device after the predetermined period has elapsed if a second gear change request is set after the predetermined period has elapsed since the change in the gear ratio based on the first gear change request was completed, after the predetermined period has elapsed. According to the assist device of the eighth aspect, when a plurality of gear change requests are set, the first control section can transmit a predetermined signal to the gear change device after a predetermined period of time has elapsed.

[0013] In the assist device of a ninth aspect according to any one of the first and third to sixth aspects of the present disclosure, the rotation amount is set based on a shift facilitating region provided in each of the plurality of sprockets. According to the assist device of the ninth aspect, the first control unit can suitably change the gear ratio using the transmission based on the rotation amount of the multiple sprockets, which is set based on the gear change promotion region provided for each of the multiple sprockets.

[0014] In the assist device of a tenth aspect according to any one of the first to ninth aspects of the present disclosure, the predetermined period is acquired based on at least one of a rotation speed of a crankshaft of the human-powered vehicle and a vehicle speed. According to the assist device of the tenth aspect, the first control unit can suitably change the gear ratio using the transmission based on a predetermined period acquired based on at least one of the rotational speed of the crankshaft of the human-powered vehicle and the vehicle speed.

[0015] A transmission according to an eleventh aspect of the present disclosure is a transmission for a human-powered vehicle, configured to operate to switch the gear ratio of the human-powered vehicle by changing the chain between two adjacent sprockets among a plurality of sprockets, and comprising: an actuator configured to operate the transmission to change the gear ratio; a second communication unit capable of communicating with an assist device that assists the propulsion of the human-powered vehicle, and configured to receive a predetermined signal from the assist device and transmit first information to the assist device; and a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit, wherein the predetermined signal is transmitted to the second communication unit according to a predetermined period obtained by the assist device based on the first information, and the first information includes information regarding a plurality of gear stages corresponding to the gear ratio and the amount of rotation of the plurality of sprockets. According to the transmission of the eleventh aspect, the second control unit changes the gear ratio based on a predetermined signal received in accordance with a predetermined period, thereby enabling the first control unit to suitably change the gear ratio.

[0016] In the transmission device of the 12th aspect according to the 11th aspect of the present disclosure, the second control unit is configured to control the second communication unit to transmit the first information to the assist device when the second communication unit is communicatively connected to the assist device. According to the transmission of the twelfth aspect, the second control section can transmit the first information to the assist device, so that the assist device can suitably change the gear ratio by a predetermined signal based on a predetermined period of time.

[0017] A transmission device according to a thirteenth aspect of the present disclosure is a transmission device for a human-powered vehicle configured to change the gear ratio of the human-powered vehicle, and comprises: an actuator configured to operate the transmission device to change the gear ratio; a second communication unit capable of wireless communication with an assist device that assists the propulsion of the human-powered vehicle, thereby configured to receive a predetermined signal from the assist device and transmit predetermined information to the assist device; and a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit, wherein the predetermined signal is transmitted to the second communication unit according to a predetermined period obtained by the assist device based on the predetermined information. According to the transmission of the thirteenth aspect, the second control unit changes the gear ratio based on a predetermined signal received wirelessly in accordance with a predetermined period of time, and therefore the second control unit can change the gear ratio in an appropriate manner.

[0018] In a transmission of a fourteenth aspect according to the thirteenth aspect of the present disclosure, the transmission is configured to operate to switch the gear ratio by shifting the chain between two adjacent sprockets among a plurality of sprockets, and the predetermined information includes at least one of first information and second information, the first information includes information regarding a plurality of gear stages corresponding to the gear ratio and the rotation amount of the plurality of sprockets, and the second information includes at least one of identification information of the transmission and identification information of a set of the plurality of sprockets. According to the transmission of the fourteenth aspect, the second control unit can control the second communication unit to transmit at least one of the first information and the second information for acquiring the predetermined period of time to the assist device.

[0019] In the transmission device of the 15th aspect according to the 14th aspect of the present disclosure, the specified information includes the first information, and the assist device is configured to obtain the specified period based on the first information and the direction of change of the gear ratio. According to the transmission of the fifteenth aspect, the second control section can suitably change gears in response to a predetermined signal transmitted from the assist device in accordance with a predetermined period based on the first information and the direction of change in the gear ratio.

[0020] In the transmission of the sixteenth aspect according to the fourteenth aspect of the present disclosure, the predetermined information includes the first information, and the first information includes a table indicating a correspondence relationship between the speed change stage and the amount of rotation. According to the transmission of the sixteenth aspect, the second control section can suitably change gears in response to a predetermined signal transmitted from the assist device in accordance with a predetermined period based on the table.

[0021] In a transmission device of a 17th aspect according to any one of the 13th to 16th aspects of the present disclosure, the second control unit is configured to control the second communication unit to transmit the specified information to the assist device when the second communication unit is communicatively connected to the assist device. According to the transmission of the seventeenth aspect, when the second control unit is connected to the assist device, it can transmit the first information to the assist device.

[0022] In the transmission of the eighteenth aspect of the present disclosure, the transmission is for a human-powered vehicle, and is configured to operate to switch the gear ratio of the human-powered vehicle by changing the chain between two adjacent sprockets out of a plurality of sprockets, and includes an actuator configured to operate the transmission to change the gear ratio, a second communication unit configured to be able to wirelessly communicate with an assist device that assists the propulsion of the human-powered vehicle and to receive a predetermined signal from the assist device, and a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit, wherein the predetermined signal is transmitted to the second communication unit according to a predetermined period acquired by the assist device, and the predetermined period is acquired based on the amount of rotation of the plurality of sprockets set for each of a plurality of gear stages corresponding to the gear ratio, the current gear ratio, and the direction of change of the gear ratio. According to the transmission device of the 18th aspect, the second control unit can suitably change the gear ratio using a predetermined signal transmitted from the assist device based on a predetermined period obtained based on the rotation amount of the multiple sprockets, the current gear ratio, and the direction of change in the gear ratio.

[0023] In a transmission device of a 19th aspect according to any one of the 11th to 18th aspects of the present disclosure, the assist device is configured to, when a shift request is set, transmit the specified signal to the second communication unit after the specified period has elapsed since the shift request was set, and the second control unit is configured to, when receiving the specified signal, control the actuator to change the gear ratio. According to the transmission of the nineteenth aspect, the second control unit changes the gear ratio in response to a predetermined signal transmitted from the assist device after a predetermined period of time has elapsed, thereby reducing the calculation load on the second control unit.

[0024] In a transmission device of aspect 20 according to any one of aspects 11 to 18 of the present disclosure, the predetermined signal includes information regarding the predetermined period, and the second control unit is configured to limit the driving of the actuator until a wait period based on the predetermined period has elapsed after operation of the transmission device has ended. According to the transmission of the twentieth aspect, the second control section can suitably change the gear ratio in accordance with the wait period.

[0025] A transmission according to a 21st aspect of the present disclosure is a transmission for a human-powered vehicle, configured to operate to switch the gear ratio of the human-powered vehicle by changing the chain between two adjacent sprockets among a plurality of sprockets, and comprising: an actuator configured to operate the transmission to change the gear ratio; and a second control unit configured to control the actuator, wherein when the transmission operates to change the gear ratio, the second control unit is configured to control the actuator to delay the start of operation of the transmission based on the amount of rotation of the plurality of sprockets set for each of a plurality of gear stages corresponding to the gear ratio, the current gear ratio, and a predetermined period obtained based on the direction of change of the gear ratio. According to the transmission of the twenty-first aspect, the second control unit can delay the start of operation of the transmission based on the predetermined period, thereby making it possible to suitably change the gear ratio.

[0026] In the transmission device of the 22nd aspect according to the 21st aspect of the present disclosure, the second control unit is configured to control the actuator to change the gear ratio in accordance with a first gear change request, and then, when a second gear change request is set, to control the actuator to change the gear ratio in accordance with the second gear change request based on the predetermined period. According to the transmission of the twenty-second aspect, the second control section can suitably change the gear ratio based on the predetermined period.

[0027] In the transmission device of the 23rd aspect according to the 21st or 22nd aspect of the present disclosure, the second control unit is configured to, after controlling the actuator to change the gear ratio in accordance with a first gear change request, control the actuator to change the gear ratio in accordance with the second gear change request after the predetermined period has elapsed if a second gear change request is set between the completion of the change of the gear ratio based on the first gear change request and the elapse of the predetermined period. According to the transmission of the twenty-third aspect, the second control section can reliably perform gear changes by changing the gear ratio after a predetermined period of time has elapsed.

[0028] In a transmission device of a 24th aspect according to any one of the 11th, 12th, 14th to 16th, 18th, and 21st to 23rd aspects of the present disclosure, the rotation amount is set based on a shifting promotion region provided on each of the plurality of sprockets. According to the transmission of the twenty-fourth aspect, the second control section can suitably change the gear ratio based on the rotation amounts of the multiple sprockets that are set based on the gear change facilitating regions provided on each of the multiple sprockets.

[0029] In the transmission device of the 25th aspect according to any one of the 11th to 24th aspects of the present disclosure, the predetermined period is acquired based on at least one of the rotation speed of a crankshaft of the human-powered vehicle and the vehicle speed. According to the transmission device of the twenty-fifth aspect, the second control unit can suitably change the gear ratio based on a predetermined period of time acquired based on at least one of the rotation speed of the crankshaft of the human-powered vehicle and the vehicle speed.

[0030] A control system according to a 26th aspect of the present disclosure is a control system for a human-powered vehicle, and includes an assist device for a human-powered vehicle described in any one of the first to tenth aspects and the transmission device. According to the control system of the twenty-sixth aspect, the transmission can suitably change the gear ratio in response to a predetermined signal transmitted from the assist device in response to a predetermined period of time.

[0031] In a control system of a 27th aspect according to the 26th aspect of the present disclosure, there is provided a shift operating device configured to operate the transmission, the transmission including a third communication unit configured to be able to communicate with the shift operating device by a first communication method, and the assist device configured to communicate with the transmission by a second communication method different from the first communication method. According to the control system of the twenty-seventh aspect, the transmission can communicate with the assist device by a second communication method different from the first communication method between the transmission and the shift operation device.

[0032] In the control system of the twenty-eighth aspect according to the twenty-sixth or twenty-seventh aspect of the present disclosure, the transmission device and the assist device are supplied with power from a common battery. According to the control system of the twenty-eighth aspect, the assist device can suitably supply power to the transmission. [Effects of the Invention]

[0033] The assist device for a human-powered vehicle, the transmission device for a human-powered vehicle, and the control system for a human-powered vehicle according to the present disclosure can suitably change the gear ratio. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a side view of a human-powered vehicle including a control device for a human-powered vehicle according to an embodiment. [Figure 2] 1 is a block diagram showing the electrical configuration of a control device for a human-powered vehicle according to an embodiment; [Figure 3] 3 is a flowchart of a process executed by the first control unit of FIG. 2 to control a motor. [Figure 4] 3 is a flowchart of a process executed by the second control unit of FIG. 2 to control a motor. [Figure 5] 3 is a flowchart of a process executed by the first control unit of FIG. 2 to control a motor. [Figure 6] 3 is a flowchart of a process executed by the second control unit of FIG. 2 to control a motor. [Figure 7] 10 is a flowchart of a process executed by a first control unit according to a second embodiment to control a motor. [Figure 8] 10 is a flowchart of a process executed by a second control unit according to a second embodiment to control a motor. [Figure 9] 10 is a flowchart of a process executed by a second control unit according to a third embodiment to control a motor. [Figure 10] 10 is a flowchart of a process executed by a second control unit in a modified example to control a motor. DETAILED DESCRIPTION OF THE INVENTION

[0035] First Embodiment An assist device 50 for a human-powered vehicle, a transmission 70 for a human-powered vehicle, and a control system 40 for a human-powered vehicle according to a first embodiment will be described with reference to FIGS.

[0036] The human-powered vehicle 10 is a vehicle that has at least one wheel and can be propelled at least by human driving force. The human-powered vehicle 10 includes 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. The human-powered vehicle 10 also includes, for example, one-wheeled vehicles and vehicles with two or more wheels. The human-powered vehicle 10 is not limited to vehicles that can be propelled solely by human driving force. The human-powered vehicle 10 also includes E-bikes that use not only human driving force but also the driving force of an electric motor for propulsion. E-bikes include electrically assisted bicycles whose propulsion is assisted by an electric motor. In the following embodiments, the human-powered vehicle 10 will be described as an electrically assisted bicycle.

[0037] In this specification, the following directional terms "front," "rear," "forward," "backward," "left," "right," "sideways," "upward," and "downward," as well as any other similar directional terms, refer to those directions determined with reference to a rider facing the handlebars in a reference position on the human-powered vehicle (e.g., on a saddle or seat).

[0038] As shown in FIG. 1, the human-powered vehicle 10 includes, for example, a crank 12 to which human-powered driving force is input. The human-powered vehicle 10 includes, for example, wheels 14 and a vehicle body 16. The wheels 14 include, for example, drive wheels 14A and driven wheels 14B. The drive wheels 14A are, for example, rear wheels of the human-powered vehicle 10. The driven wheels 14B are, for example, front wheels of the human-powered vehicle 10. The drive wheels 14A may be front wheels of the human-powered vehicle 10. If the drive wheels 14A are front wheels, the driven wheels 14B are rear wheels.

[0039] The vehicle body 16 includes, for example, a frame 18. The crank 12 includes, for example, a crankshaft 12A that is rotatable relative to the frame 18, and a pair of crank arms 12B, 12C that are respectively provided at axial ends of the crankshaft 12A. A pair of pedals 20A, 20B are connected to each of the crank arms 12B, 12C. The drive wheel 14A is driven, for example, by the rotation of the crank 12. The drive wheel 14A is supported, for example, by the frame 18.

[0040] The crank 12 is connected to the drive wheel 14A by, for example, a drive mechanism 22. The drive mechanism 22 includes, for example, a first rotating body 24 connected to the crankshaft 12A. The crankshaft 12A may be connected to the first rotating body 24 so as to rotate integrally with it, or may be connected to it via a first one-way clutch. The first one-way clutch is configured, for example, to rotate the first rotating body 24 forward when the crank 12 rotates forward. The first one-way clutch is configured, for example, to allow relative rotation between the crank 12 and the first rotating body 24 when the crank 12 rotates backward. The first rotating body 24 includes, for example, a sprocket, a pulley, or a bevel gear.

[0041] The drive mechanism 22 further includes, for example, a second rotating body 26 and a connecting member 28. The connecting member 28 transmits the rotational force of the first rotating body 24 to the second rotating body 26. The connecting member 28 includes, for example, a chain 28A, a belt, or a shaft.

[0042] The second rotating body 26 is coupled to, for example, the drive wheel 14A. The second rotating body 26 includes, for example, a sprocket, a pulley, or a bevel gear. In the power transmission path of the human-powered driving force, a second one-way clutch is provided between the second rotating body 26 and the drive wheel 14A. The second one-way clutch is configured, for example, to rotate the drive wheel 14A forward when the second rotating body 26 rotates forward. The second one-way clutch is configured, for example, to allow relative rotation between the second rotating body 26 and the drive wheel 14A when the second rotating body 26 rotates backward.

[0043] A driven wheel 14B is attached to the frame 18 via, for example, a front fork 30. A handlebar 34 is connected to the front fork 30 via a stem 32. In this embodiment, the driving wheel 14A is connected to the crank 12 by a drive mechanism 22. At least one of the driving wheel 14A and the driven wheel 14B may be connected to the crank 12 by the drive mechanism 22.

[0044] The human-powered vehicle 10 further includes a battery 36. The battery 36 includes, for example, one or more battery elements. The battery element includes, for example, a rechargeable battery. The battery 36 is configured to supply power to, for example, the assist device 50 and the transmission 70. The battery 36 is communicatively connected to, for example, the first control unit 60 and the second control unit 78 via an electric cable or a wireless communication device. The battery 36 can communicate with the first control unit 60 and the second control unit 78 via, for example, power line communication (PLC), a controller area network (CAN), or a universal asynchronous receiver / transmitter (UART).

[0045] As shown in Fig. 2, the control system 40 for a human-powered vehicle includes, for example, an assist device 50 for a human-powered vehicle and a transmission 70. The transmission 70 and the assist device 50 are supplied with power from, for example, a common battery 36. The transmission 70 may be supplied with power from a battery different from the battery 36. The transmission 70 is, for example, electrically connected to the assist device 50. The battery 36 supplies power to the transmission 70 via the assist device 50.

[0046] The control system 40 further includes a detection unit 42 that detects, for example, at least one of the driving state of the human-powered vehicle 10 and the driving environment of the human-powered vehicle 10. The detection unit 42 is configured to be able to detect, for example, the driving state of the human-powered vehicle 10. The driving state includes, for example, at least one of the rotation speed C of the crankshaft 12A, the human-powered driving force input to the crank 12, the power input to the pedals 20A, 20B, and the vehicle speed.

[0047] The detection unit 42 includes, for example, at least one of a manual driving force detection unit, a crank rotation state detection unit, and a vehicle speed detection unit. The detection unit 42 is electrically connected to the drive unit control unit 54A, for example, by wire or wirelessly. The manual driving force includes at least one of the manual torque input to the crank 12 and the power input to the pedals 20A, 20B. The crank rotation state includes the rotation speed C of the crankshaft 12A. The gear shift state includes at least one of the gear ratio R and an operating state of the gear change device 70 corresponding to at least one of the gear shift stages, and the gear ratio R and an operating state of the gear shift operating device 82 corresponding to at least one of the gear shift stages.

[0048] The manual driving force detection unit is provided, for example, in the drive unit 54. The manual driving force detection unit is disposed, for example, in an internal space formed by the housing of the drive unit 54. The manual driving force detection unit is provided, for example, in a member included in the transmission path of the manual driving force. The member included in the transmission path of the manual driving force includes, for example, the crankshaft 12A or a member that rotates in conjunction with the crankshaft 12A.

[0049] The manual driving force detection unit is configured to output a signal corresponding to the torque applied to the crankshaft 12A by the manual driving force, for example. The signal corresponding to the torque applied to the crankshaft 12A by the manual driving force includes information related to the manual driving force input to the crank 12. The manual driving force detection unit includes, for example, a strain sensor, a magnetostrictive sensor, or a pressure sensor. The strain sensor includes, for example, a strain gauge. The manual driving force detection unit may have any configuration as long as it can detect information related to the manual driving force.

[0050] The manual driving force detection unit may be provided elsewhere than in the drive unit 54. The manual driving force detection unit may be provided in the crank arms 12B, 12C or the pedals 20A, 20B. When the manual driving force detection unit is provided in the pedals 20A, 20B, the manual driving force detection unit may include a sensor that detects pressure applied to the pedals 20A, 20B. The manual driving force detection unit may be provided in the chain 28A. When the manual driving force detection unit is provided in the chain 28A, the manual driving force detection unit may include a sensor that detects tension in the chain 28A.

[0051] The crank rotation state detector is provided in, for example, the drive unit 54. The crank rotation state detector is disposed in, for example, an internal space formed by the housing of the drive unit 54. The crank rotation state detector is configured to detect information corresponding to the rotation speed C of the crankshaft 12A. The information corresponding to the rotation speed C of the crankshaft 12A includes, for example, the angular acceleration of the crankshaft 12A. The angular acceleration of the crankshaft 12A is, for example, the acceleration of the human-powered vehicle 10. The information corresponding to the rotation speed C of the crankshaft 12A includes, for example, information related to the cadence of the human-powered vehicle 10.

[0052] The crank rotation state detection unit includes, for example, at least one of a magnetic sensor, an acceleration sensor, an optical sensor, a gyro sensor, and a torque sensor. The crank rotation state detection unit includes, for example, a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. The magnetic sensor includes, for example, an annular magnet whose magnetic field strength varies in the circumferential direction. The annular magnet whose magnetic field strength varies in the circumferential direction is provided, for example, on a member included in the transmission path of the manual driving force. The member included in the transmission path of the manual driving force includes, for example, the crankshaft 12A or a member that rotates in conjunction with the crankshaft 12A. The crank rotation state detection unit outputs, for example, a signal corresponding to the rotation speed C of the crankshaft 12A.

[0053] The crank rotation state detection unit may include an acceleration sensor instead of a magnetic sensor. The crank rotation state detection unit may include an optical sensor, a gyro sensor, or a torque sensor instead of a magnetic sensor. The crank rotation state detection unit may have any configuration as long as it can detect information corresponding to the rotation speed C of the crankshaft 12A.

[0054] The crank rotation state detection unit is configured to output a predetermined number of detection signals during one rotation of the crankshaft 12A. The predetermined number of times is, for example, 2 or more. The predetermined number of times is, for example, 4 or more. The predetermined number of times is, for example, a multiple of 4. The predetermined number of times is, for example, 8, 12, or 16.

[0055] The crank rotation state detection unit may be provided outside the drive unit 54. The crank rotation state detection unit is provided, for example, on the frame 18. When the crank rotation state detection unit is provided outside the drive unit 54, the crank rotation state detection unit may be configured to include a vehicle speed sensor. When the crank rotation state detection unit includes the vehicle speed sensor, for example, the drive unit control unit 54A is configured to calculate the rotation speed C of the crankshaft 12A in accordance with the vehicle speed detected by the vehicle speed sensor and the gear ratio R.

[0056] The vehicle speed detection unit is provided, for example, on the frame 18. The vehicle speed detection unit is configured, for example, to detect information relating to the vehicle speed of the human-powered vehicle 10. The vehicle speed detection unit is configured, for example, to detect information relating to the rotation speed W of the wheels 14 of the human-powered vehicle 10. The vehicle speed detection unit is configured, for example, to detect a magnet provided on at least one of the front and rear wheels.

[0057] The vehicle speed detection unit is configured to output a detection signal a predetermined number of times during one rotation of the wheel 14, for example. The predetermined number is, for example, 1. The vehicle speed detection unit outputs a signal corresponding to the rotation speed W of the wheel 14. The drive unit control unit 54A is configured to calculate the vehicle speed of the human-powered vehicle 10 based on the signal corresponding to the rotation speed W of the wheel 14 and information related to the circumference of the wheel 14. The information related to the circumference of the wheel 14 is stored in the first storage unit 62, for example.

[0058] The assist device 50 includes, for example, an assist operating unit 52 and a drive unit 54. The assist operating unit 52 is configured, for example, separately from the drive unit 54. The assist operating unit 52 is provided, for example, at a position separated from the drive unit 54. The assist operating unit 52 includes, for example, a housing separate from the housing of the drive unit 54. The assist operating unit 52 is provided, for example, at a position on the human-powered vehicle 10 where it can be operated by the rider. The assist operating unit 52 is provided, for example, on the handlebars 34 or the top tube of the frame 18. The assist operating unit 52 may be configured to be able to operate components for the human-powered vehicle other than the drive unit 54.

[0059] The assist device 50 for a human-powered vehicle includes, for example, an assist motor 56, a first communication unit 58, and a first control unit 60. The drive unit 54 is configured, for example, to provide propulsive force to the human-powered vehicle 10. The drive unit 54 includes, for example, an assist motor 56. The assist motor 56 assists, for example, in the propulsion of the human-powered vehicle 10. The assist motor 56 is, for example, a brushless motor.

[0060] The assist operation unit 52 includes, for example, a first control unit 60. The first control unit 60 includes, for example, an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The first control unit 60 is, for example, a processor that executes the predetermined control program. The first control unit 60 may include one or more microcomputers. The first control unit 60 may include multiple arithmetic processing devices that are arranged at multiple locations apart from each other.

[0061] The assist operation unit 52 includes, for example, a first storage unit 62. The first storage unit 62 stores, for example, a control program and information used in the control process. The first storage unit 62 includes, for example, at least one of a nonvolatile memory and a volatile memory. The nonvolatile 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). The first storage unit 62 is, for example, electrically connected to the first control unit 60 via wire or wirelessly.

[0062] The assist operation unit 52 includes, for example, a first communication unit 58. The first communication unit 58 is configured to be able to communicate wirelessly with, for example, a transmission 70 that is configured to change the gear ratio R of the human-powered vehicle 10. The first communication unit 58 may also be configured to be able to communicate via wire with the transmission 70. In this embodiment, the first communication unit 58 communicates wirelessly with a second communication unit 76 of the transmission 70. The first communication unit 58 is electrically connected to, for example, a first control unit 60 via wire or wirelessly.

[0063] The drive unit 54 further includes, for example, a drive unit control unit 54A. The drive unit control unit 54A includes, for example, an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU or an MPU. The drive unit control unit 54A is, for example, a processor that executes the predetermined control program. The drive unit control unit 54A may include one or more microcomputers. The drive unit control unit 54A may include multiple arithmetic processing units that are separately disposed in multiple locations. The drive unit control unit 54A is connected to the first control unit 60 by wire, for example. The drive unit control unit 54A may be connected to the first control unit 60 wirelessly. The drive unit control unit 54A may be the same control unit as the first control unit 60.

[0064] The drive unit 54 further includes, for example, a drive unit storage unit 54B. The drive unit storage unit 54B stores, for example, a control program and information used in the control process. The drive unit storage unit 54B includes, for example, at least one of a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a ROM, an EPROM, an EEPROM, and a flash memory. The volatile memory includes, for example, a RAM. The drive unit storage unit 54B is, for example, connected to the drive unit storage unit 54B so as to be able to communicate with it via wire or wirelessly.

[0065] The drive unit 54 further includes, for example, a housing. The assist motor 56, the drive unit control unit 54A, and the drive unit storage unit 54B are provided in the housing. The drive unit control unit 54A and the drive unit storage unit 54B are provided on, for example, an electric circuit board accommodated in the housing.

[0066] The drive unit 54 may further include a drive circuit for the assist motor 56. The drive circuit for the assist motor 56 is disposed, for example, in an internal space formed by the housing of the drive unit 54. The drive circuit for the assist motor 56 is electrically connected, for example, by wire or wirelessly, to the drive unit control unit 54A. The drive circuit for the assist motor 56 drives the assist motor 56 in response to a control signal from the drive unit control unit 54A, for example.

[0067] The drive circuit of the assist motor 56 is configured to be able to control the supply of power from the battery 36 to the assist motor 56, for example. The drive circuit of the assist motor 56 includes, for example, an inverter circuit. The inverter circuit includes, for example, a plurality of transistors. The inverter circuit includes, for example, a configuration in which a plurality of inverter units, each consisting of a pair of transistors connected in series, are connected in parallel. The inverter circuit may have a current sensor that detects the current flowing through the inverter circuit. The current sensor is, for example, electrically connected to the drive unit control unit 54A by wire or wirelessly.

[0068] The drive unit control unit 54A is configured, for example, to control the assist motor 56. The drive unit control unit 54A is configured, for example, to control the assist motor 56 in accordance with the traveling state of the human-powered vehicle 10. The drive unit control unit 54A is configured, for example, to control the assist motor 56 so as to change the propulsive force applied to the human-powered vehicle 10 in accordance with the human-powered driving force input to the human-powered vehicle 10.

[0069] The drive unit control unit 54A may be configured to control the assist motor 56 in accordance with the manual driving force detected by a manual driving force detection unit. The drive unit control unit 54A may be configured to control the assist motor 56 in accordance with the rotation speed C of the crankshaft 12A detected by a crank rotation state detection unit. The drive unit control unit 54A may be configured to control the assist motor 56 in accordance with the rotation speed W of the wheels 14 detected by a vehicle speed detection unit. The drive unit control unit 54A may be configured to control the assist motor 56 in accordance with information transmitted from outside the drive unit 54. The information transmitted from outside the drive unit 54 includes, for example, an operation signal of the assist operation unit 52.

[0070] The transmission 70 is configured to change the gear ratio R of the human-powered vehicle 10, for example. The transmission 70 is provided, for example, in a transmission path of the human-powered driving force in the human-powered vehicle 10. The gear ratio R is, for example, the ratio of the rotational speed W of the wheels 14 to the rotational speed C of the crankshaft 12A. The rotational speed W of the wheels 14 includes, for example, the rotational speed of the drive wheels 14A. The rotational speed W of the wheels 14 and the rotational speed C of the crankshaft 12A may each be expressed as the number of rotations per unit time. In the gear ratio R, the rotational speed W of the wheels 14 may be replaced by the number of teeth of one of at least one first rotor 24, and the rotational speed C of the crankshaft 12A may be replaced by the number of teeth of one of at least one second rotor 26. The relationship between the gear ratio R, the rotational speed W of the wheels 14, and the rotational speed C of the crankshaft 12A is expressed by Equation (1). Formula (1): R=W / C

[0071] The transmission 70 has, for example, a plurality of shift stages. The gear ratios R corresponding to the respective shift stages are, for example, mutually different. For example, the larger the shift stage, the larger the gear ratio R. The gear ratio R when the minimum shift stage is selected is the minimum gear ratio R realized by the transmission 70. The gear ratio R when the maximum shift stage is selected is the maximum gear ratio R realized by the transmission 70.

[0072] The transmission 70 includes, for example, a derailleur. The derailleur, for example, moves the connecting member 28 engaged with one of the plurality of sprockets 72 to another of the plurality of sprockets 72. The transmission 70 is configured to change the gear ratio R of the human-powered vehicle 10, for example, by shifting the chain 28A between two adjacent sprockets of the plurality of sprockets 72. The transmission 70 is configured to change the gear ratio R of the human-powered vehicle 10 in stages, for example, by shifting the chain 28A between two adjacent sprockets of the plurality of sprockets 72. The transmission 70 operates the chain 28A to change the engagement state between the plurality of sprockets 72 and the chain 28A, thereby changing the gear stage.

[0073] The transmission 70 performs a gear shifting operation to switch the gear ratio R. The gear shifting operation includes, for example, an operation in which the derailleur operates the chain 28A to change the gear ratio R. The gear shifting operation includes, for example, an operation in which the chain 28A is repositioned between two adjacent sprockets among the plurality of sprockets 72. The gear shifting operation includes an operation for upshifting by the derailleur. The gear shifting operation includes an operation for downshifting by the derailleur.

[0074] The derailleur may include, for example, at least one of a front derailleur and a rear derailleur. If the derailleur includes a front derailleur, the first rotating body 24 includes a front sprocket. If the derailleur includes a front derailleur, the plurality of sprockets 72 includes a plurality of front sprockets. The number of the plurality of front sprockets is, for example, two or more and four or less.

[0075] If the derailleur includes a front derailleur, the gear shifting stage may correspond to, for example, the number of front sprockets. If the derailleur includes a front derailleur, the front sprocket with the largest number of teeth among the front sprockets may correspond to, for example, the largest gear shifting stage that can be achieved by the derailleur. If the derailleur includes a front derailleur, the front sprocket with the smallest number of teeth among the front sprockets may correspond to, for example, the smallest gear shifting stage that can be achieved by the derailleur.

[0076] If the derailleur includes a rear derailleur, the second rotating body 26 includes a rear sprocket. If the derailleur includes a rear derailleur, the plurality of sprockets 72 includes a plurality of rear sprockets. The number of the plurality of rear sprockets is, for example, 3 to 30.

[0077] If the derailleur includes a rear derailleur, the number of gear shifting stages will be the same as the number of rear sprockets. If the derailleur includes a rear derailleur, the rear sprocket with the smallest number of teeth among the rear sprockets will correspond to the maximum gear shifting stage that can be achieved by the derailleur. If the derailleur includes a rear derailleur, the rear sprocket with the largest number of teeth among the rear sprockets will correspond to the minimum gear shifting stage that can be achieved by the derailleur. In this embodiment, the shifting device 70 will be described as a rear derailleur.

[0078] The transmission 70 for a human-powered vehicle includes, for example, an actuator 74, a second communication unit 76, and a second control unit 78. The actuator 74 is configured to operate the transmission 70 so as to change the gear ratio R, for example. The actuator 74 includes, for example, a variable-speed motor.

[0079] The second control unit 78 includes, for example, an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU or an MPU. The second control unit 78 is, for example, a processor that executes the predetermined control program. The second control unit 78 may include one or more microcomputers. The second control unit 78 may include multiple arithmetic processing units that are located at multiple locations.

[0080] The second control unit 78 is provided, for example, in the housing of the transmission 70. The second control unit 78 is provided, for example, in the same housing as the actuator 74. The second control unit 78 is provided, for example, in at least one of the base member, outer link member, inner link member, movable member, outer guide plate, and inner guide plate of the rear derailleur.

[0081] The transmission 70 further includes, for example, a second storage unit 80. The second storage unit 80 stores, for example, a control program and information used in the control process. The second storage unit 80 includes, for example, at least one of a nonvolatile memory and a volatile memory. The nonvolatile memory includes, for example, at least one of a ROM, an EPROM, an EEPROM, and a flash memory. The volatile memory includes, for example, a RAM. The second storage unit 80 is electrically connected to the second control unit 78, for example, by wire or wirelessly.

[0082] The second memory unit 80 is provided, for example, in the housing of the transmission 70. The second memory unit 80 is provided, for example, in the same housing as the actuator 74. The second memory unit 80 is provided, for example, in at least one of the base member, outer link member, inner link member, movable member, outer guide plate, and inner guide plate of the rear derailleur.

[0083] The second communication unit 76 is configured to be able to communicate with, for example, the assist device 50 that assists in the propulsion of the human-powered vehicle 10. The second communication unit 76 is configured to be able to communicate wirelessly with, for example, the assist device 50 that assists in the propulsion of the human-powered vehicle 10. The second communication unit 76 may be configured to be able to communicate with the assist device 50 via wire. In this embodiment, the second communication unit 76 communicates wirelessly with the first communication unit 58 of the assist device 50. The second communication unit 76 is electrically connected to, for example, the second control unit 78 via wire or wirelessly. The second communication unit 76 may be configured to communicate with a communication unit different from the first communication unit 58. The second communication unit 76 may be configured to communicate with the drive unit control unit 54A via wire or wirelessly.

[0084] The control system 40 includes, for example, a gearshift operating device 82 configured to operate the gearshift device 70. The gearshift operating device 82 includes, for example, an operating unit operated by a user. For example, the user's operation is input to the operating unit. The operating unit includes at least one of a switch, a lever, and a dial.

[0085] The operating unit includes, for example, a first operating unit for increasing the gear ratio R and a second operating unit for decreasing the gear ratio R. For example, when the first operating unit is operated, a signal for setting a gear change request for increasing the gear ratio R is transmitted from the gear change operating device 82 to at least one of the first control unit 60 and the drive unit control unit 54A. For example, when the second operating unit is operated, a signal for setting a gear change request for decreasing the gear ratio R is transmitted from the gear change operating device 82 to at least one of the first control unit 60 and the drive unit control unit 54A.

[0086] The gear shifting device 70 includes a third communication unit 84 configured to be able to communicate with the gear shifting device 82, for example, via a first communication method. The third communication unit 84 is configured to communicate with the gear shifting device 82, for example, wirelessly or via a cable. The assist device 50 is configured to communicate with the gear shifting device 70, for example, via a second communication method that is different from the first communication method. In this embodiment, the assist operating unit 52 is configured to communicate with the gear shifting device 70 via the second communication method.

[0087] At least one of the first control unit 60 and the drive unit control unit 54A sets a gear shift request, for example, when a gear shift condition is met. At least one of the first control unit 60 and the drive unit control unit 54A determines whether the gear shift condition is met, for example, by comparing a predetermined threshold value with a parameter related to at least one of the traveling state of the human-powered vehicle 10 and the traveling environment of the human-powered vehicle 10. At least one of the first control unit 60 and the drive unit control unit 54A may determine whether the gear shift condition is met, for example, depending on whether the first operating unit or the second operating unit of the gear shift operating device 82 has been operated by the user.

[0088] The predetermined threshold value includes, for example, at least one of an upper limit value and a lower limit value. At least one of the first control unit 60 and the drive unit control unit 54A sets a gear change request when, for example, a parameter related to at least one of the running state and running environment of the human-powered vehicle 10 is greater than an upper limit value. At least one of the first control unit 60 and the drive unit control unit 54A sets a gear change request when, for example, a parameter related to at least one of the running state and running environment of the human-powered vehicle 10 is smaller than a lower limit value. The predetermined threshold value may be constant, or may be set according to the current gear ratio R, for example.

[0089] The parameters include, for example, at least one of the human-powered driving force input to the human-powered vehicle 10, the rotational speed C of the crankshaft 12A of the human-powered vehicle 10, the vehicle speed of the human-powered vehicle 10, and the pitch angle of the human-powered vehicle 10. The first control unit 60 may select at least two parameters, the human-powered driving force input to the human-powered vehicle 10, the rotational speed C of the crankshaft 12A of the human-powered vehicle 10, the vehicle speed of the human-powered vehicle 10, and the pitch angle of the human-powered vehicle 10, and combine the selected parameters to create a new parameter. The first control unit 60 may calculate the new parameter from the relationship between the selected parameters.

[0090] For example, when the parameter is greater than an upper limit value, the first control unit 60 controls the transmission 70 so that the gear ratio R is increased. When the parameter is greater than an upper limit value, the first control unit 60 may control the transmission 70 so that the gear ratio R is decreased. When the parameter is less than a lower limit value, the first control unit 60 may control the transmission 70 so that the gear ratio R is decreased. When the parameter is less than a lower limit value, the first control unit 60 may control the transmission 70 so that the gear ratio R is increased.

[0091] The first control unit 60 may be configured to increase the upper limit value as the gear ratio R increases. If the first control unit 60 is configured to increase the upper limit value as the gear ratio R increases, the larger the gear ratio R, the more difficult it is to execute control to increase the gear ratio R. The first control unit 60 may be configured to decrease the upper limit value as the gear ratio R increases. If the first control unit 60 is configured to decrease the upper limit value as the gear ratio R increases, the larger the gear ratio R, the more easily it is to execute control to increase the gear ratio R.

[0092] The first control unit 60 may be configured to increase the lower limit value as the gear ratio R decreases. If the first control unit 60 is configured to increase the lower limit value as the gear ratio R decreases, the smaller the gear ratio R, the more easily the control to reduce the gear ratio R is executed. The first control unit 60 may be configured to decrease the lower limit value as the gear ratio R decreases. If the first control unit 60 is configured to decrease the lower limit value as the gear ratio R decreases, the smaller the gear ratio R, the more difficult it is to execute the control to reduce the gear ratio R.

[0093] For example, when the parameter is greater than an upper limit value, the first control unit 60 controls the transmission 70 to change the gear ratio R so that the parameter becomes equal to or less than the upper limit value. For example, when the parameter is smaller than a lower limit value, the first control unit 60 controls the transmission 70 to change the gear ratio R so that the parameter becomes equal to or greater than the lower limit value.

[0094] For example, if the parameter is a parameter that has a negative correlation with the rider's load and the parameter is greater than an upper limit, the first control unit 60 controls the transmission 70 to increase the gear ratio R. For example, if the parameter is a parameter that has a negative correlation with the rider's load and the parameter is less than a lower limit, the first control unit 60 controls the transmission 70 to decrease the gear ratio R. The parameter that has a negative correlation with the rider's load includes, for example, at least one of the rotation speed C of the crankshaft 12A and the vehicle speed of the human-powered vehicle 10.

[0095] For example, if the parameter is a parameter that has a positive correlation with the rider's load and the parameter is greater than an upper limit, the first control unit 60 controls the transmission 70 so that the gear ratio R becomes smaller. For example, if the parameter is a parameter that has a positive correlation with the rider's load and the parameter is less than a lower limit, the first control unit 60 controls the transmission 70 so that the gear ratio R becomes larger. The parameter that has a positive correlation with the rider's load includes, for example, at least one of the human-powered driving force and the pitch angle of the human-powered vehicle 10.

[0096] For example, when a parameter related to at least one of the running state and running environment of the human-powered vehicle 10 becomes larger than a predetermined threshold, at least one of the first control unit 60 and the drive unit control unit 54A sets a gear change request to increase the gear ratio R. For example, when a parameter related to at least one of the running state and running environment of the human-powered vehicle 10 becomes smaller than a predetermined threshold, at least one of the first control unit 60 and the drive unit control unit 54A sets a gear change request to decrease the gear ratio R.

[0097] When a gear shift request is set, the first control unit 60 controls the first communication unit 58 to transmit a predetermined signal to the second communication unit 76 to cause the transmission 70 to start a gear shift operation in accordance with the gear shift request. The first control unit 60 is configured, for example, to control the first communication unit 58 to transmit a first signal based on the first gear shift request to the second communication unit 76 when the first gear shift request is set. The first gear shift request is the first gear shift request when gear shift requests are successively set due to, for example, the satisfaction of a gear shift condition. The assist device 50 is configured, for example, to transmit the first signal to the second communication unit 76 without a wait time when the first gear shift request is set due to the satisfaction of a gear shift condition.

[0098] For example, when a second gear shift request is set, the first control unit 60 is configured to control the first communication unit 58 to transmit a second signal based on the second gear shift request to the second communication unit 76. The second gear shift request is a gear shift request that is set after the first gear shift request when gear shift requests are successively set due to the establishment of a gear shift condition, for example.

[0099] The first control unit 60 is configured, for example, to control the first communication unit 58 to transmit a predetermined signal to the transmission 70 in response to a gear shift request, causing the transmission 70 to change the gear ratio R. The predetermined signal includes, for example, a gear shift start signal. The first control unit 60 is configured, for example, to control the first communication unit 58 to immediately transmit a predetermined signal to the transmission 70 when the gear shift request is a first gear shift request. The first control unit 60 is configured, for example, to control the first communication unit 58 to transmit a predetermined signal to the transmission 70, causing the transmission 70 to change the gear ratio R. The first control unit 60 is configured, for example, to control the first communication unit 58 to transmit a predetermined signal to the transmission 70 in response to a change direction. The predetermined signal includes, for example, either an upshift signal or a downshift signal. When controlling the transmission 70 to increase the gear ratio R, the first control unit 60 transmits an upshift signal to the transmission 70. When the first control unit 60 controls the transmission 70 so that the gear ratio R decreases, the first control unit 60 sends a downshift signal to the transmission 70.

[0100] The second communication unit 76 is configured, for example, to receive a predetermined signal from the assist device 50. The second control unit 78 is configured, for example, to control the actuator 74 based on the predetermined signal received by the second communication unit 76. The second control unit 78 is configured, for example, to control the actuator 74 to change the gear ratio R when the predetermined signal is received. The second control unit 78 is configured, for example, to control the actuator 74 to immediately change the gear ratio R when the predetermined signal is received. In other words, the second control unit 78 is configured, for example, to control the actuator 74 to change the gear ratio R without a wait time when the predetermined signal is received.

[0101] For example, the second control unit 78 is configured to control the second communication unit 76 so as to transmit a gear shift completion signal to the first communication unit 58 after the gear shift operation of the transmission 70 is completed. For example, the second control unit 78 is configured to control the second communication unit 76 so as to transmit a gear shift completion signal to the first communication unit 58 after the gear shift operation of the transmission 70 for one gear shift request is completed.

[0102] For example, when the second control unit 78 finishes driving the actuator 74, it transmits a gear shift completion signal to the assist device 50. The transmission 70 may have, for example, a gear shift state detection unit, and transmit a gear shift completion signal to the assist device 50 in accordance with the output of the gear shift state detection unit. For example, the first communication unit 58 receives the gear shift completion signal from the transmission 70. For example, the first control unit 60 is configured to control the first communication unit 58 so that the first communication unit 58 receives the gear shift completion signal from the transmission 70. For example, when the first control unit 60 receives the gear shift completion signal from the transmission 70, it determines that the operation of the transmission 70 has been completed.

[0103] The gear shifting state detection unit is provided in, for example, actuator 74. The gear shifting state detection unit is configured to detect information related to the current gear shifting stage. The gear shifting state detection unit includes, for example, a sensor that outputs a signal in response to the operation of actuator 74. The gear shifting state detection unit may include at least one of a magnetic sensor, an optical sensor, and a potentiometer. If gear shifting device 70 includes a derailleur, the gear shifting state detection unit may be provided in the derailleur or in a portion of frame 18 near the derailleur.

[0104] If the transmission 70 includes a derailleur, the information about the current shifting stage includes, for example, information about the operation of the actuator 74, the position of a movable member of the derailleur relative to the frame 18, and / or the rotational phase of the movable member. The movable member includes, for example, a chain guide. If the shifting state detection unit detects at least one of the position of the movable member relative to the frame 18 and the rotational phase of the movable member, the shifting state detection unit detects at least one of the position of the movable member relative to the frame 18 and the rotational phase of the movable member, for example, by detecting the magnetic force of a magnet provided on one of the frame 18 and the movable member.

[0105] The gear shift state detection unit, for example, periodically transmits a detection signal to the second control unit 78. The second control unit 78 is configured to transmit a gear shift completion signal to the first control unit 60 when it confirms that the gear shift has been completed based on the detection signal transmitted from the gear shift state detection unit, for example.

[0106] The information related to the operation of the actuator 74 may include the rotational speed of the actuator 74 detected by a magnetic sensor. When the gear shifting state detection unit detects the rotational speed of the actuator 74, the gear shifting state detection unit detects, for example, the rotational speed of the rotary shaft of the actuator 74. The derailleur may further include a speed reduction mechanism connected to the actuator 74. The speed reduction mechanism includes, for example, a plurality of gears. When the derailleur includes a speed reduction mechanism, the information related to the operation of the actuator 74 may include the rotational speed of a gear included in the speed reduction mechanism. When the gear shifting state detection unit detects the rotational speed of a gear included in the speed reduction mechanism, the gear shifting state detection unit detects, for example, the magnetic force of a magnet provided in a gear included in the speed reduction mechanism.

[0107] The drive unit control unit 54A and the first control unit 60 may acquire a detection signal transmitted from the gear shift state detection unit. The first control unit 60 may be configured to directly receive the detection signal transmitted from the gear shift state detection unit. The drive unit control unit 54A and the first control unit 60 may receive the detection signal from the gear shift state detection unit and determine whether the change in the gear ratio R has been completed based on the detection signal from the gear shift state detection unit. The drive unit control unit 54A and the first control unit 60 may determine whether the change in the gear ratio R has been completed based on the rotation speed C of the crankshaft 12A and the rotation speed W of the wheels 14. The drive unit control unit 54A and the first control unit 60 may be configured to calculate the gear ratio R from the rotation speed C of the crankshaft 12A and the rotation speed W of the wheels 14 when the manual driving force is equal to or greater than a predetermined threshold.

[0108] At least one of first control unit 60 and second control unit 78 may control transmission 70 to perform inching control when transmission 70 is operating. Inching control includes control to further operate actuator 74 so as to reduce the deviation from the predetermined value when the detection value of the rotational speed of actuator 74 detected by the shift state detection unit or the detection value of the rotational speed of the gears of the reduction mechanism deviates from a pre-stored predetermined value after the operation of transmission 70 is completed. When transmission 70 is controlled to perform inching control, transmission 70 may be configured to transmit a shift completion signal to first control unit 60 when inching control is completed.

[0109] The first control unit 60 is configured to control the first communication unit 58 to transmit a predetermined signal to the transmission 70 in accordance with a predetermined period, for example. The predetermined signal is transmitted to the second communication unit 76 in accordance with a predetermined period acquired by the assist device 50, for example. When a gear shift request is set, the assist device 50 is configured to transmit the predetermined signal to the second communication unit 76 after a predetermined period has elapsed since the gear shift request was set. When a second gear shift request is set, the assist device 50 is configured to transmit the predetermined signal to the transmission 70 after a predetermined period has elapsed since the second gear shift request was set.

[0110] In the present embodiment, for example, if a second gear change request is set after transmitting a predetermined signal in response to a first gear change request, the first control unit 60 is configured to control the first communication unit 58 to transmit a predetermined signal based on the second gear change request to the transmission 70 based on a predetermined period of time. In the present embodiment, for example, if a second gear change request is set after transmitting a predetermined signal in response to a first gear change request but before a predetermined period has elapsed since the change in the gear ratio R based on the first gear change request was completed, the first control unit 60 is configured to control the first communication unit 58 to transmit a predetermined signal based on the second gear change request to the transmission 70 after the predetermined period has elapsed. In the present embodiment, for example, when transmitting a predetermined signal in response to a first gear change request, the first control unit 60 is configured to control the first communication unit 58 to transmit a predetermined signal to the transmission 70 without waiting for the predetermined period of time.

[0111] The predetermined period is set to, for example, a period suitable for starting a gear shift in accordance with a second gear shift request after receiving a gear shift completion signal corresponding to a first gear shift request. The predetermined period may also be set to a period suitable for starting a gear shift in accordance with a second gear shift request after starting a gear shift in accordance with the first gear shift request.

[0112] The predetermined period is, for example, a period long enough for the gear shifting operation of the gear changing device 70 to be completed in response to one gear shift request, and is, for example, a period longer than the time it takes for the first communication unit 58 to receive a gear shift completion signal.

[0113] The predetermined period is set, for example, to a period that allows transmission device 70 to fully complete the shifting operation in response to one shifting request and that corresponds to an appropriate timing for starting a shifting operation in response to a second shifting request. By performing the shifting operation based on the second shifting request after a predetermined period has elapsed since transmission device 70 performed the shifting operation based on the first shifting request, it is possible to reliably change gear ratio R for each shifting stage.

[0114] For example, the first control unit 60 is configured to control the first communication unit 58 so as not to transmit a predetermined signal based on a second gear shift request until a predetermined period has elapsed after transmitting a predetermined signal corresponding to a first gear shift request to the transmission 70. For example, the first control unit 60 is configured to control the first communication unit 58 so as not to transmit a predetermined signal based on a second gear shift request until a predetermined period has elapsed after receiving a gear shift completion signal corresponding to the first gear shift request from the transmission 70.

[0115] The predetermined signal is transmitted to the second communication unit 76, for example, according to a predetermined period acquired by the assist device 50 based on predetermined information. In this embodiment, the first control unit 60 is configured to control the first communication unit 58 so that, when a second gearshift request is set, the predetermined signal is transmitted to the transmission 70 at predetermined periods. For example, when three or more gearshift requests are set consecutively, the first control unit 60 is configured to control the first communication unit 58 so that the nth second gearshift request is transmitted as a first gearshift request for the (n+1)th second gearshift request and the first communication unit 58 transmits a predetermined signal to the transmission 70 at predetermined periods. n is a natural number greater than or equal to 1.

[0116] The predetermined information includes, for example, at least one of first information and second information. The predetermined information includes, for example, first information. The first information includes, for example, information relating to a plurality of gear change stages corresponding to the gear ratio R and the rotation amounts of the plurality of sprockets 72.

[0117] When the predetermined information includes first information, the first information includes, for example, a table showing the correspondence between the shift stage and the rotation amount of the multiple sprockets 72. A table showing the correspondence between the shift stage and the rotation amount of the multiple sprockets 72 is prepared, for example, for each direction of change. The first information may be a relational expression or a map. The direction of change includes a first direction of change in which the gear ratio R increases and a second direction of change in which the gear ratio R decreases.

[0118] For example, the same predetermined period may be set for two or more of the multiple gear shift stages. For example, the same predetermined period may be set for two or more gear shift stages in at least one of the first change direction and the second change direction. For example, the same predetermined period may be set for all gear shift stages in at least one of the first change direction and the second change direction. The predetermined period for a gear shift stage greater than the first gear shift stage may be shorter than the predetermined period for a gear shift stage equal to or smaller than the first gear shift stage. The predetermined period for a gear shift stage greater than the first gear shift stage in the second change direction may be shorter than the predetermined period for a gear shift stage equal to or smaller than the first gear shift stage in the second change direction. The predetermined period for the second change direction may be shorter than the predetermined period for the first change direction.

[0119] Table 1 shows an example of the relationship between the pre-change and post-change gear shift stages, the change direction, and the predetermined period. The minimum value of S in Table 1 is 2. The maximum value of S in Table 1 corresponds to the maximum number of gear shift stages. The total number of gear shift stages is, for example, 11. The predetermined period in Table 1 corresponds to, for example, the amount of rotation of the multiple sprockets 72.

[0120] For example, when the shift stage is changed to increase, the predetermined period is the period during which the multiple sprockets 72 rotate by a first rotation amount A1. For example, when the shift stage is changed to decrease when S is in the range of 1 to T, the predetermined period is the period during which the multiple sprockets 72 rotate by a second rotation amount A2. For example, when the shift stage is changed to decrease when S is in the range of T+1 to the maximum value, the predetermined period is the period during which the multiple sprockets 72 rotate by a third rotation amount A3. T is, for example, a natural number from 1 to 9.

[0121] In Table 1, one predetermined period is provided for the first change direction, but two or more predetermined periods may be provided for the first change direction. In Table 1, two predetermined periods are provided for the second change direction, but one or three or more predetermined periods may be provided for the second change direction. The first rotation amount A1 is, for example, smaller than the second rotation amount A2 and the third rotation amount A3. The second rotation amount A2 is, for example, smaller than the third rotation amount A3.

[0122] [Table 1]

[0123] The second information includes, for example, at least one of the identification information of the transmission 70 and the identification information of the set of the plurality of sprockets 72. When the predetermined information includes the second information, the first storage unit 62 pre-stores, for example, first information linked to at least one of the identification information of the transmission 70 and the identification information of the set of the plurality of sprockets 72. The first storage unit 62 pre-stores, for example, multiple pieces of first information corresponding to the identification information of the transmission 70 and the identification information of the set of the plurality of sprockets 72, respectively. The first information linked to at least one of the identification information of the transmission 70 and the identification information of the set of the plurality of sprockets 72 may be stored in the first storage unit 62 via an external device such as a server.

[0124] When the predetermined information includes the second information, the first control unit 60 is configured to acquire the predetermined period based on the first information linked to at least one of the identification information of the transmission 70 and the identification information of the set of the plurality of sprockets 72. When the predetermined information includes the second information, the first control unit 60 may acquire the predetermined period based on correspondence information that directly associates the second information with the predetermined period. The correspondence information may be stored in advance in the first storage unit 62, or may be acquireable by the first control unit 60 from an external device such as a server.

[0125] The predetermined signal is transmitted to the second communication unit 76 in accordance with a predetermined period acquired by the assist device 50 based on the first information, for example. The assist device 50 is configured to acquire the predetermined period based on the first information and the direction of change in the gear ratio R, for example.

[0126] The predetermined period is acquired, for example, based on the rotation amounts of the multiple sprockets 72 set for each of the multiple gear stages corresponding to the gear ratio R, the current gear ratio R, and the direction of change in the gear ratio R. The first control unit 60 is configured to acquire the predetermined period, for example, based on first information received by the first communication unit 58. When the predetermined information includes the first information, the first control unit 60 is configured to acquire the predetermined period, for example, based on the first information and the direction of change in the gear ratio R. The first control unit 60 is configured to acquire the predetermined period, for example, based on the rotation amounts of the multiple sprockets 72 set for each of the multiple gear stages corresponding to the gear ratio R, the current gear ratio R, and the direction of change in the gear ratio R.

[0127] The current gear ratio R is, for example, the gear ratio R selected from among a plurality of gear ratios R that the transmission 70 can switch between. The current gear ratio R is, for example, the gear ratio R at the time when the transmission 70 starts a gear shifting operation. In other words, the current gear ratio R is the gear ratio R before the actuator 74 starts the operation of changing the chain 28A. The direction of change is, for example, the direction of change in the gear shifting operation due to the second gear shift request.

[0128] The rotation amount of the multiple sprockets 72 is set, for example, based on a gear change promotion area provided on each of the multiple sprockets 72. The gear change promotion area is, for example, an area that extends circumferentially around the multiple rear sprockets and promotes the replacement of the chain 28A compared to areas outside the area. If the second rotating body 26 includes multiple rear sprockets, for example, each of the multiple rear sprockets has at least one gear change promotion area. The number of gear change promotion areas may be different for each rear sprocket among the multiple rear sprockets. The number of gear change promotion areas may be the same for each rear sprocket among the multiple rear sprockets, for example.

[0129] The shift promotion area differs for each change direction, for example. The shift promotion area in the first change direction is provided, for example, on the rear sprocket before the chain 28A is replaced. The shift promotion area in the second change direction is provided, for example, on the rear sprocket after the chain 28A is replaced. For example, when the gear ratio R is increased, the angle between the shift promotion areas on the rear sprocket is the angle between the shift promotion areas for the first change direction on the rear sprocket before the chain 28A is replaced. For example, when the gear ratio R is decreased, the angle between the shift promotion areas on the rear sprocket is the angle between the shift promotion areas for the second change direction on the rear sprocket after the chain 28A is replaced.

[0130] If the multiple first rotating bodies 24 include multiple front sprockets, each of the multiple front sprockets may have at least one shift facilitating area. The shift facilitating area in the first change direction may be provided, for example, on the front sprocket after the chain 28A is replaced. The shift facilitating area in the second change direction may be provided, for example, on the front sprocket before the chain 28A is replaced. If the derailleur includes a front derailleur, the angle between the shift facilitating areas on the rear sprocket may be replaced with the angle between the shift facilitating areas on the front sprocket.

[0131] The predetermined period may be obtained based on, for example, at least one of the rotational speed C of the crankshaft 12A of the human-powered vehicle 10 and the vehicle speed. When the predetermined period is obtained based on the vehicle speed, the first control unit 60 is configured to calculate the rotational speed of the rear wheel and the rotational speed of the rear sprocket, for example, using the vehicle speed and the shift stage. The first control unit 60 is configured to calculate the predetermined period based on, for example, the rotational speed of the rear sprocket. The predetermined period is, for example, the period until the rotational phase of the rear sprocket, based on the rotational speed of the rear sprocket, becomes a rotational phase corresponding to the shift promotion region of the rear sprocket. The rotational phase corresponding to the shift promotion region of the rear sprocket is, for example, the rotational phase at which the chain 28A is positioned on a sprocket tooth included in the shift promotion region. When the specified period is obtained based on the rotational speed of the crankshaft 12A, the first control unit 60 is configured to calculate, for example, based on the gear ratio R or the gear stage and the rotational speed C of the crankshaft 12A, the time it takes for the rotational phase of the rear sprocket to rotate until it reaches a rotational phase corresponding to the gear shift promotion region of the rear sprocket.

[0132] The first communication unit 58 is configured, for example, to be able to communicate wirelessly with the transmission 70 and to receive predetermined information from the transmission 70. The first control unit 60 is configured, for example, to obtain a predetermined period based on the predetermined information received by the first communication unit 58. The first storage unit 62 is configured, for example, to be able to store the predetermined information received by the first communication unit 58. The first storage unit 62 is configured to be able to update the stored predetermined information. A program for the first control unit 60 to control the transmission 70 based on the predetermined information can be downloaded, for example, via the Internet or the like. A program for the first control unit 60 to control the transmission 70 based on the predetermined information is stored, for example, in the first storage unit 62.

[0133] The second communication unit 76 is configured, for example, to transmit predetermined information to the assist device 50. The second control unit 78 is configured, for example, when the second communication unit 76 is communicably connected to the assist device 50, to control the second communication unit 76 to transmit the predetermined information to the assist device 50. The predetermined information is stored in advance, for example, in the second storage unit 80. The predetermined information is stored in advance in the second storage unit 80, for example, when the gearbox 70 is shipped. The predetermined information may also be stored in the second storage unit 80 via an external device such as a server.

[0134] When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the first information, the first communication unit 58 is configured, for example, to be able to communicate with the gearshift device 70 and to receive the first information from the gearshift device 70. When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the first information, the second communication unit 76 is configured, for example, to transmit the first information to the assisting device 50. When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the first information, the second control unit 78 is configured, for example, when the second communication unit 76 is connected to be able to communicate with the assisting device 50, to control the second communication unit 76 to transmit the first information to the assisting device 50.

[0135] When the predetermined information transmitted from the transmission 70 to the assist device 50 includes the first information, the first storage unit 62 does not store the first information corresponding to the transmission 70, for example, at the time of shipping of the assist device 50. When the predetermined information transmitted from the transmission 70 to the assist device 50 includes the first information, for example, when the transmission 70 included in the control system 40 is changed, the first storage unit 62 updates the first information stored in the first storage unit 62 to the first information corresponding to the changed transmission 70.

[0136] When the predetermined information transmitted from the transmission 70 to the assist device 50 includes the first information, the first control unit 60 can obtain the predetermined period corresponding to the transmission 70 based on the first information. This allows the first control unit 60 to suitably control the transmission 70. When the predetermined information transmitted from the transmission 70 to the assist device 50 includes the first information, the assist device 50 can obtain the first information corresponding to the transmission 70 from the transmission 70 without going through a server or the like. This saves the user the trouble of receiving the first information from a server or the like, thereby improving usability.

[0137] When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the second information, the first communication unit 58 is configured, for example, to be able to communicate with the gearshift device 70 and to receive the second information from the gearshift device 70. When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the second information, the second communication unit 76 is configured, for example, to transmit the second information to the assisting device 50. When the predetermined information transmitted from the gearshift device 70 to the assisting device 50 includes the second information, the second control unit 78 is configured, for example, when the second communication unit 76 is connected to be able to communicate with the assisting device 50, to control the second communication unit 76 to transmit the second information to the assisting device 50.

[0138] When the predetermined information transmitted from the gearshift 70 to the assist device 50 includes the second information, the first storage unit 62 stores, for example, multiple pieces of first information linked to each of the multiple pieces of second information. When the predetermined information transmitted from the gearshift 70 to the assist device 50 includes the second information, the first control unit 60 obtains the predetermined period using the first information corresponding to the received second information. When the predetermined information transmitted from the gearshift 70 to the assist device 50 includes the second information, the first control unit 60 may obtain the first information corresponding to the received second information from an external device such as a server.

[0139] When the predetermined information transmitted from the transmission 70 to the assist device 50 includes the second information, the first control unit 60 can obtain the predetermined period corresponding to the transmission 70 based on the second information. Therefore, the first control unit 60 can suitably control the transmission 70.

[0140] The second control unit 78 is configured, for example, when the second communication unit 76 connects to the assist device 50 for the first time, to control the second communication unit 76 to transmit predetermined information to the assist device 50. The first control unit 60 is configured, for example, when the first communication unit 58 connects to the gearbox 70 for the first time, to control the first communication unit 58 to send a transmission request for predetermined information to the second communication unit 76. The first connection of the second communication unit 76 to the assist device 50 for the first time and the first connection of the first communication unit 58 to the gearbox 70 for the first time include, for example, when the assist device 50 and the gearbox 70 are paired. The first storage unit 62 stores, for example, the predetermined information received by the first communication unit 58 when the first communication unit 58 connects to the second communication unit 76 for the first time. The next time the first communication unit 58 connects to the second communication unit 76, the first control unit 60 obtains the predetermined period based on the predetermined information stored in the first storage unit 62.

[0141] The second control unit 78 may be configured to control the second communication unit 76 so as to transmit predetermined information to the assist device 50 each time the second communication unit 76 wirelessly connects with the assist device 50. In this case, the first control unit 60 is configured, for example, to control the first communication unit 58 so as to send a request to the second communication unit 76 to transmit predetermined information each time the first communication unit 58 wirelessly connects with the transmission 70.

[0142] The second control unit 78 may be configured to control the second communication unit 76 to transmit predetermined information to the assist device 50 whenever the power of the transmission 70 is turned on when the second communication unit 76 is connected to the assist device 50 and the system of the assist device 50 is running. For example, when it is determined that the second communication unit 76 is connected to the first communication unit 58, the second control unit 78 is configured to control the second communication unit 76 to transmit predetermined information to the first communication unit 58 regardless of a request to transmit the predetermined information.

[0143] The second control unit 78 may be configured to control the second communication unit 76 to transmit predetermined information to the assist device 50 each time the power of the assist device 50 is turned on when the second communication unit 76 is connected to the assist device 50 and the system of the transmission 70 is running. For example, the first control unit 60 is configured to control the first communication unit 58 to transmit a request to the second communication unit 76 to transmit predetermined information when it is determined that the first communication unit 58 is connected to the second communication unit 76.

[0144] The process of storing predetermined information by the first control unit 60 will be described with reference to Fig. 3. When power is supplied to the first control unit 60, for example, the first control unit 60 starts the process and proceeds to step S11 of the flowchart shown in Fig. 3. When the flowchart of Fig. 3 ends, the first control unit 60 repeats the process from step S11 of Fig. 3 at predetermined intervals, for example, until the supply of power is stopped.

[0145] In step S11, the first control unit 60 determines whether or not the first control unit 60 is connected to the transmission 70. For example, the first control unit 60 determines that the first control unit 60 is connected to the transmission 70 when the first communication unit 58 is connected to the second communication unit 76. When the first control unit 60 is connected to the transmission 70, the first control unit 60 proceeds to step S12. When the first control unit 60 is not connected to the transmission 70, the first control unit 60 ends the processing.

[0146] In step S12, the first control unit 60 determines whether the first control unit 60 has made an initial connection with the transmission 70. If the first control unit 60 has made an initial connection with the transmission 70, the first control unit 60 proceeds to step S13. If the first control unit 60 has not made an initial connection with the transmission 70, the first control unit 60 proceeds to step S14. For example, if the assist device 50 is not paired with the transmission 70 and the first communication unit 58 is connected to the second communication unit 76, the first control unit 60 determines that the first control unit 60 has made an initial connection with the transmission 70.

[0147] In step S13, the first control unit 60 requests transmission of the predetermined information, and proceeds to step S14. In step S14, the first control unit 60 determines whether the first communication unit 58 has received the predetermined information. If the first communication unit 58 has received the predetermined information, the first control unit 60 proceeds to step S15. If the first communication unit 58 has not received the predetermined information, the first control unit 60 ends the processing. In step S15, the first control unit 60 stores the predetermined information received by the first communication unit 58 in the first storage unit 62, and then ends the processing.

[0148] The process of storing predetermined information by the second control unit 78 will be described with reference to Fig. 4. When power is supplied to the second control unit 78, for example, the second control unit 78 starts the process and proceeds to step S21 of the flowchart shown in Fig. 4. When the flowchart of Fig. 4 ends, the second control unit 78 repeats the process from step S21 of Fig. 4 at predetermined intervals, for example, until the supply of power is stopped.

[0149] In step S21, the second control unit 78 determines whether or not the second control unit 78 has connected to the assist device 50. For example, when the second communication unit 76 has connected to the first communication unit 58, the second control unit 78 determines that the second control unit 78 has connected to the assist device 50. When the second control unit 78 has connected to the assist device 50, the second control unit 78 proceeds to step S22. When the second control unit 78 has not connected to the assist device 50, the second control unit 78 ends the processing.

[0150] In step S22, the second control unit 78 determines whether or not a request to send the predetermined information has been received. If the second control unit 78 has received a request to send the predetermined information, the process proceeds to step S23. If the second control unit 78 has not received a request to send the predetermined information, the process ends. In step S23, the second control unit 78 controls the second communication unit 76 to send the predetermined information to the first communication unit 58, and then ends the process.

[0151] Referring to Figure 5, a process in which the first control unit 60 transmits a predetermined signal to the transmission 70 based on a predetermined period will be described. When power is supplied to the first control unit 60, for example, the first control unit 60 starts processing and proceeds to step S31 of the flowchart shown in Figure 5. When the flowchart in Figure 5 ends, the first control unit 60 repeats the process from step S31 in Figure 5 at predetermined intervals, for example, until the supply of power is stopped.

[0152] In step S31, the first control unit 60 determines whether or not a first gear shift request has been set. If the first gear shift request has been set, the first control unit 60 proceeds to step S32. If the first gear shift request has not been set, the first control unit 60 terminates the process. For example, in step S31, the first control unit 60 determines that the first gear shift request has not been set if the gear shift condition has not been satisfied for a determination period or longer. The determination period is set to, for example, a period equal to or longer than the longest predetermined period calculated using the first information. In step S32, the first control unit 60 controls the first communication unit 58 to transmit a first signal to the second communication unit 76, and proceeds to step S33.

[0153] In step S33, the first control unit 60 determines whether a second gear change request has been set. In step S33, for example, the first control unit 60 determines that a second gear change request has been set if another gear change condition is met after the gear change condition for setting the first gear change request is met, regardless of whether a gear change completion notification based on the first gear change request has been received or a predetermined period of time has not elapsed. If the second gear change request has been set, the first control unit 60 proceeds to step S34. If the second gear change request has not been set, the first control unit 60 terminates the processing. In step S34, the first control unit 60 acquires the predetermined period of time based on the predetermined information, and proceeds to step S35.

[0154] In step S35, the first control unit 60 determines whether the first communication unit 58 has received a gear shift completion signal. If the first communication unit 58 has received the gear shift completion signal, the first control unit 60 proceeds to step S36. The first control unit 60 repeats the processing of step S35 until the first communication unit 58 receives the gear shift completion signal. If, in step S35, the first communication unit 58 has not received the gear shift completion signal and a first period longer than a predetermined period has elapsed, the first control unit 60 may proceed to step S37.

[0155] In step S36, the first control unit 60 determines whether a predetermined period has elapsed. If the predetermined period has elapsed, the first control unit 60 proceeds to step S37. The first control unit 60 repeats the processing of step S36 until the predetermined period has elapsed. In step S37, the first control unit 60 controls the first communication unit 58 to transmit a second signal to the second communication unit 76, and proceeds to step S38.

[0156] In step S38, the first control unit 60 determines whether a second gear change request has been set. In step S38, for example, the first control unit 60 determines that a second gear change request has been set if another gear change condition is met after the gear change condition for setting the first gear change request is met, regardless of whether a gear change completion notification based on the first gear change request has been received or a predetermined period of time has not elapsed. If a second gear change request has been set, the first control unit 60 proceeds to step S34. In step S38, the first control unit 60 determines that a second gear change request has been set, using the previous second gear change request as the first gear change request. If a second gear change request has not been set, the first control unit 60 ends the process.

[0157] The first control unit 60 may omit the processing of step S35 if it determines that the change in the gear ratio R has been completed in response to a signal received directly from the gear change state detection unit, without going through the transmission 70. The first control unit 60 may also determine that the change in the gear ratio R has been completed based on whether a predetermined period of time has elapsed. If the first control unit 60 determines that the change in the gear ratio R has been completed based on whether a predetermined period of time has elapsed, it may omit the processing of step S35.

[0158] The process by which the second control unit 78 controls the actuator 74 to change the gear ratio R will be described with reference to Figure 6. When power is supplied to the second control unit 78, for example, the second control unit 78 starts the process and proceeds to step S41 of the flowchart shown in Figure 6. When the flowchart in Figure 6 ends, the second control unit 78 repeats the process from step S41 in Figure 6 at predetermined intervals, for example, until the supply of power is stopped.

[0159] In step S41, the second control unit 78 determines whether or not a predetermined signal has been received. If the second control unit 78 has received the predetermined signal, the process proceeds to step S42. If the second control unit 78 has not received the predetermined signal, the process ends. In step S42, the second control unit 78 controls the actuator 74 to change the gear ratio R based on the predetermined signal, and then proceeds to step S43.

[0160] In step S43, the second control unit 78 determines whether or not the change in the gear ratio R has been completed. The second control unit 78 determines whether the change in the gear ratio R has been completed based on a signal from the gear shift state detection unit. If the change in the gear ratio R has been completed, the second control unit 78 proceeds to step S44. If the change in the gear ratio R has not been completed, the second control unit 78 repeats the processing of step S43. In step S44, the second control unit 78 controls the second communication unit 76 to send a gear shift completion signal to the first communication unit 58, and ends the processing.

[0161] If the change of the gear ratio R is not completed in step S43, the second control unit 78 may end the processing when the change determination period has elapsed. The change determination period is set, for example, based on a period in which the change of the gear ratio R can be fully completed. The second control unit 78 may be configured to determine that an abnormality has occurred in the transmission 70 when the change of the gear ratio R is not completed and the change determination period has elapsed.

[0162] Second Embodiment An assist device 50 for a human-powered vehicle, a transmission 70 for a human-powered vehicle, and a control system 40 for a human-powered vehicle according to a second embodiment will be described with reference to Figures 7 and 8. Components of the assist device 50 for a human-powered vehicle, the transmission 70 for a human-powered vehicle, and the control system 40 for a human-powered vehicle according to the second embodiment that are common to those of the first embodiment will be assigned the same reference numerals as those of the first embodiment, and redundant description will be omitted.

[0163] In this embodiment, the first control unit 60 is configured to, for example, control the first communication unit 58 so that when a gear shift request is set, the first control unit 60 immediately transmits a predetermined signal to the transmission 70. In this embodiment, the first control unit 60 is configured to, for example, control the first communication unit 58 so that when a second gear shift request is set after transmitting a predetermined signal in response to a first gear shift request, the first communication unit 58 transmits a predetermined signal based on the second gear shift request to the transmission 70. In this embodiment, the first control unit 60 is configured to, for example, control the first communication unit 58 so that when a second gear shift request is set after transmitting a predetermined signal in response to a first gear shift request, the first communication unit 58 transmits a predetermined signal based on the second gear shift request to the transmission 70 without waiting for a predetermined period.

[0164] In this embodiment, the predetermined signal includes, for example, information regarding the predetermined period. The predetermined signal includes, for example, a shift start signal and information regarding the predetermined period. For example, after transmitting the predetermined signal in response to a first shift request, if a second shift request is set before the predetermined period has elapsed since the change in the gear ratio R based on the first shift request is completed, the first control unit 60 acquires the predetermined period based on the predetermined information. For example, after acquiring the predetermined period based on the predetermined information, the first control unit 60 is configured to control the first communication unit 58 to immediately transmit a predetermined signal including information regarding the second shift request and the predetermined period to the transmission 70.

[0165] For example, the second control unit 78 is configured to restrict the driving of the actuator 74 until a wait period based on a predetermined period has elapsed after the operation of the transmission 70 has ended. The predetermined signal may include information regarding whether or not a wait period based on a predetermined period is necessary.

[0166] Referring to Figure 7, a process in which the first control unit 60 of the second embodiment transmits a predetermined signal including a predetermined period to the transmission 70 will be described. When power is supplied to the first control unit 60, for example, the first control unit 60 starts processing and proceeds to step S51 of the flowchart shown in Figure 7. When the flowchart in Figure 7 ends, the first control unit 60 repeats the process from step S51 in Figure 7 at predetermined intervals, for example, until the supply of power is stopped.

[0167] In step S51, the first control unit 60 determines whether or not a first gear shift request has been made. If a first gear shift request has been made, the first control unit 60 proceeds to step S32. If a first gear shift request has not been made, the first control unit 60 ends the processing. In step S52, the first control unit 60 controls the first communication unit 58 to send a first signal to the second communication unit 76, and proceeds to step S53.

[0168] In step S53, the first control unit 60 determines whether or not a second gear change request has been made. If a second gear change request has been made, the first control unit 60 proceeds to step S54. If a second gear change request has not been made, the first control unit 60 ends the process. In step S54, the first control unit 60 acquires a predetermined period based on predetermined information, and proceeds to step S55.

[0169] In step S55, the first control unit 60 controls the first communication unit 58 to transmit information related to the predetermined period and a second signal to the second communication unit 76, and then proceeds to step S56. In step S56, the first control unit 60 determines whether a second gearshift request has been made. If a second gearshift request has been made, the first control unit 60 proceeds to step S54. If a second gearshift request has been made, the first control unit 60 regards the immediately preceding second gearshift request as the gearshift request corresponding to the first gearshift request and executes the processing from step S54 onwards. If a second gearshift request has not been set, the first control unit 60 ends the processing.

[0170] Referring to Figure 8, a process in which the second control unit 78 of the second embodiment controls the actuator 74 to change the gear ratio R will be described. When power is supplied to the second control unit 78, for example, the second control unit 78 starts the process and proceeds to step S61 of the flowchart shown in Figure 8. When the flowchart in Figure 8 ends, the second control unit 78 repeats the process from step S61 in Figure 8 at predetermined intervals, for example, until the supply of power is stopped.

[0171] In step S61, the second control unit 78 determines whether or not the first signal has been received. If the second control unit 78 has received the first signal, the process proceeds to step S62. If the second control unit 78 has not received the first signal, the process ends. In step S62, the second control unit 78 controls the actuator 74 to change the gear ratio R in accordance with the first signal, and then the process proceeds to step S63.

[0172] In step S63, the second control unit 78 determines whether or not it has received information about the predetermined period and the second signal. If it has received the information about the predetermined period and the second signal, the second control unit 78 proceeds to step S64. If it has not received the information about the predetermined period and the second signal, the second control unit 78 ends the process.

[0173] In step S64, the second control unit 78 determines whether or not the change in the gear ratio R has been completed. The second control unit 78 determines whether the change in the gear ratio R based on the first signal has been completed, based on the signal from the gear shift state detection unit. If the change in the gear ratio R has been completed, the second control unit 78 proceeds to step S65. If the change in the gear ratio R has not been completed, the second control unit 78 ends the process.

[0174] In step S65, the second control unit 78 determines whether a predetermined period of time has elapsed. If the predetermined period of time has elapsed, the second control unit 78 proceeds to step S66. The second control unit 78 executes the processing of step S65 until the predetermined period of time has elapsed. In step S66, the second control unit 78 controls the actuator 74 to change the gear ratio R in accordance with the second gear change request, and proceeds to step S67.

[0175] In step S67, the second control unit 78 determines whether or not it has received information about the predetermined period and the second signal. If it has received the information about the predetermined period and the second signal, the second control unit 78 proceeds to step S64. If it has received the information about the predetermined period and the second signal, the second control unit 78 executes the processing from step S34 onwards, using the information about the immediately preceding predetermined period and the second signal as the predetermined signal corresponding to the first signal. If it has not received the information about the predetermined period and the second signal, the second control unit 78 ends the processing.

[0176] Third Embodiment An assist device 50 for a human-powered vehicle, a transmission device 70 for a human-powered vehicle, and a control system 40 for a human-powered vehicle according to a third embodiment will be described with reference to Figure 9. Components of the assist device 50 for a human-powered vehicle, the transmission device 70 for a human-powered vehicle, and the control system 40 for a human-powered vehicle according to the third embodiment that are common to those of the first embodiment will be assigned the same reference numerals as those of the first embodiment, and redundant description will be omitted.

[0177] The control system 40 of this embodiment is configured so that the transmission 70 changes the gear ratio R in response to a gear change request without using the assist device 50. The control system 40 of this embodiment does not necessarily have to include the assist device 50.

[0178] The transmission 70 of this embodiment includes an actuator 74 configured to operate the transmission 70 to change the gear ratio R, and a second control unit 78 configured to control the actuator 74. For example, when the transmission 70 operates to change the gear ratio R, the second control unit 78 is configured to control the actuator 74 to delay the start of operation of the transmission 70 based on the rotation amounts of the multiple sprockets 72 set for each of the multiple gear stages corresponding to the gear ratio R, the current gear ratio R, and a predetermined period of time acquired based on the direction of change in the gear ratio R.

[0179] For example, when the transmission 70 operates to change the gear ratio R, the second control unit 78 is configured to control the actuator 74 to delay the start of operation of the transmission 70 based on a predetermined period of time acquired based on the first information and the direction of change of the gear ratio R. The predetermined information in this embodiment includes all of the rotation amounts of the multiple sprockets 72 set for each of the multiple gear stages corresponding to the gear ratio R, the current gear ratio R, and the direction of change of the gear ratio R.

[0180] For example, when a first gear shift request is set due to the establishment of a gear shift condition, the second control unit 78 is configured to control the actuator 74 to perform a gear shift operation in accordance with the first gear shift request without a wait time. For example, when a second gear shift request is set, the second control unit 78 is configured to control the actuator 74 to perform a gear shift operation in accordance with the second gear shift request after a predetermined period has elapsed since the second gear shift request was set.

[0181] For example, the second control unit 78 is configured to control the actuator 74 to change the gear ratio R in accordance with a first gear change request, and then, if a second gear change request is set, to control the actuator 74 to change the gear ratio R in accordance with the second gear change request based on a predetermined period. For example, the second control unit 78 is configured to control the actuator 74 to change the gear ratio R in accordance with a first gear change request, and then, if a second gear change request is set before a predetermined period has elapsed since the change of the gear ratio R based on the first gear change request was completed, to control the actuator 74 to change the gear ratio R in accordance with the second gear change request after the predetermined period has elapsed.

[0182] Referring to Figure 9, a process in which the second control unit 78 of the third embodiment controls the actuator 74 to change the gear ratio R will be described. When power is supplied to the second control unit 78, for example, the second control unit 78 starts the process and proceeds to step S71 of the flowchart shown in Figure 9. When the flowchart in Figure 9 ends, the second control unit 78 repeats the process from step S71 in Figure 9 at predetermined intervals, for example, until the supply of power is stopped.

[0183] In step S71, the second control unit 78 determines whether or not a first gear change request has been set. If the first gear change request has been set, the second control unit 78 proceeds to step S72. If the first gear change request has not been set, the second control unit 78 ends the processing. In step S72, the second control unit 78 controls the actuator 74 to change the gear ratio R in accordance with the first gear change request, and proceeds to step S73.

[0184] In step S73, the second control unit 78 determines whether or not a second gear change request has been set. If a second gear change request has been set, the second control unit 78 proceeds to step S74. If a second gear change request has not been set, the second control unit 78 ends the processing. In step S74, the second control unit 78 determines whether or not the change in the gear ratio R has been completed. If the change in the gear ratio R has been completed, the second control unit 78 proceeds to step S75. The second control unit 78 repeats the processing of step S74 until the change in the gear ratio R has been completed. If a second period longer than the predetermined period has elapsed in step S74, the second control unit 78 may proceed to step S76.

[0185] In step S75, the second control unit 78 determines whether a predetermined period of time has elapsed. If the predetermined period of time has elapsed, the second control unit 78 proceeds to step S76. The second control unit 78 repeats the processing of step S75 until the predetermined period of time has elapsed. In step S76, the second control unit 78 controls the actuator 74 to change the gear ratio R in accordance with the second gear change request, and proceeds to step S77.

[0186] In step S77, the second control unit 78 determines whether a second gear change request has been set. If a second gear change request has been set, the second control unit 78 proceeds to step S74. The second gear change request in step S77 is a second gear change request when the second gear change request in step S73 is set as a gear change request corresponding to the first gear change request. If a second gear change request has not been set, the second control unit 78 ends the process.

[0187] <Example of change> The descriptions of each embodiment are merely examples of possible forms that an assist device for a human-powered vehicle, a transmission for a human-powered vehicle, and a control system for a human-powered vehicle according to the present disclosure can take, and are not intended to limit the forms. The assist device for a human-powered vehicle, a transmission for a human-powered vehicle, and a control system for a human-powered vehicle according to the present disclosure can take the form of, for example, a modified example of each embodiment shown below, or a combination of at least two mutually consistent modified examples. In the following modified examples, parts that are common to each embodiment are designated by the same reference numerals as in the respective embodiments, and their description will be omitted.

[0188] The assist operation unit 52 may be provided in the drive unit 54. At least one of the first control unit 60, the first communication unit 58, and the first storage unit 62 may be provided in the drive unit 54.

[0189] In the first and second embodiments, the second control unit 78 may be configured to transmit predetermined information based on the determination result of whether or not this is the first connection with the assisting device 50. In this modified example, the second control unit 78 may, for example, execute step S81 shown in FIG. 10 instead of step S22, in which the second control unit 78 determines whether or not this is the first connection with the assisting device 50. If the second control unit 78 determines in step S81 that the second control unit 78 has connected to the assisting device 50 for the first time, the second control unit 78 proceeds to step S23. If the second control unit 78 determines in step S81 that the second control unit 78 has not connected to the assisting device 50 for the first time, the second control unit 78 ends the processing. In this modified example, the first control unit 60 does not need to transmit a request to transmit predetermined information. In this modified example, for example, step S13 in FIG. 3 is omitted.

[0190] In the first and second embodiments, the predetermined information does not have to include the direction of change in the gear ratio R. In this modified example, for example, the same predetermined period is set when the gear shift stage is changed from stage m to stage m+1, and when the gear shift stage is changed from stage m+1 to stage m. m is a natural number greater than or equal to 1. In this modified example, a predetermined period sufficient for changing the gear ratio R based on the first gear change request is set, both when the gear shift stage is changed from stage m to stage m+1, and when the gear shift stage is changed from stage m+1 to stage m, thereby enabling transmission 70 to suitably change the gear ratio R.

[0191] In the first embodiment, the predetermined period may include a first predetermined period for the first gear shift request and a second predetermined period for the second gear shift request. The second predetermined period may correspond to the predetermined period described in each embodiment. The first predetermined period may differ from the second predetermined period. For example, when the gear shift request is a first gear shift request, the first control unit 60 is configured to control the first communication unit 58 to send a predetermined signal to the transmission 70 after the first predetermined period has elapsed. The first predetermined period is, for example, the period until the chain 28A moves to a position corresponding to a gear shift facilitating region provided on each of the multiple sprockets 72. The first predetermined period may be, for example, a period set based on the timing when the manual driving force input to the crankshaft 12A reaches its minimum peak value.

[0192] In the second embodiment, the predetermined period may include a first predetermined period for the first gearshift request and a second predetermined period for the second gearshift request. For example, when the gearshift request is the first gearshift request, the first control unit 60 may include information about the predetermined period in the predetermined signal based on the first gearshift request. When the second control unit 78 receives the predetermined signal based on the first gearshift request, the second control unit 78 may be configured to control the actuator 74 to start a gearshift operation based on the first gearshift request after the predetermined period has elapsed.

[0193] In the third embodiment, the predetermined period may include a first predetermined period for the first gear shift request and a second predetermined period for the second gear shift request. For example, when the gear shift request is the first gear shift request, the second control unit 78 may be configured to control the actuator 74 to start the gear shift operation after the predetermined period has elapsed.

[0194] The transmission 70 may include an internal transmission. When the transmission 70 includes an internal transmission, the internal transmission is provided, for example, in the hub of the rear wheel. The internal transmission may include a CVT (Continuously Variable Transmission). When the transmission 70 includes an internal transmission, the predetermined period is calculated, for example, based on the rotation speed C of the crankshaft 12A and the top and bottom dead centers of the crank 12. The first control unit 60 calculates the predetermined period as the predetermined time until the crank 12 reaches the top and bottom dead centers based on the rotation speed C of the crankshaft 12A.

[0195] The second control unit may be provided in a wireless communication repeater that is provided in a housing separate from the transmission 70.

[0196] In the first embodiment, the second control unit 78 may be configured to determine whether the assist device 50 needs to transmit a predetermined signal to the transmission device 70 based on a predetermined period of time. In this modified example, for example, the transmission device 70 is configured to transmit to the assist device 50 information used to determine whether the assist device 50 needs to transmit a predetermined signal to the transmission device 70 based on a predetermined period of time. The information used to determine whether the assist device 50 needs to transmit a predetermined signal to the transmission device 70 based on a predetermined period of time is transmitted from the transmission device 70 to the assist device 50 together with the predetermined information, for example.

[0197] an assist device (50) for a human-powered vehicle comprising: an assist motor (56) that assists in the propulsion of the human-powered vehicle (10); a first communication unit (58) configured to be able to communicate with a transmission (70) configured to change the gear ratio (R) of the human-powered vehicle (10) and configured to receive first information from the transmission (70); and a first control unit (60) configured to control the first communication unit (58) to send a predetermined signal to the transmission (70) to operate the transmission (70) to change the gear ratio (R); the transmission (70) is configured to switch the gear ratio (R) by relocating the chain (28A) between two adjacent sprockets among a plurality of sprockets (72); the first control unit (60) is configured to obtain a predetermined period based on the first information received by the first communication unit (58) and is configured to control the first communication unit (58) to send a predetermined signal to the transmission (70) in accordance with the predetermined period; and the first information includes information regarding a plurality of gear stages corresponding to the gear ratio (R) and the amount of rotation of the plurality of sprockets (72), so that other components may be omitted.

[0198] The assist device 50 for a human-powered vehicle includes an assist motor 56 that assists in the propulsion of the human-powered vehicle 10, a first communication unit 58 that is configured to be able to communicate wirelessly with a transmission 70 that is configured to change the gear ratio R of the human-powered vehicle 10 and that is configured to receive predetermined information from the transmission 70, and a first control unit 60 that is configured to control the first communication unit 58 to send a predetermined signal to the transmission 70 that causes the transmission 70 to change the gear ratio R, and the first control unit 60 is configured to obtain a predetermined period based on the predetermined information received by the first communication unit 58, and is configured to control the first communication unit 58 to send a predetermined signal to the transmission 70 in accordance with the predetermined period, so long as the first control unit 60 is configured to obtain a predetermined period based on the predetermined information received by the first communication unit 58, and is configured to control the first communication unit 58 to send a predetermined signal to the transmission 70 in accordance with the predetermined period, other components may be omitted.

[0199] The assist device (50) for a human-powered vehicle includes an assist motor (56) that assists in the propulsion of the human-powered vehicle (10), a first communication unit (58) configured to be able to communicate wirelessly with a transmission (70) configured to change the gear ratio (R) of the human-powered vehicle (10), and a first control unit (60) configured to control the first communication unit (58) to send a predetermined signal to the transmission (70) to operate the transmission (70) to change the gear ratio (R), the transmission (70) being configured to switch the gear ratio (R) by relocating the chain (28A) between two adjacent sprockets out of a plurality of sprockets (72), the first control unit (60) being configured to control the first communication unit (58) to send a predetermined signal to the transmission (70) in accordance with a predetermined period, and other components may be omitted as long as the assist device (50) is configured to obtain the predetermined period based on the amount of rotation of the plurality of sprockets (72) set for each of a plurality of gear stages corresponding to the gear ratio (R), the current gear ratio (R), and the direction of change in the gear ratio (R).

[0200] The transmission 70 for a human-powered vehicle is configured to operate to change the gear ratio R of the human-powered vehicle 10 by relocating the chain 28A between two adjacent sprockets out of the plurality of sprockets 72, and includes: an actuator 74 configured to operate the transmission 70 to change the gear ratio R; a second communication unit 76 that is capable of communicating with an assist device 50 that assists in the propulsion of the human-powered vehicle 10, and is configured to receive a predetermined signal from the assist device 50 and transmit first information to the assist device 50; and a second control unit 78 configured to control the actuator 74 based on the predetermined signal received by the second communication unit 76, wherein the predetermined signal is transmitted to the second communication unit 76 in accordance with a predetermined period obtained by the assist device 50 based on the first information, and the first information includes information regarding the plurality of gear stages corresponding to the gear ratio R and the amount of rotation of the plurality of sprockets 72, and other components may be omitted.

[0201] A transmission 70 for a human-powered vehicle configured to change the gear ratio R of the human-powered vehicle 10 includes an actuator 74 configured to operate the transmission 70 to change the gear ratio R, a second communication unit 76 capable of wireless communication with an assist device 50 that assists in the propulsion of the human-powered vehicle 10, and configured to receive a predetermined signal from the assist device 50 and transmit predetermined information to the assist device 50, and a second control unit 78 configured to control the actuator 74 based on the predetermined signal received by the second communication unit 76; and other components may be omitted as long as the predetermined signal is transmitted to the second communication unit 76 in accordance with a predetermined period obtained by the assist device 50 based on the predetermined information.

[0202] The transmission 70 for a human-powered vehicle is configured to operate to change the gear ratio R of the human-powered vehicle 10 by relocating the chain 28A between two adjacent sprockets out of a plurality of sprockets 72, and is equipped with an actuator 74 configured to operate the transmission 70 to change the gear ratio R, a second communication unit 76 capable of wireless communication with an assist device 50 that assists in the propulsion of the human-powered vehicle 10 and is configured to receive a predetermined signal from the assist device 50, and a second control unit 78 configured to control the actuator 74 based on the predetermined signal received by the second communication unit 76, wherein the predetermined signal is transmitted to the second communication unit 76 in accordance with a predetermined period obtained by the assist device 50, and the predetermined period is obtained based on the amount of rotation of the plurality of sprockets 72 set for each of a plurality of gear stages corresponding to the gear ratio R, the current gear ratio R, and the direction of change in the gear ratio R, and other components may be omitted.

[0203] The transmission 70 for a human-powered vehicle is configured to operate to change the gear ratio R of the human-powered vehicle 10 by relocating the chain 28A between two adjacent sprockets out of the plurality of sprockets 72, and includes an actuator 74 configured to operate the transmission 70 to change the gear ratio R, and a second control unit 78 configured to control the actuator 74, and when the transmission 70 operates to change the gear ratio R, the second control unit 78 is configured to control the actuator 74 to delay the start of operation of the transmission 70 based on the amount of rotation of the plurality of sprockets 72 set for each of the plurality of gear stages corresponding to the gear ratio R, the current gear ratio R, and a predetermined period obtained based on the direction of change in the gear ratio R, and other components may be omitted.

[0204] 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.

[0205] As used in this specification, ordinal numbers such as "first, second, and third" are used merely to distinguish between multiple elements having the same name and do not have any special meaning. [Explanation of symbols]

[0206] 10...human-powered vehicle, 12A...crankshaft, 28A...chain, 36...battery, 40...control system, 50...assist device, 56...assist motor, 58...first communication unit, 60...first control unit, 70...transmission device, 72...sprocket, 74...actuator, 76...second communication unit, 78...second control unit, 82...transmission operation device, 84...third communication unit.

Claims

1. An assist device for a human-powered vehicle, an assist motor that assists in the propulsion of the human-powered vehicle; a first communication unit configured to be able to communicate with a transmission configured to change a gear ratio of the human-powered vehicle and configured to receive first information from the transmission; a first control unit configured to control the first communication unit to send a predetermined signal to the transmission device to operate the transmission device so as to change the gear ratio; the transmission is configured to switch the gear ratio by relocating the chain between two adjacent sprockets among a plurality of sprockets, The first control unit configured to acquire a predetermined period based on the first information received by the first communication unit; The first communication unit is configured to control the first communication unit so as to transmit the predetermined signal to the transmission device in accordance with the predetermined period, The assist device, wherein the first information includes information relating to a plurality of speed change stages corresponding to the speed ratio and information relating to the rotation amounts of the plurality of sprockets.

2. An assist device for a human-powered vehicle, an assist motor that assists in the propulsion of the human-powered vehicle; a first communication unit configured to be able to wirelessly communicate with a transmission configured to change a gear ratio of the human-powered vehicle and configured to receive predetermined information from the transmission; a first control unit configured to control the first communication unit to send a predetermined signal to the transmission device to operate the transmission device so as to change the gear ratio; The first control unit The predetermined period is acquired based on the predetermined information received by the first communication unit, an assist device configured to control the first communication unit so as to transmit the predetermined signal to the transmission device in accordance with the predetermined period;

3. the transmission is configured to switch the gear ratio by relocating the chain between two adjacent sprockets among a plurality of sprockets, the predetermined information includes at least one of first information and second information, the first information includes information relating to a plurality of speed change stages corresponding to the speed change ratio and information relating to rotation amounts of the plurality of sprockets, The assist device according to claim 2 , wherein the second information includes at least one of identification information of the transmission and identification information of the set of the plurality of sprockets.

4. the predetermined information includes the first information, The assist device according to claim 3 , wherein the first control unit is configured to obtain the predetermined period based on the first information and the direction of change in the gear ratio.

5. the predetermined information includes the first information, The assist device according to claim 3 , wherein the first information includes a table indicating a correspondence relationship between the speed change stage and the rotation amount.

6. An assist device for a human-powered vehicle, an assist motor that assists in the propulsion of the human-powered vehicle; a first communication unit configured to be able to wirelessly communicate with a transmission configured to change a gear ratio of the human-powered vehicle; a first control unit configured to control the first communication unit to send a predetermined signal to the transmission device to operate the transmission device so as to change the gear ratio; the transmission is configured to switch the gear ratio by relocating the chain between two adjacent sprockets among a plurality of sprockets, The first control unit The first communication unit is configured to control the first communication unit so as to transmit the predetermined signal to the transmission device in accordance with a predetermined period of time, An assist device configured to obtain the specified period based on the rotation amounts of the multiple sprockets set for each of multiple gear stages corresponding to the gear ratio, the current gear ratio, and the direction of change in the gear ratio.

7. 7. The assist device according to claim 1, wherein, when a second gear change request is set after transmitting the predetermined signal in response to a first gear change request, the first control unit controls the first communication unit to transmit the predetermined signal based on the second gear change request to the gear change device based on the predetermined period.

8. 7. The assist device according to claim 1, wherein, after transmitting the predetermined signal in response to a first gear change request, if a second gear change request is set between the completion of the change of the gear ratio based on the first gear change request and the elapse of the predetermined period, the first control unit controls the first communication unit to transmit the predetermined signal based on the second gear change request to the transmission device after the elapse of the predetermined period.

9. The assist device according to claim 1 , wherein the rotation amount is set based on a shift facilitating region provided on each of the plurality of sprockets.

10. The assist device according to claim 1 , wherein the predetermined period is acquired based on at least one of a rotation speed of a crankshaft of the human-powered vehicle and a vehicle speed.

11. A transmission for a human-powered vehicle, the gear ratio of the human-powered vehicle is changed by changing the chain between two adjacent sprockets among the plurality of sprockets; an actuator configured to operate the transmission to change the transmission ratio; a second communication unit capable of communicating with an assist device that assists in propulsion of the human-powered vehicle, and configured to receive a predetermined signal from the assist device and transmit first information to the assist device; a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit; the predetermined signal is transmitted to the second communication unit in accordance with a predetermined period acquired by the assist device based on the first information; The first information includes information relating to a plurality of speed change stages corresponding to the speed ratio and information relating to rotation amounts of the plurality of sprockets.

12. 12. The transmission device according to claim 11, wherein the second control unit is configured to control the second communication unit to transmit the first information to the assist device when the second communication unit is communicatively connected to the assist device.

13. A transmission for a human-powered vehicle configured to change a gear ratio of the human-powered vehicle, an actuator configured to operate the transmission to change the transmission ratio; a second communication unit capable of wireless communication with an assist device that assists in propulsion of the human-powered vehicle, and configured to receive a predetermined signal from the assist device and transmit predetermined information to the assist device; a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit; The predetermined signal is transmitted to the second communication unit according to a predetermined period acquired by the assist device based on the predetermined information.

14. The gear ratio is changed by changing the chain between two adjacent sprockets among the plurality of sprockets, the predetermined information includes at least one of first information and second information, the first information includes information relating to a plurality of speed change stages corresponding to the speed change ratio and information relating to rotation amounts of the plurality of sprockets, The transmission of claim 13 , wherein the second information includes at least one of an identification of the transmission and an identification of the set of sprockets.

15. the predetermined information includes the first information, The transmission according to claim 14, wherein the assist device is configured to obtain the predetermined period based on the first information and the direction of change in the gear ratio.

16. the predetermined information includes the first information, The transmission according to claim 14 , wherein the first information includes a table indicating a correspondence relationship between the speed-change stage and the rotation amount.

17. 14. The transmission device according to claim 13, wherein the second control unit is configured to control the second communication unit to transmit the predetermined information to the assist device when the second communication unit is communicatively connected to the assist device.

18. A transmission for a human-powered vehicle, the gear ratio of the human-powered vehicle is changed by changing the chain between two adjacent sprockets among the plurality of sprockets; an actuator configured to operate the transmission to change the transmission ratio; a second communication unit capable of wirelessly communicating with an assist device that assists in propulsion of the human-powered vehicle, and configured to receive a predetermined signal from the assist device; a second control unit configured to control the actuator based on the predetermined signal received by the second communication unit; the predetermined signal is transmitted to the second communication unit in accordance with a predetermined period acquired by the assist device; a transmission device in which the predetermined period is acquired based on the rotation amounts of the plurality of sprockets set for each of a plurality of gear stages corresponding to the gear ratio, the current gear ratio, and the direction of change in the gear ratio.

19. the assist device is configured to, when a gear shift request is set, transmit the predetermined signal to the second communication unit after the predetermined period has elapsed since the gear shift request was set; 19. The transmission of claim 11, 13, or 18, wherein the second control unit is configured to control the actuator to change the gear ratio when the predetermined signal is received.

20. the predetermined signal includes information about the predetermined period; 19. The transmission according to claim 11, wherein the second control unit is configured to restrict driving of the actuator until a wait period based on the predetermined period has elapsed after operation of the transmission has ended.

21. A transmission for a human-powered vehicle, the gear ratio of the human-powered vehicle is changed by changing the chain between two adjacent sprockets among the plurality of sprockets; an actuator configured to operate the transmission to change the transmission ratio; a second control unit configured to control the actuator; a transmission device, wherein the second control unit is configured to control the actuator to delay the start of operation of the transmission device when the transmission device operates to change the gear ratio, based on the rotation amounts of the multiple sprockets set for each of multiple gear stages corresponding to the gear ratio, the current gear ratio, and a predetermined period acquired based on the direction of change of the gear ratio.

22. 22. The transmission device according to claim 21, wherein, when a second gear change request is set after controlling the actuator to change the gear ratio in response to a first gear change request, the second control unit controls the actuator to change the gear ratio in response to the second gear change request based on the predetermined period.

23. 22. The transmission device according to claim 21, wherein, after controlling the actuator to change the gear ratio in response to a first gear change request, if a second gear change request is set between the completion of changing the gear ratio based on the first gear change request and the elapse of the predetermined period, the second control unit is configured to control the actuator to change the gear ratio in response to the second gear change request after the elapse of the predetermined period.

24. 24. The transmission according to claim 11, wherein the rotation amount is set based on a shift facilitating region provided on each of the plurality of sprockets.

25. 22. The transmission device according to claim 11, wherein the predetermined period is acquired based on at least one of a rotation speed of a crankshaft of the human-powered vehicle and a vehicle speed.

26. 1. A control system for a human-powered vehicle, comprising: an assist device for a human-powered vehicle according to any one of claims 1, 3 and 6; the transmission.

27. a gear shift operating device configured to operate the gear shift device, the transmission includes a third communication unit configured to be able to communicate with the transmission operation device by a first communication method, 27. The control system of claim 26, wherein the assist device is configured to communicate with the transmission device by a second communication method different from the first communication method.

28. 27. The control system of claim 26, wherein the transmission and the assist device are powered by a common battery.

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