Control device and derailleur for human-powered vehicle

Abstract

A control device includes a controller configured to control an actuator to move an output member in a first actuation manner in a first state. The first state is characterized by a power supply configured to supply power to the actuator being in a first power supply state, and the movement of the output member failing to reach a target movement after the controller controls the actuator according to control information. The controller is also configured to control the actuator to move the output member in a second actuation manner, different from the first actuation manner, in a second state. The second state is characterized by a power supply being in a second power supply state, different from the first power supply state, and the movement of the output member failing to reach a target movement after the controller controls the actuator according to control information.

Description

Technical Field

[0001] This invention relates to a control device and chain derailleur for human-powered vehicles. Prior Technology

[0002] The human-powered vehicle includes a control unit. The control unit is configured to control the actuation unit to move the output components. The control unit is powered by a power supply. Preferably, the power consumption of the actuation unit varies depending on the state of the power supply. Summary of the Invention

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

[0004] By using the control device according to the first aspect, when the movement of the output member fails to reach the target movement, the actuation mode of the actuator during a retry operation can be changed depending on the state of the power supply. Therefore, the power consumption of the actuator during a retry operation can be reduced depending on the state of the power supply.

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

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

[0007] According to a third aspect of the invention, the control device according to the second aspect is configured such that if the power supply is in a first power supply state, the power supply has a first remaining charge. If the power supply is in a second power supply state, the power supply has a second remaining charge. The second remaining charge is lower than the first remaining charge. The second number is less than the first number.

[0008] By utilizing the control device according to the third aspect, the total number of times the actuator moves the output member during a retry operation can be varied depending on the remaining power of the power supply. When the remaining power of the power supply is low, the total number of times the actuator moves the output member during a retry operation becomes smaller. Therefore, the power consumption of the actuator during a retry operation can be reduced more reliably depending on the state of the power supply.

[0009] According to a fourth aspect of the invention, a control device based on the second or third aspect is constructed such that if the power supply is in a first power supply state, the power supply has a first capacity. If the power supply is in a second power supply state, the power supply has a second capacity. The second capacity is less than the first capacity. The second capacity is less than the first capacity.

[0010] Using the control device according to the fourth aspect, the total number of times the actuator moves the output member during a retry operation can be varied depending on the power supply capacity. When the power supply capacity is small, the total number of times the actuator moves the output member during a retry operation becomes smaller. Therefore, the power consumption of the actuator during a retry operation can be reduced more reliably depending on the power supply status.

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

[0012] By using the control device according to the fifth aspect, it is possible to change the total number of times the actuator moves the output component per unit time during the retry operation.

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

[0014] By utilizing the control device according to the sixth aspect, the actuation period of the actuator during retry operations can be changed depending on the state of the power supply. Therefore, the power consumption of the actuator during retry operations can be reliably reduced depending on the state of the power supply.

[0015] According to a seventh aspect of the invention, the control device according to the sixth aspect is configured such that if the power supply is in a first power supply state, the power supply has a first remaining charge. If the power supply is in a second power supply state, the power supply has a second remaining charge. The second remaining charge is lower than the first remaining charge. The second actuation period is shorter than the first actuation period.

[0016] By utilizing the control device according to the seventh aspect, the actuation period of the actuator during retry operations can be changed depending on the remaining power of the power supply. Therefore, the power consumption of the actuator during retry operations can be reduced more reliably depending on the state of the power supply.

[0017] According to an eighth aspect of the invention, a control device according to the sixth or seventh aspect is constructed such that if the power supply is in a first power supply state, the power supply has a first capacity. If the power supply is in a second power supply state, the power supply has a second capacity. The second capacity is less than the first capacity. The second actuation period is shorter than the first actuation period.

[0018] By utilizing the control device according to the eighth aspect, the actuation period of the actuator during retry operations can be changed depending on the capacity of the power supply. Therefore, the power consumption of the actuator during retry operations can be reduced more reliably depending on the state of the power supply.

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

[0020] By using the control device according to the ninth aspect, the total number of retry operations and the actuation period of the actuator can be changed depending on the state of the power supply. Therefore, the power consumption of the actuator during retry operations can be reliably reduced depending on the state of the power supply.

[0021] According to a tenth aspect of the invention, the control device according to the ninth aspect is configured such that if the power supply is in a first power supply state, the power supply has a first capacity. If the power supply is in a second power supply state, the power supply has a second capacity. The second capacity is lower than the first capacity. The second actuation period is shorter than the first actuation period.

[0022] By using the control device according to the tenth aspect, the total number of retry operations and the actuation period of the actuator can be changed depending on the power supply capacity. Therefore, the power consumption of the actuator during retry operations can be reliably reduced depending on the state of the power supply.

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

[0024] Using the control device according to the eleventh aspect, when the movement of the output member fails to reach the target movement, the actuation mode of the actuator during the retry operation can be changed depending on the actuation direction of the actuator. Different actuation directions result in different power consumption of the actuator. Therefore, the power consumption of the actuator during the retry operation can be reduced depending on the actuation direction of the actuator.

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

[0026] By using the control device according to the twelfth aspect, the total number of times the actuator moves the output member during a retry operation can be changed depending on the actuation direction of the actuator. Therefore, the power consumption of the actuator during a retry operation can be reliably reduced depending on the actuation direction of the actuator.

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

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

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

[0030] Using the control device according to aspect fourteen, it is possible to change the total number of times the actuator moves the output component per unit time during a retry operation.

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

[0032] By using the control device according to aspect fifteen, the total number of times the actuator performs a retry operation and the actuation period can be changed depending on the actuation direction of the actuator. Therefore, the power consumption of the actuator during retry operation can be reduced more reliably depending on the actuation direction of the actuator.

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

[0034] By using the control device according to the sixteenth aspect, the actuation period of the actuator during a retry operation can be changed depending on the actuation direction of the actuator. Therefore, the power consumption of the actuator during a retry operation can be reduced more reliably depending on the actuation direction of the actuator.

[0035] According to a seventeenth aspect of the invention, a control device according to any one of aspects eleven to thirteen, fifteen, and sixteen is constructed such that a controller is configured to control an actuator to move an output member during a first actuation period in a first actuator state. The controller is also configured to control an actuator to move an output member during a second actuation period, different from the first actuation period, in a second actuator state.

[0036] By using the control device according to the seventeenth aspect, the actuation period of the actuator during a retry operation can be changed depending on the actuation direction of the actuator. Therefore, the power consumption of the actuator during a retry operation can be reliably reduced depending on the actuation direction of the actuator.

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

[0038] By using the control device according to the eighteenth aspect, when the actuator moves the output member in a second actuation direction having a second power consumption higher than the first actuation direction, the actuation period of the actuator during a retry operation can be shortened. Therefore, the power consumption of the actuator during a retry operation can be reduced more reliably depending on the actuation direction of the actuator.

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

[0040] Using the control device according to aspect nineteen, it is possible to reliably determine whether the power supply is in the first power supply state or the second power supply state.

[0041] According to a twentieth aspect of the invention, a control device for a human-powered vehicle includes a controller configured to control an actuator to move an output member according to control information. The controller is configured to control the actuator to move the output member in a first actuation manner in a first device state, where the control information indicates a first movement of the actuator and the movement of the output member has not reached a target movement after the controller controls the actuator according to the control information. The controller is also configured to control the actuator to move the output member in a second actuation manner, different from the first actuation manner, in a second device state, where the control information indicates a second movement of the actuator and the movement of the output member has not reached a target movement after the controller controls the actuator according to the control information. The first movement has a first actuating force. The second movement has a second actuating force different from the first actuating force.

[0042] Using the control device according to aspect 20, when the movement of the output member fails to reach the target movement, the actuation mode of the actuator during a retry operation can be changed depending on the movement caused by the actuator. Different movements caused by the actuator can result in different power consumption of the actuator. Therefore, it is possible to reduce the power consumption of the actuator during a retry operation depending on the movement of the actuator.

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

[0044] By using the derailleur according to aspect twenty-one, the power consumption of the actuator during retry operation can be reduced depending on the state of the power supply. Therefore, the power consumption of the derailleur can be reduced depending on the state of the power supply. Simple Explanation of the Diagram

[0045] A more complete evaluation of the invention and its many advantages will be readily obtained as the invention is better understood by referring to the following detailed description taken in conjunction with the accompanying drawings.

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

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

[0048] [Figure 3] is a schematic diagram of the sprocket assembly and the chain derailleur shown in Figure 1.

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

[0050] [Figure 5] is a schematic diagram showing the starting position and target position of the actuator's output component when the movement of the output component has not reached the target movement.

[0051] [Figure 6] is a schematic diagram showing the retry action (the retry action is successfully executed) of the actuator moving the output component after the movement of the output component has not reached the target movement.

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

[0053] [Figure 8] is a schematic diagram showing the actuation mode of the actuator in each of the first and second states.

[0054] [Figure 9] and [Figure 10] are flowcharts of the control performed by the control device of the derailleur shown in Figure 1.

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

[0056] [Figure 12] is a schematic diagram showing the actuation mode of the derailleur actuator shown in Figure 11 in each of the first and second states.

[0057] [Figure 13] and [Figure 14] are flowcharts of the control performed by the control device of the derailleur shown in Figure 11.

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

[0059] [Figure 16] is a schematic diagram showing the actuation mode of the derailleur actuator shown in Figure 15 in each of the first and second states.

[0060] [Figure 17] is a flowchart of the control performed by the control device of the derailleur shown in Figure 15.

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

[0062] [Figure 19] is a schematic diagram showing the actuation mode of the derailleur actuator shown in Figure 18 in each of the first actuator state and the second actuator state.

[0063] [Figure 20] is a flowchart of the control performed by the control device of the derailleur shown in Figure 18.

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

[0065] [Figure 22] is a schematic diagram showing the actuation mode of the derailleur actuator shown in Figure 21 in each of the first actuator state and the second actuator state.

[0066] [Figure 23] is a flowchart of the control performed by the control device of the derailleur shown in Figure 21.

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

[0068] [Figure 25] is a schematic diagram showing the actuation mode of the derailleur actuator shown in Figure 24 in each of the first actuator state and the second actuator state.

[0069] [Figure 26] is a flowchart of the control performed by the control device of the derailleur shown in Figure 24.

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

[0071] [Figure 28] is a schematic diagram showing the actuation mode of the derailleur actuator illustrated in Figure 27 in each of the first and second device states. Implementation

[0072] Embodiments will now be described with reference to the accompanying drawings, wherein the same element symbols denote corresponding or identical elements throughout the various drawings. First Embodiment

[0073] As shown in Figure 1, the human-powered vehicle 2 includes a body 2A, a saddle 2B, handlebars 2C, operating devices 3 and 4, derailleurs FD and RD, a chain 6, sprocket assemblies FS and RS, and a power supply PS. Operating device 3 is configured to receive user input to operate derailleur FD. Operating device 3 is configured to generate control signals in response to user input. Operating device 4 is configured to receive user input to operate derailleur RD. Operating device 4 is configured to generate control signals in response to user input. Operating devices 3 and 4 are mounted on handlebars 2C.

[0074] A sprocket assembly RS is rotatably coupled to a vehicle body 2A. A sprocket assembly FS is rotatably coupled to a vehicle body 2A. The sprocket assembly FS includes a plurality of sprockets. The sprocket assembly RS includes a plurality of sprockets. A chain 6 engages with one of the plurality of sprockets in the sprocket assembly FS and one of the plurality of sprockets in the sprocket assembly RS to transmit rotational force from the sprocket assembly FS to the sprocket assembly RS.

[0075] Derailleur FD is configured to be mounted on the vehicle body 2A. Derailleur FD is configured to move chain 6 relative to sprocket assembly FS in response to a control signal generated by operating device 3. Derailleur RD is configured to be mounted on the vehicle body 2A. Derailleur RD is configured to move chain 6 relative to sprocket assembly RS in response to a control signal generated by operating device 4.

[0076] Power supply PS is electrically connected to derailleur RD to supply power to derailleur RD. Power supply PS is also electrically connected to derailleur FD to supply power to derailleur FD.

[0077] In the first embodiment, the derailleur FD is the front derailleur. The derailleur RD is the rear derailleur. The sprocket assembly FS is the front sprocket assembly. The sprocket assembly RS is the rear sprocket assembly. However, the structure of the derailleur FD may be adapted to other devices if needed and / or desired. The structure of the derailleur RD may be adapted to other devices if needed and / or desired. Such adaptations can be applied to other embodiments and modifications thereof.

[0078] In this disclosure, a human-powered vehicle is a vehicle that is propelled by the human power of at least one user (e.g., a cyclist). Human-powered vehicles include various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, hand-cranked bikes, and recumbent bikes. Furthermore, human-powered vehicles include e-bikes. E-bikes include electric-assisted bicycles constructed to use an electric motor to assist in propulsion. However, the total number of wheels on a human-powered vehicle is not limited to two. For example, human-powered vehicles include vehicles with one wheel or three or more wheels. In particular, human-powered vehicles do not include vehicles that use only an internal combustion engine for propulsion. Generally, light road bicycles (including vehicles that do not require a license for public roads) are considered human-powered vehicles.

[0079] In this disclosure, the following directional terms "forward," "backward," "forward," "reverse," "left," "right," "lateral," "upward," and "downward," as well as any other similar directional terms, refer to those directions determined based on the user's standard position in the human-powered vehicle 2 (e.g., on the saddle 2B or seat) and facing the handlebars 2C (e.g., the rider). Therefore, when these terms are used to describe the derailleur RD, derailleur FD, or other components, they should be interpreted relative to a human-powered vehicle 2 equipped with derailleur RD and derailleur FD used in an upright riding position on a horizontal surface.

[0080] As shown in Figure 2, the power supply PS is electrically connected to the derailleurs RD and FD via a wired communication structure WS, supplying power to the derailleurs RD and FD through the wired communication structure WS. The wired communication structure WS includes cables EC1 and EC2. The derailleur RD is electrically connected to the power supply PS via cable EC1. The derailleur FD is electrically connected to the power supply PS via cable EC2.

[0081] The power supply PS comprises a battery PS1 and a battery holder PS2. The battery holder PS2 is configured to removably and reattach ground the battery PS1. The battery holder PS2 is mounted on the vehicle body 2A (see Figure 1). The battery holder PS2 is electrically connected to the derailleurs RD and FD via a wired communication structure WS. The battery holder PS2 is electrically connected to the derailleur RD via cable EC1. The battery holder PS2 is electrically connected to the derailleur FD via cable EC2. However, the power supply PS may require and / or wish to be directly mounted to the derailleur RD. The power supply PS may require and / or wish to be directly mounted to the derailleur FD.

[0082] The derailleur FD has a structure that is substantially the same as that of the derailleur RD. Therefore, the derailleur RD will be described here, but for the sake of brevity, the derailleur FD will not be described here. The description of the derailleur RD can be used as a description of the derailleur FD.

[0083] As shown in Figure 2, the derailleur RD for the human-powered vehicle 2 includes a base RD1, a movable member RD2, and an actuator RD3. The base RD1 is configured to be coupled to the body 2A of the human-powered vehicle 2. The movable member RD2 is movably coupled to the base RD1. The movable member RD2 can contact the chain 6. The movable member RD2 is configured to move the chain 6 relative to the sprocket assembly RS (for example, see Figure 1). For example, the movable member RD2 includes a linkage assembly, a chain guide, and a movable body. The chain guide is movable relative to the base RD1. The chain guide is pivotally coupled to the movable body. The movable body is pivotally coupled to the linkage assembly. The movable body is movably coupled to the base via the linkage assembly. Therefore, the linkage assembly movably couples the base and the chain guide. However, the structure of the movable member RD2 is not limited to the above structure.

[0084] Actuator RD3 includes output component RD4. Output component RD4 is operatively coupled to movable component RD2. Actuator RD3 is configured to move movable component RD2 using power supplied from power source PS. Actuator RD3 is coupled to movable component RD2 to move movable component RD2 relative to base RD1 using power supplied from power source PS.

[0085] Actuator RD3 includes a motor RD31 and a gear structure RD32. Motor RD31 is configured to generate rotational force and is coupled to gear structure RD32. Gear structure RD32 couples motor RD31 and movable member RD2 to transmit rotational force from motor RD31 to movable member RD2. Gear structure RD32 includes an output member RD4 coupled to movable member RD2.

[0086] The chainring RD for the human-powered vehicle 2 includes a control device 10. The control device 10 is configured to control the actuator RD3 in response to the operation of the operating device 4.

[0087] The control device 10 for the human-powered vehicle 2 includes a controller 12. The controller 12 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 12 is electrically connected to the actuator RD3 to control the actuator RD3 according to the control information. For example, the control information includes a control signal CS transmitted from the operating device 4. The controller 12 is configured to control the actuator RD3 to move the output member RD4 according to the control signal CS transmitted from the operating device 4.

[0088] The control signal CS includes a first control signal CS1 and a second control signal CS2. For example, the first control signal CS1 indicates either upshifting or downshifting of the derailleur RD. The second control signal CS2 indicates either upshifting or downshifting of the derailleur RD.

[0089] As shown in Figure 2, the controller 12 includes a processor 12P, a memory 12M, a circuit board 12C, and a bus 12B. The processor 12P and the memory 12M are electrically mounted on the circuit board 12C. The processor 12P and the memory 12M are electrically connected to the circuit board 12C via the bus 12B. The processor 12P is electrically connected to the memory 12M via the circuit board 12C and the bus 12B.

[0090] For example, processor 12P includes at least one of a central processing unit (CPU), a microprocessor unit (MPU), and a memory controller. Memory 12M is electrically connected to processor 12P. For example, memory 12M includes at least one of volatile memory and non-volatile memory. Examples of volatile memory include random access memory (RAM) and dynamic random access memory (DRAM). Examples of non-volatile memory include read-only memory (ROM) and electrically erasable programmable memory. Memory 12M includes storage areas, each having an address in ROM and RAM. Processor 12P is configured to control memory 12M to store data in and retrieve data from the storage areas of memory 12M. Processor 12P may also be referred to as hardware processor 12P. Memory 12M may also be referred to as hardware memory 12M. Memory 12M may also be referred to as computer-readable storage medium 12M.

[0091] The controller 12 is programmed to execute at least one control algorithm of the control device 10. Memory 12M (e.g., ROM) stores at least one program including at least one program instruction. The at least one program is read into the processor 12P, whereby the at least one control algorithm of the control device 10 is executed according to the at least one program. The controller 12 may also be referred to as a control circuit or a control circuit system 12A. The controller 12 may also be referred to as a hardware controller 12.

[0092] The structure of controller 12 is not limited to the illustrated structure. The structure of controller 12 is not limited to processor 12P, memory 12M, circuit board 12C, and bus 12B. Controller 12 can be implemented by individual hardware or a combination of hardware and software. Processor 12P and memory 12M can be integrated into a single chip, such as an application-specific integrated circuit (ASIC) or a field-programmable gate circuit (FPGA).

[0093] As shown in Figure 2, the control device 10 includes a wireless communicator WC1. The wireless communicator WC1 is configured to wirelessly communicate with an additional wireless communicator of the operating device 4. The wireless communicator WC1 is electrically connected to the controller 12. The wireless communicator WC1 is electrically mounted on a circuit board 12C. The wireless communicator WC1 is electrically connected to the processor 12P and memory 12M via the circuit board 12C and bus 12B. The wireless communicator WC1 includes a signal transmission circuit or circuit system, a signal receiving circuit or circuit system, and an antenna. Therefore, the wireless communicator WC1 can also be referred to as a wireless communication circuit or circuit system WC1.

[0094] Wireless communicator WC1 is configured to superimpose digital signals onto a carrier wave using a predetermined wireless communication protocol to wirelessly transmit signals. In a first embodiment, wireless communicator WC1 is configured to encrypt signals using a cryptographic key to generate encrypted wireless signals. Wireless communicator WC1 is configured to transmit wireless signals via an antenna.

[0095] Wireless communicator WC1 is configured to receive wireless signals via an antenna. In a first embodiment, wireless communicator WC1 is configured to decode wireless signals to identify signals transmitted from other wireless communicators, such as an auxiliary wireless communicator like operating device 4. Wireless communicator WC1 is configured to use a cryptographic key to decrypt wireless signals.

[0096] As shown in Figure 2, the control device 10 includes a connector port 14. The connector port 14 is configured to receive power from a power supply PS. The connector port 14 is electrically connected to a controller 12, a wireless communicator WC1, and an actuator RD3. The controller 12, the wireless communicator WC1, and the actuator RD3 are configured to receive power from the power supply PS via the connector port 14. In a first embodiment, the connector port 14 is configured to be electrically connected to the power supply PS via a cable EC1 that is removably and reattached to the connector port 14. However, the power supply PS may require and / or desire to be directly coupled to the connector port 14. In such an example, the connector port 14 includes a locking structure configured to removably and reattachedly ground the power supply PS.

[0097] The control device 10 includes a wired communicator WC2. The wired communicator WC2 is electrically connected to the controller 12, the wireless communicator WC1, the actuator RD3, and the connector port 14. The wired communicator WC2 is configured to receive power from the power supply PS via the connector port 14.

[0098] The wired communicator WC2 is configured to communicate with additional wired communicators of additional components (e.g., the power supply PS, the derailleur FD) via a wired communication structure WS using power line communication technology. Power line communication (PLC) carries data on conductors that are also used for power transmission or distribution in components such as the derailleur RD and FD. The wired communicator WC2 can also be referred to as a wired communication circuit or circuit system WC2.

[0099] For example, the wired communication structure WS includes a ground line and a voltage line detachably connected to a sequence bus formed by the communication interface. In a first embodiment, the wired communicator WC2 is configured to communicate with the power supply PS and the derailleur FD via the voltage line using PLC technology. The wired communicator WC2 is configured to superimpose a signal onto the power supply voltage applied to the wired communication structure WS by the power supply PS. The wired communicator WC2 is configured to receive signals from the controller 12 and is configured to superimpose signals onto the power supply voltage. The wired communicator WC2 is configured to separate the signal superimposed on the power supply voltage of the wired communication structure WS from the power supply voltage. The wired communicator WC2 is configured to transmit the signal separated from the power supply voltage to the controller 12. In cases where the battery is directly attached to the derailleurs FD and RD and the derailleurs FD and RD include wired communicators, the wired communicator WC2 can be omitted from the control device 10.

[0100] An additional wired communicator for the power supply PS is located in the battery holder PS2 and is configured to communicate with the wired communicator WC2 via the wired communication structure WS using a PLC. An additional wired communicator for the derailleur FD is configured to communicate with the wired communicator WC2 via the wired communication structure WS using a PLC. Therefore, the controller 12 is configured to communicate with the power supply PS and the derailleur FD using a PLC via the wired communicator WC2 and the wired communication structure WS.

[0101] As shown in Figure 2, the control device 10 includes a notification unit 16. The notification unit 16 is configured to inform the user of the status of at least one of the control device 10 and the derailleur RD. For example, the notification unit 16 is electrically mounted on a circuit board 12C of the controller 12. The notification unit 16 is electrically connected to the controller 12. The controller 12 is configured to control the notification unit 16 to inform the user of the status of the derailleur RD. Examples of the status of at least one of the control device 10 and the derailleur RD include the status of wireless communication, the pairing status of the wireless communicator WC1, the status of the power supply PS, and malfunction of the derailleur RD (e.g., malfunction of the actuator RD3). Examples of the notification unit 16 include a light-emitting diode, a lamp, a horn, and a vibrator. In a first embodiment, the notification unit 16 includes a light-emitting diode (LED) configured to emit light. However, the notification unit 16 may include other components if needed and / or desired.

[0102] As shown in Figure 2, the derailleur RD for the human-powered vehicle 2 includes a detector 18. The detector 18 is configured to detect actuation information regarding the movement of the output member RD4. The movable member RD2 is coupled to the output member RD4 of the actuator RD3 to move together with the output member RD4 relative to the base RD1. Therefore, the detector 18 is configured to detect the movement of the movable member RD2 relative to the base RD1 as actuation information.

[0103] The movement of output component RD4 includes at least one of the position of output component RD4 and the amount of movement of output component RD4. In the first embodiment, the movement of output component RD4 includes both the position of output component RD4 and the amount of movement of output component RD4. However, it is necessary and / or desired that the movement of output component RD4 include only one of the position of output component RD4 and the amount of movement of output component RD4.

[0104] Detector 18 is configured to detect the position of output member RD4 as actuation information. For example, detector 18 is configured to detect the rotational position of output member RD4. Examples of detector 18 include encoders and potentiometers. Examples of encoders include optical encoders and magnetic encoders. Detector 18 is configured to detect the relative position of output member RD4. However, detector 18 may be required and / or desired to be configured to detect the absolute position of output member RD4.

[0105] Controller 12 is electrically connected to detector 18 to obtain actuation information detected by detector 18. Controller 12 is electrically connected to detector 18 to obtain movement of output member RD4 detected by detector 18. Controller 12 is electrically connected to detector 18 to obtain the position of output member RD4 detected by detector 18. Controller 12 is configured to periodically obtain the current position of output member RD4 detected by detector 18. Controller 12 is configured to periodically store the current position of output member RD4 detected by detector 18.

[0106] As shown in Figure 3, the derailleur RD has a plurality of positions GP1 to GP12. The controller 12 is configured to control the actuator RD3 to selectively stop the movable member RD2 in each of the positions GP1 to GP12. The sprocket assembly RS includes a plurality of sprockets RS1 to RS12. The sprocket assembly RS is rotatable about the axis of rotation A1. Sprocket RS1 has the largest outer diameter among the plurality of sprockets RS1 to RS12 and corresponds to the lowest position of the sprocket assembly RS. Sprocket RS12 has the smallest outer diameter among the plurality of sprockets RS1 to RS12 and corresponds to the highest position of the sprocket assembly RS. The positions GP1 to GP12 of the movable member RD2 correspond to sprockets RS1 to RS12 of the sprocket assembly RS, respectively.

[0107] Output member RD4 has a plurality of positions RP1 to RP12. In the case where actuator RD3 rotates output member RD4, positions RP1 to RP12 can also be referred to as rotational positions RP1 to RP12. For example, the position of the gear included in gear structure RD32 is sensed as the position of output member RD4. Positions RP1 to RP12 of output member RD4 correspond to gear positions GP1 to GP12 of movable member RD2, respectively. For example, when actuator RD3 moves output member RD4 from position RP1 to position RP2, movable member RD2 is moved from gear position GP1 to gear position GP2.

[0108] Controller 12 is configured to respond to a first control signal CS1 and control actuator RD3 to move output member RD4 one gear stage in a first actuation direction D11. Controller 12 is also configured to respond to a second control signal CS2 and control actuator RD3 to move output member RD4 one gear stage in a second actuation direction D12. For example, controller 12 is configured to respond to the first control signal CS1 and control actuator RD3 to move output member RD4 from position RP1 to position RP2 when output member RD4 is at position RP1. Controller 12 is also configured to respond to the second control signal CS2 and control actuator RD3 to move output member RD4 from position RP2 to position RP1 when output member RD4 is at position RP2.

[0109] Actuator RD3 is configured to move movable member RD2 via output member RD4. Therefore, controller 12 is configured to respond to a first control signal CS1 and control actuator RD3 to move movable member RD2 one gear position in a first actuation direction D21. Controller 12 is also configured to respond to a second control signal CS2 and control actuator RD3 to move movable member RD2 one gear position in a second actuation direction D22. For example, controller 12 is configured to respond to the first control signal CS1 and control actuator RD3 to move movable member RD2 from gear GP1 to gear GP2 when movable member RD2 is in gear GP1. Controller 12 is configured to respond to the second control signal CS2 and control actuator RD3 to move movable member RD2 from gear GP2 to gear GP1 when movable member RD2 is in gear GP2.

[0110] As shown in Figure 4, the controller 12 is configured to control the output component RD4 from the starting position P1 to the target position P2 in response to control information. The starting position P1 can be one of positions RP1 to RP12 (e.g., see Figure 3). The target position P2 can be another position RP1 to RP12 adjacent to the starting position P1 and without any other position in between (e.g., see Figure 3). The difference between the starting position P1 and the target position P2 corresponds to one gear of the derailleur RD. The difference between the starting position P1 and the target position P2 corresponds to the target movement AT.

[0111] The controller 12 is configured to periodically acquire the current position P3 of the output member RD4 detected by the detector 18. The controller 12 is configured to control the actuator RD3 to begin moving the output member RD4 in response to control information (e.g., a first control signal CS1, a second control signal CS2). The controller 12 is configured to periodically compare the current position P3 with the target position P2 after the actuator RD3 has moved the output member RD4 from the starting position P1 towards the target position P2. The controller 12 is configured to control the actuator RD3 to stop the output member RD4 when the current position P3 reaches the target position P2.

[0112] The controller 12 is configured to store the target position P2 as the start position P1 after the actuator RD3 moves the output member RD4 from the start position P1 to the target position P2. The controller 12 can also be configured to obtain the start position P1 of the output member RD4 detected by the detector 18 before the controller 12 controls the actuator RD3 to move the output member RD4 in response to control information.

[0113] As shown in Figure 3, the controller 12 is configured to store the target movement amount AT between two adjacent positions defined in a plurality of positions RP1 to RP12 in memory 12M. The controller 12 is configured to select the target movement amount AT based on the starting position P1 and the target position P2 when the controller 12 selects the target position P2.

[0114] As shown in Figure 5, the movement of the output component RD4 does not reach the target movement if the movement of at least one of the output component RD4 and the movable component RD2 is restricted by a foreign object, if the actuator RD3 (e.g., motor RD31, gear structure RD32) is damaged, or if the force required to move the chain 6 exceeds the force generated by the actuator RD3 due to a foreign object attached to the sprocket assembly RS.

[0115] The target movement includes at least one of the target position P2 of the output component RD4 and the target movement amount AT of the output component RD4. In the first embodiment, the target movement includes both the target position P2 of the output component RD4 and the target movement amount AT of the output component RD4. However, the target movement may include only one of the target position P2 of the output component RD4 and the target movement amount AT of the output component RD4.

[0116] Therefore, controller 12 is configured to determine whether to output the movement of component RD4 to reach the target movement after controlling actuator RD3 based on control information. Controller 12 is configured to determine whether to output the current position P3 of component RD4 to reach the target position P2 after controlling actuator RD3 based on control information. Controller 12 is configured to determine whether to output the movement amount of component RD4 to reach the target movement amount AT after controlling actuator RD3 based on control information.

[0117] For example, controller 12 is configured to store the current stop position of output component RD4 as start position P1 when or before controller 12 receives control information. Controller 12 is configured to select target position P2 from positions RP1 to RP12 based on start position P1 and control information.

[0118] The controller 12 is configured to, upon receiving a first control signal CS1, select one of positions RP1 to RP12 that is adjacent to the start position P1 in the first actuation direction D11 as the target position P2. The controller 12 is also configured to, upon receiving a second control signal CS2, select one of positions RP1 to RP12 that is adjacent to the start position P1 in the second actuation direction D12 as the target position P2. The controller 12 is further configured to temporarily store the start position P1 and the target position P2 in memory 12M.

[0119] As shown in Figure 2, the controller 12 is configured to determine whether the power supply PS is in a first power state or a second power state different from the first power state. In a first embodiment, if the power supply PS is in the first power state, the power supply PS has a first remaining charge. If the power supply PS is in the second power state, the power supply PS has a second remaining charge. The second remaining charge is different from the first remaining charge. In the first embodiment, the second remaining charge is lower than the first remaining charge. However, the second remaining charge may need and / or be desired to be higher than or equal to the first remaining charge.

[0120] Controller 12 is configured to obtain remaining power information about the remaining charge of the power supply PS. The remaining power of the power supply PS includes at least one of the power supply PS's state of charge (SOC) and the power supply PS's depth of discharge (DOD). The SOC of the power supply PS is the ratio of the power supply PS's charge to its capacity. The DOD of the power supply PS is the inverse number of the power supply PS's SOC. In a first embodiment, the remaining power of the power supply PS includes the power supply PS's SOC. The remaining power of the power supply PS may, if needed and / or desired, include the power supply PS's DOD.

[0121] Furthermore, if the power supply PS is in a first power state, the power supply PS has a first capacity. If the power supply PS is in a second power state, the power supply PS has a second capacity. The second capacity is different from the first capacity. In the first embodiment, the second capacity is less than the first capacity. However, the second capacity may be required and / or desired to be greater than or equal to the first capacity.

[0122] Controller 12 is configured to obtain capacity information regarding the capacity of the power supply PS. The capacity of the power supply PS includes at least one of the rated discharge capacity of the power supply PS and the state of health (SOH) of the power supply PS. In a first embodiment, the capacity of the power supply PS includes the SOH of the power supply PS. The SOH of the power supply PS is the ratio of the current fully charged capacity of the power supply PS to its original fully charged capacity (e.g., rated discharge capacity). SOH indicates the degree of degradation of the power supply PS. The capacity of the power supply PS may be required and / or desired to include the rated discharge capacity.

[0123] As shown in Figure 2, the controller 12 is configured to determine whether the power supply PS is in a first power supply state or a second power supply state based on at least one of the voltage, current, and temperature of the power supply PS. In the first embodiment, the power supply PS includes a voltage sensor PS3, a current sensor PS4, a temperature sensor PS5, and an additional wired communicator PS6. The voltage sensor PS3 is configured to sense the voltage of the power supply PS. The current sensor PS4 is configured to sense the current of the power supply PS. The temperature sensor PS5 is configured to sense the temperature of the power supply PS.

[0124] An additional wired communicator PS6 is configured to communicate with the wired communicator WC2 of the control device 10 via a wired communication structure WS using a PLC. The additional wired communicator PS6 is configured to transmit the voltage sensed by the voltage sensor PS3, the current sensed by the current sensor PS4, and the temperature sensed by the temperature sensor PS5 to the control device 10. The controller 12 is configured to obtain the voltage sensed by the voltage sensor PS3, the current sensed by the current sensor PS4, and the temperature sensed by the temperature sensor PS5 from the power supply PS via the additional wired communicator PS6, the wired communication structure WS, and the wired communicator WC2 using a PLC.

[0125] The controller 12 is configured to calculate the estimated remaining power of the power supply PS based on at least one of the voltage, current, and temperature. In a first embodiment, the controller 12 is configured to calculate the estimated remaining power (e.g., State of Charge) of the power supply PS based on voltage, current, and temperature. For example, the controller 12 is configured to calculate the estimated remaining power (e.g., estimated State of Charge) based on an open circuit voltage (OCV) method or an integrated current value method. The controller 12 is configured to periodically calculate the estimated remaining power of the power supply PS. The controller 12 is configured to store the estimated remaining power of the power supply PS.

[0126] The controller 12 is configured to periodically compare the estimated remaining power with a remaining power threshold. The controller 12 is configured to store the remaining power threshold in memory 12M. If the estimated remaining power is higher than the remaining power threshold, the controller 12 determines that the power supply PS is in a first power state. If the estimated remaining power is lower than the remaining power threshold, the controller 12 determines that the power supply PS is in a second power state.

[0127] Controller 12 is configured to determine that the power supply PS is in a first power state if the estimated remaining power is equal to a remaining power threshold. However, controller 12 can also be configured to determine that the power supply PS is in a second power state if the estimated remaining power is equal to the remaining power threshold. Controller 12 may need and / or want to be configured to calculate the estimated remaining power of the power supply PS based on at least one of the voltage, current, and temperature of the power supply PS.

[0128] The controller 12 is configured to calculate the capacity of the power supply PS based on at least one of the voltage, current, and temperature. The controller 12 is configured to calculate the internal resistance of the power supply PS based on the voltage and current. The controller 12 is configured to calculate the ratio of the current internal resistance of the power supply PS to its initial internal resistance to obtain the capacity (e.g., SOH). The controller 12 is configured to periodically calculate the capacity of the power supply PS. The controller 12 is configured to store the capacity of the power supply PS.

[0129] The controller 12 is configured to periodically compare the capacity with a reference capacity. The controller 12 is configured to store the reference capacity in memory 12M. The controller 12 is configured to determine that the power supply PS is in a first power state if the capacity is higher than the reference capacity. The controller 12 is configured to determine that the power supply PS is in a second power state if the capacity is lower than the reference capacity. In the first embodiment, the controller 12 is configured to determine that the power supply PS is in the first power state if the capacity is equal to the reference capacity. However, the controller 12 can be configured to determine that the power supply PS is in the second power state if the capacity is equal to the reference capacity.

[0130] As shown in Figures 6 and 7, if the movement of the output component RD4 after the controller 12 controls the actuator RD3 according to the control information does not reach the target movement, the controller 12 is configured to control the actuator RD3 to move the output component RD4 at least once in one of the first actuation mode and the second actuation mode. The above action can also be referred to as a retry action.

[0131] However, the retry action affects the power consumption in the derailleur RD. Therefore, the controller 12 is configured to change the actuation mode of the actuator RD3 during the retry action depending on the state of the power supply PS.

[0132] The retry action does not include inching. In inching, the movement of the actuator's output member from the starting position to the target position is divided into a plurality of separate movements. At least one temporary target position is set between the starting position and the target position. The actuator temporarily stops the output member at each temporary target position during the inching action. In the retry action, no such temporary target position is set between the starting position P1 and the target position P2. In the retry action, actuator RD3 attempts to move the output member RD4 continuously from the starting position P1 to the target position P2 without temporarily stopping the output member RD4.

[0133] As shown in Figure 8, the controller 12 is configured to control the actuator RD3 to move the output component RD4 in a first actuation mode in a first state. The first state is when the power supply PS, configured to supply power to the actuator RD3, is in a first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 12 controls the actuator RD3 according to control information. The controller 12 is also configured to control the actuator RD3 to move the output component RD4 in a second actuation mode different from the first actuation mode in a second state. The second state is when the power supply PS is in a second power supply state different from the first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 12 controls the actuator RD3 according to control information.

[0134] The state in which the movement of output component RD4 fails to reach the target movement includes at least one of the following: the current position P3 of output component RD4 fails to reach the target position P2, and the movement amount of output component RD4 is less than the target movement amount AT. In the first embodiment, the state in which the movement of output component RD4 fails to reach the target movement includes both the current position P3 of output component RD4 failing to reach the target position P2 and the movement amount of output component RD4 being less than the target movement amount AT. However, the state in which the movement of output component RD4 fails to reach the target movement may include only one of the following: the current position P3 of output component RD4 failing to reach the target position P2 and the movement amount of output component RD4 being less than the target movement amount AT.

[0135] The controller 12 is configured to control the actuator RD3 to move the output member RD4 by a first number N1 during the actuation period TP in a first state. The controller 12 is also configured to control the actuator RD3 to move the output member RD4 by a second number N2, different from the first number N1, during the actuation period TP in a second state. The actuation period TP in the first state is equal to the actuation period TP in the second state.

[0136] When actuator RD3 moves output member RD4 by a first number N1 during the actuation period TP, the power consumption of derailleur RD is the first power consumption. When actuator RD3 moves output member RD4 by a second number N2 during the actuation period TP, the power consumption of derailleur RD is the second power consumption. The second number N2 is less than the first number N1. Therefore, the second power consumption of derailleur RD is lower than the first power consumption of derailleur RD.

[0137] As shown in Figure 8, the controller 12 is configured to store in memory 12M the normal time period TN necessary to move the output component RD4 from the starting position P1 to the target position P2. The controller 12 is configured to store an initial judgment time period DT0 that is longer than or equal to the normal time period TN. The controller 12 is configured to control the actuator RD3 to move the output component RD4 at an initial rate V0.

[0138] The controller 12 is configured to periodically obtain the current position P3 of the output member RD4 (e.g., see Figure 4) after the controller 12 controls the actuator RD3 to move the output member RD4 according to control information. The controller 12 is configured to compare the current position P3 with the target position P2 (e.g., see Figure 4) during the initial judgment period DT0. If the current position of the output member RD4 has reached the target position P2 (e.g., see Figure 4) after the initial judgment period DT0 has elapsed, the controller 12 determines that the movement of the output member RD4 has reached the target movement. If the current position P3 of the output member RD4 has not reached the target position P2 (e.g., see Figure 4) after the initial judgment period DT0 has elapsed, the controller 12 determines that the movement of the output member RD4 has not reached the target movement.

[0139] As shown in Figure 8, in the first state, the controller 12 is configured to determine whether to output whether the movement of component RD4 has reached the target movement based on a first judgment period DT1, which replaces the initial judgment period DT0. In the second state, the controller 12 is configured to determine whether to output whether the movement of component RD4 has reached the target movement based on a second judgment period DT2, which replaces the initial judgment period DT0. The second judgment period DT2 is different from the first judgment period DT1. Since the second number N2 is less than the first number N1, the second judgment period DT2 is longer than the first judgment period DT1. The second judgment period DT2 may need to and / or desire to be shorter than or equal to the first judgment period DT1.

[0140] Controller 12 is configured to control actuator RD3 to move output member RD4 at a first rate V1 in a first state. Controller 12 is configured to control actuator RD3 to move output member RD4 at a second rate V2 in a second state. The second rate V2 is different from the first rate V1. When a target movement amount AT is applied in each of the first and second states, the second rate V2 is lower than the first rate V1 because the second judgment period DT2 is longer than the first judgment period DT1. The second rate V2 may be higher than or equal to the first rate V1 if needed and / or desired.

[0141] As shown in Figure 6, the controller 12 is configured to stop the output member RD4 if the output member RD4 reaches the target movement before the total number N of times the actuator RD3 moves the output member RD4 reaches the first number N1. The controller 12 is configured to stop the output member RD4 if the output member RD4 reaches the target movement before the total number N of times the actuator RD3 moves the output member RD4 reaches the second number N2.

[0142] As shown in Figure 7, the controller 12 is configured to stop the output component RD4 if the total number of times the actuator RD3 moves the output component RD4 reaches the first number N1 and the movement of the output component RD4 does not reach the target movement. The controller 12 is also configured to stop the output component RD4 if the total number of times the actuator RD3 moves the output component RD4 reaches the second number N2 and the movement of the output component RD4 does not reach the target movement.

[0143] The controller 12 is configured to notify the user of a malfunction in the derailleur RD if the output member RD4 does not reach the target movement when the actuator RD3 moves the output member RD4 in the first count N1 or the second count N2. The controller 12 is also configured to generate a warning signal if the output member RD4 does not reach the target movement when the actuator RD3 moves the output member RD4 in the first count N1. The controller 12 is configured to transmit the warning signal to another component, such as a bicycle computer, via a wireless communicator WC1.

[0144] The control of the derailleur RD will be described below with reference to Figures 9 and 10.

[0145] As shown in Figure 9, the controller 12 determines whether the power supply PS is in the first power state STP1 or the second power state STP2 (step S1). In step S1, for example, the controller 12 determines whether the remaining power of the power supply PS is higher than or equal to the remaining power threshold and / or whether the capacity of the power supply PS is higher than or equal to the reference capacity.

[0146] If the power supply PS is in the first power state STP1, the first judgment period DT1 is stored in memory 12M as the judgment period DT (steps S1 and S2). If the power supply PS is in the first power state STP1, the first number N1 is stored in memory 12M as the judgment number NT (steps S1 and S2). If the power supply PS is in the first power state STP1, the first rate V1 is stored in memory 12M as the application rate V (steps S1 and S2).

[0147] If the power supply PS is in the second power state STP2, the second judgment period DT2 is stored in memory 12M as the judgment period DT (steps S1 and S3). If the power supply PS is in the second power state STP2, the second number N2 is stored in memory 12M as the judgment number NT (steps S1 and S3). If the power supply PS is in the second power state STP2, the second rate V2 is stored in memory 12M as the application rate V (steps S1 and S3).

[0148] Controller 12 determines whether it has received control information (step S4). Specifically, controller 12 determines whether it has received a first control signal CS1 or a second control signal CS2 via wireless communicator WC1. If controller 12 receives the first control signal CS1, steps S5 to S15 are executed by controller 12. If controller 12 receives the second control signal CS2, steps S25 to S35 shown in FIG. 10 are executed by controller 12. If controller 12 has not received control information, the program returns to step S1. Steps S1 to S3 are repeatedly executed by controller 12 until controller 12 receives control information.

[0149] Based on the starting position P1 and the first control signal CS1, select the target position P2 that is adjacent to the starting position P1 in the first actuation direction D11 from the positions RP1 to RP12 (step S5).

[0150] Controller 12 controls actuator RD3 to begin moving output component RD4 at an initial rate V0 in the first actuation direction D11 (step S6). Controller 12 determines whether the current position P3 has reached the target position P2 (step S7). If the current position P3 has reached the target position P2, the program returns to step S1.

[0151] After actuator RD3 begins moving output component RD4, controller 12 determines whether the initial judgment period DT0 has passed (step S8). If the initial judgment period DT0 has not passed, steps S7 and S8 are repeated by controller 12. If the initial judgment period DT0 has passed before the current position P3 reaches the target position P2, controller 12 controls actuator RD3 to stop moving output component RD4 (steps S8 and S9). The program then enters a retry operation (steps S10 to S14).

[0152] During the retry operation, the output component RD4 is repeatedly moved by the actuator RD3 for a number of judgments NT. If the power supply PS is in the first power state STP1, the number of judgments NT is the first number N1 (see steps S1 and S2). If the power supply PS is in the second power state STP2, the number of judgments NT is the second number N2 (see steps S1 and S3).

[0153] Controller 12 controls actuator RD3 to begin moving output member RD4 at applied rate V in the first actuation direction D11 (step S10). Controller 12 determines whether the current position P3 has reached the target position P2 (step S11). If the current position P3 has reached the target position P2, the program returns to step S1. As shown in Figure 8, the first rate V1 is used as the applied rate V in the first state. The second rate V2 is used as the applied rate V in the second state.

[0154] As shown in Figure 9, after the actuator RD3 starts moving the output component RD4, the controller 12 determines whether the time period DT has passed (step S12). If the time period DT has not passed, steps S11 and S12 are repeated by the controller 12. If the time period DT has passed before the current position P3 reaches the target position P2, the controller 12 controls the actuator RD3 to stop moving the output component RD4 (steps S12 and S13).

[0155] As shown in Figure 8, the first judgment period DT1 is used as the judgment period DT in the first state. The second judgment period DT2 is used as the judgment period DT in the second state.

[0156] As shown in Figure 9, the controller 12 determines whether the current number N of steps S10 to S13 has reached the judgment number NT. If the current number N has not reached the judgment number NT, the program returns to step S10 (step S14). If the current number of executions reaches the judgment number NT before the current position P3 of the output component RD4 reaches the target position P2, the notification unit 16 informs the user of the malfunction (steps S14 and S15).

[0157] As shown in Figure 8, the first number N1 is used as the number of judgments NT in the first state. The second number N2 is used as the number of judgments NT in the second state.

[0158] As seen in Figures 9 and 10, similar to steps S5 to S15 in Figure 9, if the controller 12 receives the second control signal CS2 in step S4 of Figure 9, steps S25 to S35 shown in Figure 10 are executed by the controller 12. Steps S25 to S35 in Figure 10 are essentially the same as steps S5 to S15 in Figure 9, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, the description of steps S5 to S15 can be used as a description of steps S25 to S35 by replacing "first actuation direction D11" with "second actuation direction D12". For the sake of brevity, steps S25 to S35 will not be described in detail here. Second Embodiment

[0159] The control device 210 according to the second embodiment will be described below with reference to FIGS. 11 to 14. The control device 210 has the same structure and / or configuration as the control device 10, except for the controller 12. Therefore, elements having substantially the same function as those in the first embodiment will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0160] As shown in Figure 11, the control device 210 for the human-powered vehicle 2 includes a controller 212. The controller 212 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 212 has a structure substantially the same as that of the controller 12 described in the first embodiment.

[0161] As shown in Figure 12, the controller 212 is configured to control the actuator RD3 to move the output component RD4 in a first actuation mode in a first state. The first state is when the power supply PS, configured to supply power to the actuator RD3, is in a first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 212 controls the actuator RD3 according to control information. The controller 212 is also configured to control the actuator RD3 to move the output component RD4 in a second actuation mode different from the first actuation mode in a second state. The second state is when the power supply PS is in a second power supply state different from the first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 212 controls the actuator RD3 according to control information.

[0162] In a second embodiment, controller 212 is configured to control actuator RD3 to move output member RD4 during a first actuation period TP1 in a first state. Controller 212 is also configured to control actuator RD3 to move output member RD4 during a second actuation period TP2, which is different from the first actuation period TP1, in a second state. In the second embodiment, the second actuation period TP2 is shorter than the first actuation period TP1. However, the second actuation period TP2 may be longer than the first actuation period TP1 if needed and / or desired.

[0163] Controller 212 is configured to control actuator RD3 to move output member RD4 by a number of decisions NT during a first actuation period TP1 in a first state. Controller 212 is also configured to control actuator RD3 to move output member RD4 by a number of decisions NT during a second actuation period TP2, different from the first actuation period TP1, in a second state. The number of decisions NT in the first state is equal to the total number of decisions in the second state. However, the number of decisions NT in the first state may, if needed and / or desired, differ from the number of decisions NT in the second state. The first number NT1, the second number N2, or another preset number is stored in memory 12M as the number of decisions NT.

[0164] In the second embodiment, the second judgment period DT2 is shorter than the first judgment period DT1. The second rate V2 is higher than the first rate V1. However, the second judgment period DT2 may need and / or be longer than or equal to the first judgment period DT1. The second rate V2 may need and / or be lower than or equal to the first rate V1.

[0165] As seen in Figures 13 and 14, the control of the derailleur RD has a flowchart that is substantially the same as the flowcharts shown in Figures 9 and 10.

[0166] As shown in Figure 13, the controller 212 determines whether the power supply PS is in the first power state STP1 or the second power state STP2 (step S1).

[0167] If the power supply PS is in the first power state STP1, the first judgment period DT1 is stored in memory 12M as the judgment period DT (steps S1 and S202). If the power supply PS is in the first power state STP1, the first actuation period TP1 is stored in memory 12M as the actuation period TP (steps S1 and S202). If the power supply PS is in the first power state STP1, the first rate V1 is stored in memory 12M as the application rate V (steps S1 and S202).

[0168] If the power supply PS is in the second power state STP2, the second judgment period DT2 is stored in memory 12M as the judgment period DT (steps S1 and S203). If the power supply PS is in the second power state STP2, the second actuation period TP2 is stored in memory 12M as the actuation period TP (steps S1 and S203). If the power supply PS is in the second power state STP2, the second rate V2 is stored in memory 12M as the application rate V (steps S1 and S203).

[0169] As shown in Figure 13, similar to the flowchart in Figure 9, controller 212 executes steps S4 to S13. In the second embodiment, after step S13, controller 212 determines whether the actuation period TP has passed (step S216). If the actuation period TP has not passed, step S14 is executed by controller 212 (steps S216 and S14). If the actuation period TP has passed, step S15 is executed by controller 212 (steps S216 and S15).

[0170] As shown in Figure 12, the first actuation period TP1 is used as the actuation period TP in the first state. The second actuation period TP2 is used as the actuation period TP in the second state.

[0171] As seen in Figures 13 and 14, similar to steps S5 to S15 and S216 in Figure 13, if the controller 212 receives the second control signal CS2 in step S4 of Figure 13, steps S25 to S35 and S236 shown in Figure 14 are executed by the controller 212. Steps S25 to S35 and S236 in Figure 14 are substantially the same as steps S5 to S15 and S216 in Figure 13, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, the description of steps S5 to S15 and S216 can be used as a description of steps S25 to S35 and S236 by replacing "first actuation direction D11" with "second actuation direction D12". For the sake of brevity, steps S25 to S35 and S236 will not be described in detail here. Third Embodiment

[0172] The control device 310 according to the third embodiment will be described below with reference to FIGS. 15 to 17. The control device 310 has the same structure and / or configuration as the control device 10, except for the controller 12. Therefore, elements having substantially the same function as those in the first and second embodiments will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0173] As shown in Figure 15, the control device 310 for the human-powered vehicle 2 includes a controller 312. The controller 312 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 312 has a structure substantially the same as that of the controller 12 described in the first embodiment.

[0174] As shown in Figure 16, the controller 312 is configured to control the actuator RD3 to move the output component RD4 in a first actuation mode in a first state. The first state is when the power supply PS, configured to supply power to the actuator RD3, is in a first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 312 controls the actuator RD3 according to control information. The controller 312 is also configured to control the actuator RD3 to move the output component RD4 in a second actuation mode different from the first actuation mode in a second state. The second state is when the power supply PS is in a second power supply state different from the first power supply state, and the movement of the output component RD4 has not reached the target movement after the controller 312 controls the actuator RD3 according to control information.

[0175] Controller 312 is configured to control actuator RD3 to move output member RD4 by a first number N1 during actuation period TP in a first state. Controller 312 is also configured to control actuator RD3 to move output member RD4 by a second number N2, different from the first number N1, during actuation period TP in a second state. In a third embodiment, the second number N2 is less than the first number N1. However, the second number N2 may be greater than or equal to the first number N1 if needed and / or desired.

[0176] The actuation period TP includes a first actuation period TP1 and a second actuation period TP2, which is different from the first actuation period TP1. The controller 312 is configured to control the actuator RD3 to move the output member RD4 by a first number N1 during the first actuation period TP1 in a first state. The controller 312 is configured to control the actuator RD3 to move the output member RD4 by a second number N2 during the second actuation period TP2 in a second state. In a third embodiment, the second actuation period TP2 is shorter than the first actuation period TP1. However, the second actuation period TP2 may be longer than or equal to the first actuation period TP1 if needed and / or desired.

[0177] As shown in Figure 17, the control of the derailleur RD has a flowchart that is essentially the same as the flowchart shown in Figure 13. The flowchart shown in Figure 14 can be used as a continuation of the flowchart in Figure 17.

[0178] As shown in Figure 17, the controller 312 determines whether the power supply PS is in the first power supply state STP1 or the second power supply state STP2 (step S1).

[0179] If the power supply PS is in the first power state STP1, the first actuation period TP1 is stored in memory 12M as the actuation period TP (steps S1 and S302). If the power supply PS is in the first power state STP1, the first count N1 is stored in memory 12M as the number of judgments NT (steps S1 and S302).

[0180] If the power supply PS is in the second power state STP2, the second actuation period TP2 is stored in memory 12M as the actuation period TP (steps S1 and S303). If the power supply PS is in the second power state STP2, the second number N2 is stored in memory 12M as the judgment number NT (steps S1 and S303).

[0181] As shown in Figure 16, the judgment period DT in the first state is equal to the judgment period DT in the second state. Therefore, the initial judgment period DT0, the first judgment period DT1, the second judgment period DT2, or another preset judgment period is stored in memory 12M as the judgment period DT. However, the judgment period DT in the first state may need and / or be different from the judgment period DT in the second state.

[0182] The application rate V in the first state is equal to the application rate V in the second state. Therefore, the initial rate V0, the first rate V1, the second rate V2, or another preset rate is stored in memory 12M as the application rate V. However, the application rate V in the first state may need and / or be different from the application rate V in the second state.

[0183] As shown in Figure 17, similar to the flowchart in Figure 13, the controller 312 executes steps S4 to S13. In the third embodiment, after step S13, the controller 312 determines whether the actuation period TP has passed (step S216). If the actuation period TP has not passed, step S14 is executed by the controller 312 (steps S216 and S14). If the actuation period TP has passed, step S15 is executed by the controller 312 (steps S216 and S15).

[0184] As shown in Figure 16, the first actuation period TP1 is used as the actuation period TP in the first state. The second actuation period TP2 is used as the actuation period TP in the second state. The first count N1 is used as the number of judgments NT in the first state. The second count N2 is used as the number of judgments NT in the second state.

[0185] As seen in Figures 17 and 14, similar to steps S5 to S15 and S216 in Figure 17, if the controller 312 receives the second control signal CS2 in step S4 of Figure 17, steps S25 to S35 and S236 in Figure 14 are executed by the controller 312. Steps S25 to S35 and S236 in Figure 14 are essentially the same as steps S5 to S15 and S216 in Figure 17, except that the first actuation direction D11 is replaced by the second actuation direction D12. Therefore, the description of steps S5 to S15 and S216 can be used as a description of steps S25 to S35 and S236 by replacing "first actuation direction D11" with "second actuation direction D12". For the sake of brevity, steps S25 to S35 and S236 will not be described in detail here. Fourth embodiment

[0186] The control device 410 according to the fourth embodiment will be described below with reference to FIGS. 18 to 20. The control device 410 has the same structure and / or configuration as the control device 10, except for the controller 12. Therefore, elements having substantially the same function as those in the first to third embodiments will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0187] As shown in Figure 18, the control device 410 for the human-powered vehicle 2 includes a controller 412. The controller 412 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 412 has a structure substantially the same as that of the controller 12 described in the first embodiment.

[0188] As shown in Figure 19, since the actuation direction of the actuator RD3 moving the output component RD4 affects the power consumption in the derailleur RD, the controller 412 is configured to change the actuation mode of the actuator RD3 depending on the actuation direction.

[0189] As shown in Figure 3, the first actuation direction D11 is the direction in which the power consumption of actuator RD3 is the first power consumption. The second actuation direction D12 is the direction in which the power consumption of actuator RD3 is the second power consumption. Actuator RD3 presses chain 6 against one of the sprockets RS1 to RS12 to facilitate gear shifting when actuator RD3 moves output component RD4 in the second actuation direction D12. Therefore, the second power consumption is higher than the first power consumption. When actuator RD3 moves output component RD4 one gear in the first actuation direction D11, actuator RD3 uses the first power consumption. When actuator RD3 moves output component RD4 one gear in the second actuation direction D12, actuator RD3 uses the second power consumption.

[0190] As shown in Figure 19, the controller 412 is configured to control the actuator RD3 to move the output member RD4 in a first actuation mode in a first actuator state. The first actuator state is the state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 has not reached the target movement after the controller 412 controls the actuator RD3 according to the control information. The first actuator state can also be referred to as the third state.

[0191] The controller 412 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode in the second actuator state. The second actuator state is a state in which the control information instructs the actuator RD3 to move in a second actuation direction D12 different from the first actuation direction D11, and the movement of the output member RD4 has not reached the target movement after the controller 412 controls the actuator RD3 according to the control information. The second actuator state can also be referred to as the fourth state.

[0192] In the fourth embodiment, the controller 412 is configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on a control signal CS (e.g., a first control signal CS1, a second control signal CS2). However, the controller 412 can also be configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on other information.

[0193] The controller 412 is configured to control the actuator RD3 to move the output member RD4 by a first number N1 during the actuation period TP in a first actuator state. The controller 412 is also configured to control the actuator RD3 to move the output member RD4 by a second number N2, different from the first number N1, during the actuation period TP in a second actuator state.

[0194] In the fourth embodiment, the second number N2 is less than the first number N1. The actuation period TP in the first actuator state is equal to the actuation period TP in the second actuator state. However, the second number N2 may need to be greater than or equal to the first number N1. The actuation period TP in the first actuator state may need to be different from the actuation period TP in the second actuator state.

[0195] As shown in Figure 20, the control of the derailleur RD has a flowchart that is essentially the same as the flowchart shown in Figure 9. The flowchart shown in Figure 10 can be used as a continuation of the flowchart in Figure 20.

[0196] As shown in Figure 20, the controller 412 does not determine whether the power supply PS is in the first power state or the second power state. As in step S4 of Figure 9, the controller 412 determines whether the controller 412 receives control information (step S401). Specifically, the controller 412 determines whether the controller 412 receives the first control signal CS1 or the second control signal CS2 via the wireless communicator WC1.

[0197] If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first judgment period DT1 is stored in memory 12M as the judgment period DT (steps S401 and S402). If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first count N1 is stored in memory 12M as the judgment count NT (steps S401 and S402). If controller 412 receives the first control signal CS1 via wireless communicator WC1, the first rate V1 is stored in memory 12M as the application rate V (steps S401 and S402). Step S401 is repeatedly executed by controller 412 until controller 412 receives either the first control signal CS1 or the second control signal CS2 (step S401).

[0198] If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second judgment period DT2 is stored in memory 12M as the judgment period DT (steps S401 and S403). If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second number N2 is stored in memory 12M as the judgment number NT (steps S401 and S403). If controller 412 receives the second control signal CS2 via wireless communicator WC1, the second rate V2 is stored in memory 12M as the application rate V (steps S401 and S403).

[0199] If controller 412 receives the first control signal CS1, steps S5 to S15 are executed by controller 412. If controller 412 receives the second control signal CS2, steps S25 to S35 shown in FIG10 are executed by controller 412. The description of steps S5 to S15 can be used as a description of steps S25 to S35 by replacing "first actuation direction D11" with "second actuation direction D12". Therefore, for the sake of brevity, steps S25 to S35 will not be described in detail here. Fifth embodiment

[0200] The control device 510 according to the fifth embodiment will be described below with reference to FIGS. 21 to 23. The control device 510 has the same structure and / or configuration as the control device 410, except for the controller 412. Therefore, elements having substantially the same function as those in the first to fourth embodiments will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0201] As shown in Figure 21, the control device 510 for the human-powered vehicle 2 includes a controller 512. The controller 512 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 512 has a structure substantially the same as that of the controller 412 described in the fourth embodiment.

[0202] As shown in Figure 22, the controller 512 is configured to control the actuator RD3 to move the output member RD4 in a first actuation mode in a first actuator state. The first actuator state is the state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 has not reached the target movement after the controller 512 controls the actuator RD3 according to the control information. The first actuator state can also be referred to as the third state.

[0203] The controller 512 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode in the second actuator state. The second actuator state is a state in which the control information instructs the actuator RD3 to move in a second actuation direction D12 different from the first actuation direction D11, and the movement of the output member RD4 has not reached the target movement after the controller 512 controls the actuator RD3 according to the control information. The second actuator state can also be referred to as the fourth state.

[0204] In the fifth embodiment, the controller 512 is configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on a control signal CS (e.g., a first control signal CS1, a second control signal CS2). However, the controller 512 can also be configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on other information.

[0205] Controller 512 is configured to control actuator RD3 to move output member RD4 during a first actuation period TP1 in a first actuation state. Controller 512 is also configured to control actuator RD3 to move output member RD4 during a second actuation period TP2, which is different from the first actuation period TP1, in a second actuation state. In the fifth embodiment, the second actuation period TP2 is shorter than the first actuation period TP1. However, the second actuation period TP2 may be longer than or equal to the first actuation period TP1 if needed and / or desired.

[0206] The controller 512 is configured to control the actuator RD3 to move the output member RD4 by a number of decisions NT during a first actuation period TP1 in a first actuator state. The controller 512 is also configured to control the actuator RD3 to move the output member RD4 by a number of decisions NT during a second actuation period TP2, different from the first actuation period TP1, in a second actuator state. However, the number of decisions NT in the first actuator state may, if needed and / or desired, differ from the total number of decisions in the second actuator state.

[0207] As shown in Figure 23, the control of the derailleur RD has a flowchart that is essentially the same as the flowchart shown in Figure 13. The flowchart shown in Figure 14 can be used as a continuation of the flowchart in Figure 23.

[0208] As shown in Figure 23, the controller 512 does not determine whether the power supply PS is in a first power state or a second power state. Similar to step S4 in Figure 13, the controller 512 determines whether it receives control information (step S401). Specifically, the controller 512 determines whether it receives a first control signal CS1 or a second control signal CS2 via the wireless communicator WC1. Step S401 is repeatedly executed by the controller 512 until it receives either the first control signal CS1 or the second control signal CS2 (step S401).

[0209] If the controller 512 receives the first control signal CS1 via the wireless communicator WC1, the first judgment period DT1 is stored in the memory 12M as the judgment period DT (steps S401 and S502). If the power supply PS is in the first power state STP1, the first actuation period TP1 is stored in the memory 12M as the actuation period TP (steps S401 and S502). If the controller 512 receives the first control signal CS1 via the wireless communicator WC1, the first rate V1 is stored in the memory 12M as the application rate V (steps S401 and S502).

[0210] If the controller 512 receives the second control signal CS2 via the wireless communicator WC1, the second judgment period DT2 is stored in the memory 12M as the judgment period DT (steps S401 and S503). If the power supply PS is in the second power state STP2, the second actuation period TP2 is stored in the memory 12M as the actuation period TP (steps S401 and S503). If the controller 512 receives the second control signal CS2 via the wireless communicator WC1, the second rate V2 is stored in the memory 12M as the application rate V (steps S401 and S503).

[0211] If controller 512 receives the first control signal CS1, steps S5 to S15 and S216 shown in FIG. 23 are executed by controller 512. If controller 512 receives the second control signal CS2 in step S401 of FIG. 23, steps S25 to S35 and S236 shown in FIG. 14 are executed by controller 512. The description of steps S5 to S15 and S216 described in the first embodiment can be used as a description of steps S5 to S15 and S216 shown in FIG. 23. The description of steps S5 to S15 and S216 described in the first embodiment can be used as a description of steps S25 to S35 and S236 shown in FIG. 14, continuing from step S401 of FIG. 23, by replacing "first actuation direction D11" with "second actuation direction D12". Therefore, for the sake of brevity, steps S25 to S35 and S236 will not be described in detail here. Sixth Embodiment

[0212] The control device 610 according to the sixth embodiment will be described below with reference to FIGS. 24 to 26. The control device 610 has the same structure and / or configuration as the control device 410, except for the controller 412. Therefore, elements having substantially the same function as those in the first to fourth embodiments will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0213] As shown in Figure 24, the control device 610 for the human-powered vehicle 2 includes a controller 612. The controller 612 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 612 has a structure substantially the same as that of the controller 412 described in the fourth embodiment.

[0214] As shown in Figure 25, the controller 612 is configured to control the actuator RD3 to move the output member RD4 in a first actuation mode in a first actuator state. The first actuator state is the state in which the control information indicates the first actuation direction D11 of the actuator RD3 and the movement of the output member RD4 has not reached the target movement after the controller 612 controls the actuator RD3 according to the control information. The first actuator state can also be referred to as the third state.

[0215] The controller 612 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode different from the first actuation mode in the second actuator state. The second actuator state is a state in which the control information instructs the actuator RD3 to move in a second actuation direction D12 different from the first actuation direction D11, and the movement of the output member RD4 has not reached the target movement after the controller 612 controls the actuator RD3 according to the control information. The second actuator state can also be referred to as the fourth state.

[0216] In the sixth embodiment, the controller 612 is configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on a control signal CS (e.g., a first control signal CS1, a second control signal CS2). However, the controller 612 can also be configured to determine whether the control information indicates a first actuation direction D11 or a second actuation direction D12 based on other information.

[0217] Controller 612 is configured to control actuator RD3 to move output member RD4 by a first number N1 during actuation period TP in a first actuator state. Controller 612 is also configured to control actuator RD3 to move output member RD4 by a second number N2, different from the first number N1, during actuation period TP in a second actuator state. In the sixth embodiment, the second number N2 is less than the first number N1. However, the second number N2 may be greater than or equal to the first number N1 if needed and / or desired.

[0218] The actuation period TP includes a first actuation period TP1 and a second actuation period TP2, which is different from the first actuation period TP1. The controller 612 is configured to control the actuator RD3 to move the output member RD4 by a first number N1 during the first actuation period TP1 in the first actuator state. The controller 612 is configured to control the actuator RD3 to move the output member RD4 by a second number N2 during the second actuation period TP2 in the second actuator state. In the sixth embodiment, the second actuation period TP2 is shorter than the first actuation period TP1. However, the second actuation period TP2 may be longer than or equal to the first actuation period TP1 if needed and / or desired.

[0219] As shown in Figure 26, the control of the derailleur RD has a flowchart that is essentially the same as the flowchart shown in Figure 13. The flowchart shown in Figure 14 can be used as a continuation of the flowchart in Figure 26.

[0220] As shown in Figure 26, the controller 612 does not determine whether the power supply PS is in a first power state or a second power state. Similar to step S4 in Figure 13, the controller 612 determines whether it receives control information (step S401). Specifically, the controller 612 determines whether it receives a first control signal CS1 or a second control signal CS2 via the wireless communicator WC1. Step S401 is repeatedly executed by the controller 612 until it receives either the first control signal CS1 or the second control signal CS2 (step S401).

[0221] If the power supply PS is in the first power state STP1, the first actuation period TP1 is stored in memory 12M as the actuation period TP (steps S401 and S602). If the power supply PS is in the first power state STP1, the first count N1 is stored in memory 12M as the number of judgments NT (steps S401 and S602).

[0222] If the power supply PS is in the second power state STP2, the second actuation period TP2 is stored in memory 12M as the actuation period TP (steps S401 and S603). If the power supply PS is in the second power state STP2, the second number N2 is stored in memory 12M as the judgment number NT (steps S401 and S603).

[0223] If controller 612 receives the first control signal CS1, steps S5 to S15 and S216 shown in FIG. 26 are executed by controller 612. If controller 612 receives the second control signal CS2 in step S401 of FIG. 26, steps S25 to S35 and S236 shown in FIG. 14 are executed by controller 612. The description of steps S5 to S15 and S216 described in the first embodiment can be used as a description of steps S5 to S15 and S216 shown in FIG. 26. The description of steps S5 to S15 and S216 described in the first embodiment can be used as a description of steps S25 to S35 and S236 shown in FIG. 14 continuing from step S401 of FIG. 26 by replacing "first actuation direction D11" with "second actuation direction D12". Therefore, for the sake of brevity, steps S25 to S35 and S236 will not be described in detail here. Seventh Embodiment

[0224] The control device 710 according to the seventh embodiment will be described below with reference to FIGS. 27 and 28. The control device 710 has the same structure and / or configuration as the control device 410, except for the controller 412. Therefore, elements having substantially the same function as those in the first to fourth embodiments will be numbered the same herein, and for the sake of brevity, will not be described and / or illustrated again in detail herein.

[0225] As shown in Figure 27, the control device 710 for the human-powered vehicle 2 includes a controller 712. The controller 712 is configured to control the actuator RD3 to move the output member RD4 according to control information. The controller 712 has a structure substantially the same as that of the controller 412 described in the fourth embodiment.

[0226] As shown in Figure 28, the controller 712 is configured to control the actuator RD3 to move the output member RD4 in a first actuation mode in a first device state. The first device state is the state in which the control information instructs the actuator RD3 to make a first movement, and the movement of the output member RD4 does not reach the target movement after the controller 712 controls the actuator RD3 according to the control information. The first device state can also be referred to as the fifth state.

[0227] The controller 712 is configured to control the actuator RD3 to move the output member RD4 in a second actuation mode, different from the first actuation mode, in the second device state. The second device state is a state in which the control information instructs the actuator RD3 to move second, and the movement of the output member RD4 has not reached the target movement after the controller 712 controls the actuator RD3 according to the control information. The second device state can also be referred to as the sixth state.

[0228] The first movement has a first actuating force. The second movement has a second actuating force different from the first actuating force. In the first movement, actuator RD3 moves output member RD4 in a first actuation direction D11. In the second movement, actuator RD3 moves output member RD4 in a second actuation direction D12. However, the first and second movements may include other movements of actuator RD3 if needed and / or desired.

[0229] As described in the fourth embodiment, actuator RD3 presses chain 6 against one of sprockets RS1 to RS12 to facilitate shifting when actuator RD3 moves output member RD4 in the second actuation direction D12. Therefore, the second actuation force of the second movement is greater than the first actuation force of the first movement. However, the second actuation force of the second movement may, if needed and / or desired, be less than or equal to the first actuation force of the first movement.

[0230] The controller 712 is configured to determine whether control information indicates a first movement or a second movement based on the control signal CS. The controller 712 is configured to determine that if it receives the first control signal CS1, the control information indicates a first movement. The controller 712 is configured to determine that if it receives the second control signal CS2, the control information indicates a second movement. Therefore, at least one of the flowcharts shown in Figures 20, 23, and 26 can be applied to the control of the control device 710. For the sake of brevity, they will not be described here.

[0231] In the first to seventh embodiments and their modifications, the operating device 4 is configured to transmit control information to each of the control devices 10 to 710. However, at least one of the control devices 10 to 710 may be configured to generate control information based on information about the human-powered vehicle. That is, at least one of the control devices 10 to 710 may be required and / or desired to be applicable to the automatic shifting system of the human-powered vehicle.

[0232] In the first, third, fourth, and sixth embodiments, the first number N1 is 5 times, and the second number N2 is 3 times. In the second and fifth embodiments, the number of judgments NT is 3 times. However, the first number N1 is not limited to 5 times. The second number N2 is not limited to 3 times. The number of judgments NT is not limited to 3 times. The same modification can also be applied to the seventh embodiment.

[0233] In this disclosure, the term "comprising" and its derivatives are intended as open-ended terms that define the presence of the stated feature, element, component, group, integer, and / or step without excluding the presence of other unmentioned features, elements, components, groups, integers, and / or steps. This concept is also applied to words with similar meanings, such as the terms "having," "including," and their derivatives.

[0234] The terms “component,” “section,” “part,” “part,” “element,” “body,” and “structure,” when used in the singular form, can have the dual meaning of a single component or a plural component.

[0235] The designations “first” and “second” used in this disclosure are merely identifiers and do not have any other meaning, such as a specific order or the like. Furthermore, for example, the term “first element” does not imply the existence of “second element”, and the term “second element” does not imply the existence of “first element”.

[0236] The term "pair" as used here can cover configurations where the pair of elements have the same shape or structure as each other, or configurations where the pair of elements have different shapes or structures as each other.

[0237] The terms "one", "one or more" and "at least one" can be used interchangeably here.

[0238] The term "at least one of" as used herein means "one or more" of the desired choices. For one example, if the number of choices is two, the term "at least one of" as used herein means "only one choice" or "both of the two choices." For other examples, if the number of choices is equal to or greater than three, the term "at least one of" as used herein means "only one choice" or "any combination equal to or greater than two choices." For example, the term "at least one of A and B" covers (1) A alone, (2) B alone, and (3) both A and B. The term "at least one of A, B, and C" covers (1) A alone, (2) B alone, (3) C alone, (4) both A and B, (5) both B and C, (6) both A and C, and (7) all of A, B, and C. In other words, the term "at least one of A and B" as used herein does not mean "at least one of A and at least one of B."

[0239] Finally, the degree terms used herein, such as “substantially,” “approximately,” and “nearly,” indicate a reasonable amount of deviation of the terms being modified so that the final result is not significantly altered. All numerical values ​​described in this disclosure can be interpreted to include terms such as “substantially,” “approximately,” and “nearly.”

[0240] Obviously, many modifications and variations of the invention are possible in view of the foregoing teachings. Therefore, it is to be understood that the invention can be practiced in ways other than those precisely described herein, within the scope of the appended claims.

[0241] 2: Human-powered vehicles 2A: Vehicle body 2B: Saddle 2C: Handlebars 3: Operating device 4: Operating device 6: Chain 10: Control device 12: Controller 14: Connector Port 16: Notification Unit 18: Detector 210: Control device 212: Controller 310: Control device 312: Controller 410: Control device 412: Controller 510: Control device 512: Controller 610: Control device 612: Controller 710: Control device 712: Controller 12A: Control circuit, control circuit system 12B: Busbar 12C: Circuit board 12M: Memory 12P: Processor A1: Axis of rotation AT: Target movement CS: Control Signal CS1: First control signal CS2: Second control signal D11: First Actuation Direction D12: Second Actuation Direction D21: First Actuation Direction D22: Second Actuation Direction DT: Determine the time period DT0: Initial judgment period DT1: First judgment period DT2: Second judgment period EC1: Cable EC2: Cable FD: Derailleur FS: Sprocket Assembly GP1: Gear GP2: Gear GP3: Gear GP4: Gear GP5: Gear GP6: Gear GP7: Gear GP8: Gear GP9: Gear GP10: Gear GP11: Gear GP12: Gear N: Total number of times, current number of times N1: First count N2: Second number NT: Number of judgments P1: Starting Position P2: Target Location P3: Current Location PS: Power supply PS1: Battery PS2: Battery Holder PS3: Voltage Sensor PS4: Current Sensor PS5: Temperature Sensor PS6: Includes wired communication device RD: Derailleur RD1: Base RD2: Movable component RD3: Actuator RD31: Motor RD32: Gear Structure RD4: Output component RP1: Position RP2: Position RP3: Position RP4: Position RP5: Position RP6: Position RP7: Position RP8: Position RP9: Position RP10: Position RP11: Location RP12: Position RS: Sprocket Assembly RS1: Sprocket RS2: Sprocket RS3: Sprocket RS4: Sprockets RS5: Sprocket RS6: Sprockets RS7: Sprockets RS8: Sprockets RS9: Sprockets RS10: Sprockets RS11: Sprockets RS12: Sprockets S1: Steps S2: Steps S3: Steps S4: Steps S5: Steps S6: Steps S7: Steps S8: Steps S9: Steps S10: Steps S11: Steps S12: Steps S13: Steps S14: Steps S15: Steps S25: Steps S26: Steps S27: Steps S28: Steps S29: Steps S30: Steps S31: Steps S32: Steps S33: Steps S34: Steps S35: Steps S202: Steps S203: Steps S216: Steps S236: Steps S302: Steps S303: Steps S401: Steps S402: Steps S403: Steps S502: Steps S503: Steps S602: Steps S603: Steps STP1: First power state STP2: Second power supply state TN: Normal period TP: Actuation period TP1: First Actuation Period TP2: Second actuation period V: Application Rate V0: Initial speed V1: First speed V2: Second Rate WC1: Wireless Communicator WC: Wire Communicator WS: Wired communication structure

Claims

1. A control device for a human-powered vehicle, the control device comprising: a controller configured to control an actuator to move an output member according to control information, the controller being configured to control the actuator to move the output member in a first actuation manner in a first state, the first state being configured such that the power supply to the actuator is in a first power state and the movement of the output member has not reached a target movement after the controller controls the actuator according to the control information, and the controller being configured to control the actuator to move the output member in a second actuation manner different from the first actuation manner in a second state, the second state being such that the power supply is in a second power state different from the first power state and the movement of the output member has not reached the target movement after the controller controls the actuator according to the control information.

2. The control device for a human-powered vehicle as claimed in claim 1, wherein the controller is configured to control the actuator to move the output member a first number during the actuation period in the first state, and the controller is configured to control the actuator to move the output member a second number different from the first number during the actuation period in the second state.

3. The control device for a human-powered vehicle as claimed in claim 2, wherein if the power supply is in the first power supply state, the power supply has a first remaining power charge; if the power supply is in the second power supply state, the power supply has a second remaining power charge, the second remaining power charge being lower than the first remaining power charge, and the second number being less than the first number.

4. The control device for a human-powered vehicle as claimed in claim 2, wherein if the power supply is in the first power supply state, the power supply has a first capacity, and if the power supply is in the second power supply state, the power supply has a second capacity, the second capacity being less than the first capacity, and the second capacity being less than the first capacity.

5. The control device for a human-powered vehicle as claimed in claim 2, wherein the actuation period in the first state is equal to the actuation period in the second state.

6. The control device for a human-powered vehicle as claimed in claim 1, wherein the controller is configured to control the actuator to move the output member during a first actuation period in the first state, and the controller is configured to control the actuator to move the output member during a second actuation period different from the first actuation period in the second state.

7. The control device for a human-powered vehicle as claimed in claim 6, wherein if the power supply is in the first power supply state, the power supply has a first remaining charge; if the power supply is in the second power supply state, the power supply has a second remaining charge, the second remaining charge being lower than the first remaining charge, and the second actuation period being shorter than the first actuation period.

8. The control device for a human-powered vehicle as claimed in claim 6, wherein if the power supply is in the first power supply state, the power supply has a first capacity, and if the power supply is in the second power supply state, the power supply has a second capacity, the second capacity being less than the first capacity, and the second actuation period being shorter than the first actuation period.

9. The control device for a human-powered vehicle as claimed in claim 2, wherein the actuation period includes a first actuation period and a second actuation period different from the first actuation period, the controller is configured to control the actuator to move the output member by the first number during the first actuation period in the first state, and the controller is configured to control the actuator to move the output member by the second number during the second actuation period in the second state.

10. The control device for a human-powered vehicle as claimed in claim 9, wherein if the power supply is in the first power supply state, the power supply has a first capacity, and if the power supply is in the second power supply state, the power supply has a second capacity, the second capacity being lower than the first capacity, and the second actuation period being shorter than the first actuation period.

11. A control device for a human-powered vehicle, the control device comprising: a controller configured to control an actuator to move an output member according to control information, the controller being configured to control the actuator to move the output member in a first actuation manner in a first actuator state, the first actuator state being a state in which the control information indicates a first actuation direction of the actuator and the movement of the output member has not reached a target movement after the controller controls the actuator according to the control information, and the controller being configured to control the actuator to move the output member in a second actuation manner different from the first actuation manner in a second actuator state, the second actuator state being a state in which the control information indicates a second actuation direction of the actuator different from the first actuation direction and the movement of the output member has not reached the target movement after the controller controls the actuator according to the control information.

12. The control device for a human-powered vehicle as claimed in claim 11, wherein the controller is configured to control the actuator to move the output member a first number during an actuation period in a first actuator state, and the controller is configured to control the actuator to move the output member a second number different from the first number during the actuation period in a second actuator state.

13. The control device for a human-powered vehicle as claimed in claim 12, wherein the first actuation direction is the direction in which the power consumption of the actuator is a first power consumption, the second actuation direction is the direction in which the power consumption of the actuator is a second power consumption that is higher than the first power consumption, and the second power consumption is less than the first power consumption.

14. The control device for a human-powered vehicle as claimed in claim 12, wherein the actuation period in the first actuator state is equal to the actuation period in the second actuator state.

15. The control device for a human-powered vehicle as claimed in claim 12, wherein the actuation period includes a first actuation period and a second actuation period different from the first actuation period, the controller is configured to control the actuator to move the output member by the first number during the first actuation period in the first actuation state, and the controller is configured to control the actuator to move the output member by the second number during the second actuation period in the second actuation state.

16. The control device for a human-powered vehicle as claimed in claim 15, wherein the first actuation direction is the direction in which the power consumption of the actuator is a first power consumption, the second actuation direction is the direction in which the power consumption of the actuator is a second power consumption that is higher than the first power consumption, and the second actuation period is shorter than the first actuation period.

17. The control device for a human-powered vehicle as claimed in claim 11, wherein the controller is configured to control the actuator to move the output member during a first actuation period in the first actuator state, and the controller is configured to control the actuator to move the output member during a second actuation period different from the first actuation period in the second actuator state.

18. The control device for a human-powered vehicle as claimed in claim 17, wherein the first actuation direction is the direction in which the power consumption of the actuator is a first power consumption, the second actuation direction is the direction in which the power consumption of the actuator is a second power consumption that is higher than the first power consumption, and the second actuation period is shorter than the first actuation period.

19. The control device for a human-powered vehicle as claimed in claim 1, wherein the controller is configured to determine whether the power supply is in the first power supply state or the second power supply state based on at least one of the voltage, current and temperature of the power supply.

20. A control device for a human-powered vehicle, the control device comprising: a controller configured to control an actuator to move an output member according to control information, the controller being configured to control the actuator to move the output member in a first actuation manner in a first device state, the first device state being a state in which the control information indicates a first movement of the actuator and the movement of the output member has not reached a target movement after the controller controls the actuator according to the control information, and the controller being configured to control the actuator to move the output member in a second actuation manner different from the first actuation manner in a second device state, the second device state being a state in which the control information indicates a second movement of the actuator and the movement of the output member has not reached the target movement after the controller controls the actuator according to the control information, the first movement having a first actuating force, and the second movement having a second actuating force different from the first actuating force.

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

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