JP2023024616A - Control device and brake system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device and a brake system which can appropriately brake a rotating body of a human power-driven vehicle.

SOLUTION: A control device, which controls a human power-driven vehicle configured to make a braking device brake a rotating body, comprises a control part that executes adjustment control which is control concerning an anti-lock brake system that adjusts braking force acting on the rotating body, on the basis of braking relevant information which is different from a rotation speed of the rotating body. The human power-driven vehicle includes an operation device configured to operate the braking device. The control part is transferred from a state where the adjustment control is not executed into a state where the adjustment control is executed, when the adjustment control is not executed and when the operation information concerning operation of the operation device which is the braking relevant information is above a threshold.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a control device and a brake system mounted on a human-powered vehicle.

BACKGROUND ART For example, the brake system disclosed in Patent Document 1 is known as a brake system applied to a human-powered vehicle. This braking system comprises a braking device configured to brake a rotating body of a manpowered vehicle, an operating device configured to operate the braking device, and a control device for controlling the braking device according to the operation of the operating device. and a device.

JP 2017-30395 A

It is desirable to be able to suitably brake the rotating body of the manpowered vehicle.
SUMMARY OF THE INVENTION An object of the present invention is to provide a control device and a brake system capable of suitably braking a rotating body of a manpowered vehicle.

A control device according to a first aspect of the present invention is a control device for a manpowered vehicle configured to brake a rotating body with a braking device, based on braking-related information different from the rotational speed of the rotating body, A control unit that performs adjustment control for adjusting the braking force acting on the rotating body is provided.
According to the control device of the first aspect, since the braking force acting on the rotating body is automatically adjusted by the adjustment control, the rotating body of the manpowered vehicle can be suitably braked. In addition, since braking-related information different from the rotation speed of the rotating body is used for adjustment control, it is possible to reduce elements for obtaining information necessary for adjustment control.

The control device according to the second aspect according to the first aspect, further comprising a storage unit that stores a threshold value to be compared with the braking-related information, wherein the control unit performs Execute the adjustment control.
According to the control device of the second aspect, the rotating body of the manpowered vehicle can be suitably braked.

A control device according to a third aspect of the present invention is a control device for a manpowered vehicle configured to brake a rotating body by a braking device, wherein a result of comparison between braking-related information regarding braking of the rotating body and a threshold value is and a setting unit configured to set the threshold according to the braking-related information.
According to the control device of the third aspect, since the braking force acting on the rotating body is adjusted by the adjustment control using the threshold value set according to the braking-related information, the rotating body of the human-powered vehicle can be controlled according to the situation. It can brake well.

In the control device of the fourth aspect according to any one of the first to third aspects, the braking-related information includes physical information of predetermined elements provided in the manpowered vehicle.
According to the control device of the fourth aspect, since the physical information reflecting the braking force is used for the adjustment control, the rotating body of the human-powered vehicle can be suitably braked.

In the control device according to the fifth aspect according to the fourth aspect, the predetermined element includes at least one of a manpowered vehicle body, the rotating body, wheels on which the rotating body is provided, and the braking device.
According to the control device of the fifth aspect, the information on which the braking force is likely to be reflected among the physical information is used for the adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device according to the sixth aspect according to the fifth aspect, the braking device includes a friction member, a caliper configured to press the friction member against the rotating body, and attaching the caliper to the manpowered vehicle body. Includes mounting bolts for
According to the control device of the sixth aspect, the information that is likely to reflect the braking force among the physical information is used for adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device of the seventh aspect according to any one of the fourth to sixth aspects, the physical information includes shape information regarding the shape of the predetermined element.
According to the control device of the seventh aspect, since the shape information reflecting the braking force is used for the adjustment control, it is possible to suitably brake the rotating body of the human-powered vehicle.

In the control device of the eighth aspect according to the seventh aspect, the shape information includes strain information regarding strain of the predetermined element.
According to the control device of the eighth aspect, since the strain information reflecting the braking force is used for adjustment control, the rotating body of the manpowered vehicle can be suitably braked.

In the control device of the ninth aspect according to any one of the fourth to eighth aspects, the physical information includes temperature information regarding the temperature of the predetermined element.
According to the control device of the ninth aspect, since the temperature information reflecting the braking force is used for the adjustment control, the rotating body of the manpowered vehicle can be suitably braked.

In the control device of the tenth aspect according to the fourth aspect, the predetermined elements include a first element provided on the outer peripheral side of the wheel with respect to the spokes, and a first element provided on the inner peripheral side of the wheel with respect to the spokes. It includes two elements, and the physical information includes phase difference information about the phase difference between the first element and the second element.
According to the control device of the tenth aspect, since the phase difference information reflecting the braking force is used for the adjustment control, the rotating body of the human-powered vehicle can be suitably braked.

In the control device of the eleventh aspect according to the tenth aspect, the first element comprises a rim and the second element comprises a hub shell.
According to the control device of the eleventh aspect, the information on which the braking force is likely to be reflected among the phase difference information is used for the adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device of the twelfth aspect according to any one of the first to third aspects, the braking-related information includes operation information regarding operation of an operating device configured to operate the braking device.
According to the control device of the twelfth aspect, since the operation information reflecting the braking force is used for adjustment control, the rotating body of the manpower-driven vehicle can be suitably braked.

In the control device according to the thirteenth aspect according to the twelfth aspect, the operating device includes a lever, and the operation information includes at least one of rotation information about rotation of the lever and lever load information about a load acting on the lever. including one or the other.
According to the control device of the thirteenth aspect, since the information on which the braking force is likely to be reflected among the operation information is used for the adjustment control, the rotating body of the human-powered vehicle can be suitably braked.

In the control device according to the fourteenth aspect according to the thirteenth aspect, the rotation information includes at least one of rotation speed of the lever, rotation angle of the lever, and rotation acceleration of the lever.
According to the control device of the fourteenth aspect, the information on which the braking force is likely to be reflected among the operation information is used for adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device according to the fifteenth aspect according to the thirteenth or fourteenth aspect, the lever load information includes at least one of a load acting on the lever and an increasing speed of the load acting on the lever.
According to the control device of the fifteenth aspect, the information on which the braking force is likely to be reflected among the operation information is used for adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device of the sixteenth aspect according to any one of the twelfth to fifteenth aspects, the operating device includes a piston, and the operation information includes movement information regarding movement of the piston and acting on the piston. At least one of piston load information about load is included.
According to the control device of the sixteenth aspect, since the information that is likely to reflect the braking force among the operation information is used for the adjustment control, it is possible to suitably brake the rotating body of the human-powered vehicle.

In the control device according to the seventeenth aspect according to the sixteenth aspect, the movement information includes at least one of movement speed of the piston and acceleration of the piston.
According to the control device of the seventeenth aspect, the information on which the braking force is likely to be reflected among the operation information is used for adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device according to the eighteenth aspect according to the sixteenth or seventeenth aspect, the piston load information includes at least one of a load acting on the piston and an increasing speed of the load acting on the piston.
According to the control device of the eighteenth aspect, the information on which the braking force is likely to be reflected among the operation information is used for adjustment control, so that the rotating body of the human-powered vehicle can be suitably braked.

In the control device of the 19th aspect according to any one of the 1st to 18th aspects, the rotating body is a disc brake rotor that rotates integrally with a wheel of the manpowered vehicle.
According to the control device of the nineteenth aspect, the rotating body of the manpowered vehicle can be suitably braked.

A braking system according to a twentieth aspect of the present invention includes the control device, the braking device configured to brake the rotating body, and an operating device configured to operate the braking device.
According to the braking system of the twentieth aspect, the braking force acting on the rotating body is automatically adjusted by adjustment control, so that the rotating body of the manpowered vehicle can be suitably braked.

In the brake system according to the twenty-first aspect according to the twentieth aspect, the braking device includes a friction member, a caliper configured to press the friction member against the rotating body, and an electric drive section that drives the caliper. .
According to the braking system of the 21st aspect, the rotating body of the manpowered vehicle can be suitably braked.

In the brake system of the 22nd aspect according to the 20th or 21st aspect, the braking device and the operating device are fluidly connected via a flow path, and the braking device and the operating device are connected in the flow path. , wherein the adjustment device includes a reservoir configured to store fluid in the flow path, and a motorized variation mechanism for varying the volume of the reservoir.
According to the braking system of the twenty-second aspect, the braking device is fluidly driven according to the operation of the operating device, so that the rotating body of the manpowered vehicle can be suitably braked.

According to the control device and brake system of the present invention, it is possible to suitably brake the rotating body of the manpowered vehicle.

1 is a side view of a human-powered vehicle including a brake system according to an embodiment; FIG. FIG. 2 is a partial side view of the human-powered vehicle showing the braking device of FIG. 1 and its surroundings; FIG. 2 is a schematic diagram showing the configuration of the brake system in FIG. 1; FIG. 2 is a block diagram of the braking system of FIG. 1; FIG. 5 is a flowchart showing an example of control executed by the control device of FIG. 4; FIG.

(embodiment)
A human-powered vehicle A including a brake system 10 will be described with reference to FIG.
Here, a human-powered vehicle means a vehicle that at least partially uses human power as a driving force for running, and includes vehicles that use electric power to assist human power. Vehicles that use only motive power other than human power are not included in man-powered vehicles. In particular, a vehicle using only an internal combustion engine as a motive power is not included in a human-powered vehicle. Usually, a human-powered vehicle is assumed to be a small light vehicle, and a vehicle that does not require a license to drive on public roads. The illustrated man-powered vehicle A is an e-bike that includes an electric assist unit E that assists the man-powered vehicle A in propulsion using electrical energy. Specifically, the illustrated manpowered vehicle A is a trekking bike.

The manpowered vehicle A further includes a manpowered vehicle body A1, wheels W, a steering wheel H, and a drive train B. A manpowered vehicle body A1 includes a frame A2, a front fork A3, a seat post SP, and a saddle SD. Wheels W include front wheels WF and rear wheels WR. Front wheel WF includes tire T, rim R, spokes S, hub HF, and disc brake rotor DR. The hub HF includes a hub shell HS to which the spokes S of the front wheel WF are connected (see FIG. 2). Rear wheel WR includes tire T, rim R, spokes S, hub HR, and disc brake rotor DR. The hub HR includes a hub shell (not shown) to which the spokes S of the rear wheel WR are connected.

The drive train B is configured as a chain drive type. Drivetrain B includes crank C, front sprocket D1, rear sprocket D2, and chain D3. The crank C includes a crankshaft C1 rotatably supported by the frame A2, and a pair of crank arms C2 provided at both ends of the crankshaft C1. A pedal PD is rotatably attached to the tip of each crank arm C2. The drive train B can be selected from any type, and may be a belt drive type or a shaft drive type.

The front sprocket D1 is provided on the crank C so as to rotate integrally with the crankshaft C1. The rear sprocket D2 is provided on the hub HR of the rear wheel WR. Chain D3 is wound around front sprocket D1 and rear sprocket D2. A driving force applied to the pedal PD by a user riding in the manpowered vehicle A is transmitted to the rear wheel WR via the front sprocket D1, the chain D3, and the rear sprocket D2.

The manpowered vehicle A further includes an electric auxiliary unit E. The electric assist unit E operates so that the propulsive force of the human-powered vehicle A is assisted. The electric assist unit E operates according to the driving force applied to the pedal PD, for example. The electric auxiliary unit E includes an electric motor E1. The electric auxiliary unit E is driven by electric power supplied from a battery BT mounted on the human-powered vehicle A. In the manpowered vehicle A, the electric assist unit E may be omitted.

The braking system 10 comprises a number of braking devices 12 corresponding to the number of wheels W. FIG. In this embodiment, the braking system 10 is provided with a braking device 12 corresponding to the front wheels WF and a braking device 12 corresponding to the rear wheels WR. The two braking devices 12 have the same configuration as each other. The braking device 12 is configured to brake the rotating body. In this embodiment, the braking device 12 is a disc brake device that brakes the rotating body of the manpowered vehicle A. As shown in FIG. The rotating body is a disk brake rotor DR (hereinafter also referred to as "rotating body DR") that rotates integrally with the wheel W of the manpowered vehicle A. The braking device 12 may be a rim braking device. In this case, the rotating body is the rim R.

As shown in FIG. 2, the braking device 12 includes a friction member 14 (see FIG. 3), a caliper 16 configured to press the friction member 14 against the rotating body DR, and the caliper 16 to the manpowered vehicle main body A1. Includes mounting bolts 18 for attachment to the In this embodiment, the number of mounting bolts 18 is two. The braking device 12 further includes an adapter 20 that holds the caliper 16 to the manpowered vehicle main body A1 with mounting bolts 18. As shown in FIG. The adapter 20 may be attached to the manpowered vehicle body A1 with a fixing bolt (not shown), or may be provided integrally with the manpowered vehicle body A1. The caliper 16 is attached to the manpowered vehicle main body A1 by attaching the caliper 16 to the adapter 20 with the attachment bolts 18 .

As shown in FIG. 1 , the braking system 10 further comprises an operating device F configured to operate the braking device 12 . The operating device F is provided on the right side of the handle H and the left side of the handle H with respect to the central plane of the manpowered vehicle A. As shown in FIG. The operating device F includes a lever F1. One braking device 12 is driven according to the operation of the lever F1 of one operating device F, and the other braking device 12 is driven according to the operation of the lever F1 of the other operating device F.

A specific configuration of the brake system 10 will be described with reference to FIG. 3 .
The braking device 12 and the operating device F are fluidly connected via flow paths FP1 to FP4. The flow paths FP1 to FP4 include a first flow path FP1, a second flow path FP2, a third flow path FP3, and a fourth flow path FP4. The flow paths FP1 to FP4 are filled with hydraulic oil (fluid). In this embodiment, the operating device F is connected to the corresponding braking device 12 via the first flow path FP1. Hydraulic pressure acts on the braking device 12 according to the input to the operating device F, and the braking device 12 is driven. FIG. 3 shows one operating device F and one braking device 12 .

The operating device F further includes a cylinder F2, a piston F3 that moves within the cylinder F2 in accordance with the operation of the lever F1, and a biasing member F4 that applies a biasing force to the piston F3 so as to return the lever F1 to its initial position. . The biasing member F4 includes, for example, a spring. By operating the lever F1, the piston F3 moves inside the cylinder F2, and hydraulic pressure acts on the braking device 12 via the first flow path FP1. The operating device F further includes a reservoir F5 that stores working oil so that working oil can be supplied into the cylinder F2. A diaphragm (not shown) is provided in the reservoir F5. In this embodiment, when the lever F1 is operated, the piston F3 moves inside the cylinder F2, and hydraulic pressure acts on the braking device 12 via the first flow path FP1.

Braking device 12 further includes a hydraulic mechanism 22 that regulates the hydraulic pressure acting on caliper 16 . The hydraulic mechanism 22 includes a first solenoid valve 22A and a second solenoid valve 22B. The first solenoid valve 22A and the second solenoid valve 22B are driven by electric power supplied from the battery BT, for example. The first solenoid valve 22A is, for example, fluidly connected to the operating device F via the first flow path FP1 and fluidly connected to the caliper 16 via the second flow path FP2. The first electromagnetic valve 22A is provided to open and close between the first flow path FP1 and the second flow path FP2. The first solenoid valve 22A is, for example, opened in a non-energized state so that hydraulic oil flows, and closed in an energized state so that hydraulic oil does not flow.

The second solenoid valve 22B is provided to open and close, for example, a third flow path FP3 branching from the first flow path FP1 and a fourth flow path FP4 branching from the second flow path FP2. The second solenoid valve 22B is closed, for example, in a non-energized state so that hydraulic oil does not flow, and is opened in an energized state so that hydraulic oil flows. The opening and closing operations of the first electromagnetic valve 22A and the second electromagnetic valve 22B are controlled by, for example, a control device 26, which will be described later.

The braking system 10 further comprises an adjusting device 24 provided between the braking device 12 and the operating device F in the flow paths FP1-FP4. The adjustment device 24 is fluidly coupled, for example, with the third flow path FP3. In this embodiment the adjustment device 24 is an accumulator. Regulator 24 includes a reservoir 24A configured to store fluid in flow paths FP1-FP4, and a motorized change mechanism 24B to vary the volume of reservoir 24A. The electric change mechanism 24B is provided, for example, in the storage chamber 24A. In this embodiment, the electric change mechanism 24B is a diaphragm. The electric change mechanism 24B indicated by solid lines in FIG. 3 is deformed so that the volume of the storage chamber 24A is maximized. The electric variable mechanism 24B indicated by a chain double-dashed line in FIG. 3 shows a state in which the storage chamber 24A has been deformed so that the volume thereof is minimized.

The caliper 16 sandwiches, for example, the rotating body DR with the friction members 14 . Friction member 14 includes a first friction member 14A and a second friction member 14B arranged to sandwich rotating body DR therebetween. The caliper 16 has a housing 16A, a pair of pistons 16B that are displaced by the pressure of the hydraulic fluid supplied from the flow paths FP1 to FP4, and urges the pistons 16B so that the pair of pistons 16B are displaced away from each other. and a biasing member 16C. The inside of the housing 16A is filled with hydraulic oil. In this embodiment, the first friction member 14A is attached to one piston 16B and the second friction member 14B is attached to the other piston 16B. The biasing member 16C biases the pair of pistons 16B via the first friction member 14A and the second friction member 14B. The biasing member 16C is, for example, a spring. One of the pair of pistons 16B and one of the first friction member 14A and the second friction member 14B may be omitted. That is, the rotor DR may be braked by only one of the first friction member 14A and the second friction member 14B. Also, one of the first friction member 14A and the second friction member 14B may be fixed and only the other may be moved.

When the first solenoid valve 22A is opened and the second solenoid valve 22B is closed, operating the lever F1 of the operating device F causes the hydraulic oil in the cylinder F2 to flow through the first flow path FP1 and the first solenoid valve. 22A and the caliper 16 via the second flow path FP2. Then, the pair of pistons 16B are displaced so that the first friction member 14A and the second friction member 14B approach the rotor DR. Thus, hydraulic pressure acts on the braking device 12 according to the input to the operating device F, and the rotating body DR is braked by the braking device 12 . On the other hand, when the input to the operation device F is released, the biasing force of the biasing member 16C displaces the piston 16B so that the first friction member 14A and the second friction member 14B are separated from the rotating body DR. Hydraulic oil in the housing 16A is returned to the cylinder F2 and the reservoir F5 through the flow paths FP1, FP2, etc., and the lever F1 of the operating device F is returned to the initial position by the biasing force of the biasing member F4. .

When the first solenoid valve 22A is closed and the second solenoid valve 22B is opened while the lever F1 of the operating device F is operated, the hydraulic oil in the housing 16A flows through the second flow path FP2 and the fourth flow path FP2. It is supplied to the regulator 24 via FP4, the second solenoid valve 22B, and the third flow path FP3. In this case, the hydraulic pressure acting on the braking device 12 is reduced so that the braking force acting on the rotating body DR is reduced. After that, when the first electromagnetic valve 22A is opened and the second electromagnetic valve 22B is closed, the braking device 12 is acted on so that the braking force acting on the rotating body DR increases according to the input to the operating device F. Hydraulic pressure is increased. By controlling the first electromagnetic valve 22A and the second electromagnetic valve 22B in this manner, the braking force acting on the rotating body DR is adjusted. On the other hand, when the input to the operation device F is released, the inside of the cylinder F2 becomes atmospheric pressure, so the hydraulic oil in the adjustment device 24 is returned to the flow paths FP1 to FP4, and the lever F1 of the operation device F is released. Hydraulic fluid in the housing 16A is returned to the cylinder F2 and the reservoir F5 so as to return to the position.

3, the braking device 12 may further include an electric drive unit ED for driving the caliper 16 and a hydraulic pump HP for adjusting the hydraulic pressure acting on the caliper 16. The electric drive unit ED is electrically connected to the operating device F, for example, by an electric wire EW. The electric drive ED is an electric motor. The hydraulic pump HP is fluidly connected to the caliper 16 via flow paths FP1 to FP4, for example. The inside of the hydraulic pump HP is filled with hydraulic oil. When the lever F1 of the operating device F is operated, the electric drive unit ED is driven according to the detection result of a sensor (not shown) that detects the amount of rotation of the lever F1, and the hydraulic pump HP operates to operate the caliper. Hydraulic pressure acts on 16 . Further, when the electric drive unit ED is controlled by the control device 26, which will be described later, the hydraulic pump HP is controlled so as to increase or decrease the braking force acting on the rotating body DR. In this example, hydraulic mechanism 22 may be omitted from braking device 12 . Further, the braking device 12 may be configured to brake the rotating body DR by mechanically or electrically driving the caliper 16 by the electric drive unit ED. In this case, the braking device 12 and the operating device F may be connected mechanically or electrically.

As shown in FIG. 4 , the braking system 10 further comprises a control device 26 configured to brake the rotating body DR with the braking device 12 . The control device 26 includes a control unit 28 that performs adjustment control to adjust the braking force acting on the rotating body DR based on braking-related information different from the rotation speed of the rotating body DR. The control unit 28 is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 28 adjusts the braking force by controlling the first solenoid valve 22A and the second solenoid valve 22B, for example, in adjustment control. Adjustment control is control related to ABS (Antilock Brake System). Note that the rotational speed of the rotating body DR is the same as the rotational speed of the tire T, the rotational speed of the rim R, the rotational speed of the spokes S, and the rotational speed of the hub shell HS. That is, the rotation speed of the rotating body DR indicates the rotation speed of the wheels W. As shown in FIG.

The control device 26 further includes a storage unit 30 that stores a threshold to be compared with the braking-related information. Storage unit 30 includes a nonvolatile memory and a volatile memory. The storage unit 30 stores, for example, various programs for control and preset information. The control unit 28 performs adjustment control based on the result of comparison between the braking-related information and the threshold. The control unit 28 executes adjustment control, for example, when the braking-related information is equal to or greater than the threshold.

The control device 26 further includes a setting section 32 that sets a threshold according to the braking-related information. The setting unit 32 is a CPU or MPU. The setting unit 32 may be configured with the same CPU or MPU as the control unit 28 or may be configured with a CPU or MPU different from the control unit 28 . The setting unit 32 calculates a new threshold according to, for example, the braking-related information, and sets the threshold stored in the storage unit 30 as the new threshold.

The braking-related information includes information regarding braking of the rotating body DR. Specific contents of the braking-related information are as in any of the first to fifth examples below. In the first example, the braking-related information includes physical information of predetermined elements provided in the manpowered vehicle A. FIG. Physical information is a physical quantity of a predetermined element that changes with braking. Physical information includes shape information about the shape of the predetermined element. The shape information includes strain information regarding the strain of the given element. The predetermined elements include at least one of the manpowered vehicle main body A1, the rotating body DR, the wheels W on which the rotating body DR is provided, and the braking device 12. Manpowered vehicle main body A1 includes at least one of frame A2, front fork A3, saddle SD, and seat post SP as predetermined elements. The wheel W includes at least one of a tire T, a rim R, spokes S, and hubs HF and HR as predetermined elements. The braking device 12 includes at least one of a friction member 14, a caliper 16, a mounting bolt 18, and an adapter 20 as predetermined elements.

In the second example, the braking-related information includes physical information of predetermined elements provided in the manpowered vehicle A. FIG. The physical information includes temperature information regarding the temperature of the given element. The predetermined elements include at least one of the manpowered vehicle main body A1, the rotating body DR, the wheels W on which the rotating body DR is provided, and the braking device 12. The manpowered vehicle main body A1 includes at least one of a frame A2 and a front fork A3 as predetermined elements. The wheel W includes at least one of a tire T, a rim R, and hubs HF and HR as predetermined elements. The braking device 12 includes at least one of a friction member 14, a caliper 16, a mounting bolt 18, and an adapter 20 as predetermined elements.

In the third example, the braking-related information includes physical information of predetermined elements provided in the manpowered vehicle A. FIG. The predetermined elements include a first element provided on the outer peripheral side of the wheel W with respect to the spokes S, and a second element provided on the inner peripheral side of the wheel W with respect to the spokes S. The physical information includes phase difference information regarding the phase difference between the first element and the second element. The phase difference information changes as the spoke S bends due to the relationship between the force that the first element receives from the ground (not shown) and the force that the second element receives from the braking device 12 . The first element includes a rim R. The second element includes hub shell HS.

In a fourth example, the braking-related information includes operation information regarding operation of the operating device F configured to operate the braking device 12 . The operation information includes at least one of rotation information about the rotation of the lever F1 and lever load information about the load acting on the lever F1. The rotation information includes at least one of the rotation speed of lever F1, the rotation angle of lever F1, and the rotation acceleration of lever F1. The lever load information includes at least one of the load acting on the lever F1 and the increasing speed of the load acting on the lever F1.

In the fifth example, the braking-related information includes operation information regarding operation of the operating device F configured to operate the braking device 12 . The operation information includes at least one of movement information about the movement of the piston F3 and piston load information about the load acting on the piston F3. The movement information includes at least one of the movement speed of the piston F3 and the acceleration of the piston F3. The piston load information includes at least one of the load acting on the piston F3 and the speed of increase of the load acting on the piston F3.

Manpowered vehicle A further includes a detection device 34 for detecting braking related information. The detection device 34 includes at least the first detection unit 34A, the second detection unit 34B, the third detection unit 34C, the fourth detection unit 34D, the fifth detection unit 34E, the sixth detection unit 34F, and the seventh detection unit 34G. Contains any one. The detection device 34 may detect the braking-related information while the lever F1 of the operating device F is being operated, or may detect the braking-related information at predetermined time intervals. The detection device 34 outputs, for example, the detected braking-related information to the control device 26 .

The first detection section 34A detects the strain of the predetermined element in the first example. The first detector 34A includes, for example, a strain sensor (not shown) that detects strain of a predetermined element. In this embodiment, the first detector 34A is provided in various predetermined elements. The first detector 34A outputs the acquired strain information to the controller 28 .

The second detector 34B detects the temperature of the predetermined element in the second example. The second detector 34B includes, for example, a temperature sensor (not shown) that detects the temperature of a predetermined element. In this embodiment, the second detector 34B is provided in various predetermined elements. The second detector 34B outputs the acquired temperature information to the controller 28 .

The third detector 34C detects the phase difference between the first element and the second element. The third detector 34C includes one or more photodetectors (not shown) that detect light emitted from a light source (not shown) provided on one of the first element and the second element, for example. In this embodiment, the third detector 34C is provided on the other of the first element and the second element. The third detector 34C outputs the acquired phase difference information to the controller 28 .

The fourth detector 34D detects rotation information regarding the rotation of the lever F1. The fourth detection unit 34D includes, for example, a speed sensor (not shown) that detects the rotation speed of the lever F1, an angle sensor (not shown) that detects the rotation angle of the lever F1, and an acceleration sensor that detects the rotational acceleration of the lever F1. (not shown) includes at least one of In this embodiment, the fourth detector 34D is provided on the lever F1. The fourth detection unit 34D outputs the obtained rotation information to the control unit 28. FIG.

The fifth detector 34E detects lever load information regarding the load acting on the lever F1. The fifth detection unit 34E includes, for example, a load sensor (not shown) that detects at least one of the load acting on the lever F1 and the increasing speed of the load acting on the lever F1. In this embodiment, the fifth detector 34E is provided on the lever F1. The fifth detector 34</b>E outputs the acquired lever load information to the controller 28 .

The sixth detector 34F detects movement information regarding the movement of the piston F3. The sixth detection unit 34F includes, for example, at least one of a speed sensor (not shown) that detects the moving speed of the piston F3 and an acceleration sensor (not shown) that detects acceleration of the piston F3. In this embodiment, the sixth detector 34F is provided on the piston F3 or an element connected to the piston F3. The sixth detector 34</b>F outputs the acquired movement information to the controller 28 .

The seventh detector 34G detects piston load information regarding the load acting on the piston F3. The seventh detection unit 34G includes, for example, a load sensor (not shown) that detects at least one of the load acting on the piston F3 and the increasing speed of the load acting on the piston F3. In this embodiment, the seventh detector 34G is provided on the piston F3 or an element connected to the piston F3. The seventh detector 34</b>G outputs the acquired piston load information to the controller 28 .

The control unit 28 performs adjustment control based on braking-related information including at least one of, for example, strain information, temperature information, phase difference information, rotation information, lever load information, movement information, and piston load information. . Note that the detection units 34A to 34G for acquiring information not used for adjustment control may be omitted from the detection device 34. FIG.

An example of control executed by the control unit 28 will be described with reference to FIG.
The control unit 28 acquires braking-related information from the detection device 34 in step S11. In step S12, the control unit 28 determines whether or not the braking-related information is equal to or greater than a threshold. Specifically, the control unit 28 reads a threshold to be compared with the braking-related information from the storage unit 30, and compares the braking-related information with the threshold. When the control unit 28 determines in step S12 that the braking-related information is less than the threshold value, it returns the processing to step S11. When the control unit 28 determines in step S12 that the braking-related information is equal to or greater than the threshold, the process proceeds to step S13. The control unit 28 executes adjustment control in step S13.

(Modification)
The above description of the embodiment is an illustration of possible forms of the control device and brake system according to the present invention, and is not intended to limit the form. A control device and a braking system according to the invention can take the form of, for example, the variants of the above-described embodiments shown below, and combinations of at least two variants not contradicting each other. In the following modified examples, the same reference numerals as in the embodiment are given to the parts that are common to the embodiment, and the description thereof is omitted.

- The structure of the control apparatus 26 can be changed arbitrarily. In the first example, if the control device 26 includes the setting unit 32 that sets the threshold according to the braking-related information, the braking-related information may include information regarding the rotation speed of the rotating body DR. In the second example, the setting section 32 is omitted from the control device 26 . In this case, the control unit 28 performs adjustment control based on braking-related information different from the rotational speed of the rotating body DR. The information stored in advance in the storage unit 30 may be configured to be changeable using a predetermined input device (not shown).

- The contents of the braking-related information can be changed arbitrarily. In one example, the braking-related information may include information regarding the rotational speed of the rotating body DR.
- The type of human-powered vehicle A can be changed arbitrarily. In a first example, human powered vehicle A is a road bike, mountain bike, cross bike, city cycle, cargo bike or recumbent. In a second example, manpowered vehicle A is a kick scooter.

DESCRIPTION OF SYMBOLS 10... Brake system, 12... Braking device, 14... Friction member, 16... Caliper, 18... Mounting bolt, 24... Adjusting device, 24A... Storage chamber, 24B... Electric change mechanism, 26... Control device, 28... Control part, 30... Storage part 32... Setting part A... Human powered vehicle A1... Human powered vehicle main body DR... Disc brake rotor (rotating body) ED... Electric drive part F... Operating device F1... Lever F3... Piston, FP1 to FP4... Flow path, HS... Hub shell, R... Rim, S... Spoke, W... Wheel.

Claims (7)

A control device for a human-powered vehicle configured to brake a rotating body with a braking device,
A control unit that executes adjustment control, which is control related to an antilock brake system that adjusts the braking force acting on the rotating body, based on braking-related information different from the rotation speed of the rotating body,
the manpowered vehicle includes an operating device configured to operate the braking device;
When the adjustment control is not being executed and the operation information regarding the operation of the operating device, which is the braking-related information, is equal to or greater than a threshold value, the control unit changes the adjustment control from a state in which the adjustment control is not being executed. A control device that transitions to a state in which the A control device for a human-powered vehicle configured to brake a rotating body with a braking device,
the manpowered vehicle includes an operating device configured to operate the braking device;
Based on the result of comparison between the braking-related information regarding the braking of the rotating body and a threshold value, the adjusting control is performed from a state in which the adjusting control, which is a control relating to an antilock brake system that adjusts the braking force acting on the rotating body, is not executed. a control unit that transitions to a state of executing
and a setting unit configured to set the threshold in accordance with operation information relating to operation of the operation device. 3. The control device according to claim 1, further comprising a storage unit that stores said threshold value. The control device according to any one of claims 1 to 3, wherein the rotating body is a disc brake rotor that rotates integrally with a wheel of the manpowered vehicle. A control device according to any one of claims 1 to 4;
the braking device;
and the operating device. 6. The braking system of claim 5, wherein the braking device includes a friction member, a caliper configured to press the friction member against the rotating body, and an electric drive for driving the caliper. the braking device and the operating device are fluidly connected via a flow path,
further comprising an adjusting device provided between the braking device and the operating device in the flow path;
7. The braking system of claim 5 or 6, wherein the adjustment device includes a reservoir configured to store fluid in the flow path and a motorized variation mechanism for varying the volume of the reservoir.

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